diff --git a/Core/Inc/bms.h b/Core/Inc/bms.h
index 378673e2..1b7e17d8 100644
--- a/Core/Inc/bms.h
+++ b/Core/Inc/bms.h
@@ -13,11 +13,11 @@ typedef struct {
 
 extern bms_t *bms;
 
-void bms_init();
+//void bms_init();
 
-void vBMSCANMonitor(void *pv_params);
-extern osThreadId_t bms_monitor_handle;
-extern const osThreadAttr_t bms_monitor_attributes;
-extern osMessageQueueId_t bms_monitor_queue;
+//void vBMSCANMonitor(void *pv_params);
+//extern osThreadId_t bms_monitor_handle;
+//extern const osThreadAttr_t bms_monitor_attributes;
+//extern osMessageQueueId_t bms_monitor_queue;
 
 #endif /*BMS_H*/
\ No newline at end of file
diff --git a/Core/Inc/monitor.h b/Core/Inc/monitor.h
index 07f397d2..30b54594 100644
--- a/Core/Inc/monitor.h
+++ b/Core/Inc/monitor.h
@@ -25,9 +25,9 @@ extern osThreadId_t pedals_monitor_handle;
 extern const osThreadAttr_t pedals_monitor_attributes;
 
 /* Task for Monitoring the IMU */
-void vIMUMonitor(void *pv_params);
-extern osThreadId_t imu_monitor_handle;
-extern const osThreadAttr_t imu_monitor_attributes;
+// void vIMUMonitor(void *pv_params);
+// extern osThreadId_t imu_monitor_handle;
+// extern const osThreadAttr_t imu_monitor_attributes;
 
 /* Task for Monitoring the TSMS sense on PDU  CTRL expander*/
 void vTsmsMonitor(void *pv_params);
diff --git a/Core/Src/bms.c b/Core/Src/bms.c
index 1c87c6e7..0e00383a 100644
--- a/Core/Src/bms.c
+++ b/Core/Src/bms.c
@@ -33,35 +33,35 @@ void bms_fault_callback()
 	queue_fault(&fault_data);
 }
 
-void bms_init()
-{
-	bms = malloc(sizeof(bms_t));
-	assert(bms);
+// void bms_init()
+// {
+// 	bms = malloc(sizeof(bms_t));
+// 	assert(bms);
 
-	/*TO-DO: specify timer attributes*/
-	bms->bms_monitor_timer =
-		osTimerNew(&bms_fault_callback, osTimerOnce, NULL, NULL);
+// 	/*TO-DO: specify timer attributes*/
+// 	bms->bms_monitor_timer =
+// 		osTimerNew(&bms_fault_callback, osTimerOnce, NULL, NULL);
 
-	bms_monitor_queue =
-		osMessageQueueNew(CAN_QUEUE_SIZE, sizeof(can_msg_t), NULL);
-	assert(bms_monitor_queue);
-}
+// 	bms_monitor_queue =
+// 		osMessageQueueNew(CAN_QUEUE_SIZE, sizeof(can_msg_t), NULL);
+// 	assert(bms_monitor_queue);
+// }
 
-void vBMSCANMonitor(void *pv_params)
-{
-	can_msg_t msg_from_queue;
+// void vBMSCANMonitor(void *pv_params)
+// {
+// 	can_msg_t msg_from_queue;
 
-	osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
-	for (;;) {
-		if (osOK == osMessageQueueGet(bms_monitor_queue,
-					      &msg_from_queue, NULL,
-					      osWaitForever)) {
-			/*TO-DO: fix duration (ticks)*/
-			osTimerStart(bms->bms_monitor_timer,
-				     BMS_CAN_MONITOR_DELAY);
-			bms->dcl = (uint16_t)((msg_from_queue.data[1] << 8) &
-					      msg_from_queue.data[0]);
-			//serial_print("BMS DCL %d", bms->dcl);
-		}
-	}
-}
\ No newline at end of file
+// 	osTimerStart(bms->bms_monitor_timer, BMS_CAN_MONITOR_DELAY);
+// 	for (;;) {
+// 		if (osOK == osMessageQueueGet(bms_monitor_queue,
+// 					      &msg_from_queue, NULL,
+// 					      osWaitForever)) {
+// 			/*TO-DO: fix duration (ticks)*/
+// 			osTimerStart(bms->bms_monitor_timer,
+// 				     BMS_CAN_MONITOR_DELAY);
+// 			bms->dcl = (uint16_t)((msg_from_queue.data[1] << 8) &
+// 					      msg_from_queue.data[0]);
+// 			//serial_print("BMS DCL %d", bms->dcl);
+// 		}
+// 	}
+// }
\ No newline at end of file
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 512a62f1..9a29f368 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -85,7 +85,7 @@ void can1_callback(CAN_HandleTypeDef *hcan)
 		break;
 	case BMS_DCL_MSG:
 		//printf("Recieved dcl");
-		osMessageQueuePut(bms_monitor_queue, &new_msg, 0U, 0U);
+		//osMessageQueuePut(bms_monitor_queue, &new_msg, 0U, 0U);
 		break;
 	default:
 		break;
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 04b1c778..1dffba4b 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -82,7 +82,7 @@ const osThreadAttr_t defaultTask_attributes = {
 /* USER CODE BEGIN PV */
 osMessageQueueId_t brakelight_signal;
 osMessageQueueId_t pedal_data_queue;
-osMessageQueueId_t imu_queue;
+//osMessageQueueId_t imu_queue;
 osMessageQueueId_t dti_router_queue;
 
