diff --git a/OpenSCAD/.M5CoreTX-V1.scad.swp b/OpenSCAD/.M5CoreTX-V1.scad.swp
deleted file mode 100644
index e81188d..0000000
Binary files a/OpenSCAD/.M5CoreTX-V1.scad.swp and /dev/null differ
diff --git a/OpenSCAD/M5CoreTX-V1.scad b/OpenSCAD/M5CoreTX-V1.scad
index 3299029..5dc2d7e 100644
--- a/OpenSCAD/M5CoreTX-V1.scad
+++ b/OpenSCAD/M5CoreTX-V1.scad
@@ -1,763 +1,680 @@
-// For printing individually
-// gimbal_ring();
-
-// translate([0,0,0])
-//    display_backcover();
-// battery_backcover_full();
-// body_full();
-
-round_quality = 100;
 // round_quality = 200;
-// round_quality = 20;
-// draft         = true;
-draft         = false;
-
-/****
-translate([0,0,5])
-    back_cover_full();
-
-translate([0,0,-20])
-    difference() {
-        backcover_lowprofile();
-
-        translate([-21.5,-12.5,-46])
-            rotate([0,0,0])
-                cube([25,46,15], center=true);
-
-        translate([-21.5,-12.5,-36])
-            rotate([0,0,0])
-                cube([25,37.4,2], center=true);
-
+// draft         = false;
+// show_m5       = true;
+// show_gimbal_r = true;       // Rings
+// show_right_g  = false;       // Only show one gimbal
+// show_gimbal   = true;       // Gimbals
+// show_gimbal_u = false;       // Upper
+// show_left     = true;        
+// show_right    = true;
+// show_left_b   = true;
+// show_right_b  = true;
+// show_gimbal_b = false;        // Lower
+// show_battery  = true;
+// show_bars     = true;
+// show_bars_1   = true;
+// show_bars_2   = true;
+
+round_quality = 200;
+draft         = true;
+show_top_only = false;
+show_bottom_only = false;
+show_m5       = true;
+show_gimbal_r = true;       // Rings
+show_right_g  = false;       // Only show one gimbal
+show_gimbal   = true;       // Gimbals
+show_gimbal_u = false;       // Upper
+show_left     = true;        
+show_right    = true;
+show_left_b   = true;
+show_right_b  = true;
+show_gimbal_b = false;        // Lower
+show_battery  = true;
+show_bars     = false;
+show_bars_1   = false;
+show_bars_2   = false;
+show_bottom_legs   = false;
+show_bottom_single = false;
+show_bottom_H = true;
+show_top_bars = true;
+show_bottom_spacers = true;
+show_bottom_extenders = true;
+show_top_spacers = true;
+show_top_cover   = true;
+
+//round_quality = 200;
+//draft         = true;
+//show_top_only = false;
+//show_bottom_only = false;
+//show_m5       = false;
+//show_gimbal_r = false;       // Rings
+//show_right_g  = false;       // Only show one gimbal
+//show_gimbal   = false;       // Gimbals
+//show_gimbal_u = false;       // Upper
+//show_left     = false;        
+//show_right    = true;
+//show_left_b   = true;
+//show_right_b  = true;
+//show_gimbal_b = false;        // Lower
+//show_battery  = false;
+//show_bars     = false;
+//show_bars_1   = false;
+//show_bars_2   = false;
+//show_bottom_legs   = false;
+//show_bottom_single = false;
+//show_bottom_H = false;
+//show_top_bars = false;
+//show_bottom_spacers = false;
+//show_bottom_extenders = false;
+//show_top_spacers = true;
+//show_top_cover   = false;
+
+if(show_top_cover) {
+    translate([-20,11,6]) {
+        top_cover();
     }
-
-
-translate([0,0,-20])
-    difference() {
-        transceiver_cover();
-        translate([-25.8,6,-39])
-            rotate([90,0,0])
-                cube([5.5,13,10], center=true);
-    }
-
-translate([0,-80,-20])
-    battery_backcover_full();
-translate([0,0,-25])
-    display_backcover();
-translate([0,0,20])
-    gimbal_ring();
-translate([-41,0,40]) {
-    translate([135,0,-20])
-        gimbal_ring();
 }
- ****/
-// back_cover_full();
-
-// translate([0,0,10])
-//    battery_backcover_full();
-
-// all();
-
-// m5core2();
 
-body_full(); 
-translate([0,-20,12])
-    rotate([180,0,180])
-        m5_body();
-
-module m5core2() {
-    translate([0,-25,10])
-        cube([54,54,18], center=true);
+if(show_top_spacers) {
+    top_spacers();
 }
 
-module transceiver_cover() {
-    translate([-21.5,-14.2,-46.5])
-        cube([24,42.4,1.3], center=true);
-    translate([-21.5,6.5,-42.9])
-        rotate([90,0,0])
-            cube([24,8.5,1.3], center=true);
-    translate([-21.5,-36,-45.2])
-        rotate([0,0,0])
-            cube([24.5,5,1.3], center=true);
-    translate([-25.5,-3,-44.4])
-        rotate([0,0,0])
-            cube([14.5,3,3], center=true);
-    translate([-25.5,-9,-44.4])
-        rotate([0,0,0])
-            cube([14.5,3,3], center=true);
-    translate([-25.5,-21,-44.4])
-        rotate([0,0,0])
-            cube([14.5,3,3], center=true);
-    translate([-25.5,-27,-44.4])
-        rotate([0,0,0])
-            cube([14.5,3,3], center=true);
-    translate([-12.5,-15,-44.4])
-        rotate([0,0,90])
-            cube([34.5,3,3], center=true);
-
-    translate([-21.5,5,-44.4])
-        rotate([0,0,0])
-            cube([24,3,3], center=true);
-
-    translate([-25.5,-15,-44.4])
-        rotate([0,0,0])
-            cube([14.5,3,3], center=true);
-    difference() {
-        translate([-21.5,5.2,-39])
-            rotate([90,0,0])
-                cube([24,6.5,1.3], center=true);
+module top_spacers() {
+    translate([-18,7,15.3])
+        cube([20,3,10], center=true);
+    translate([18,7,15.3])
+        cube([20,3,10], center=true);
+}
 
-        translate([-21.5,5.5,-43])
-            rotate([-45,0,0])
-                cube([25.5,6.5,1.3], center=true);
-    }
-    translate([-21.5,6,-36.3])
-        rotate([90,0,0])
-            cube([24,1.1,1.3], center=true);
+module top_cover() {
+    top_legs();
+    translate([40,0,0])
+        top_legs();
+    // Battery Cover
+    translate([20,-1.5,4.5])
+        difference() {
+            cube([50,1.5,54], center=true);
+            translate([0,0,4.5])
+                rotate([90,0,0])
+                    cylinder(h=4, d=10, center=true, $fn=round_quality);
+            translate([0,0,7])
+                cube([10,10,5], center=true);
+        }
 }
 
-module backcover_lowprofile() {
+module top_legs() {
+    translate([0,0,4.5])
+    rotate([0,0,180])
     difference() {
-        battery_backcover();
+        cube([14,4.5,54], center=true);
 
-        // Left Screw Hold on the Battery Cover
-        translate([41,-23,-30])
-            cylinder(h=round_quality, d=2, center=true, $fn=round_quality);
+        // Screw top
+        translate([0,0,5])
+            rotate([90,0,0])
+                cylinder(h=10, d=2, center=true, $fn=round_quality);
+        translate([0,-2,5])
+            rotate([90,0,0])
+                cylinder(h=4, d=4.6, center=true, $fn=round_quality);
 
-        // Right Screw Hold on the Battery Cover
-        translate([-41,-23,-30])
-            cylinder(h=round_quality, d=2, center=true, $fn=round_quality);
+        // Screw bottom
+        translate([0,0,-8])
+            rotate([90,0,0])
+                cylinder(h=10, d=2, center=true, $fn=round_quality);
+        translate([0,-2,-8])
+            rotate([90,0,0])
+                cylinder(h=4, d=4.6, center=true, $fn=round_quality);
 
-        // Charger Port
-        // translate([0,-50,-30])
-        //     cube([10,3,6], center=true);
-        translate([0,-23,-30])
-            cube([76,58,5], center=true);
+        // Sides
+        translate([10,0,0])
+            rotate([0,0,45])
+                cube([20,4.5,63], center=true);
+        translate([-10,0,0])
+            rotate([0,0,-45])
+                cube([20,4.5,63], center=true);
     }
+}
 
-    translate([0,6.35,-37.5])
-        rotate([90,0,0])
-            cube([78,17,1.3], center=true);
-
-    translate([0,-52.35,-37.5])
-        rotate([90,0,0])
-            cube([78,17,1.3], center=true);
-
-    translate([-38.6,-23,-37.5])
-        rotate([90,0,90])
-            cube([60,17,1.3], center=true);
-
-    translate([38.6,-23,-37.5])
-        rotate([90,0,90])
-            cube([60,17,1.3], center=true);
 
-    translate([0,-23,-46.5])
-        rotate([0,0,0])
-            cube([78.5,60,1.3], center=true);
+if(show_bottom_extenders) {
+    translate([-20,-57,17])
+        bottom_extenders();
+    translate([20,-57,17])
+        bottom_extenders();
+}
 
+module bottom_extenders() {
     difference() {
-        translate([0,-51.1,-30.5])
-            rotate([90,0,0])
-                cube([75,5,1.3], center=true);
+        cube([14,3,8], center=true);
 
