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diff --git a/boards/amcbldc_experimental/resources/project/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bk/SPQ13I8OE3zp1OEZA_6NgRTI6gsp.xml b/boards/amcbldc/resources/project/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bk/SPQ13I8OE3zp1OEZA_6NgRTI6gsp.xml
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diff --git a/boards/amcbldc_experimental/resources/project/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bk/qOg2SJk8pSwVqcFZKSKqgGWi2rUd.xml b/boards/amcbldc/resources/project/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bk/qOg2SJk8pSwVqcFZKSKqgGWi2rUd.xml
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diff --git a/boards/amcbldc_experimental/resources/project/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bk/qOg2SJk8pSwVqcFZKSKqgGWi2rUp.xml b/boards/amcbldc/resources/project/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bk/qOg2SJk8pSwVqcFZKSKqgGWi2rUp.xml
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diff --git a/boards/amcbldc_experimental/resources/project/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bk/t3lTS2uJ4Nko_oDBMFNSMhiLwxgd.xml b/boards/amcbldc/resources/project/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bk/t3lTS2uJ4Nko_oDBMFNSMhiLwxgd.xml
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diff --git a/boards/amcbldc_experimental/resources/project/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bk/t3lTS2uJ4Nko_oDBMFNSMhiLwxgp.xml b/boards/amcbldc/resources/project/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bk/t3lTS2uJ4Nko_oDBMFNSMhiLwxgp.xml
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diff --git a/boards/amcbldc_experimental/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/CXCPzev4uzruVWwQ3VttMhQ0bQcd.xml b/boards/amcbldc/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/CXCPzev4uzruVWwQ3VttMhQ0bQcd.xml
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diff --git a/boards/amcbldc_experimental/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/CXCPzev4uzruVWwQ3VttMhQ0bQcp.xml b/boards/amcbldc/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/CXCPzev4uzruVWwQ3VttMhQ0bQcp.xml
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diff --git a/boards/amcbldc_experimental/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/RaUxPjfVXJSIEbtomDvZJIA3TDUd.xml b/boards/amcbldc/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/RaUxPjfVXJSIEbtomDvZJIA3TDUd.xml
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diff --git a/boards/amcbldc_experimental/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/RaUxPjfVXJSIEbtomDvZJIA3TDUp.xml b/boards/amcbldc/resources/project/7oKVxVYWZ2WrUSsCBa_oqa7pZb8/RaUxPjfVXJSIEbtomDvZJIA3TDUp.xml
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diff --git a/boards/amcbldc/resources/project/Abf4gmB0IZxqEZ1nlvFQhE1ycug/RV9kCfa8_QZLLaauTVr1ZbekkTQd.xml b/boards/amcbldc/resources/project/Abf4gmB0IZxqEZ1nlvFQhE1ycug/RV9kCfa8_QZLLaauTVr1ZbekkTQd.xml
new file mode 100644
index 00000000..99772b42
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\ No newline at end of file
diff --git a/boards/amcbldc/resources/project/Abf4gmB0IZxqEZ1nlvFQhE1ycug/RV9kCfa8_QZLLaauTVr1ZbekkTQp.xml b/boards/amcbldc/resources/project/Abf4gmB0IZxqEZ1nlvFQhE1ycug/RV9kCfa8_QZLLaauTVr1ZbekkTQp.xml
new file mode 100644
index 00000000..9454ddbf
--- /dev/null
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@@ -0,0 +1,2 @@
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\ No newline at end of file
diff --git a/boards/amcbldc_experimental/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/6tRtEGsxnv4CVeSuglDfuDblOjcd.xml b/boards/amcbldc/resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/6tRtEGsxnv4CVeSuglDfuDblOjcd.xml
