diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index ee8c24e..b6fd953 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -77,8 +77,12 @@ void can1_callback(CAN_HandleTypeDef *hcan)
 	new_msg.len = rx_header.DLC;
 	new_msg.id = rx_header.StdId;
 
-	queue_and_set_flag(can_inbound_queue, &new_msg, can_receive_thread,
-			   NEW_CAN_MSG_FLAG);
+	//queue_and_set_flag(can_inbound_queue, &new_msg, can_receive_thread,
+	//		   NEW_CAN_MSG_FLAG);
+
+	/* Print Callback Messages */
+	if (new_msg.id == 2)
+		printf("Callback: %s", new_msg.data);
 }
 
 int8_t queue_can_msg(can_msg_t msg)
@@ -102,32 +106,35 @@ void vCanDispatch(void *pv_params)
 	fault_data_t fault_data = { .id = CAN_DISPATCH_FAULT,
 				    .severity = DEFCON1 };
 
-	can_msg_t msg_from_queue;
-	HAL_StatusTypeDef msg_status;
+	can_msg_t msg_from_queue = {
+		.id = 0x002,
+		.len = 4,
+		.data = { 69 }
+	};
 
+	HAL_StatusTypeDef msg_status;
 	CAN_HandleTypeDef *hcan = (CAN_HandleTypeDef *)pv_params;
 
 	for (;;) {
-		osThreadFlagsWait(CAN_DISPATCH_FLAG, osFlagsWaitAny,
-				  osWaitForever);
-		/* Send CAN message */
-		while (osMessageQueueGet(can_outbound_queue, &msg_from_queue,
-					 NULL, 0U) == osOK) {
-			/* Wait if CAN outbound queue is full */
-			while (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
-				osDelay(1);
-			}
-
-			msg_status = can_send_msg(can1, &msg_from_queue);
-
-			if (msg_status == HAL_ERROR) {
-				fault_data.diag = "Failed to send CAN message";
-				queue_fault(&fault_data);
-			} else if (msg_status == HAL_BUSY) {
-				fault_data.diag = "Outbound mailbox full!";
-				queue_fault(&fault_data);
-			}
+		osDelay(500);
+
+		/* Wait if CAN outbound queue is full */
+		while (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
+			osDelay(1);
 		}
+
+		msg_status = can_send_msg(can1, &msg_from_queue);
+
+		if (msg_status == HAL_ERROR) {
+			fault_data.diag = "Failed to send CAN message";
+			queue_fault(&fault_data);
+		} else if (msg_status == HAL_BUSY) {
+			fault_data.diag = "Outbound mailbox full!";
+			queue_fault(&fault_data);
+		}
+
+		/* Print Dispatch Messages */
+		printf("Dispatch: %s", msg_from_queue.data);
 	}
 }
 
@@ -140,26 +147,15 @@ const osThreadAttr_t can_receive_attributes = {
 
 void vCanReceive(void *pv_params)
 {
-	dti_t *mc = (dti_t *)pv_params;
+	//dti_t *mc = (dti_t *)pv_params;
 
 	can_msg_t msg;
 
 	for (;;) {
-		osThreadFlagsWait(NEW_CAN_MSG_FLAG, osFlagsWaitAny,
-				  osWaitForever);
-		while (osOK ==
-		       osMessageQueueGet(can_inbound_queue, &msg, 0U, 0U)) {
-			switch (msg.id) {
-			/* Messages Relevant to Motor Controller */
-			case DTI_CANID_ERPM:
-				dti_record_rpm(mc, msg);
-				break;
-			case BMS_DCL_MSG:
-				handle_dcl_msg();
-				break;
-			default:
-				break;
-			}
+		osThreadFlagsWait(NEW_CAN_MSG_FLAG, osFlagsWaitAny, osWaitForever);
+		while (osOK == osMessageQueueGet(can_inbound_queue, &msg, 0U, 0U)) {
+			/* Print Receive Messages */
+			printf("Recieve: %s", msg.data);
 		}
 	}
 }
\ No newline at end of file
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 9ddd550..ffea953 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -86,15 +86,15 @@ osMessageQueueId_t imu_queue;
 
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
-static void MX_GPIO_Init(void);
-static void MX_DMA_Init(void);
+/*static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);*/
 static void MX_CAN1_Init(void);
-static void MX_I2C1_Init(void);
+/*static void MX_I2C1_Init(void);
 static void MX_I2C2_Init(void);
-static void MX_ADC1_Init(void);
+static void MX_ADC1_Init(void);*/
 static void MX_USART3_UART_Init(void);
-static void MX_ADC3_Init(void);
-static void MX_IWDG_Init(void);
+/*static void MX_ADC3_Init(void);
+static void MX_IWDG_Init(void);*/
 void StartDefaultTask(void *argument);
 