-        translate([0,-51.1,-33.5])
-            rotate([45,0,0])
-                cube([75,5,1.3], center=true);
+        // Screw top
+        translate([0,0,-2])
+            rotate([90,0,0])
+                cylinder(h=10, d=2, center=true, $fn=round_quality);
     }
 }
 
-
-// Battery back cover
-module battery_backcover() {
-    translate([0,-23,-30])
-        cube([90,60,2], center=true);
+if(show_bottom_spacers) {
+    translate([-20,-61,6])
+        bottom_spacers();
 }
 
-module back_cover() {
-    translate([-47,-25,-8])
-        cube([67.4,67.4,2], center=true);
-    translate([47,-25,-8])
-        cube([67.4,67.4,2], center=true);
-    translate([0,-23,-8])
-        cube([29,62,2], center=true);
-    translate([-53,20,-8])
-        cube([43.5,27.5,2], center=true);
-    translate([53,20,-8])
-        cube([43.5,27.5,2], center=true);
-
-    // PCB & Battery Holder
-    translate([0,-23,-12]) {
-        difference() {
-            cube([90,60,10], center=true);
-            cube([88,58,12], center=true);
-        }
-        translate([41,0,0])
-            difference() {
-                cube([7,10,6], center=true);
-                cylinder(h=round_quality, d=3, center=true);
-            }
-        translate([-41,0,0])
-            difference() {
-                cube([7,10,6], center=true);
-                cylinder(h=round_quality, d=3, center=true);
-            }
-        translate([0,28,0])
-            cube([90,2,6], center=true);
-        translate([0,-28,0])
-            cube([90,2,6], center=true);
-    }
-
-    // Left Holder
-    translate([-63,-25,6])
-        rotate([90,0,0])
-            difference() {
-                cylinder(h=67, d=45.5, center=true);
-                translate([0,10,0])
-                    cube([50,50,70], center=true);
-            }
+module bottom_spacers() {
+    translate([0,0,0])
+        bottom_legs();
+    translate([20,0,-1])
+        rotate([0,90,0])
+            bottom_legs();
+    translate([40,0,0])
+        bottom_legs();
+}
 
-    // Right Holder
-    translate([63,-25,6])
-        rotate([90,0,0])
-            difference() {
-                cylinder(h=67, d=45.5, center=true);
-                translate([0,10,0])
-                    cube([50,50,70], center=true);
-            }
 
-    /****
-    // Battery + Capacitor Area
-    translate([0,6,-19])
-        cube([70,2,20], center=true);
-    translate([0,-52,-19])
-        cube([70,2,20], center=true);
-    translate([36,-23,-19])
-        cube([2,60,20], center=true);
-    translate([-36,-23,-19])
-        cube([2,60,20], center=true);
-
-    // Back Cover Holder
-    translate([41,-23,-19])
-        cylinder(h=round_quality, d=10, center=true);
-    translate([39,-23,-19])
-        cube([5,10,20], center=true);
-    translate([-41,-23,-19])
-        cylinder(h=round_quality, d=10, center=true);
-    translate([-39,-23,-19])
-        cube([5,10,20], center=true);
-     ***/
+if(show_bottom_H) {
+    translate([-85,-61,6]) {
+        bottom_H();
+    }
+    translate([45,-61,6]) {
+        bottom_H();
+    }
 }
 
-// Display BackCover
-module display_backcover() {
-    difference() {
-        translate([0,21,7]) {
-            difference() {
-                cube([45.5,29.5,2], center=true);
-        
-                translate([21.5,13.5,0])
-                    cylinder(h=3, d=1, center=true);
-    
-                translate([-21.5,13.5,0])
-                    cylinder(h=3, d=1, center=true);
-    
-                translate([-21.5,-8.5,0])
-                    cylinder(h=3, d=1, center=true);
-    
-                translate([21.5,-8.5,0])
-                    cylinder(h=3, d=1, center=true);
+module bottom_H() {
+    translate([0,0,0])
+        bottom_legs();
+    translate([20,0,0])
+        rotate([0,90,0])
+            bottom_legs();
+    translate([40,0,0])
+        bottom_legs();
+}
 
-                translate([0,-27,0])
-                    cube([50,35,5], center=true);
-            }
-        }
-    }
 
-    /*
-    translate([9,23,11]) {
-        cube([5,10,9], center=true);
-        translate([2,0,-2])
-            cube([10,2,3], center=true);
+if(show_top_bars) {
+    translate([-85,11,6]) {
+        rotate([180,0,0])
+            bottom_H();
     }
-
-    translate([-9,23,11]) {
-        cube([5,10,9], center=true);
-        translate([-2,0,-2])
-            cube([10,2,3], center=true);
+    translate([45,11,6]) {
+        rotate([180,0,0])
+            bottom_H();
     }
-    */
 }
 
-module battery_backcover_full() {
+module top_bars() {
+    rotate([0,0,180])
     difference() {
-        battery_backcover();
+        cube([14,4.5,30], center=true);
 
-        // Left Screw Hold on the Battery Cover
-        translate([41,-23,-30])
-            cylinder(h=round_quality, d=2, center=true, $fn=round_quality);
+        // Screw top
+        translate([0,0,9])
+            rotate([90,0,0])
+                cylinder(h=10, d=2, center=true, $fn=round_quality);
+        translate([0,-2,9])
+            rotate([90,0,0])
+                cylinder(h=4, d=4.6, center=true, $fn=round_quality);
 
-        // Right Screw Hold on the Battery Cover
-        translate([-41,-23,-30])
-            cylinder(h=round_quality, d=2, center=true, $fn=round_quality);
+        // Screw bottom
+        translate([0,0,-6])
+            rotate([90,0,0])
+                cylinder(h=10, d=2, center=true, $fn=round_quality);
+        translate([0,-2,-6])
+            rotate([90,0,0])
+                cylinder(h=4, d=4.6, center=true, $fn=round_quality);
 
-        // Charger Port
-        // translate([0,-50,-30])
-        //     cube([10,3,6], center=true);
-        translate([0,-23,-30])
-            cube([76,50,5], center=true);
+        // Sides
+        translate([10,0,0])
+            rotate([0,0,45])
+                cube([20,4.5,33], center=true);
+        translate([-10,0,0])
+            rotate([0,0,-45])
+                cube([20,4.5,33], center=true);
     }
 
-    // Upper box area
-    translate([0,-23,-45]) {
-        difference() {
-            cube([77,54,31.4], center=true);
-            translate([0,0,3.5])
-                cube([74,51,35.4], center=true);
-            translate([27,25,11])
-                cube([6.6,12,14], center=true);
-            translate([0,-15,-19])
-                cube([2,5,12], center=true);
-        }
-    }
 }
 
-module back_cover_full() {
-    translate([53,20,-10]) {
-        rotate([0,0,30])
-            cube([45,2,2], center=true);
-        rotate([0,0,-30])
-            cube([45,2,2], center=true);
-        cube([10,10,2], center=true);
+if(show_bottom_legs) {
+    translate([-85,-61,6]) {
+        bottom_legs();
     }
-
-    translate([-53,20,-10]) {
-        rotate([0,0,30])
-            cube([45,2,2], center=true);
-        rotate([0,0,-30])
-            cube([45,2,2], center=true);
-        cube([10,10,2], center=true);
+    translate([-45,-61,6]) {
+        bottom_legs();
+    }
+    translate([45,-61,6]) {
+        bottom_legs();
     }
+    translate([85,-61,6]) {
+        bottom_legs();
+    }
+} else if(show_bottom_single) {
+    translate([0,0,0])
+        rotate([-90,0,0])
+            bottom_legs();
+    translate([20,0,0])
+        rotate([-90,0,0])
+            bottom_legs();
+    translate([40,0,0])
+        rotate([-90,0,0])
+            bottom_legs();
+    translate([60,0,0])
+        rotate([-90,0,0])
+            bottom_legs();
+    translate([80,0,0])
+        rotate([-90,0,0])
+            bottom_legs();
+    translate([100,0,0])
+        rotate([-90,0,0])
+            bottom_legs();
+    translate([120,0,0])
+        rotate([-90,0,0])
+            bottom_legs();
+    translate([140,0,0])
+        rotate([-90,0,0])
+            bottom_legs();
+}
 
+module bottom_legs() {
     difference() {
-        back_cover();
+        cube([14,4.5,30], center=true);
 
-        // Left Holder Hollow area
-        translate([-63,-25,9])
+        // Screw top
+        translate([0,0,9])
             rotate([90,0,0])
-                difference() {
-                    cylinder(h=60, d=45.5, center=true);
-                    translate([0,10,0])
-                        cube([50,50,70], center=true);
-                }
-
-        // Right Holder Hollow area
-        translate([63,-25,9])
+                cylinder(h=10, d=2, center=true, $fn=round_quality);
+        translate([0,-2,9])
             rotate([90,0,0])
-                difference() {
-                    cylinder(h=60, d=45.5, center=true);
-                    translate([0,10,0])
-                        cube([50,50,70], center=true);
-                }
+                cylinder(h=4, d=4.6, center=true, $fn=round_quality);
 
+        // Screw bottom
+        translate([0,0,-6])
+            rotate([90,0,0])
+                cylinder(h=10, d=2, center=true, $fn=round_quality);
+        translate([0,-2,-6])
+            rotate([90,0,0])
+                cylinder(h=4, d=4.6, center=true, $fn=round_quality);
 