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diff --git a/boards/amcbldc/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/VVLG842orivdqFRwfM74H7UlZIwd.xml b/boards/amcbldc/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/VVLG842orivdqFRwfM74H7UlZIwd.xml
index 80b5b161..7a6326b9 100644
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@@ -1,6 +1,6 @@
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diff --git a/boards/amcbldc_experimental/resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/PTYYTMoFyMmkRbKqQrAV9KLQL70d.xml b/boards/amcbldc/resources/project/KAXfQgCar2Yb8zOxgvf9hdmLP1E/PTYYTMoFyMmkRbKqQrAV9KLQL70d.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/LUgSFhI3RPozNzNcutxrczVe6f0/pSwjBmaKnpoO9_oT1SIFHWcNpXEd.xml b/boards/amcbldc/resources/project/LUgSFhI3RPozNzNcutxrczVe6f0/pSwjBmaKnpoO9_oT1SIFHWcNpXEd.xml
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rename from boards/amcbldc_experimental/resources/project/LUgSFhI3RPozNzNcutxrczVe6f0/pSwjBmaKnpoO9_oT1SIFHWcNpXEd.xml
rename to boards/amcbldc/resources/project/LUgSFhI3RPozNzNcutxrczVe6f0/pSwjBmaKnpoO9_oT1SIFHWcNpXEd.xml
diff --git a/boards/amcbldc_experimental/resources/project/LUgSFhI3RPozNzNcutxrczVe6f0/pSwjBmaKnpoO9_oT1SIFHWcNpXEp.xml b/boards/amcbldc/resources/project/LUgSFhI3RPozNzNcutxrczVe6f0/pSwjBmaKnpoO9_oT1SIFHWcNpXEp.xml
similarity index 100%
rename from boards/amcbldc_experimental/resources/project/LUgSFhI3RPozNzNcutxrczVe6f0/pSwjBmaKnpoO9_oT1SIFHWcNpXEp.xml
rename to boards/amcbldc/resources/project/LUgSFhI3RPozNzNcutxrczVe6f0/pSwjBmaKnpoO9_oT1SIFHWcNpXEp.xml
diff --git a/boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bkd.xml b/boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bkd.xml
similarity index 100%
rename from boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bkd.xml
rename to boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bkd.xml
diff --git a/boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bkp.xml b/boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bkp.xml
similarity index 100%
rename from boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bkp.xml
rename to boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/6NyQUHN7ZEk6WS5Pcr1r7mQ4_bkp.xml
diff --git a/boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/TiXMUunNNdcTZUZOH8ODPTr-2fMd.xml b/boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/TiXMUunNNdcTZUZOH8ODPTr-2fMd.xml
similarity index 100%
rename from boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/TiXMUunNNdcTZUZOH8ODPTr-2fMd.xml
rename to boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/TiXMUunNNdcTZUZOH8ODPTr-2fMd.xml
diff --git a/boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/TiXMUunNNdcTZUZOH8ODPTr-2fMp.xml b/boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/TiXMUunNNdcTZUZOH8ODPTr-2fMp.xml
similarity index 100%
rename from boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/TiXMUunNNdcTZUZOH8ODPTr-2fMp.xml
rename to boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/TiXMUunNNdcTZUZOH8ODPTr-2fMp.xml
diff --git a/boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/saVArTriP-N3g7sh6iwOeKJ4Pekd.xml b/boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/saVArTriP-N3g7sh6iwOeKJ4Pekd.xml
similarity index 100%
rename from boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/saVArTriP-N3g7sh6iwOeKJ4Pekd.xml
rename to boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/saVArTriP-N3g7sh6iwOeKJ4Pekd.xml
diff --git a/boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/saVArTriP-N3g7sh6iwOeKJ4Pekp.xml b/boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/saVArTriP-N3g7sh6iwOeKJ4Pekp.xml
similarity index 100%
