diff --git a/Inc/main.h b/Inc/main.h
index d15cd843..ab117fc0 100644
--- a/Inc/main.h
+++ b/Inc/main.h
@@ -50,9 +50,9 @@
 /* USER CODE END Includes */
 
 /* Private define ------------------------------------------------------------*/
-#define TIM_CLOCK_HZ 168000000
-#define TIM_PERIOD_CLOCKS 8192
-// #define TIM_PERIOD_CLOCKS 4096
+#define TIM_1_8_CLOCK_HZ 168000000
+// #define TIM_1_8_PERIOD_CLOCKS 4096
+#define TIM_1_8_PERIOD_CLOCKS 8192
 #define TIM_DEADTIME_CLOCKS 20
 
 #define M0_nCS_Pin GPIO_PIN_13
@@ -137,8 +137,8 @@
 #define M1_ENC_B_GPIO_Port GPIOB
 /* USER CODE BEGIN Private defines */
 
-#define CURRENT_MEAS_PERIOD ((float)(2*TIM_PERIOD_CLOCKS)/(float)TIM_CLOCK_HZ)
-#define CURRENT_MEAS_HZ (TIM_CLOCK_HZ/(2*TIM_PERIOD_CLOCKS))
+#define CURRENT_MEAS_PERIOD ((float)(2*TIM_1_8_CLOCK_HZ)/(float)TIM_1_8_CLOCK_HZ)
+#define CURRENT_MEAS_HZ (TIM_1_8_CLOCK_HZ/(2*TIM_1_8_CLOCK_HZ))
 
 /* USER CODE END Private defines */
 
diff --git a/MotorControl/low_level.c b/MotorControl/low_level.c
index 42b5468d..f8ffeabd 100644
--- a/MotorControl/low_level.c
+++ b/MotorControl/low_level.c
@@ -35,8 +35,8 @@ Motor_t motors[] = {
         .motor_thread = 0,
         .thread_ready = false,
         .motor_timer = &htim1,
-        .next_timings = {TIM_PERIOD_CLOCKS/2, TIM_PERIOD_CLOCKS/2, TIM_PERIOD_CLOCKS/2},
-        .control_deadline = TIM_PERIOD_CLOCKS,
+        .next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
+        .control_deadline = TIM_1_8_PERIOD_CLOCKS,
         .current_meas = {0.0f, 0.0f},
         .DC_calib = {0.0f, 0.0f},
         .gate_driver = {
@@ -72,8 +72,8 @@ Motor_t motors[] = {
         .motor_thread = 0,
         .thread_ready = false,
         .motor_timer = &htim8,
-        .next_timings = {TIM_PERIOD_CLOCKS/2, TIM_PERIOD_CLOCKS/2, TIM_PERIOD_CLOCKS/2},
-        .control_deadline = (3*TIM_PERIOD_CLOCKS)/2,
+        .next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
+        .control_deadline = (3*TIM_1_8_PERIOD_CLOCKS)/2,
         .current_meas = {0.0f, 0.0f},
         .DC_calib = {0.0f, 0.0f},
         .gate_driver = {
@@ -211,12 +211,14 @@ static void start_adc_pwm(){
     start_pwm(&htim1);
     start_pwm(&htim8);
     //TODO: explain why this offset
-    sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_PERIOD_CLOCKS/2 - 1*128);
+    sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_1_8_PERIOD_CLOCKS/2 - 1*128);
+
+    HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
 }
 
 static void start_pwm(TIM_HandleTypeDef* htim){
     //Init PWM
-    int half_load = TIM_PERIOD_CLOCKS/2;
+    int half_load = TIM_1_8_PERIOD_CLOCKS/2;
     htim->Instance->CCR1 = half_load;
     htim->Instance->CCR2 = half_load;
     htim->Instance->CCR3 = half_load;
@@ -461,8 +463,8 @@ static uint16_t check_timing(TIM_HandleTypeDef* htim, volatile uint16_t* log, vo
     uint16_t timing = htim->Instance->CNT;
     bool down = htim->Instance->CR1 & TIM_CR1_DIR;
     if (down) {
-        uint16_t delta = TIM_PERIOD_CLOCKS - timing;
-        timing = TIM_PERIOD_CLOCKS + delta;
+        uint16_t delta = TIM_1_8_PERIOD_CLOCKS - timing;
+        timing = TIM_1_8_PERIOD_CLOCKS + delta;
     }
 
     if (log != NULL && idx != NULL) {
@@ -503,9 +505,9 @@ static float measure_phase_resistance(Motor_t* motor, float test_current, float
 static void queue_modulation_timings(Motor_t* motor, float mod_alpha, float mod_beta) {
     float tA, tB, tC;
     SVM(mod_alpha, mod_beta, &tA, &tB, &tC);
-    motor->next_timings[0] = (uint16_t)(tA * (float)TIM_PERIOD_CLOCKS);
-    motor->next_timings[1] = (uint16_t)(tB * (float)TIM_PERIOD_CLOCKS);
-    motor->next_timings[2] = (uint16_t)(tC * (float)TIM_PERIOD_CLOCKS);
+    motor->next_timings[0] = (uint16_t)(tA * (float)TIM_1_8_PERIOD_CLOCKS);
+    motor->next_timings[1] = (uint16_t)(tB * (float)TIM_1_8_PERIOD_CLOCKS);
+    motor->next_timings[2] = (uint16_t)(tC * (float)TIM_1_8_PERIOD_CLOCKS);
 }
 