-        translate([0,-20,-10])
-            cube([20,20,10], center=true);
-
-        // Left Screw Hold on the Battery Cover
-        translate([41,-23,-30])
-            cylinder(h=round_quality, d=2, center=true);
-
-        // Right Screw Hold on the Battery Cover
-        translate([-41,-23,-30])
-            cylinder(h=round_quality, d=2, center=true);
-
-        /*************
-        // Screw Holes at backcover gimbal area
-        translate([-79.5,7.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([79.5,7.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([79.5,-57.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([-79.5,-57.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([-14.5,-57.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([14.5,-57.5,-10])
-            cylinder(h=10, d=1, center=true);
-
-        // Screws holes at switches panel
-        translate([73.5,12.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([32.5,12.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([32.5,32.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([73.5,32.5,-10])
-            cylinder(h=10, d=1, center=true);
-
-        translate([-32.5,32.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([-32.5,12.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([-73.5,12.5,-10])
-            cylinder(h=10, d=1, center=true);
-        translate([-73.5,32.5,-10])
-            cylinder(h=10, d=1, center=true);
-         ********/
+        // Sides
+        translate([10,0,0])
+            rotate([0,0,45])
+                cube([20,4.5,33], center=true);
+        translate([-10,0,0])
+            rotate([0,0,-45])
+                cube([20,4.5,33], center=true);
     }
-}
-
-module body_full() {
-    body();
 
-    translate([-16,0,0])
-        gimbal_ring();
-    translate([110,0,0]) {
-        gimbal_ring();
-    }
 }
 
-module all() {
-    // Display Backcover
-    display_backcover();
-
-    // Battery Backcover
-    battery_backcover_full();
-
-    // Main BackCover
-    back_cover_full();
-
-    // Full Body
-    body_full();
-
-    // Gimbal Ring
-    gimbal_ring();
-
-    translate([-41,0,20]) {
-        translate([135,0,-20])
-            gimbal_ring();
+if(show_top_only) {
+    difference() {
+        body_full();
+        translate([0,0,-37.5])
+            cube([200,200,100], center=true);
     }
+} else if(show_bottom_only) {
+    difference() {
+        body_full();
+        translate([0,0,27])
+            cube([200,200,30], center=true);
+    }
+} else {
+    body_full();
 }
 
+// Ruler only
+// translate([24.5,0,0])
+//     rotate([0,0,0])
+//         cube([10,10,10], center=true);
 
-module body() {
-    // Left Switch Panel
-    // switch_panel();
+if(show_bars) {
+    if(show_bars_1) {
+        translate([0,-10,0])
+            difference() {
+                show_bars_plate(0);
     
-    // Right Switch Panel 
-    // mirror([-1,0,0])
-    //    switch_panel();
+                translate([15,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
     
-    // Top Display of the OLED Area
-    // translate([0,2,0])
-    //    top_display();
+                translate([45,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
     
-    // Center GAP
-    // translate([0,0,-5])
-    //     center_face();
+                translate([45,20,15])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
     
-    // Left gimbal
-    translate([25,0,20])
-        gimbal_unit_face();
+                translate([85,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
     
-    // translate([-87,-25,6])
-    //     gimbal_side();
-
-    // Right gimbal
-    translate([-25,0,20]) {
-        mirror([-1,0,0])
-           gimbal_unit_face();
+                translate([85,20,15])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([-15,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([-45,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
     
-    //     mirror([-1,0,0])
-    //         translate([-107,-25,-14])
-    //            gimbal_side();
+                translate([-45,20,15])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([-85,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([-85,20,15])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+            }
+    }
 
+    if(show_bars_2) {
+        translate([0,-80,0]) {
+            difference() {
+                show_bars_plate(1);
+    
+                translate([15,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([45,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([45,20,15])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([85,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([85,20,15])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([-15,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([-45,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([-45,20,15])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([-85,20,0])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+    
+                translate([-85,20,15])
+                    rotate([90,0,0])
+                        cylinder(h=5, d=1.5, center=true, $fn=round_quality);
+            }
+        }
     }
 }
 
-/***********
-// To measure the size and location to put the PCB. To be hidden once done.
-translate([0,-22,-12.5])
-    tx_board();
- ************/
-
-module pcb_case() {
+if(show_m5) {
+    translate([0,-20,28])
+        rotate([180,0,180])
+            m5_body();
 }
 
-//display_bracket();
-module display_bracket() {
-    translate([0,18.5,22])
-    difference() {
-        cube([50,25,3], center=true);
-
-        translate([0,-0.5,0])
-            rotate([0,0,90])
-                cube([13.4,23.5,5], center=true);
+if(show_gimbal_r) {
+    if(show_right_g) {
+        translate([-16,0,0])
+            gimbal_ring();
+    } else {
+        translate([-16,0,0])
+            gimbal_ring();
+        translate([110,0,0])
+            gimbal_ring();
     }
 }
 
-// OLED Display
-module top_display() {
-    // Measurement: 13.4mm x 23.5mm
-    translate([0,20.8,20])
-        difference() {
-            cube([50,26.4,2], center=true);
-
-        translate([0,0.5,0])
-            rotate([0,0,90])
-                cube([17.4,24.9,5], center=true);
+module show_bars_plate(bar_types) {
+    if(bar_types == 0) {
+        translate([0,20,0])
+            rotate([0,0,0])
+                difference() {
+                    cube([180,2,8], center=true);
+                    translate([0,0,4])
+                        rotate([90,0,0])
+                            cylinder(h=4, d=10, center=true, $fn=round_quality);
+                }
+    } else {
+        translate([0,20,0])
+            rotate([0,0,0])
+                cube([180,2,8], center=true);
     }
+        
+    translate([85,20,10])
+        rotate([0,0,0]) {
+            cube([10,2,20], center=true);
+        }
 
-    // Top cover
-    translate([0,35,13.5])
-        rotate([90,0,0])
-            cube([50,15,2], center=true);
-
-    // Bottom Cover
-    translate([0,8,13.5])
-        rotate([90,0,0])
-            cube([50,15,2], center=true);
+    translate([45,20,10])
+        rotate([0,0,0])
+            cube([10,2,20], center=true);
 
-    // Top Cover Left
-    translate([-24,21.5,13.5])
-        rotate([90,0,90])
-            cube([25,15,2], center=true);
+    translate([-85,20,10])
+        rotate([0,0,0])
+            cube([10,2,20], center=true);
 
-    // Top Cover Right
-    translate([24,21.5,13.5])
-        rotate([90,0,90])
-            cube([25,15,2], center=true);
+    translate([-45,20,10])
+        rotate([0,0,0])
+            cube([10,2,20], center=true);
+}
 
-    // Screws - Top Left
-    translate([-21.5,32.5,14])
-        difference() {
-            cylinder(h=13, d=4, center=true);
-            cylinder(h=33, d=1.5, center=true);
+module body_full() {
+    if(show_gimbal) {
+        if(show_right_b && show_left_b) {
+            body();
+        } else if(show_right_b && !show_left_b) {
+            difference() {
+                body();
+                translate([-60,0,0])
+                    cube([80,200,80], center=true);
+            }
+        } else if(!show_right_b && show_left_b) {
+            difference() {
+                body();
+                translate([60,0,0])
+                    cube([80,200,80], center=true);
+            }
         }
+    }
 
-    // Screws - Top Right
-    translate([21.5,32.5,14])
-        difference() {
-            cylinder(h=13, d=4, center=true);
-            cylinder(h=33, d=1.5, center=true);
-        }
+    if(show_battery) {
+        translate([0,-20,17])
+            rotate([180,0,180]) {
+                difference() {    
+                    battery_area();
 
-    // Screw - Bottom Left
-    translate([-21.5,10.5,14])
-        difference() {
-            cylinder(h=13, d=4, center=true);
-            cylinder(h=33, d=1.5, center=true);
-        }
+                    translate([-30,-6,22])
+                        rotate([0,0,0])
+                            cube([10,30,7], center=true);
 
-    // Screw - Bottom Right
-    translate([21.5,10.5,14])
-        difference() {
-            cylinder(h=13, d=4, center=true);
-            cylinder(h=33, d=1.5, center=true);
+                    translate([30,-6,22])
+                        rotate([0,0,0])
+                            cube([10,30,7], center=true);
+                }
+            }
     }
 }
 
-// Switch Panels
-module switch_panel() {
-    difference() {
-        translate([-53,20,20])
-            rotate([0,0,0])
-                cube([45,30,2], center=true);
+module body() {
+    // Left gimbal
+    if(show_left) {
+        translate([25,0,20]) {
+            if(show_gimbal_u) {
+                difference() {
+                    gimbal_unit_face();
+    
+                    translate([-85,-15,-55])
+                        cube([90,90,80], center=true);
+                }
+            } else if(show_gimbal_b) {
+                difference() {
+                    gimbal_unit_face();
+    
+                    translate([-85,-15,25])
+                        cube([90,90,80], center=true);
+                }
+            } else {
+                gimbal_unit_face();
+            }
+        }
+    }
     
-        translate([-66,22,20])
-            rocker_switch(false);
+    // Right gimbal
+    if(show_right) {
+        translate([-25,0,20])
+            mirror([-1,0,0])
+                if(show_gimbal_u) {
+                    difference() {
+                        gimbal_unit_face();
     