rename from boards/amcbldc_experimental/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/saVArTriP-N3g7sh6iwOeKJ4Pekp.xml
rename to boards/amcbldc/resources/project/RaUxPjfVXJSIEbtomDvZJIA3TDU/saVArTriP-N3g7sh6iwOeKJ4Pekp.xml
diff --git a/boards/amcbldc/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml b/boards/amcbldc/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml
index 8a7a8eef..3902af3b 100644
--- a/boards/amcbldc/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml
+++ b/boards/amcbldc/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml
@@ -1,2 +1,2 @@
-
-
\ No newline at end of file
+
+
\ No newline at end of file
diff --git a/boards/amcbldc_experimental/resources/project/root/LUgSFhI3RPozNzNcutxrczVe6f0p.xml b/boards/amcbldc/resources/project/root/LUgSFhI3RPozNzNcutxrczVe6f0p.xml
similarity index 100%
rename from boards/amcbldc_experimental/resources/project/root/LUgSFhI3RPozNzNcutxrczVe6f0p.xml
rename to boards/amcbldc/resources/project/root/LUgSFhI3RPozNzNcutxrczVe6f0p.xml
diff --git a/boards/amcbldc/sim2can/experiment_supervisor/experiment_supervisor.slx b/boards/amcbldc/sim2can/experiment_supervisor/experiment_supervisor.slx
index 25749d53..fc0ffe08 100644
Binary files a/boards/amcbldc/sim2can/experiment_supervisor/experiment_supervisor.slx and b/boards/amcbldc/sim2can/experiment_supervisor/experiment_supervisor.slx differ
diff --git a/boards/amcbldc/sim2can/experiment_supervisor/experiment_supervisor_user.slx b/boards/amcbldc/sim2can/experiment_supervisor/experiment_supervisor_user.slx
index 14ea32fb..b8aca289 100644
Binary files a/boards/amcbldc/sim2can/experiment_supervisor/experiment_supervisor_user.slx and b/boards/amcbldc/sim2can/experiment_supervisor/experiment_supervisor_user.slx differ
diff --git a/boards/amcbldc/sim2can/send_receive.slx b/boards/amcbldc/sim2can/send_receive.slx
index 5aabfc01..ad18b9b4 100644
Binary files a/boards/amcbldc/sim2can/send_receive.slx and b/boards/amcbldc/sim2can/send_receive.slx differ
diff --git a/boards/amcbldc/sim2can/three_boards_receiver/three_boards_receiver.slx b/boards/amcbldc/sim2can/three_boards_receiver/three_boards_receiver.slx
index 8f2d65ff..fdfb60d9 100644
Binary files a/boards/amcbldc/sim2can/three_boards_receiver/three_boards_receiver.slx and b/boards/amcbldc/sim2can/three_boards_receiver/three_boards_receiver.slx differ
diff --git a/boards/amcbldc/supervisor/SupervisorFSM_TX.slx b/boards/amcbldc/supervisor/SupervisorFSM_TX.slx
index 28ce6bd4..d66ea991 100644
Binary files a/boards/amcbldc/supervisor/SupervisorFSM_TX.slx and b/boards/amcbldc/supervisor/SupervisorFSM_TX.slx differ
diff --git a/boards/amcbldc/system/AMC_BLDC.slx b/boards/amcbldc/system/AMC_BLDC.slx
index 044c15b8..a13013bd 100644
Binary files a/boards/amcbldc/system/AMC_BLDC.slx and b/boards/amcbldc/system/AMC_BLDC.slx differ
diff --git a/boards/amcbldc_experimental/system/amcbldc_init_config.m b/boards/amcbldc/system/amcbldc_init_config.m
similarity index 93%
rename from boards/amcbldc_experimental/system/amcbldc_init_config.m
rename to boards/amcbldc/system/amcbldc_init_config.m
index 799cd4d7..8ccd687b 100644
--- a/boards/amcbldc_experimental/system/amcbldc_init_config.m
+++ b/boards/amcbldc/system/amcbldc_init_config.m
@@ -29,13 +29,13 @@
MotionControlInitConf(1).pids.velocityPID.type = ControlModes.Velocity;
MotionControlInitConf(1).pids.velocityPID.OutMax = single(0);
MotionControlInitConf(1).pids.velocityPID.OutMin = single(0);
-MotionControlInitConf(1).pids.velocityPID.P = single(-3e-5);
-MotionControlInitConf(1).pids.velocityPID.I = single(-3e-5);
+MotionControlInitConf(1).pids.velocityPID.P = single(-20);
+MotionControlInitConf(1).pids.velocityPID.I = single(-20);
MotionControlInitConf(1).pids.velocityPID.D = single(0);
-MotionControlInitConf(1).pids.velocityPID.N = single(10);
