diff --git a/controller/fw/embed/include/config.h b/controller/fw/embed/include/config.h
index afcb135..9746177 100644
--- a/controller/fw/embed/include/config.h
+++ b/controller/fw/embed/include/config.h
@@ -26,6 +26,6 @@ extern MotorControlInputs motor_control_inputs;
 void doMotor(char *cmd);
 void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
                DRV8313Driver *driver, LowsideCurrentSense *current_sense,
-               Commander *commander, CommandCallback callback,FLASH_RECORD* pid_data);
+    FLASH_RECORD* pid_data);
 
-void foc_step(BLDCMotor *motor, Commander *commander);
+void foc_step(BLDCMotor *motor);
diff --git a/controller/fw/embed/src/config.cpp b/controller/fw/embed/src/config.cpp
index ceda4b6..1a5c610 100644
--- a/controller/fw/embed/src/config.cpp
+++ b/controller/fw/embed/src/config.cpp
@@ -1,17 +1,9 @@
 #include "config.h"
 
 
-void doMotor(char *cmd) {
-  command.motor(&motor, cmd);
-  digitalWrite(PC10, !digitalRead(PC10));
-  delayMicroseconds(2);
-}
-
-
-
 void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
                DRV8313Driver *driver, LowsideCurrentSense *current_sense,
-               Commander *commander, CommandCallback callback,FLASH_RECORD* pid_data) {
+                FLASH_RECORD* pid_data) {
   encoder->init(&spi);
   
   /* convert data from flash int value to float*/
@@ -38,8 +30,6 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
   motor->linkSensor(encoder);
   motor->linkDriver(driver);
   motor->linkCurrentSense(current_sense);
-  motor->useMonitoring(Serial);
-  motor->monitor_downsample = 5000;  // Default monitoring interval
   motor->controller = MotionControlType::angle;
   motor->torque_controller = TorqueControlType::voltage;
   motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
@@ -66,7 +56,7 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
 }
 
 
-void foc_step(BLDCMotor *motor, Commander *commander) {
+void foc_step(BLDCMotor *motor) {
   if (motor_control_inputs.target_velocity != 0 ||
       motor->controller == MotionControlType::velocity) {
     if (motor->controller != MotionControlType::velocity) {
@@ -82,6 +72,4 @@ void foc_step(BLDCMotor *motor, Commander *commander) {
 
   motor->loopFOC();
   motor->move();
-  motor->monitor();
-  commander->run();
 }
diff --git a/controller/fw/embed/src/main.cpp b/controller/fw/embed/src/main.cpp
index 907b94c..b156aca 100644
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@@ -46,7 +46,7 @@ DRV8313Driver driver(TIM1_CH1, TIM1_CH2, TIM1_CH3, EN_W_GATE_DRIVER,
 LowsideCurrentSense current_sense(0.01, 10.0, CURRENT_SENSOR_1,
                                   CURRENT_SENSOR_2, CURRENT_SENSOR_3);
 
-Commander command(Serial);
+// Commander command(Serial);
 
 MotorControlInputs motor_control_inputs;
 
@@ -83,7 +83,7 @@ volatile uint32_t ipsr_value = 0;
   // flash_rec = load_params();
   
   // Initialize FOC system
-  setup_foc(&encoder, &motor, &driver, &current_sense, &command, doMotor,flash_rec);
+  setup_foc(&encoder, &motor, &driver, &current_sense,flash_rec);
   
   CAN2->IER |= CAN_IER_FMPIE0 |  // Сообщение в FIFO0
   CAN_IER_FFIE0 |   // FIFO0 full
@@ -104,7 +104,7 @@ volatile uint32_t ipsr_value = 0;
 void loop() {
 
   __enable_irq();
-  foc_step(&motor, &command);
+  foc_step(&motor);
   CAN_message_t msg;
   // GPIOC->ODR ^= GPIO_ODR_OD11;  // Toggle status LED
   // delay(500);
diff --git a/controller/fw/embed/src/process_can.cpp b/controller/fw/embed/src/process_can.cpp
index b9b6217..08ad180 100644
--- a/controller/fw/embed/src/process_can.cpp
+++ b/controller/fw/embed/src/process_can.cpp
@@ -124,8 +124,9 @@ void firmware_update(){
 
 void setup_angle(float target_angle) {
   motor.enable();  // Enable motor if disabled
-  motor.controller = MotionControlType::angle;
-  motor.move(target_angle);
+  // motor.controller = MotionControlType::angle;
+  motor_control_inputs.target_angle = target_angle;
+  // motor.move(target_angle);
 }
 
 // void setup_pid_angle(uint8_t param_pid, uint32_t data){
@@ -241,4 +242,4 @@ void listen_can(const CAN_message_t &msg) {
       }
     }
   }
-}
\ No newline at end of file
+}