-        translate([-53,22,20])
-            rocker_switch(false);
+                        translate([-85,-15,-55])
+                            cube([90,90,80], center=true);
+                    }
+                } else if(show_gimbal_b) {
+                    difference() {
+                        gimbal_unit_face();
     
-        translate([-40,22,20])
-            rocker_switch(false);
+                        translate([-85,-15,25])
+                            cube([90,90,80], center=true);
+                    }
+                } else {
+                    gimbal_unit_face();
+                }
     }
-
-    // Side - Left
-    translate([76,23,6])
-        rotate([0,90,0])
-            cube([30,24,2], center=true);
-
-    // Side - Right
-    translate([30,23,6])
-        rotate([0,90,0])
-            cube([30,24,2], center=true);
-
-    // Side - Top
-    translate([53,35,6])
-        rotate([90,0,0])
-            cube([48,30,2], center=true);
-
-    // Screw holders
-    // Screw - Top Left
-    translate([73.5,32.5,7])
-        difference() {
-            cylinder(h=28, d=4, center=true);
-            cylinder(h=29, d=1.5, center=true);
-        }
-
-    // Screw - Top Right
-    translate([32.5,32.5,7])
-        difference() {
-            cylinder(h=28, d=4, center=true);
-            cylinder(h=29, d=1.5, center=true);
-        }
-
-    // Screw - Bottom Left
-    translate([73.5,12.5,7])
-        difference() {
-            cylinder(h=28, d=4, center=true);
-            cylinder(h=29, d=1.5, center=true);
-        }
-
-    // Screen - Bottom Right
-    translate([32.5,12.5,7])
-        difference() {
-            cylinder(h=28, d=4, center=true);
-            cylinder(h=29, d=1.5, center=true);
-        }
 }
 
-// Center Top Part
-module center_face() {
-    // Side Walls
-    translate([-10,-22.5,11])
-        rotate([90,0,90])
-            cube([65,20,2], center=true);
-    translate([10,-22.5,11])
-        rotate([90,0,90])
-            cube([65,20,2], center=true);
-
+module gimbal_ring() {
     difference() {
-        // Center Gap
-        translate([0,-25,20])
-            rotate([0,0,90])
-                cube([70,20,2], center=true);
-        
-        // Center - Top Switch
-        translate([0,-10,18])
-            rotate([0,90,90])
-                rocker_switch(false);
-        
-        // Center - Middle Switch
-        translate([0,-25,18])
-            rotate([0,90,90])
-                rocker_switch(false);
-        
-        // Center - Bottom Switch
-        translate([0,-40,18])
-            rotate([0,90,90])
-                rocker_switch(false);
+        gimbal_ring_full();
 
-        // Remove bottom...
-        translate([0,-60,20])
-            rotate([0,0,90])
-                cube([10,30,5], center=true);
+        translate([-47,-25,23.5])
+            cylinder(h=6, d1=47.5, d2=57.5, center=true, $fn=round_quality);
     }
+}
 
-    // Bottom
-    translate([0,-55.5,8.5])
-        rotate([90,0,0])
-            cube([22,25,2], center=true);
+module battery_area() {
+    // Battery base top
+    /***
+    translate([0,-5,18])
+        rotate([0,0,0])
+            difference() {
+                cube([60,67,1], center=true);
 
-    // Top
-    translate([0,9.5,11])
-        rotate([90,0,0])
-            cube([22,30,3], center=true);
+                // Side hole for Throttle, Yaw, Pitch and Roll connectors
+                translate([16,3,0])
+                    cube([15,55,2], center=true);
 
-    // Bottom HOOK
-    translate([0,-57.5,18.5]) {
-        difference() {
-            rotate([90,0,0])
-                cube([10,5,5], center=true);
-            translate([0,-2,0])
-                cylinder(h=6, d=5, center=true);
-        }
-        translate([0,-3,0])
-        difference() {
-            cylinder(h=5, d=10, center=true);
-            cylinder(h=6, d=5, center=true);
-        }
-    }
+                // Hole for Power input
+                translate([0,-19.5,0])
+                    cube([10,10,2], center=true);
+            }
+    ***/
 
-    /***
-    // Screw - Top Left
-    translate([-7.5,7,11])
-        difference() {
-            cylinder(h=16, d=4, center=true);
-            cylinder(h=round_quality, d=1.5, center=true);
-        }
+    // Battery base top side left
+    // translate([28.5,-5,13])
+    //     rotate([0,90,0])
+    //         cube([10,65,3], center=true);
+    
+    // Battery base top side right
+    // translate([-28.5,-5,13])
+    //     rotate([0,90,0])
+    //         cube([10,65,3], center=true);
 
-    // Screw - Top Right
-    translate([7.5,7,11])
-        difference() {
-            cylinder(h=16, d=4, center=true);
-            cylinder(h=round_quality, d=1.5, center=true);
-        }
+    // Battery base top side bottom
+    translate([0,-38,15])
+        rotate([90,0,0]) {
+            difference() {
+                cube([60,20,1], center=true);
 
-    // Screw - Bottom Left
-    translate([-7.5,-53,11])
-        difference() {
-            cylinder(h=16, d=4, center=true);
-            cylinder(h=round_quality, d=1.5, center=true);
-        }
+                translate([15,-3,0])
+                    cylinder(h=10, d=1.5, center=true, $fn=round_quality);
 
-    // Screw - Bottom Right
-    translate([7.5,-53,11])
-        difference() {
-            cylinder(h=16, d=4, center=true);
-            cylinder(h=round_quality, d=1.5, center=true);
+                translate([-15,-3,0])
+                    cylinder(h=10, d=1.5, center=true, $fn=round_quality);
+            }
         }
-     ***/
-}
+    translate([0,-37,15])
+        rotate([90,0,0])
+            cube([60,20,2], center=true);
 
-// Rocker Switch Hole Dimension 8.5mm x 13.2mm (Bracket size 10.3mm x 14.8mm)
-module rocker_switch(bracket = false) {
-    if(bracket)
-        cube([10.7,15.2,9.5], center=true);
-    else
-        cube([9,14.2,9.5], center=true);
-}
+    // Battery base top side top
+    translate([0,27,12])
+        rotate([90,0,0]) {
+            difference() {
+                cube([60,10,3], center=true);
 
-// The MOCK UP PCB
-module tx_board() {
-    difference() {
-        translate([0,0,0])
-            rotate([0,0,0])
-                cube([75,50,1.2], center=true);
-        
-        // Left groove
-        groove();
+                translate([0,-4,0])
+                    cylinder(h=4, d=10, center=true, $fn=round_quality);
 
-        // Right Groove
-        mirror([1,0,0]) {
-            groove();
+                translate([15,-1,0])
+                    cylinder(h=10, d=1.5, center=true, $fn=round_quality);
+
+                translate([-15,-1,0])
+                    cylinder(h=10, d=1.5, center=true, $fn=round_quality);
+            }
+            translate([0,6,0])
+                cube([60,10,3], center=true);
         }
-    }
-}
 
-module groove() {
-    translate([-35,0,0])
-        rotate([90,0,90])
-            cube([20,2,5], center=true);
-    
-    translate([-38,10,0])
-        rotate([0,0,45])
-            cube([8,8,2.5], center=true);
+    // Supporters
+    translate([0,27.5,28])
+        cube([2,2,10], center=true);
+    translate([10,27.5,28])
+        cube([2,2,10], center=true);
+    translate([-10,27.5,28])
+        cube([2,2,10], center=true);
+    translate([-20,27.5,28])
+        cube([2,2,10], center=true);
+    translate([20,27.5,28])
+        cube([2,2,10], center=true);
+
+    // Seperator
+    // translate([0,-5,23])
+    //     rotate([0,0,0]) {
+    //         cube([60,67,1], center=true);
+    //     }
+
+    // Battery base bottom
+    translate([0,-5,33])
+        rotate([0,0,0]) {
+            cube([60,67,1], center=true);
+        }
 
-    translate([-38,-10,0])
-        rotate([0,0,45])
-            cube([8,8,2.5], center=true);
-}
+    // Battery base top cover
+    translate([0,-38,28])
+        rotate([90,0,0])
+            cube([62,10,1], center=true);
 
-module gimbal_ring() {
-    difference() {
-        gimbal_ring_full();
+    // Battery base bottom sides
+    translate([28.5,-5,26])
+        rotate([0,90,0])
+            cube([15,67,2], center=true);
+    translate([28.5,-5,23.5])
+        rotate([0,90,0])
+            cube([10,67,2], center=true);
+    translate([-28.5,-5,26])
+        rotate([0,90,0])
+            cube([15,67,2], center=true);
+    translate([-28.5,-5,23.5])
+        rotate([0,90,0])
+            cube([10,67,2], center=true);
 
-        translate([-47,-25,23.5])
-            cylinder(h=6, d1=47.5, d2=57.5, center=true, $fn=round_quality);
-    }
+    
 }
 
 module gimbal_ring_full() {
@@ -849,27 +766,120 @@ module gimbal_unit_face() {
     translate([-88,-25,0]) {
         // Left
         translate([-32.5,0,-14])
-            rotate([90,0,90])
+            rotate([90,0,90]) {
                 cube([63,30,2], center=true);
 