+MotionControlInitConf(1).pids.velocityPID.N = single(100);
MotionControlInitConf(1).pids.velocityPID.I0 = single(0);
MotionControlInitConf(1).pids.velocityPID.D0 = single(0);
-MotionControlInitConf(1).pids.velocityPID.shift_factor = uint8(0);
+MotionControlInitConf(1).pids.velocityPID.shift_factor = uint8(10);
MotionControlInitConf(1).pids.positionPID = struct;
MotionControlInitConf(1).pids.positionPID.type = ControlModes.Position;
MotionControlInitConf(1).pids.positionPID.OutMax = single(0);
@@ -56,7 +56,7 @@
MotionControlInitConf(1).motor.externals.has_torque_sens = false;
MotionControlInitConf(1).motor.externals.encoder_tolerance = uint8(0);
MotionControlInitConf(1).motor.externals.pole_pairs = uint8(7);
-MotionControlInitConf(1).motor.externals.rotor_encoder_resolution = int16(16000);
+MotionControlInitConf(1).motor.externals.rotor_encoder_resolution = int16(0);
MotionControlInitConf(1).motor.externals.rotor_index_offset = int16(0);
MotionControlInitConf(1).motor.externals.use_index = false;
MotionControlInitConf(1).motor.Kbemf = single(0);
diff --git a/boards/amcbldc/system/dictionaries/amcbldc.sldd b/boards/amcbldc/system/dictionaries/amcbldc.sldd
new file mode 100644
index 00000000..90b7d3f3
Binary files /dev/null and b/boards/amcbldc/system/dictionaries/amcbldc.sldd differ
diff --git a/boards/amcbldc/system/dictionaries/can_messaging.sldd b/boards/amcbldc/system/dictionaries/can_messaging.sldd
index bb56bfaa..a7400386 100644
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diff --git a/boards/amcbldc/system/enums/BoardCommand.m b/boards/amcbldc/system/dictionaries/enums/BoardCommand.m
similarity index 100%
rename from boards/amcbldc/system/enums/BoardCommand.m
rename to boards/amcbldc/system/dictionaries/enums/BoardCommand.m
diff --git a/boards/amcbldc/system/enums/CAN/CANClassTypes.m b/boards/amcbldc/system/dictionaries/enums/CAN/CANClassTypes.m
similarity index 100%
rename from boards/amcbldc/system/enums/CAN/CANClassTypes.m
rename to boards/amcbldc/system/dictionaries/enums/CAN/CANClassTypes.m
diff --git a/boards/amcbldc/system/enums/CAN/CANErrorTypes.m b/boards/amcbldc/system/dictionaries/enums/CAN/CANErrorTypes.m
similarity index 100%
rename from boards/amcbldc/system/enums/CAN/CANErrorTypes.m
rename to boards/amcbldc/system/dictionaries/enums/CAN/CANErrorTypes.m
diff --git a/boards/amcbldc/system/enums/CAN/MCControlModes.m b/boards/amcbldc/system/dictionaries/enums/CAN/MCControlModes.m
similarity index 100%
rename from boards/amcbldc/system/enums/CAN/MCControlModes.m
rename to boards/amcbldc/system/dictionaries/enums/CAN/MCControlModes.m
diff --git a/boards/amcbldc/system/enums/CAN/MCOPC.m b/boards/amcbldc/system/dictionaries/enums/CAN/MCOPC.m
similarity index 100%
rename from boards/amcbldc/system/enums/CAN/MCOPC.m
rename to boards/amcbldc/system/dictionaries/enums/CAN/MCOPC.m
diff --git a/boards/amcbldc/system/enums/CAN/MCStreaming.m b/boards/amcbldc/system/dictionaries/enums/CAN/MCStreaming.m
similarity index 100%
rename from boards/amcbldc/system/enums/CAN/MCStreaming.m
rename to boards/amcbldc/system/dictionaries/enums/CAN/MCStreaming.m
diff --git a/boards/amcbldc_experimental/system/motion_controller_single.slx b/boards/amcbldc/system/motion_controller_single.slx
similarity index 71%
rename from boards/amcbldc_experimental/system/motion_controller_single.slx
rename to boards/amcbldc/system/motion_controller_single.slx
index d865a494..7d2406a6 100644
Binary files a/boards/amcbldc_experimental/system/motion_controller_single.slx and b/boards/amcbldc/system/motion_controller_single.slx differ
diff --git a/boards/amcbldc/tests/control/control_pmsm.slx b/boards/amcbldc/tests/control/control_pmsm.slx
deleted file mode 100644
index 2767e3d1..00000000