 /* USER CODE BEGIN PFP */
@@ -139,44 +139,44 @@ int main(void)
   /* MCU Configuration--------------------------------------------------------*/
 
   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-  HAL_Init();
+  //HAL_Init();
 
   /* USER CODE BEGIN Init */
 
-  HAL_Delay(500);
+  //HAL_Delay(500);
 
   /* USER CODE END Init */
 
   /* Configure the system clock */
-  SystemClock_Config();
+  //SystemClock_Config();
 
   /* USER CODE BEGIN SysInit */
 
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
-  MX_GPIO_Init();
-  MX_DMA_Init();
+  /*MX_GPIO_Init();
+  MX_DMA_Init();*/
   MX_CAN1_Init();
-  MX_I2C1_Init();
+  /*MX_I2C1_Init();
   MX_I2C2_Init();
-  MX_ADC1_Init();
+  MX_ADC1_Init();*/
   MX_USART3_UART_Init();
-  MX_ADC3_Init();
+  /*MX_ADC3_Init();
   MX_IWDG_Init();
-  /* USER CODE BEGIN 2 */
+  USER CODE BEGIN 2
 
-  /* Create Interfaces to Represent Relevant Hardware */
-  mpu_t *mpu  = init_mpu(&hi2c1, &hadc3, &hadc1, GPIOC, GPIOB);
+  Create Interfaces to Represent Relevant Hardware */
+  /*mpu_t *mpu  = init_mpu(&hi2c1, &hadc3, &hadc1, GPIOC, GPIOB);
   assert(mpu);
   pdu_t *pdu  = init_pdu(&hi2c2);
-  assert(pdu);
+  assert(pdu);*/
   dti_t *mc   = dti_init();
   assert(mc);
-  steeringio_t *wheel = steeringio_init();
-  assert(wheel);
+  /*steeringio_t *wheel = steeringio_init();
+  assert(wheel);8*/
   init_can1(&hcan1);
-  bms_init();
+  //bms_init();
 
   printf("\r\n\n\nInit Success...\r\n\n\n");
 
@@ -207,7 +207,7 @@ int main(void)
   /* USER CODE BEGIN RTOS_THREADS */
 
   /* Monitors */
-  non_func_data_args_t *nfd_args = malloc(sizeof(non_func_data_args_t));
+  /*non_func_data_args_t *nfd_args = malloc(sizeof(non_func_data_args_t));
   nfd_args->mpu = mpu;
   nfd_args->pdu = pdu;
   non_functional_data_thead = osThreadNew(vNonFunctionalDataCollection, nfd_args, &non_functional_data_attributes);
@@ -225,7 +225,7 @@ int main(void)
   // shutdown_monitor_handle = osThreadNew(vShutdownMonitor, pdu, &shutdown_monitor_attributes);
   // assert(shutdown_monitor_handle);
 
-  /* Messaging */
+  Messaging */
   can_dispatch_handle = osThreadNew(vCanDispatch, &hcan1, &can_dispatch_attributes);
   assert(can_dispatch_handle);
   can_receive_thread = osThreadNew(vCanReceive, mc, &can_receive_attributes);
@@ -234,7 +234,7 @@ int main(void)
   assert(serial_monitor_handle);
 
   /* Control Logic */
-  fault_handle = osThreadNew(vFaultHandler, NULL, &fault_handle_attributes);
+  /*fault_handle = osThreadNew(vFaultHandler, NULL, &fault_handle_attributes);
   assert(fault_handle);
 
   rtds_thread = osThreadNew(vRTDS, pdu, &rtds_attributes);
@@ -252,7 +252,7 @@ int main(void)
   sm_args->mc = mc;
   sm_director_handle = osThreadNew(vStateMachineDirector, sm_args, &sm_director_attributes);
   assert(sm_director_handle);
-  /* USER CODE END RTOS_THREADS */
+  USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
   /* add events, ... */
@@ -320,14 +320,14 @@ void SystemClock_Config(void)
   * @param None
   * @retval None
   */
-static void MX_ADC1_Init(void)
-{
+/*static void MX_ADC1_Init(void)
+{*/
 
   /* USER CODE BEGIN ADC1_Init 0 */
 
   /* USER CODE END ADC1_Init 0 */
 
-  ADC_ChannelConfTypeDef sConfig = {0};
+  //ADC_ChannelConfTypeDef sConfig = {0};
 
   /* USER CODE BEGIN ADC1_Init 1 */
 
@@ -335,7 +335,7 @@ static void MX_ADC1_Init(void)
 
   /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
   */
-  hadc1.Instance = ADC1;
+  /*hadc1.Instance = ADC1;
   hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV6;
   hadc1.Init.Resolution = ADC_RESOLUTION_12B;
   hadc1.Init.ScanConvMode = ENABLE;
@@ -350,36 +350,36 @@ static void MX_ADC1_Init(void)
   if (HAL_ADC_Init(&hadc1) != HAL_OK)
   {
     Error_Handler();
-  }
+  }*/
 