+                translate([0,0,41.4])
+                    rotate([0,90,0])
+                        difference() {
+                            cylinder(h=67, d=90, center=true, $fn=800);
+
+                            translate([-2.6,0,0])
+                                cube([90,90,90], center=true);
+                        }
+            }
+
         // Right
-        translate([32.5,0,-14])
+        translate([32.5,0,-14]) {
             rotate([90,0,90])
                 difference() {
                     cube([63,30,2], center=true);
                     translate([-27.5,6.1,0])
                         cylinder(h=64, d=3, center=true, $fn=100);
+                    translate([0,-2.5,0])
+                        cube([20,20,5], center=true);
                 }
 
+        // Rod Holder
+        /***
+        if(!show_gimbal_b) {
+            if(show_right && show_left) {
+                translate([32,-27.5,6])
+                    rotate([0,90,0])
+                        difference() {
+                            cylinder(h=62, d=10.5, center=true, $fn=100);
+                            cylinder(h=69, d=2, center=true, $fn=100);
+            
+                            // Small Gaps between the Rods
+                            translate([0,0,0])
+                                rotate([0,0,0])
+                                    cube([20,20,60], center=true);
+            
+                        }
+                }
+            }
+          ***/
+
+            if((show_left) && (!show_right)) {
+                translate([32,-27.5,6])
+                    rotate([0,90,0])
+                        difference() {
+                            cylinder(h=62, d=10.5, center=true, $fn=100);
+                            cylinder(h=69, d=2, center=true, $fn=100);
+            
+                            // Small Gaps between the Rods
+                            translate([0,0,1])
+                                rotate([0,0,0])
+                                    cube([20,20,62], center=true);
+            
+                        }
+            }
+
+            if((!show_left) && (show_right)) {
+                translate([32,-27.5,6])
+                    rotate([0,90,0])
+                        difference() {
+                            cylinder(h=62, d=10.5, center=true, $fn=100);
+                            cylinder(h=69, d=2, center=true, $fn=100);
+            
+                            // Small Gaps between the Rods
+                            translate([0,0,1])
+                                rotate([0,0,0])
+                                    cube([20,20,62], center=true);
+            
+                        }
+            }
+        }
+
         // Bottom
         translate([0,-32.5,-14])
-            rotate([90,0,0])
-                cube([67,30,2], center=true);
+            rotate([90,0,0]) {
+                difference() {
+                    cube([67,30,2], center=true);
+
+                    translate([-22,9,0])
+                            cylinder(h=8, d=1.5, center=true, $fn=100);
+
+                    translate([-22,-6,0])
+                            cylinder(h=8, d=1.5, center=true, $fn=100);
+
+                    translate([18,-6,0])
+                            cylinder(h=8, d=1.5, center=true, $fn=100);
+
+                    translate([18,9,0])
+                            cylinder(h=8, d=1.5, center=true, $fn=100);
+                }
+            }
 
         // Top
         translate([0,32.5,-14])
-            rotate([90,0,0])
-                cube([67,30,2], center=true);
+            rotate([90,0,0]) {
+                difference() {
+                    cube([67,30,2], center=true);
+
+                    translate([-22,9,0])
+                            cylinder(h=8, d=1.5, center=true, $fn=100);
+
+                    translate([-22,-6,0])
+                            cylinder(h=8, d=1.5, center=true, $fn=100);
+
+                    translate([18,-6,0])
+                            cylinder(h=8, d=1.5, center=true, $fn=100);
+
+                    translate([18,9,0])
+                            cylinder(h=8, d=1.5, center=true, $fn=100);
+                }
+            }
 
         difference() {
             translate([0,0,0])
@@ -900,81 +910,67 @@ module gimbal_unit_face() {
             translate([27.25,-27.25,0])
                 rotate([0,0,0])
                     cylinder(h=5,d=5.6, center=true, $fn=round_quality);
-        /*
-        translate([0,0,0])
-            rotate([0,0,0])
-                cube([77,51,4], center=true);
-        */
         }
     }
 
-    // Just a ruler
-    /***
-    translate([-13.9,-44.4])
-        cube([100,10,10], center=true);
-    ***/
-
-    // Screw Holders
-    // Top Left
-    /**********
-    translate([70.5,7.5,-13])
-        difference() {
-            cylinder(h=27, d=4, center=true, $fn=round_quality);
-            cylinder(h=33, d=1.5, center=true, $fn=round_quality);
-        }
-
-    // Top Right
-    translate([-55.5,7.5,-13])
-        difference() {
-            cylinder(h=27, d=4, center=true, $fn=round_quality);
-            cylinder(h=33, d=1.5, center=true, $fn=round_quality);
-        }
-
-    // Bottom Left
-    translate([70.5,-57.5,-13])
+    if(!show_gimbal_u) {
+        // Back cover...
         difference() {
-            cylinder(h=27, d=4, center=true, $fn=round_quality);
-            cylinder(h=33, d=1.5, center=true, $fn=round_quality);
-        }
-
-    // Bottom Right
-    translate([-55.5,-57.5,-13])
-        difference() {
-            cylinder(h=27, d=4, center=true, $fn=round_quality);
-            cylinder(h=33, d=1.5, center=true, $fn=round_quality);
+            back_cover_slim();
+    
+            translate([39,4.5,-38])
+                rotate([45,0,0])
+                    cube([66,40,6], center=true);
+    
+            translate([39,-60.4,-32.3])
+                rotate([-45,0,0])
+                    cube([65,40,6], center=true);
+    
+            translate([69,-25,-35.3])
+                rotate([0,-36,0])
+                    cube([12,67,6], center=true);
         }
-     *******/
+    }
 }
 
+module back_cover_slim() {
+    translate([34,-25,-35.5])
+        cube([55,55,2], center=true);
+    translate([39,4.5,-32.3])
+        rotate([45,0,0])
+            cube([66,10,2], center=true);
+    translate([39,-54.5,-32.3])
+        rotate([-45,0,0])
+            cube([65,10,2], center=true);
+    translate([66,-25,-32.3])
+        rotate([0,-36,0])
+            cube([12,67,2], center=true);
+    translate([5.5,-25,-32.3])
+        rotate([0,90,0])
+            cube([8.4,67,2], center=true);
+}
 
-// module roundedcube(size = [1, 1, 1], center = false, radius = 0.5, apply_to = "all") {
 module m5_body() {
+    translate([0,0,-1])
     difference() {
         if(!draft) {
-            rounded_corner_cube(8, [56.6,56.6,18]);
+            rounded_corner_cube(8, [56.6,56.6,17.5]);
         } else {
-            roundedcube([56.6,56.6,18], center = true, 0.5);
+            roundedcube([56.6,56.6,17.5], center = true, 0.5);
         }
         // cube([50.6, 50.6, 25], center=true);
         if(!draft) {
-            rounded_corner_cube(8, [50.6,50.6,18]);
+            rounded_corner_cube(8, [50.6,50.6,17.5]);
         } else {
-            roundedcube([50.6,50.6,18], center = true, 0.5);
+            roundedcube([50.6,50.6,17.5], center = true, 0.5);
         }
         translate([0,0,1])
             if(!draft) {
-                rounded_corner_cube(8, [54.6,54.6,18]);
+                rounded_corner_cube(8, [54.6,54.6,17.5]);
             } else {
-                roundedcube([54.6,54.6,18], center = true);
+                roundedcube([54.6,54.6,17.5], center = true);
             }
 
-        // Reset Button
-        /*****
-        translate([-16,-30,0])
-            rotate([90,0,0])
-                cylinder(h=10, d=8, center=true, $fn=round_quality);
-         *****/
-
         // Power Button
         translate([25,13,0])
             rotate([90,90,90])
@@ -985,9 +981,42 @@ module m5_body() {
             rotate([0,90,90])
                 cube([4,18.5,10], center=true);
 
+        // Speaker Holes
+        translate([-25,11,0])
+            rotate([90,0,90])
+                cylinder(h=10, d=3, center=true, $fn=round_quality);
+        translate([-25,5,0])
+            rotate([90,0,90])
+                cylinder(h=10, d=3, center=true, $fn=round_quality);
+        translate([-25,-1,0])
+            rotate([90,0,90])
+                cylinder(h=10, d=3, center=true, $fn=round_quality);
+        translate([-25,-7,0])
+            rotate([90,0,90])
+                cylinder(h=10, d=3, center=true, $fn=round_quality);
+        translate([-25,-13,0])
+            rotate([90,0,90])
+                cylinder(h=10, d=3, center=true, $fn=round_quality);
     }
 