Binary files a/boards/amcbldc/tests/control/control_pmsm.slx and /dev/null differ
diff --git a/boards/amcbldc/tests/motor/pmsm.slx b/boards/amcbldc/tests/motor/pmsm.slx
deleted file mode 100644
index 3276ee4a..00000000
Binary files a/boards/amcbldc/tests/motor/pmsm.slx and /dev/null differ
diff --git a/boards/amcbldc/tests/supervisor/TestSupervisorFSM_TX.slx b/boards/amcbldc/tests/supervisor/TestSupervisorFSM_TX.slx
index 5b479e06..5cb9d4ca 100644
Binary files a/boards/amcbldc/tests/supervisor/TestSupervisorFSM_TX.slx and b/boards/amcbldc/tests/supervisor/TestSupervisorFSM_TX.slx differ
diff --git a/boards/amcbldc/tests/supervisor/can_multiple_messages.slx b/boards/amcbldc/tests/supervisor/can_multiple_messages.slx
new file mode 100644
index 00000000..d664d017
Binary files /dev/null and b/boards/amcbldc/tests/supervisor/can_multiple_messages.slx differ
diff --git a/boards/amcbldc_experimental/messaging/can_decoder.slx b/boards/amcbldc_experimental/messaging/can_decoder.slx
deleted file mode 100644
index e0eeaaaf..00000000
Binary files a/boards/amcbldc_experimental/messaging/can_decoder.slx and /dev/null differ
diff --git a/boards/amcbldc_experimental/messaging/can_encoder.slx b/boards/amcbldc_experimental/messaging/can_encoder.slx
deleted file mode 100644
index 9812365f..00000000
Binary files a/boards/amcbldc_experimental/messaging/can_encoder.slx and /dev/null differ
diff --git a/boards/amcbldc_experimental/messaging/format_can_id.slx b/boards/amcbldc_experimental/messaging/format_can_id.slx
deleted file mode 100644
index ecc70fc7..00000000
Binary files a/boards/amcbldc_experimental/messaging/format_can_id.slx and /dev/null differ
diff --git a/boards/amcbldc_experimental/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/VVLG842orivdqFRwfM74H7UlZIwp.xml b/boards/amcbldc_experimental/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/VVLG842orivdqFRwfM74H7UlZIwp.xml
deleted file mode 100644
index bcb3d78f..00000000
--- a/boards/amcbldc_experimental/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/VVLG842orivdqFRwfM74H7UlZIwp.xml
+++ /dev/null
@@ -1,2 +0,0 @@
-
-
\ No newline at end of file
diff --git a/boards/amcbldc_experimental/sim2can/experiment_supervisor/experiment_supervisor.slx b/boards/amcbldc_experimental/sim2can/experiment_supervisor/experiment_supervisor.slx
deleted file mode 100644
index 018d2281..00000000
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diff --git a/boards/amcbldc_experimental/sim2can/experiment_supervisor/experiment_supervisor_user.slx b/boards/amcbldc_experimental/sim2can/experiment_supervisor/experiment_supervisor_user.slx
deleted file mode 100644
index 90e24411..00000000
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diff --git a/boards/amcbldc_experimental/sim2can/send_receive.slx b/boards/amcbldc_experimental/sim2can/send_receive.slx
deleted file mode 100644
index 136f28d4..00000000
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diff --git a/boards/amcbldc_experimental/sim2can/three_boards_receiver/three_boards_receiver.slx b/boards/amcbldc_experimental/sim2can/three_boards_receiver/three_boards_receiver.slx
deleted file mode 100644
index ea33e34e..00000000
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diff --git a/boards/amcbldc_experimental/supervisor/SupervisorFSM_TX.slx b/boards/amcbldc_experimental/supervisor/SupervisorFSM_TX.slx
deleted file mode 100644
index 7605dda5..00000000
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diff --git a/boards/amcbldc_experimental/system/AMC_BLDC.slx b/boards/amcbldc_experimental/system/AMC_BLDC.slx
deleted file mode 100644
index 59425d09..00000000
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diff --git a/boards/amcbldc_experimental/system/dictionaries/amcbldc.sldd b/boards/amcbldc_experimental/system/dictionaries/amcbldc.sldd
