diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..89cc49c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
new file mode 100644
index 0000000..080e70d
--- /dev/null
+++ b/.vscode/extensions.json
@@ -0,0 +1,10 @@
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}
diff --git a/include/README b/include/README
new file mode 100644
index 0000000..194dcd4
--- /dev/null
+++ b/include/README
@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/lib/README b/lib/README
new file mode 100644
index 0000000..6debab1
--- /dev/null
+++ b/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/platformio.ini b/platformio.ini
new file mode 100644
index 0000000..d55db0d
--- /dev/null
+++ b/platformio.ini
@@ -0,0 +1,18 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:nucleo_f401re]
+platform = ststm32
+board = nucleo_f401re
+framework = arduino
+monitor_port = COM3
+monitor_speed = 115200
+lib_archive = no
+; lib_deps = askuric/Simple FOC@^2.2.2
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..ba60637
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,118 @@
+#include <Arduino.h>
+#include <SimpleFOC.h>
+
+MagneticSensorAnalog sensor = MagneticSensorAnalog(A0, 183, 512);
+
+BLDCMotor motorX = BLDCMotor(4);
+BLDCDriver3PWM driverX = BLDCDriver3PWM(3, 5, 6);
+
+BLDCMotor motorY = BLDCMotor(4);
+BLDCDriver3PWM driverY = BLDCDriver3PWM(7, 8, 9);
+
+float targetX = 0.0;
+float targetY = 0.0;
+
+float target = 6.3;
+
+void setup()
+{
+
+  sensor.init();
+  // motorY.linkSensor(&sensor);
+
+  // X MOTR STUFF
+  driverX.voltage_power_supply = 5.0;
+  driverX.init();
+  motorX.linkDriver(&driverX);
+  motorX.foc_modulation = FOCModulationType::SpaceVectorPWM;
+  motorX.controller = MotionControlType::angle_openloop;
+  motorX.PID_velocity.P = 0.02f;
+  motorX.PID_velocity.I = 20;
+  motorX.PID_velocity.D = 0;
+  motorX.voltage_limit = 0.8;
+  motorX.LPF_velocity.Tf = 0.01f;
+  motorX.P_angle.P = 20;
+  motorX.velocity_limit = 20;
+
+  // *************** Y MOTOR STUFF ******************
+  driverY.voltage_power_supply = 5.0;
+  driverY.init();
+  motorY.linkDriver(&driverY);
+  motorY.foc_modulation = FOCModulationType::SpaceVectorPWM;
+  motorY.controller = MotionControlType::angle_openloop;
+  motorY.PID_velocity.P = 0.001f;
+  motorY.PID_velocity.I = 0;
+  motorY.PID_velocity.D = 0;
+  motorY.voltage_limit = 0.8;
+  motorY.LPF_velocity.Tf = 0.01f;
+  motorY.P_angle.P = 0.1;
+  motorY.velocity_limit = 3;
+
+  Serial.begin(115200);
+  _delay(100);
+  Serial.println("INIT");
+
+  // initialize motor
+  motorX.init();
+  motorX.initFOC();
+  motorY.init();
+  motorY.initFOC();
+
+  Serial.println(F("Motor ready."));
+  _delay(1000);
+  // Serial.println(sensor.getPreciseAngle());
+
+}
+
+void serialLoop()
+{
+  static String received_chars;
+  while (Serial.available())
+  {
+    char inChar = (char)Serial.read();
+    received_chars += inChar;
+    if (inChar == '\n')
+    {
+      target = received_chars.toFloat();
+      Serial.print("Target = ");
+      Serial.print(target);
+      received_chars = "";
+    }
+  }
+}
+
+float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
+{
+  return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
+}
+
+void loop()
+{
+  sensor.update();
+
+  // Serial.println(sensor.getPreciseAngle());
+  // delay(5);
+
+  serialLoop();
+
+  int senseX = analogRead(A2);
+  int senseY = analogRead(A3);
+
+  targetX = mapfloat(senseX, 0.0, 1024.0, -0.6, 1.2);
+  targetY = mapfloat(senseY, 0.0, 1024.0, -0.5, 2.2);
+
+  Serial.print("senseX=");
+  Serial.print(senseX);
+  Serial.print("\t mappedX=");
+  Serial.print(targetX);
+  Serial.print("\t senseY=");
+  Serial.print(senseY);
+  Serial.print("\t mappedY=");
+  Serial.println(targetY);
+
+  motorX.move(targetX);
+  motorX.loopFOC();
+
+  motorY.move(targetY);
+  motorY.loopFOC();
+}
\ No newline at end of file
diff --git a/src/main.cppfr b/src/main.cppfr
new file mode 100644
index 0000000..4eec6ca
--- /dev/null
+++ b/src/main.cppfr
@@ -0,0 +1,38 @@
+// Test file 
+
+#include <Arduino.h>
+
+const int analogInPin = A2;  // Analog input pin that the potentiometer is attached to
+//const int analogOutPin = 9; // Analog output pin that the LED is attached to
+
+int sensorValue = 0;        // value read from the pot
+int maxValue = 200;
+int minValue = 200;
+
+void setup() {
+  // initialize serial communications at 9600 bps:
+  Serial.begin(115200);
+}
+
+void loop() {
+  // read the analog in value:
+  sensorValue = analogRead(analogInPin);
+
+  if(sensorValue > maxValue)
+  {
+    maxValue = sensorValue;
+  }
+  else if(sensorValue < minValue)
+  {
+    minValue = sensorValue;
+  }
+
+  Serial.print("sensor = ");
+  Serial.print(sensorValue);
+  Serial.print("\t min=");
+  Serial.print(minValue);
+  Serial.print("\tmax=");
+  Serial.println(maxValue);
+
+  delay(2);
+}
\ No newline at end of file
diff --git a/test/README b/test/README
new file mode 100644
index 0000000..b94d089
--- /dev/null
+++ b/test/README
@@ -0,0 +1,11 @@
+
+This directory is intended for PlatformIO Unit Testing and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/page/plus/unit-testing.html