+    // Center Holder
+    translate([0,-31.5,4.3])
+        rotate([0,0,0]) {
+            difference() {
+                cube([58,8,28], center=true);
+
+                // Screw Holders
+                translate([20,-3,9])
+                    rotate([90,0,0])
+                        cylinder(h=10, d=2, center=true, $fn=round_quality);
+                translate([-20,-3,9])
+                    rotate([90,0,0])
+                        cylinder(h=10, d=2, center=true, $fn=round_quality);
+            }
+        }
+
     // Center Rod
+    /****
     translate([0,-32.5,0])
         rotate([0,90,0])
             difference() {
@@ -998,41 +1027,36 @@ module m5_body() {
                 translate([0,0,28])
                     rotate([0,0,0])
                         cube([20,20,0.5], center=true);
+                translate([0,0,30.7])
+                    rotate([0,0,0])
+                        cube([20,20,5], center=true);
 
                 translate([0,0,-28])
                     rotate([0,0,0])
                         cube([20,20,0.5], center=true);
+                translate([0,0,-30.7])
+                    rotate([0,0,0])
+                        cube([20,20,5], center=true);
             }
-
-    // Battery base top
-    translate([0,-5,18])
-        rotate([0,0,0])
+     ***/
+    // Bottom HOOK
+    rotate([0,0,0]) {
+        translate([0,-35,-7.2]) {
             difference() {
-                cube([60,67,1], center=true);
-
-                // Side hole for Throttle, Yaw, Pitch and Roll connectors
-                translate([16,3,0])
-                    cube([15,55,2], center=true);
-
-                // Hole for Power input
-                translate([0,-19.5,0])
-                    cube([10,10,2], center=true);
+                rotate([90,0,0])
+                    cube([10,5,5], center=true);
+                translate([0,-2,0])
+                    cylinder(h=6, d=5, center=true, $fn=round_quality);
             }
-
-    // Battery base top side bottom
-    translate([0,-38,11])
-        rotate([90,0,0])
-            cube([60,20,1], center=true);
-
-    // Battery base top side top
-    translate([0,28,14])
-        rotate([90,0,0])
+            translate([0,3.5,0])
+                cube([10,5,5], center=true);
+            translate([0,-3,0])
             difference() {
-                cube([60,10,1], center=true);
-
-                translate([0,-4,0])
-                    cylinder(h=4, d=10, center=true, $fn=round_quality);
+                cylinder(h=5, d=10, center=true, $fn=round_quality);
+                cylinder(h=6, d=5, center=true, $fn=round_quality);
             }
+        }
+    }
 }
 