deleted file mode 100644
index 5a672660..00000000
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diff --git a/boards/amcbldc_experimental/system/dictionaries/can_messaging.sldd b/boards/amcbldc_experimental/system/dictionaries/can_messaging.sldd
deleted file mode 100644
index a82d8899..00000000
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diff --git a/boards/amcbldc_experimental/tests/supervisor/TestSupervisorFSM_TX.slx b/boards/amcbldc_experimental/tests/supervisor/TestSupervisorFSM_TX.slx
deleted file mode 100644
index 274286f1..00000000
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diff --git a/boards/amcbldc_experimental/AMC_BLDC_experimental.prj b/boards/amcbldc_legacy/AMC_BLDC_legacy.prj
similarity index 100%
rename from boards/amcbldc_experimental/AMC_BLDC_experimental.prj
rename to boards/amcbldc_legacy/AMC_BLDC_legacy.prj
diff --git a/boards/amcbldc/control/control_foc.slx b/boards/amcbldc_legacy/control/control_foc.slx
similarity index 100%
rename from boards/amcbldc/control/control_foc.slx
rename to boards/amcbldc_legacy/control/control_foc.slx
diff --git a/boards/amcbldc/control/control_outer.slx b/boards/amcbldc_legacy/control/control_outer.slx
similarity index 100%
rename from boards/amcbldc/control/control_outer.slx
rename to boards/amcbldc_legacy/control/control_outer.slx
diff --git a/boards/amcbldc/estimation/estimation_velocity.slx b/boards/amcbldc_legacy/estimation/estimation_velocity.slx
similarity index 100%
rename from boards/amcbldc/estimation/estimation_velocity.slx
rename to boards/amcbldc_legacy/estimation/estimation_velocity.slx
diff --git a/boards/amcbldc/estimation/filter_current.slx b/boards/amcbldc_legacy/estimation/filter_current.slx
similarity index 100%
rename from boards/amcbldc/estimation/filter_current.slx
rename to boards/amcbldc_legacy/estimation/filter_current.slx
diff --git a/boards/amcbldc/estimation/thermal_model.slx b/boards/amcbldc_legacy/estimation/thermal_model.slx
similarity index 100%
rename from boards/amcbldc/estimation/thermal_model.slx
rename to boards/amcbldc_legacy/estimation/thermal_model.slx
diff --git a/boards/amcbldc_legacy/messaging/can_decoder.slx b/boards/amcbldc_legacy/messaging/can_decoder.slx
new file mode 100644
index 00000000..85ca184e
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diff --git a/boards/amcbldc_legacy/messaging/can_encoder.slx b/boards/amcbldc_legacy/messaging/can_encoder.slx
new file mode 100644
index 00000000..0d78d14d
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diff --git a/boards/amcbldc_legacy/messaging/format_can_id.slx b/boards/amcbldc_legacy/messaging/format_can_id.slx
new file mode 100644
index 00000000..8c369a58
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diff --git a/boards/amcbldc_experimental/resources/project/-TrIKs3VMzD5Vc5wCKrRRwaZQuU/1zUu0huASDGRmMQDvaMvTGYh5VAd.xml b/boards/amcbldc_legacy/resources/project/-TrIKs3VMzD5Vc5wCKrRRwaZQuU/1zUu0huASDGRmMQDvaMvTGYh5VAd.xml
similarity index 100%
rename from boards/amcbldc_experimental/resources/project/-TrIKs3VMzD5Vc5wCKrRRwaZQuU/1zUu0huASDGRmMQDvaMvTGYh5VAd.xml
rename to boards/amcbldc_legacy/resources/project/-TrIKs3VMzD5Vc5wCKrRRwaZQuU/1zUu0huASDGRmMQDvaMvTGYh5VAd.xml
diff --git a/boards/amcbldc_experimental/resources/project/-TrIKs3VMzD5Vc5wCKrRRwaZQuU/1zUu0huASDGRmMQDvaMvTGYh5VAp.xml b/boards/amcbldc_legacy/resources/project/-TrIKs3VMzD5Vc5wCKrRRwaZQuU/1zUu0huASDGRmMQDvaMvTGYh5VAp.xml
similarity index 100%
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diff --git a/boards/amcbldc/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/Msiv593IpCNpPzdVdTCvWMb-wfod.xml b/boards/amcbldc_legacy/resources/project/qAZGLW6cRbGKTsL5mXivHXYc4hQ/nYWzXj7ck64qaZV9x_2aWAOLbTYd.xml