 
@@ -186,7 +186,7 @@ int main(void)
   dti_t *mc   = dti_init();
   steeringio_t *wheel = steeringio_init();
   init_can1(&hcan1);
-  bms_init();
+  //bms_init();
 
   printf("\r\n\n\nInit Success...\r\n\n\n");
 
@@ -202,7 +202,7 @@ int main(void)
 
   /* USER CODE BEGIN RTOS_QUEUES */
   brakelight_signal = osMessageQueueNew(15, sizeof(bool), NULL);
-  imu_queue = osMessageQueueNew(IMU_QUEUE_SIZE, sizeof(imu_data_t), NULL);
+  //imu_queue = osMessageQueueNew(IMU_QUEUE_SIZE, sizeof(imu_data_t), NULL);
   pedal_data_queue = osMessageQueueNew(PEDAL_DATA_QUEUE_SIZE, sizeof(pedals_t), NULL);
 	dti_router_queue = osMessageQueueNew(DTI_QUEUE_SIZE, sizeof(can_msg_t), NULL);
 	assert(dti_router_queue);
@@ -235,8 +235,8 @@ int main(void)
   assert(dti_router_handle);
   can_dispatch_handle = osThreadNew(vCanDispatch, NULL, &can_dispatch_attributes);
   assert(can_dispatch_handle);
-  bms_monitor_handle = osThreadNew(vBMSCANMonitor, NULL, &bms_monitor_attributes);
-  assert(bms_monitor_handle);
+  //bms_monitor_handle = osThreadNew(vBMSCANMonitor, NULL, &bms_monitor_attributes);
+ // assert(bms_monitor_handle);
   serial_monitor_handle = osThreadNew(vSerialMonitor, NULL, &serial_monitor_attributes);
   assert(serial_monitor_handle);
   nero_monitor_handle = osThreadNew(vNeroMonitor, NULL, &nero_monitor_attributes);
diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
index 193a6df5..6bfd2107 100644
--- a/Core/Src/monitor.c
+++ b/Core/Src/monitor.c
@@ -331,84 +331,84 @@ void vPedalsMonitor(void *pv_params)
 	}
 }
 