   /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
   */
-  sConfig.Channel = ADC_CHANNEL_8;
+  /*sConfig.Channel = ADC_CHANNEL_8;
   sConfig.Rank = 1;
   sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
   if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
   {
     Error_Handler();
-  }
+  }*/
   /* USER CODE BEGIN ADC1_Init 2 */
 
   /* USER CODE END ADC1_Init 2 */
 
-}
+//}
 
 /**
   * @brief ADC3 Initialization Function
   * @param None
   * @retval None
   */
-static void MX_ADC3_Init(void)
-{
+/*static void MX_ADC3_Init(void)
+{*/
 
   /* USER CODE BEGIN ADC3_Init 0 */
 
   /* USER CODE END ADC3_Init 0 */
 
-  ADC_ChannelConfTypeDef sConfig = {0};
+  //ADC_ChannelConfTypeDef sConfig = {0};
 
   /* USER CODE BEGIN ADC3_Init 1 */
 
@@ -387,7 +387,7 @@ static void MX_ADC3_Init(void)
 
   /** Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
   */
-  hadc3.Instance = ADC3;
+  /*hadc3.Instance = ADC3;
   hadc3.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV6;
   hadc3.Init.Resolution = ADC_RESOLUTION_12B;
   hadc3.Init.ScanConvMode = ENABLE;
@@ -402,49 +402,49 @@ static void MX_ADC3_Init(void)
   if (HAL_ADC_Init(&hadc3) != HAL_OK)
   {
     Error_Handler();
-  }
+  }*/
 
   /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
   */
-  sConfig.Channel = ADC_CHANNEL_2;
+  /*sConfig.Channel = ADC_CHANNEL_2;
   sConfig.Rank = 1;
   sConfig.SamplingTime = ADC_SAMPLETIME_3CYCLES;
   if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
   {
     Error_Handler();
-  }
+  }*/
 
   /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
   */
-  sConfig.Channel = ADC_CHANNEL_3;
+  /*sConfig.Channel = ADC_CHANNEL_3;
   sConfig.Rank = 2;
   if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
   {
     Error_Handler();
-  }
+  }*/
 
   /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
   */
-  sConfig.Channel = ADC_CHANNEL_0;
+  /*sConfig.Channel = ADC_CHANNEL_0;
   sConfig.Rank = 3;
   if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
   {
     Error_Handler();
-  }
+  }*/
 
   /** Configure for the selected ADC regular channel its corresponding rank in the sequencer and its sample time.
   */
-  sConfig.Channel = ADC_CHANNEL_1;
+  /*sConfig.Channel = ADC_CHANNEL_1;
   sConfig.Rank = 4;
   if (HAL_ADC_ConfigChannel(&hadc3, &sConfig) != HAL_OK)
   {
     Error_Handler();
-  }
+  }*/
   /* USER CODE BEGIN ADC3_Init 2 */
 
   /* USER CODE END ADC3_Init 2 */
 
-}
+//}
 
 /**
   * @brief CAN1 Initialization Function
@@ -488,8 +488,8 @@ static void MX_CAN1_Init(void)
   * @param None
   * @retval None
   */
-static void MX_I2C1_Init(void)
-{
+/*static void MX_I2C1_Init(void)
+{*/
 
   /* USER CODE BEGIN I2C1_Init 0 */
 
@@ -498,7 +498,7 @@ static void MX_I2C1_Init(void)
   /* USER CODE BEGIN I2C1_Init 1 */
 
   /* USER CODE END I2C1_Init 1 */
-  hi2c1.Instance = I2C1;
+  /*hi2c1.Instance = I2C1;
   hi2c1.Init.ClockSpeed = 100000;
   hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
   hi2c1.Init.OwnAddress1 = 0;
@@ -510,20 +510,20 @@ static void MX_I2C1_Init(void)
   if (HAL_I2C_Init(&hi2c1) != HAL_OK)
   {
     Error_Handler();
-  }
+  }*/
   /* USER CODE BEGIN I2C1_Init 2 */
 
   /* USER CODE END I2C1_Init 2 */
 
-}
+//}
 
 /**
   * @brief I2C2 Initialization Function
   * @param None
   * @retval None
   */
-static void MX_I2C2_Init(void)
-{
+/*static void MX_I2C2_Init(void)
+{*/
 
   /* USER CODE BEGIN I2C2_Init 0 */
 
@@ -532,7 +532,7 @@ static void MX_I2C2_Init(void)
   /* USER CODE BEGIN I2C2_Init 1 */
 