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diff --git a/boards/amcbldc/resources/project/qAZGLW6cRbGKTsL5mXivHXYc4hQ/nYWzXj7ck64qaZV9x_2aWAOLbTYp.xml b/boards/amcbldc_legacy/resources/project/qAZGLW6cRbGKTsL5mXivHXYc4hQ/nYWzXj7ck64qaZV9x_2aWAOLbTYp.xml
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diff --git a/boards/amcbldc_experimental/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/IDhMnXn6J-Ju2wh1nEFVZKhX41Ud.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/IDhMnXn6J-Ju2wh1nEFVZKhX41Ud.xml
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diff --git a/boards/amcbldc_experimental/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/IDhMnXn6J-Ju2wh1nEFVZKhX41Up.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/IDhMnXn6J-Ju2wh1nEFVZKhX41Up.xml
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diff --git a/boards/amcbldc/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/qAZGLW6cRbGKTsL5mXivHXYc4hQd.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/Msiv593IpCNpPzdVdTCvWMb-wfod.xml
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diff --git a/boards/amcbldc/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/Msiv593IpCNpPzdVdTCvWMb-wfop.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/Msiv593IpCNpPzdVdTCvWMb-wfop.xml
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diff --git a/boards/amcbldc_experimental/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/d2bmtD-H8b6WS8Zkh8AkzjPbxDMd.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/d2bmtD-H8b6WS8Zkh8AkzjPbxDMd.xml
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diff --git a/boards/amcbldc_experimental/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/d2bmtD-H8b6WS8Zkh8AkzjPbxDMp.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/d2bmtD-H8b6WS8Zkh8AkzjPbxDMp.xml
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diff --git a/boards/amcbldc_experimental/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hLMKfvmMZYFbdoE4Xco7ryXas6sd.xml
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diff --git a/boards/amcbldc_experimental/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/tZ5cAdTji50eLOPRpXmnJmDfR9wd.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/qAZGLW6cRbGKTsL5mXivHXYc4hQd.xml
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similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/QxF7cK4m6HpR58YYpn6M2nqieG0d.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/tZ5cAdTji50eLOPRpXmnJmDfR9wd.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/tZ5cAdTji50eLOPRpXmnJmDfR9wp.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/tZ5cAdTji50eLOPRpXmnJmDfR9wp.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/xQXUbgcKt426Mj4TeNotdGWe1Twd.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/xQXUbgcKt426Mj4TeNotdGWe1Twd.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/xQXUbgcKt426Mj4TeNotdGWe1Twp.xml b/boards/amcbldc_legacy/resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/xQXUbgcKt426Mj4TeNotdGWe1Twp.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/root/6x1BhZX_fLnKpcwqra0qFwv1jIgp.xml b/boards/amcbldc_legacy/resources/project/root/6x1BhZX_fLnKpcwqra0qFwv1jIgp.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/root/6xhH2l9GP9loT6TdFn_Mo65sDHgp.xml b/boards/amcbldc_legacy/resources/project/root/6xhH2l9GP9loT6TdFn_Mo65sDHgp.xml
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diff --git a/boards/amcbldc_experimental/resources/project/root/EEtUlUb-dLAdf0KpMVivaUlztwAp.xml b/boards/amcbldc_legacy/resources/project/root/EEtUlUb-dLAdf0KpMVivaUlztwAp.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml b/boards/amcbldc_legacy/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml
similarity index 52%