-osThreadId_t imu_monitor_handle;
-const osThreadAttr_t imu_monitor_attributes = {
-	.name = "IMUMonitor",
-	.stack_size = 32 * 8,
-	.priority = (osPriority_t)osPriorityHigh,
-};
-
-void vIMUMonitor(void *pv_params)
-{
-	const uint8_t num_samples = 10;
-	static imu_data_t sensor_data;
-	fault_data_t fault_data = { .id = IMU_FAULT, .severity = DEFCON5 };
-	can_msg_t imu_accel_msg = { .id = CANID_IMU_ACCEL,
-				    .len = 6,
-				    .data = { 0 } };
-	can_msg_t imu_gyro_msg = { .id = CANID_IMU_GYRO,
-				   .len = 6,
-				   .data = { 0 } };
-
-	mpu_t *mpu = (mpu_t *)pv_params;
-
-	for (;;) {
-		// serial_print("IMU Task\r\n");
-		/* Take measurement */
-		uint16_t accel_data[3] = { 0 };
-		uint16_t gyro_data[3] = { 0 };
-		if (read_accel(mpu, accel_data)) {
-			fault_data.diag = "Failed to get IMU acceleration";
-			queue_fault(&fault_data);
-		}
-
-		if (read_gyro(mpu, gyro_data)) {
-			fault_data.diag = "Failed to get IMU gyroscope";
-			queue_fault(&fault_data);
-		}
-
-		/* Run values through LPF of sample size  */
-		sensor_data.accel_x =
-			(sensor_data.accel_x + accel_data[0]) / num_samples;
-		sensor_data.accel_y =
-			(sensor_data.accel_y + accel_data[1]) / num_samples;
-		sensor_data.accel_z =
-			(sensor_data.accel_z + accel_data[2]) / num_samples;
-		sensor_data.gyro_x =
-			(sensor_data.gyro_x + gyro_data[0]) / num_samples;
-		sensor_data.gyro_y =
-			(sensor_data.gyro_y + gyro_data[1]) / num_samples;
-		sensor_data.gyro_z =
-			(sensor_data.gyro_z + gyro_data[2]) / num_samples;
-
-		/* Publish to IMU Queue */
-		osMessageQueuePut(imu_queue, &sensor_data, 0U, 0U);
-
-		/* convert to big endian */
-		endian_swap(&sensor_data.accel_x, sizeof(sensor_data.accel_x));
-		endian_swap(&sensor_data.accel_y, sizeof(sensor_data.accel_y));
-		endian_swap(&sensor_data.accel_z, sizeof(sensor_data.accel_z));
-		endian_swap(&sensor_data.gyro_x, sizeof(sensor_data.gyro_x));
-		endian_swap(&sensor_data.gyro_y, sizeof(sensor_data.gyro_y));
-		endian_swap(&sensor_data.gyro_z, sizeof(sensor_data.gyro_z));
-
-		/* Send CAN message */
-		memcpy(imu_accel_msg.data, &sensor_data, imu_accel_msg.len);
-		// if (queue_can_msg(imu_accel_msg)) {
-		//	fault_data.diag = "Failed to send CAN message";
-		//	queue_fault(&fault_data);
-		// }
-
-		memcpy(imu_gyro_msg.data, &sensor_data, imu_gyro_msg.len);
-		if (queue_can_msg(imu_gyro_msg)) {
-			fault_data.diag = "Failed to send CAN message";
-			queue_fault(&fault_data);
-		}
-
-		/* Yield to other tasks */
-		osDelay(IMU_SAMPLE_DELAY);
-	}
-}
+//osThreadId_t imu_monitor_handle;
+//const osThreadAttr_t imu_monitor_attributes = {
+//	.name = "IMUMonitor",
+//	.stack_size = 32 * 8,
+//	.priority = (osPriority_t)osPriorityHigh,
+//};
+
+// void vIMUMonitor(void *pv_params)
+// {
+// 	const uint8_t num_samples = 10;
+// 	static imu_data_t sensor_data;
+// 	fault_data_t fault_data = { .id = IMU_FAULT, .severity = DEFCON5 };
+// 	can_msg_t imu_accel_msg = { .id = CANID_IMU_ACCEL,
+// 				    .len = 6,
+// 				    .data = { 0 } };
+// 	can_msg_t imu_gyro_msg = { .id = CANID_IMU_GYRO,
+// 				   .len = 6,
+// 				   .data = { 0 } };
+
+// 	mpu_t *mpu = (mpu_t *)pv_params;
+
+// 	for (;;) {
+// 		// serial_print("IMU Task\r\n");
+// 		/* Take measurement */
+// 		uint16_t accel_data[3] = { 0 };
+// 		uint16_t gyro_data[3] = { 0 };
+// 		if (read_accel(mpu, accel_data)) {
+// 			fault_data.diag = "Failed to get IMU acceleration";
+// 			queue_fault(&fault_data);
+// 		}
+
+// 		if (read_gyro(mpu, gyro_data)) {
+// 			fault_data.diag = "Failed to get IMU gyroscope";
+// 			queue_fault(&fault_data);
+// 		}
+
+// 		/* Run values through LPF of sample size  */
+// 		sensor_data.accel_x =
+// 			(sensor_data.accel_x + accel_data[0]) / num_samples;
+// 		sensor_data.accel_y =
+// 			(sensor_data.accel_y + accel_data[1]) / num_samples;
+// 		sensor_data.accel_z =
+// 			(sensor_data.accel_z + accel_data[2]) / num_samples;
+// 		sensor_data.gyro_x =
+// 			(sensor_data.gyro_x + gyro_data[0]) / num_samples;
+// 		sensor_data.gyro_y =
+// 			(sensor_data.gyro_y + gyro_data[1]) / num_samples;
+// 		sensor_data.gyro_z =
+// 			(sensor_data.gyro_z + gyro_data[2]) / num_samples;
+
+// 		/* Publish to IMU Queue */
+// 		osMessageQueuePut(imu_queue, &sensor_data, 0U, 0U);
+
+// 		/* convert to big endian */
+// 		endian_swap(&sensor_data.accel_x, sizeof(sensor_data.accel_x));
+// 		endian_swap(&sensor_data.accel_y, sizeof(sensor_data.accel_y));
+// 		endian_swap(&sensor_data.accel_z, sizeof(sensor_data.accel_z));
+// 		endian_swap(&sensor_data.gyro_x, sizeof(sensor_data.gyro_x));
+// 		endian_swap(&sensor_data.gyro_y, sizeof(sensor_data.gyro_y));
+// 		endian_swap(&sensor_data.gyro_z, sizeof(sensor_data.gyro_z));
+
+// 		/* Send CAN message */
+// 		memcpy(imu_accel_msg.data, &sensor_data, imu_accel_msg.len);
+// 		// if (queue_can_msg(imu_accel_msg)) {
+// 		//	fault_data.diag = "Failed to send CAN message";
+// 		//	queue_fault(&fault_data);
+// 		// }
+
+// 		memcpy(imu_gyro_msg.data, &sensor_data, imu_gyro_msg.len);
+// 		if (queue_can_msg(imu_gyro_msg)) {
+// 			fault_data.diag = "Failed to send CAN message";
+// 			queue_fault(&fault_data);
+// 		}
+
+// 		/* Yield to other tasks */
+// 		osDelay(IMU_SAMPLE_DELAY);
+// 	}
+// }
 
 osThreadId_t tsms_monitor_handle;
 const osThreadAttr_t tsms_monitor_attributes = {