   /* USER CODE END I2C2_Init 1 */
-  hi2c2.Instance = I2C2;
+  /*hi2c2.Instance = I2C2;
   hi2c2.Init.ClockSpeed = 100000;
   hi2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
   hi2c2.Init.OwnAddress1 = 0;
@@ -544,20 +544,20 @@ static void MX_I2C2_Init(void)
   if (HAL_I2C_Init(&hi2c2) != HAL_OK)
   {
     Error_Handler();
-  }
+  }*/
   /* USER CODE BEGIN I2C2_Init 2 */
 
   /* USER CODE END I2C2_Init 2 */
 
-}
+//}
 
 /**
   * @brief IWDG Initialization Function
   * @param None
   * @retval None
   */
-static void MX_IWDG_Init(void)
-{
+/*static void MX_IWDG_Init(void)
+{*/
 
   /* USER CODE BEGIN IWDG_Init 0 */
 
@@ -566,18 +566,18 @@ static void MX_IWDG_Init(void)
   /* USER CODE BEGIN IWDG_Init 1 */
 
   /* USER CODE END IWDG_Init 1 */
-  hiwdg.Instance = IWDG;
+  /*hiwdg.Instance = IWDG;
   hiwdg.Init.Prescaler = IWDG_PRESCALER_32;
   hiwdg.Init.Reload = 4095;
   if (HAL_IWDG_Init(&hiwdg) != HAL_OK)
   {
     Error_Handler();
-  }
+  }*/
   /* USER CODE BEGIN IWDG_Init 2 */
 
   /* USER CODE END IWDG_Init 2 */
 
-}
+//}
 
 /**
   * @brief USART3 Initialization Function
@@ -615,84 +615,84 @@ static void MX_USART3_UART_Init(void)
 /**
   * Enable DMA controller clock
   */
-static void MX_DMA_Init(void)
-{
+/*static void MX_DMA_Init(void)
+{*/
 
   /* DMA controller clock enable */
-  __HAL_RCC_DMA2_CLK_ENABLE();
+  /*__HAL_RCC_DMA2_CLK_ENABLE();
 
-}
+}*/
 
 /**
   * @brief GPIO Initialization Function
   * @param None
   * @retval None
   */
-static void MX_GPIO_Init(void)
+/*static void MX_GPIO_Init(void)
 {
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-/* USER CODE BEGIN MX_GPIO_Init_1 */
+   USER CODE BEGIN MX_GPIO_Init_1 */
 /* USER CODE END MX_GPIO_Init_1 */
 
   /* GPIO Ports Clock Enable */
-  __HAL_RCC_GPIOH_CLK_ENABLE();
+  /*__HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOC_CLK_ENABLE();
   __HAL_RCC_GPIOA_CLK_ENABLE();
-  __HAL_RCC_GPIOB_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();*/
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_3|GPIO_PIN_8|GPIO_PIN_9, GPIO_PIN_RESET);
+  //HAL_GPIO_WritePin(GPIOC, GPIO_PIN_3|GPIO_PIN_8|GPIO_PIN_9, GPIO_PIN_RESET);
 
   /*Configure GPIO pins : PC3 PC8 PC9 */
-  GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_8|GPIO_PIN_9;
+  /*GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_8|GPIO_PIN_9;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);*/
 
   /*Configure GPIO pins : PA4 PA5 PA6 PA7 */
-  GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
+  /*GPIO_InitStruct.Pin = GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
   GPIO_InitStruct.Pull = GPIO_PULLUP;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);*/
 
   /*Configure GPIO pin : PC4 */
-  GPIO_InitStruct.Pin = GPIO_PIN_4;
+  /*GPIO_InitStruct.Pin = GPIO_PIN_4;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
   GPIO_InitStruct.Pull = GPIO_PULLUP;
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);*/
 
   /*Configure GPIO pin : PB1 */
-  GPIO_InitStruct.Pin = GPIO_PIN_1;
+  /*GPIO_InitStruct.Pin = GPIO_PIN_1;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
   GPIO_InitStruct.Pull = GPIO_PULLUP;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);*/
 
   /*Configure GPIO pin : PB2 */
-  GPIO_InitStruct.Pin = GPIO_PIN_2;
+  /*GPIO_InitStruct.Pin = GPIO_PIN_2;
   GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   GPIO_InitStruct.Alternate = GPIO_AF15_EVENTOUT;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);*/
 
   /*Configure GPIO pin : PA9 */
-  GPIO_InitStruct.Pin = GPIO_PIN_9;
+  /*GPIO_InitStruct.Pin = GPIO_PIN_9;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);*/
 
   /*Configure GPIO pins : PA11 PA12 */
-  GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
+  /*GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
   GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
   GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);*/
 
 /* USER CODE BEGIN MX_GPIO_Init_2 */
 /* USER CODE END MX_GPIO_Init_2 */
-}
+//}
 
 /* USER CODE BEGIN 4 */