diff --git a/Core/Inc/msb_conf.h b/Core/Inc/msb_conf.h
index 2877ed8..9037442 100644
--- a/Core/Inc/msb_conf.h
+++ b/Core/Inc/msb_conf.h
@@ -35,9 +35,20 @@
 #define SENSOR_STRAIN
 //#define SENSOR_TOF
 
-#define SENSOR_IMU
+// #define SENSOR_IMU       //NOTE
 // on knuckle or /wheel
 //#define SENSOR_WHEEL_TEMP
 
 // VERBOSE LOGGING
 #define LOG_VERBOSE
+
+//Note
+//STACK SIZES
+#define CAN_DISPATCH_STACK_SIZE 128 * 8 //can_dispatch_handle
+#define LED_CONTROLLER_STACK_SIZE 32 * 8 //led_controller_handle
+#define DEFAULT_TASK_STACK_SIZE 128 * 4 //defaultTaskHandle
+#define TEMP_MONITOR_STACK_SIZE 64 * 8 //temp_monitor_handle
+#define IMU_MONITOR_STACK_SIZE 64 * 8 //imu_monitor_handle
+#define TOF_MONITOR_STACK_SIZE 128 * 8 //tof_monitor_handle
+#define SHOCKPOT_MONITOR_STACK_SIZE 64 * 8 //shockpot_monitor_handle
+#define STRAIN_MONITOR_STACK_SIZE 64 * 8 //strain_monitor_handle
\ No newline at end of file
diff --git a/Core/Src/can_handler.c b/Core/Src/can_handler.c
index 373c666..9d06f54 100644
--- a/Core/Src/can_handler.c
+++ b/Core/Src/can_handler.c
@@ -45,7 +45,7 @@ void can1_init()
 osThreadId_t can_dispatch_handle;
 const osThreadAttr_t can_dispatch_attributes = {
 	.name = "CanDispatch",
-	.stack_size = 128 * 8,
+	.stack_size = CAN_DISPATCH_STACK_SIZE,
 	.priority = (osPriority_t)osPriorityRealtime5,
 };
 
diff --git a/Core/Src/controller.c b/Core/Src/controller.c
index b981d50..9da09de 100644
--- a/Core/Src/controller.c
+++ b/Core/Src/controller.c
@@ -7,7 +7,7 @@ extern device_loc_t device_loc;
 osThreadId_t led_controller_handle;
 const osThreadAttr_t led_controller_attributes = {
 	.name = "LedController",
-	.stack_size = 32 * 8,
+	.stack_size = LED_CONTROLLER_STACK_SIZE,
 	.priority = (osPriority_t)osPriorityBelowNormal1,
 };
 
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 4a52f72..98f4818 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -64,7 +64,7 @@ UART_HandleTypeDef huart2;
 osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
   .name = "defaultTask",
-  .stack_size = 128 * 4,
+  .stack_size = DEFAULT_TASK_STACK_SIZE,
   .priority = (osPriority_t) osPriorityNormal,
 };
 /* USER CODE BEGIN PV */
diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
index 1098260..be0d425 100644
--- a/Core/Src/monitor.c
+++ b/Core/Src/monitor.c
@@ -34,7 +34,7 @@ uint16_t convert_can(uint16_t original_value, device_loc_t mode)
 osThreadId_t temp_monitor_handle;
 const osThreadAttr_t temp_monitor_attributes = {
 	.name = "TempMonitor",
-	.stack_size = 64 * 16,
+	.stack_size = TEMP_MONITOR_STACK_SIZE,
 	.priority = (osPriority_t)osPriorityHigh1,
 };
 
@@ -88,7 +88,7 @@ void vTempMonitor(void *pv_params)
 osThreadId_t imu_monitor_handle;
 const osThreadAttr_t imu_monitor_attributes = {
 	.name = "IMUMonitor",
-	.stack_size = 64 * 8,
+	.stack_size = IMU_MONITOR_STACK_SIZE,
 	.priority = (osPriority_t)osPriorityHigh,
 };
 
@@ -174,7 +174,7 @@ void vIMUMonitor(void *pv_params)
 osThreadId_t tof_monitor_handle;
 const osThreadAttr_t tof_monitor_attributes = {
 	.name = "TOFMonitor",
-	.stack_size = 128 * 8,
+	.stack_size = TOF_MONITOR_STACK_SIZE,
 	.priority = (osPriority_t)osPriorityHigh,
 };
 
@@ -213,7 +213,7 @@ void vTOFMonitor(void *pv_params)
 osThreadId_t shockpot_monitor_handle;
 const osThreadAttr_t shockpot_monitor_attributes = {
 	.name = "ShockpotMonitor",
-	.stack_size = 64 * 8,
+	.stack_size = SHOCKPOT_MONITOR_STACK_SIZE,
 	.priority = (osPriority_t)osPriorityHigh1,
 };
 
@@ -251,7 +251,7 @@ void vShockpotMonitor(void *pv_params)
 osThreadId_t strain_monitor_handle;
 const osThreadAttr_t strain_monitor_attributes = {
 	.name = "StrainMonitor",
-	.stack_size = 64 * 8,
+	.stack_size = STRAIN_MONITOR_STACK_SIZE,
 	.priority = (osPriority_t)osPriorityHigh1,
 };