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index 32877308..8a7a8eef 100644
--- a/boards/amcbldc_experimental/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml
+++ b/boards/amcbldc_legacy/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQd.xml
@@ -1,2 +1,2 @@
-
\ No newline at end of file
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\ No newline at end of file
diff --git a/boards/amcbldc_experimental/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQp.xml b/boards/amcbldc_legacy/resources/project/root/GiiBklLgTxteCEmomM8RCvWT0nQp.xml
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diff --git a/boards/amcbldc_experimental/resources/project/root/HoHDHQ_WvHAAKj5aJOrvrg_vpt8p.xml b/boards/amcbldc_legacy/resources/project/root/HoHDHQ_WvHAAKj5aJOrvrg_vpt8p.xml
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diff --git a/boards/amcbldc_experimental/resources/project/root/KAXfQgCar2Yb8zOxgvf9hdmLP1Ep.xml b/boards/amcbldc_legacy/resources/project/root/KAXfQgCar2Yb8zOxgvf9hdmLP1Ep.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/root/NmGqIpAwUJcXFyLjFAGnU9uyN5Yp.xml b/boards/amcbldc_legacy/resources/project/root/NmGqIpAwUJcXFyLjFAGnU9uyN5Yp.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/root/WZRuNzqc-Db7NcQAZO8Y-R8U9ccp.xml b/boards/amcbldc_legacy/resources/project/root/WZRuNzqc-Db7NcQAZO8Y-R8U9ccp.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/root/fjRQtWiSIy7hIlj-Kmk87M7s21kp.xml b/boards/amcbldc_legacy/resources/project/root/fjRQtWiSIy7hIlj-Kmk87M7s21kp.xml
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diff --git a/boards/amcbldc_experimental/resources/project/root/qaw0eS1zuuY1ar9TdPn1GMfrjbQp.xml b/boards/amcbldc_legacy/resources/project/root/qaw0eS1zuuY1ar9TdPn1GMfrjbQp.xml
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similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/iBSyVRRc08ofkIyKUDsdangGgD0d.xml b/boards/amcbldc_legacy/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/QxF7cK4m6HpR58YYpn6M2nqieG0d.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/QxF7cK4m6HpR58YYpn6M2nqieG0p.xml b/boards/amcbldc_legacy/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/QxF7cK4m6HpR58YYpn6M2nqieG0p.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/kCwRmjm1lSoohlYQ1ZrvKxh-8YMd.xml b/boards/amcbldc_legacy/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/iBSyVRRc08ofkIyKUDsdangGgD0d.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/iBSyVRRc08ofkIyKUDsdangGgD0p.xml b/boards/amcbldc_legacy/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/iBSyVRRc08ofkIyKUDsdangGgD0p.xml
similarity index 100%
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diff --git a/boards/amcbldc_experimental/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/VVLG842orivdqFRwfM74H7UlZIwd.xml b/boards/amcbldc_legacy/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/kCwRmjm1lSoohlYQ1ZrvKxh-8YMd.xml
similarity index 77%
rename from boards/amcbldc_experimental/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/VVLG842orivdqFRwfM74H7UlZIwd.xml
rename to boards/amcbldc_legacy/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/kCwRmjm1lSoohlYQ1ZrvKxh-8YMd.xml
index 7a6326b9..80b5b161 100644
--- a/boards/amcbldc_experimental/resources/project/IDhMnXn6J-Ju2wh1nEFVZKhX41U/VVLG842orivdqFRwfM74H7UlZIwd.xml
+++ b/boards/amcbldc_legacy/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/kCwRmjm1lSoohlYQ1ZrvKxh-8YMd.xml
@@ -1,6 +1,6 @@
-
+
\ No newline at end of file
diff --git a/boards/amcbldc_experimental/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/kCwRmjm1lSoohlYQ1ZrvKxh-8YMp.xml b/boards/amcbldc_legacy/resources/project/tZ5cAdTji50eLOPRpXmnJmDfR9w/kCwRmjm1lSoohlYQ1ZrvKxh-8YMp.xml
similarity index 100%
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