 module rounded_corner_cube(diameter, dimension) {
diff --git a/README.md b/README.md
index 67a9ffe..ec61824 100644
--- a/README.md
+++ b/README.md
@@ -48,7 +48,7 @@ ESP32 Dev Pinout:
                              U2_TXD / GPIO17 | [ ]               [ ] | GPIO26 / ADC2_9 / DAC2           
                           V_SPI_CS0 /  GPIO5 | [ ]  ___________  [ ] | GPIO25 / ADC2_8 / DAC1          
                     SCK / V_SPI_CLK / GPIO18 | [ ] |           | [ ] | GPIO33 / ADC1_5 / Touch8 / XTAL32 
-            U0_CTS / MSIO / V_SPI_Q / GPIO19 | [ ] |           | [ ] | GPIO32 / ADC1_4 / Touch9 / XTAL32
+            U0_CTS / MISO / V_SPI_Q / GPIO19 | [ ] |           | [ ] | GPIO32 / ADC1_4 / Touch9 / XTAL32
                      SDA / V_SPI_HD / GPIO21 | [ ] |           | [ ] | GPIO35 / ADC1_7                 
                       CLK2 / U0_RXD /  GPIO3 | [ ] |           | [ ] | GPIO34 / ADC1_6 
                       CLK3 / U0_TXD /  GPIO1 | [ ] |           | [ ] | GPIO39 / ADC1_3 / SensVN 
@@ -64,3 +64,14 @@ ESP32 Dev Pinout:
 # REF:
 Pinout and labels - https://docs.m5stack.com/en/core/core2_for_aws
 MP3 Sound generator - https://ttsmp3.com/
+
+GPIO35 - Throttle
+GPIO36 - Yaw
+GPIO32 - Pitch
+GPIO33 - Roll
+
+GPIO27 - CSN  - BLUE
+GPIO19 - CE   - WHITE
+       - SCK  - GREEN
+       - MOSI - YELLOW
+       - MISO - RED
diff --git a/platformio.ini b/platformio.ini
index 05a619e..9d5610a 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -18,3 +18,4 @@ board_build.partitions = bert2M_fat12M_16MB.csv
 lib_deps = 
 	m5stack/M5Core2@^0.1.0
 	lorol/LittleFS_esp32@^1.0.6
+	lemmingdev/ESP32-BLE-Gamepad@^0.3.4
diff --git a/src/BLE.cpp b/src/BLE.cpp
new file mode 100644
index 0000000..ee495b3
--- /dev/null
+++ b/src/BLE.cpp
@@ -0,0 +1,51 @@
+#include "BLE.h"
+
+BleGamepad bleGamepad;
+
+BLE::BLE(void) {
+    updated = true;
+}
+
+void BLE::begin(void) {
+    updated = true;
+    ble_begin = true;
+}
+
+
+void BLE::end(void) {
+    ble_begin = false;
+    ble_started = false;
+
+    Serial.printf("BLEGamepad is disconnected");
+    bleGamepad.end();
+}
+
+
+void BLE::update(void) {
+    // Starts to connect when receive this...
+    if(ble_begin) {
+        if(!ble_started) {
+            Serial.printf("Starting BLEGamepad.");
+            bleGamepad.begin();
+            Serial.printf("BLEGamepad OK");
+            ble_started = true;
+        }
+
+
+        if(bleGamepad.isConnected()) {
+            if((uint32_t)(millis() - last_updated) > 30) {
+                int16_t throttle = map(inputs.throttle, 0, 4096, -32767, 32767); // Throttle
+                int16_t yaw = map(inputs.yaw, 0, 4096, -32767, 32767);           // Yaw
+                int16_t pitch = map(inputs.pitch, 0, 4096, -32767, 32767);       // Pitch
+                int16_t roll = map(inputs.roll, 0, 4096, -32767, 32767);         // Roll
+
+                bleGamepad.setAxes(yaw, throttle, roll, pitch, 0, 0, DPAD_CENTERED);
+
+                last_updated = millis();
+                // Serial.printf("Sent\n");
+            } 
+        }
+    }
+}
+
+BLE ble;
diff --git a/src/BLE.h b/src/BLE.h
new file mode 100644
index 0000000..04fb17b
--- /dev/null
+++ b/src/BLE.h
@@ -0,0 +1,25 @@
+#ifndef _BLE_H
+#define _BLE_H
+
+#include <Arduino.h>
+#include <M5Core2.h>
+#include <BleGamepad.h>
+#include "Inputs.h"
+
+class BLE {
+    public:
+        bool ble_begin = false;
+        bool updated = false;
+        bool ble_started = false;
+
+        BLE(void);
+        void begin(void);
+        void end(void);
+        void update(void); 
+
+    private:
+        uint32_t last_updated = 0;
+};
+
+extern BLE ble;
+#endif
diff --git a/src/BLEGamepad.cpp b/src/BLEGamepad.cpp
new file mode 100644
index 0000000..173e85d
--- /dev/null
+++ b/src/BLEGamepad.cpp
@@ -0,0 +1,61 @@
+#include "BLEGamepad.h"
+
+BLEGamepad::BLEGamepad(void) {
+    updated = true;
+}
+
+void BLEGamepad::begin(void) {
+    updated = true;
+}
+
+
+void BLEGamepad::show(TFT_eSprite *m) {
+    if(!ble_begin) {
+        ble_begin = true;
+        ble.begin();
+    }
+
+    if((uint32_t) (millis() - last_updated) > 50) {
+        updated = true;
+    }
+
+    if(updated) {
+        m->fillRect(0, 0, 320, 240, BLACK);
+        m->setTextColor(WHITE, BLACK);
+        m->setTextSize(2);
+        m->setCursor(0,0);
+        m->print(String(inputs.throttle));
+        m->setCursor(0,16);
+        m->print(String(inputs.yaw));
+        m->setCursor(0,32);
+        m->print(String(inputs.pitch));
+        m->setCursor(0,48);
+        m->print(String(inputs.roll));
+
+        m->setCursor(64,64);
+        m->print("BLE GAMEPAD");
+
+        m->pushSprite(0,0);
+
+        updated = false;
+        last_updated = millis();
+    }
+
+
+    // Key Input Handler
+    if(M5.BtnC.wasPressed()) {
+        if(ble_begin) {
+            ble_begin = false;
+            ble.end();
+        }
+
+        screen.current_screen = SCREEN_MENU;
+        screen.updated = true;
+    }
+
+    // Temporary connect from here...
+    if(M5.BtnA.wasPressed()) {
+    }
+}
+
+BLEGamepad blegamepad;
diff --git a/src/BLEGamepad.h b/src/BLEGamepad.h
new file mode 100644
index 0000000..676e99c
--- /dev/null
+++ b/src/BLEGamepad.h
@@ -0,0 +1,24 @@
+#ifndef _BLEGAMEPAD_H
+#define _BLEGAMEPAD_H
+
+#include <Arduino.h>
+#include <M5Core2.h>
+#include "BLE.h"
+#include "Inputs.h"
+#include "Screen.h"
+
+class BLEGamepad {
+    public:
+        bool ble_begin = false;
+        bool updated = false;
+
+        BLEGamepad(void);
+        void begin(void);
+        void show(TFT_eSprite *m);
+
+    private:
+        uint32_t last_updated = 0;
+};
+
+extern BLEGamepad blegamepad;
+#endif
diff --git a/src/GimbalGraph.cpp b/src/GimbalGraph.cpp
new file mode 100644
index 0000000..7349516
--- /dev/null
+++ b/src/GimbalGraph.cpp
@@ -0,0 +1,5 @@
+#include "GimbalGraph.h"
+
+GimbalGraph::GimbalGraph(void) {
+}
+
diff --git a/src/GimbalGraph.h b/src/GimbalGraph.h
new file mode 100644
index 0000000..4df5ec3
--- /dev/null
+++ b/src/GimbalGraph.h
@@ -0,0 +1,14 @@
+#ifndef _GIMBAL_GRAPH_H
+#define _GIMBAL_GRAPH_H
+
+#include <Arduino.h>
+
+class GimbalGraph {
+    public:
+        GimbalGraph(void);
+
+    private:
+};
+
+extern GimbalGraph gimbalgraph;
+#endif
diff --git a/src/Inputs.cpp b/src/Inputs.cpp
new file mode 100644
index 0000000..e04e8fd
--- /dev/null
+++ b/src/Inputs.cpp
@@ -0,0 +1,259 @@
+#include "Inputs.h"
+
+Inputs::Inputs(void) {
+}
+
+
+void Inputs::begin(void) {
+    throttle_raw = 0;
+    yaw_raw      = 0;
+    pitch_raw    = 0;
+    roll_raw     = 0;
+
+    // Prepare the storage engine for TYPR
+    for(int i = 0; i < MEDIAN_TOTAL; i++) {
+        throttle_pool[i] = 0;
+        yaw_pool[i]      = 0;
+        pitch_pool[i]    = 0;
+        roll_pool[i]     = 0;
+    }
+}
+
+
+void Inputs::read(void) {
+    throttle_raw = analogRead(THROTTLE_PIN);
+    yaw_raw      = analogRead(YAW_PIN);
+    pitch_raw    = analogRead(PITCH_PIN);
+    roll_raw     = analogRead(ROLL_PIN);
+
+    throttle     = pool_insert(THROTTLE, throttle_raw);
+    yaw          = pool_insert(YAW, yaw_raw);
+    pitch        = pool_insert(PITCH, pitch_raw);
+    roll         = pool_insert(ROLL, roll_raw);
+}
+
+
+/*
+ * median_get:
+ * To get the median from the data depending on the median_type
+ *
+ * E.g.:
+ * retval = median_get(THROTTLE);
+ */
+uint16_t Inputs::median_get(uint8_t median_type) {
+    bool inserted = false;
+
+    uint16_t median_tmp[MEDIAN_TOTAL];
+
+    // Loop through the variable to determine position to insert
+    //  [ 12, 32, 4 ,0, 50, 2, 10, 10, 5, 20, 0 ]
+    /*
+        [ 12 ]
+        [ 12, 32 ]
+        [ 4, 12, 32 ]
+        [ 0, 4, 12, 32 ]
+        [ 0, 4, 12, 32, 50 ]
+        [ 0, 2, 4, 12, 32, 50 ]
+
+     */
+
+    // Initial
+    uint16_t temp_val = 0;
+    uint16_t total_insert = 1;
+
+    // Search on type
+    if(median_type == THROTTLE) {
+        median_tmp[0] = throttle_pool[0];
+    } else if(median_type == YAW) {
+        median_tmp[0] = yaw_pool[0];
+    } else if(median_type == PITCH) {
+        median_tmp[0] = pitch_pool[0];
+    } else if(median_type == ROLL) {
+        median_tmp[0] = roll_pool[0];
+    } 
+
+    // Loop insert and sort
+    for(int raw_count = 1; raw_count < MEDIAN_TOTAL; raw_count++) {
+        inserted = false;
+
+        if(median_type == THROTTLE) {
+            temp_val = throttle_pool[raw_count];
+        } else if(median_type == YAW) {
+            temp_val = yaw_pool[raw_count];
+        } else if(median_type == PITCH) {
+            temp_val = pitch_pool[raw_count];
+        } else if(median_type == ROLL) {
+            temp_val = roll_pool[raw_count];
+        }
+
+        for(int median_count = 0; median_count < total_insert; median_count++) {
+            if(!inserted) {
+
+                if(temp_val < median_tmp[median_count]) {
+                    inserted = true;
+
+                    // Reverse copy and insert
+                    for(int median_reverse = total_insert + 1; median_reverse > median_count; median_reverse--) {
+                        median_tmp[median_reverse] = median_tmp[median_reverse - 1];
+                    }
+
+                    // Insert the detected
+                    median_tmp[median_count] = temp_val;
+
+                    // Increase total insertion
+                    total_insert++;
+                }
+            }
+        }
+
+        // Nothing was inserted... so put at the last.
+        if(!inserted) {
+            median_tmp[total_insert++] = temp_val;
+        }
+    }
+
+    // Return the result
+    // return median_tmp[MEDIAN_POS];
+    // Using RC dead band way....**** NEED TO IMPROvE!!
+    if(median_type == THROTTLE) {
+        if(throttle > median_tmp[MEDIAN_POS]) {
+            if(throttle - median_tmp[MEDIAN_POS] > RC_DEADBAND) {
+                return median_tmp[MEDIAN_POS];
+            } else {
+                if(median_tmp[MEDIAN_POS] - throttle > RC_DEADBAND) {
+                    return median_tmp[MEDIAN_POS];
+                } else {
+                    return throttle;
+                }
+            }
+        }
+    } else if(median_type == YAW) {
+        if(yaw > median_tmp[MEDIAN_POS]) {
+            if(yaw - median_tmp[MEDIAN_POS] > RC_DEADBAND) {
+                return median_tmp[MEDIAN_POS];
+            } else {
+                if(median_tmp[MEDIAN_POS] - yaw > RC_DEADBAND) {
+                    return median_tmp[MEDIAN_POS];
+                } else {
+                    return yaw;
+                }
+            }
+        }
+    } else if(median_type == PITCH) {
+        if(pitch > median_tmp[MEDIAN_POS]) {
+            if(pitch - median_tmp[MEDIAN_POS] > RC_DEADBAND) {
+                return median_tmp[MEDIAN_POS];
+            } else {
+                if(median_tmp[MEDIAN_POS] - pitch > RC_DEADBAND) {
+                    return median_tmp[MEDIAN_POS];
+                } else {
+                    return pitch;
+                }
+            }
+        }
+    } else if(median_type == ROLL) {
+        if(roll > median_tmp[MEDIAN_POS]) {
+            if(roll - median_tmp[MEDIAN_POS] > RC_DEADBAND) {
+                return median_tmp[MEDIAN_POS];
+            } else {
+                if(median_tmp[MEDIAN_POS] - roll > RC_DEADBAND) {
+                    return median_tmp[MEDIAN_POS];
+                } else {
+                    return roll;
+                }
+            }
+        }
+    }
+
+}
+
+
+uint16_t Inputs::throttle_insert(uint16_t val) {
+    // Insert to the array...at the last 
+    for(int i = 1; i < MEDIAN_TOTAL; i++) 
+        // Shift to left
+        throttle_pool[i - 1] = throttle_pool[i];
+    
+    throttle_pool[MEDIAN_TOTAL - 1] = val;
+
+    // Find median....
+    return median_get(THROTTLE);
+}
+
+
+uint16_t Inputs::yaw_insert(uint16_t val) {
+    // Insert to the array...at the last 
+    for(int i = 1; i < MEDIAN_TOTAL; i++) 
+        // Shift to left
+        yaw_pool[i - 1] = yaw_pool[i];
+    
+    yaw_pool[MEDIAN_TOTAL - 1] = val;
+
+    // Find median....
+    return median_get(YAW);
+}
+
+
+uint16_t Inputs::pitch_insert(uint16_t val) {
+    // Insert to the array...at the last 
+    for(int i = 1; i < MEDIAN_TOTAL; i++) 
+        // Shift to left
+        pitch_pool[i - 1] = pitch_pool[i];
+    
+    pitch_pool[MEDIAN_TOTAL - 1] = val;
+
+    // Find median....
+    return median_get(PITCH);
+}
+
+
+uint16_t Inputs::roll_insert(uint16_t val) {
+    // Insert to the array...at the last 
+    for(int i = 1; i < MEDIAN_TOTAL; i++) 
+        // Shift to left
+        roll_pool[i - 1] = roll_pool[i];
+    
+    roll_pool[MEDIAN_TOTAL - 1] = val;
+
+    // Find median....
+    return median_get(ROLL);
+}
+
+
+/*
+ * pool_insert:
+ * To insert the data into the median pool depending on type of the variable
+ *
+ * E.g.:
+ * throttle_value = pool_insert(THROTTLE);
+ */
+uint16_t Inputs::pool_insert(uint8_t pool_type, uint16_t val) {
+    // Insert to the array...at the last of the array
+    for(int i = 1; i < MEDIAN_TOTAL; i++) {
+        // Shift to left
+        if(pool_type == THROTTLE) {
+            throttle_pool[i - 1] = throttle_pool[i];
+        } else if(pool_type == YAW) {
+            yaw_pool[i - 1] = yaw_pool[i];
+        } else if(pool_type == PITCH) {
+            pitch_pool[i - 1] = pitch_pool[i];
+        } else if(pool_type == ROLL) {
+            roll_pool[i - 1] = roll_pool[i];
+        }
+    }
+  
+    // Find median....
+    if(pool_type == THROTTLE) {
+        throttle_pool[MEDIAN_TOTAL - 1] = val;
+    } else if(pool_type == YAW) {
+        yaw_pool[MEDIAN_TOTAL - 1] = val;
+    } else if(pool_type == ROLL) {
+        roll_pool[MEDIAN_TOTAL - 1] = val;
+    } else if(pool_type == PITCH) {
+        pitch_pool[MEDIAN_TOTAL - 1] = val;
+    }
+    return median_get(pool_type);
+}
+
+
+Inputs inputs;
diff --git a/src/Inputs.h b/src/Inputs.h
new file mode 100644
index 0000000..b077a6e
--- /dev/null
+++ b/src/Inputs.h
@@ -0,0 +1,56 @@
+#ifndef _INPUTS_H
+#define _INPUTS_H
+
+#include <Arduino.h>
+
+#define THROTTLE_PIN    35
+#define YAW_PIN         36
+#define PITCH_PIN       32
+#define ROLL_PIN        33
+
+#define MEDIAN_TOTAL    11
+#define MEDIAN_POS      MEDIAN_TOTAL/2
+
+// For RC Deadband
+#define RC_DEADBAND     5
+
+enum input_names {
+    THROTTLE = 0,
+    YAW,
+    PITCH,
+    ROLL
+};
+
+class Inputs {
+    public:
+        uint16_t throttle = 0;
+        uint16_t yaw      = 0;
+        uint16_t pitch    = 0;
+        uint16_t roll     = 0;
+
+        Inputs(void);
+        void begin(void);
+        void read(void);
+
+    private:
+        uint16_t throttle_pool[MEDIAN_TOTAL];
+        uint16_t yaw_pool[MEDIAN_TOTAL];
+        uint16_t pitch_pool[MEDIAN_TOTAL];
+        uint16_t roll_pool[MEDIAN_TOTAL];
+        uint16_t tmp_median_store[MEDIAN_TOTAL];
+
+        uint16_t throttle_raw;
+        uint16_t yaw_raw;
+        uint16_t pitch_raw;
+        uint16_t roll_raw;
+
+        uint16_t median_get(uint8_t median_type);
+        uint16_t throttle_insert(uint16_t val);
+        uint16_t yaw_insert(uint16_t val);
+        uint16_t pitch_insert(uint16_t val);
+        uint16_t roll_insert(uint16_t val);
+        uint16_t pool_insert(uint8_t pool_type, uint16_t val);
+};
+
+extern Inputs inputs;
+#endif
diff --git a/src/Screen.cpp b/src/Screen.cpp
index fac842d..7e44a93 100644
--- a/src/Screen.cpp
+++ b/src/Screen.cpp
@@ -20,6 +20,9 @@ void Screen::begin(void) {
                      */
     // Initial value
     updated = true;
+
+    stickcalibration.begin();
+
     M5.Lcd.fillScreen(BLACK);
     mainscreen_buffer.createSprite(320, 240);
 }
@@ -36,6 +39,10 @@ void Screen::update(void) {
             menu_reboot();
         } else if(current_screen == SCREEN_MENU_POWEROFF) {
             menu_poweroff();
+        } else if(current_screen == SCREEN_MENU_BLUETOOTH) {
+            blegamepad.show(&mainscreen_buffer);
+        } else if(current_screen == SCREEN_MENU_STICK_CALIBRATION) {
+            stickcalibration.mydebug(&mainscreen_buffer);
         }
 