 static void queue_voltage_timings(Motor_t* motor, float v_alpha, float v_beta) {
diff --git a/Odrive.ioc b/Odrive.ioc
index 50bdd67b..0952d8fe 100755
--- a/Odrive.ioc
+++ b/Odrive.ioc
@@ -157,7 +157,7 @@ Mcu.Pin7=PC2
 Mcu.Pin8=PC3
 Mcu.Pin9=PA0-WKUP
 Mcu.PinsNb=55
-Mcu.UserConstants=TIM_CLOCK_HZ,168000000;TIM_PERIOD_CLOCKS,8192;TIM_DEADTIME_CLOCKS,20
+Mcu.UserConstants=TIM_1_8_CLOCK_HZ,168000000;TIM_1_8_PERIOD_CLOCKS,8192;TIM_DEADTIME_CLOCKS,20
 Mcu.UserName=STM32F405RGTx
 MxCube.Version=4.19.0
 MxDb.Version=DB.4.0.190
@@ -500,7 +500,7 @@ TIM1.OCNPolarity_2=TIM_OCNPOLARITY_HIGH
 TIM1.OCNPolarity_3=TIM_OCNPOLARITY_HIGH
 TIM1.OffStateIDLEMode=TIM_OSSI_ENABLE
 TIM1.OffStateRunMode=TIM_OSSR_ENABLE
-TIM1.Period=TIM_PERIOD_CLOCKS
+TIM1.Period=TIM_1_8_PERIOD_CLOCKS
 TIM1.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
 TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
@@ -509,8 +509,8 @@ TIM2.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Counte
 TIM2.OCMode_PWM-PWM\ Generation3\ CH3=TIM_OCMODE_PWM2
 TIM2.OCMode_PWM-PWM\ Generation4\ CH4=TIM_OCMODE_PWM2
 TIM2.OCPolarity_3=TIM_OCPOLARITY_LOW
-TIM2.Period=TIM_PERIOD_CLOCKS
-TIM2.Pulse-PWM\ Generation4\ CH4=TIM_PERIOD_CLOCKS+1
+TIM2.Period=TIM_1_8_PERIOD_CLOCKS
+TIM2.Pulse-PWM\ Generation4\ CH4=TIM_1_8_PERIOD_CLOCKS+1
 TIM3.EncoderMode=TIM_ENCODERMODE_TI12
 TIM3.IC1Filter=4
 TIM3.IC1Polarity=TIM_ICPOLARITY_RISING
@@ -536,7 +536,7 @@ TIM8.OCMode_PWM-PWM\ Generation2\ CH2\ CH2N=TIM_OCMODE_PWM2
 TIM8.OCMode_PWM-PWM\ Generation3\ CH3\ CH3N=TIM_OCMODE_PWM2
 TIM8.OffStateIDLEMode=TIM_OSSI_ENABLE
 TIM8.OffStateRunMode=TIM_OSSR_ENABLE
-TIM8.Period=TIM_PERIOD_CLOCKS
+TIM8.Period=TIM_1_8_PERIOD_CLOCKS
 TIM8.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
 VP_FREERTOS_VS_ENABLE.Mode=Enabled
 VP_FREERTOS_VS_ENABLE.Signal=FREERTOS_VS_ENABLE
diff --git a/Src/tim.c b/Src/tim.c
index 1cd9d28a..d7d6949c 100644
--- a/Src/tim.c
+++ b/Src/tim.c
@@ -86,7 +86,7 @@ void MX_TIM1_Init(void)
   htim1.Instance = TIM1;
   htim1.Init.Prescaler = 0;
   htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
-  htim1.Init.Period = TIM_PERIOD_CLOCKS;
+  htim1.Init.Period = TIM_1_8_PERIOD_CLOCKS;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim1.Init.RepetitionCounter = 0;
   if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
@@ -169,7 +169,7 @@ void MX_TIM2_Init(void)
   htim2.Instance = TIM2;
   htim2.Init.Prescaler = 0;
   htim2.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
-  htim2.Init.Period = TIM_PERIOD_CLOCKS;
+  htim2.Init.Period = TIM_1_8_PERIOD_CLOCKS;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
   {
@@ -192,7 +192,7 @@ void MX_TIM2_Init(void)
     Error_Handler();
   }
 
-  sConfigOC.Pulse = TIM_PERIOD_CLOCKS+1;
+  sConfigOC.Pulse = TIM_1_8_PERIOD_CLOCKS+1;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
   if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
   {
@@ -279,7 +279,7 @@ void MX_TIM8_Init(void)
   htim8.Instance = TIM8;
   htim8.Init.Prescaler = 0;
   htim8.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED3;
-  htim8.Init.Period = TIM_PERIOD_CLOCKS;
+  htim8.Init.Period = TIM_1_8_PERIOD_CLOCKS;
   htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim8.Init.RepetitionCounter = 0;
   if (HAL_TIM_Base_Init(&htim8) != HAL_OK)