         last_screen_update = millis();
@@ -171,6 +178,9 @@ void Screen::menu(void) {
             current_screen = SCREEN_MENU_POWEROFF;
         } else if(current_menu == MENU_BLUETOOTH) {
             current_screen = SCREEN_MENU_BLUETOOTH;
+        } else if(current_menu == MENU_STICK_CALIBRATION) {
+            current_screen = SCREEN_MENU_STICK_CALIBRATION;
+            stickcalibration.updated = true;
         }
         updated = true;
     }
diff --git a/src/Screen.h b/src/Screen.h
index 20ec59b..4c4d6b5 100644
--- a/src/Screen.h
+++ b/src/Screen.h
@@ -3,7 +3,9 @@
 
 #include <Arduino.h>
 #include <M5Core2.h>
+#include "BLEGamepad.h"
 #include "Speak.h"
+#include "StickCalibration.h"
 
 #define REFRESH_TIME 1
 #define INTRO_TIME 100
@@ -19,7 +21,8 @@ enum screen_names {
     SCREEN_MENU,
     SCREEN_MENU_REBOOT,
     SCREEN_MENU_POWEROFF,
-    SCREEN_MENU_BLUETOOTH
+    SCREEN_MENU_BLUETOOTH,
+    SCREEN_MENU_STICK_CALIBRATION
 };
 
 enum menu_items {
@@ -46,6 +49,9 @@ enum selection_choice_yesno {
 
 class Screen {
     public:
+        uint8_t current_screen = SCREEN_INTRO;
+        bool updated = false;
+
         Screen(void);
         void begin(void);
         void intro(void);
@@ -56,9 +62,7 @@ class Screen {
         void update(void);
 
     private:
-        uint8_t current_screen = SCREEN_INTRO;
         uint32_t last_screen_update = 0;
-        bool updated = false;
 };
 
 extern Screen screen;
diff --git a/src/StickCalibration.cpp b/src/StickCalibration.cpp
new file mode 100644
index 0000000..0ca9461
--- /dev/null
+++ b/src/StickCalibration.cpp
@@ -0,0 +1,44 @@
+#include "StickCalibration.h"
+
+StickCalibration::StickCalibration(void) {
+    updated = true;
+}
+
+void StickCalibration::begin(void) {
+    updated = true;
+}
+
+
+void StickCalibration::mydebug(TFT_eSprite *m) {
+    if((uint32_t) (millis() - last_updated) > 50) {
+        updated = true;
+    }
+
+    if(updated) {
+        m->fillRect(0, 0, 320, 240, BLACK);
+        m->setTextColor(WHITE, BLACK);
+        m->setTextSize(2);
+        m->setCursor(0,0);
+        m->print(String(inputs.throttle));
+        m->setCursor(0,16);
+        m->print(String(inputs.yaw));
+        m->setCursor(0,32);
+        m->print(String(inputs.pitch));
+        m->setCursor(0,48);
+        m->print(String(inputs.roll));
+
+        m->pushSprite(0,0);
+
+        updated = false;
+        last_updated = millis();
+    }
+
+
+    // Key Input Handler
+    if(M5.BtnC.wasPressed()) {
+        screen.current_screen = SCREEN_MENU;
+        screen.updated = true;
+    }
+}
+
+StickCalibration stickcalibration;
diff --git a/src/StickCalibration.h b/src/StickCalibration.h
new file mode 100644
index 0000000..2a5722b
--- /dev/null
+++ b/src/StickCalibration.h
@@ -0,0 +1,21 @@
+#ifndef _STICK_CALIBRATION_H
+#define _STICK_CALIBRATION_H
+
+#include <Arduino.h>
+#include <M5Core2.h>
+#include "Inputs.h"
+#include "Screen.h"
+
+class StickCalibration {
+    public:
+        StickCalibration(void);
+        void begin(void);
+        void mydebug(TFT_eSprite *m);
+        bool updated = false;
+
+    private:
+        uint32_t last_updated = 0;
+};
+
+extern StickCalibration stickcalibration;
+#endif
diff --git a/src/main.cpp b/src/main.cpp
index 51d943c..23e2209 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -23,9 +23,11 @@ void setup() {
     
     storage.begin();
     customwifi.begin();
+    inputs.begin();
     web.begin();
     speak.welcome();
 
+
     // Task Creation
     xTaskCreatePinnedToCore(
         taskScreen,
@@ -39,7 +41,7 @@ void setup() {
 
     xTaskCreatePinnedToCore(
         taskWeb,
-        "TaskWeb",           // Name of the process
+        "TaskWeb",              // Name of the process
         4096,                   // This stack size can be checked & adjusted by reading the Stack Highwater
         NULL,
         4,                      // Priority
@@ -57,6 +59,26 @@ void setup() {
         CPU_0
     );
 
+    xTaskCreatePinnedToCore(
+        taskInput,
+        "TaskInput",            // Name of the process
+        8192,                   // This stack size can be checked & adjusted by reading the Stack Highwater
+        NULL,
+        4,                      // Priority
+        NULL,
+        CPU_0
+    );
+
+    xTaskCreatePinnedToCore(
+        taskBLE,
+        "TaskBLE",            // Name of the process
+        8192,                   // This stack size can be checked & adjusted by reading the Stack Highwater
+        NULL,
+        4,                      // Priority
+        NULL,
+        CPU_0
+    );
+
 }
 
 
@@ -101,3 +123,23 @@ void taskWeb(void *pvParameters) {
         vTaskDelay(100);
     }
 }
+
+
+void taskInput(void *pvParameters) {
+    (void) pvParameters;
+    
+    for(;;) {
+        inputs.read();       
+        vTaskDelay(10);
+    }
+}
+
+
+void taskBLE(void *pvParameters) {
+    (void) pvParameters;
+    
+    for(;;) {
+        ble.update();       
+        vTaskDelay(10);
+    }
+}
diff --git a/src/main.h b/src/main.h
index 03f6483..a6cbdaf 100644
--- a/src/main.h
+++ b/src/main.h
@@ -6,6 +6,8 @@
 #define CPU_0 0
 
 #include <M5Core2.h>
+#include "Inputs.h"
+#include "BLE.h"
 #include "Speak.h"
 #include "Screen.h"
 #include "Storage.h"
@@ -16,5 +18,7 @@
 void taskScreen(void *pvParameters);
 void taskSpeak(void *pvParameters);
 void taskWeb(void *pvParameters);
+void taskInput(void *pvParameters);
+void taskBLE(void *pvParameters);
 
 #endif