diff --git a/controller-board/fw/ztheta-controller/.gitignore b/controller-board/fw/.gitignore
similarity index 64%
rename from controller-board/fw/ztheta-controller/.gitignore
rename to controller-board/fw/.gitignore
index ac4d450..b3b36aa 100644
--- a/controller-board/fw/ztheta-controller/.gitignore
+++ b/controller-board/fw/.gitignore
@@ -1,2 +1,3 @@
 bin/
+*.elf
 *.bin
diff --git a/controller-board/fw/ztheta-controller/Makefile b/controller-board/fw/Makefile
similarity index 74%
rename from controller-board/fw/ztheta-controller/Makefile
rename to controller-board/fw/Makefile
index 5c90a39..42f77f5 100644
--- a/controller-board/fw/ztheta-controller/Makefile
+++ b/controller-board/fw/Makefile
@@ -1,4 +1,4 @@
-PROJECT = ztheta-controller
+PROJECT = controller
 BUILD_DIR = bin
 
 #SHARED_DIR = 
@@ -6,13 +6,13 @@ CFILES = main.c
 
 # TODO - you will need to edit these two lines!
 DEVICE=stm32l011f4p6
-OOCD_FILE = board/stm32f4discovery.cfg
+OOCD_FILE = ft232h.cfg
 
 # You shouldn't have to edit anything below here.
 VPATH += $(SHARED_DIR)
 INCLUDES += $(patsubst %,-I%, . $(SHARED_DIR))
-OPENCM3_DIR=../libopencm3
+OPENCM3_DIR=libopencm3
 
 include $(OPENCM3_DIR)/mk/genlink-config.mk
-include ../rules.mk
+include rules.mk
 include $(OPENCM3_DIR)/mk/genlink-rules.mk
diff --git a/controller-board/fw/ft232h.cfg b/controller-board/fw/ft232h.cfg
new file mode 100644
index 0000000..3336bcc
--- /dev/null
+++ b/controller-board/fw/ft232h.cfg
@@ -0,0 +1,20 @@
+adapter driver ftdi
+transport select swd
+ftdi_vid_pid 0x0403 0x6014
+
+ftdi_layout_init 0xfff8 0xfffb
+
+ftdi_layout_signal SWD_EN -data 0
+ftdi_layout_signal nTRST -data 0x0100 -oe 0x0100
+ftdi_layout_signal nSRST -data 0x0200 -oe 0x0200
+
+source [find target/stm32l0.cfg]
+
+$_TARGETNAME configure -event reset-end {
+echo "Remapping Flash to address 0x00000000"
+# RCC_APB2ENR <= 0x1
+mww 0x40021034 0x1
+# SYSCFG_CFGR1 <= 0x0
+mww 0x40010000 0x0
+}
+
diff --git a/controller-board/fw/ztheta-controller/generated.stm32l011f4p6.ld b/controller-board/fw/generated.stm32l011f4p6.ld
similarity index 100%
rename from controller-board/fw/ztheta-controller/generated.stm32l011f4p6.ld
rename to controller-board/fw/generated.stm32l011f4p6.ld
diff --git a/controller-board/fw/main.c b/controller-board/fw/main.c
new file mode 100644
index 0000000..d9699fe
--- /dev/null
+++ b/controller-board/fw/main.c
@@ -0,0 +1,66 @@
+#include <libopencm3/stm32/rcc.h>
+#include <libopencm3/stm32/gpio.h>
+#include <libopencm3/stm32/usart.h>
+
+#include <libopencm3/cm3/systick.h>
+
+int main(void) {
+	rcc_periph_clock_enable(RCC_GPIOA);
+	rcc_periph_clock_enable(RCC_GPIOB);
+
+	rcc_periph_clock_enable(RCC_USART2);
+
+  // setup PA5-7 and PB1 for the stepper motor gates
+  gpio_clear(GPIOA, GPIO5|GPIO6|GPIO7);
+  gpio_clear(GPIOB, GPIO1);
+  gpio_mode_setup(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO5);
+  gpio_mode_setup(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO6);
+  gpio_mode_setup(GPIOA, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO7);
+  gpio_mode_setup(GPIOB, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO1);
+
+  // setup PA2/3 for USART2_RX and USART2_TX
+  gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO2|GPIO3);
+  gpio_set_af(GPIOA, GPIO_AF4, GPIO2|GPIO3);
+
+  // setup USART2 stuff
+  usart_set_baudrate(USART2, 115200);
+	usart_set_databits(USART2, 8);
+	usart_set_stopbits(USART2, USART_STOPBITS_1);
+	usart_set_mode(USART2, USART_MODE_TX_RX);
+	usart_set_parity(USART2, USART_PARITY_NONE);
+	usart_set_flow_control(USART2, USART_FLOWCONTROL_NONE);
+  usart_enable(USART2);
+
+#if 0
+  // if I need more speed than the internal 2 MHz
+  // setup PA0 as a clock input
+  rcc_bypass_enable(RCC_HSE);
+  rcc_osc_on(RCC_HSE);
+
+  rcc_wait_for_osc_ready(RCC_HSE);
+  rcc_set_sysclk_source(RCC_HSE);
+#endif
+
+  // setup systick interrupt
+  systick_interrupt_disable();
+  systick_counter_disable();
+
+  systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
+  systick_set_reload(rcc_ahb_frequency/100000-1);
+  systick_clear();
+
+  systick_interrupt_enable();
+  systick_counter_enable();
+
+  while (1) {
+    if ((USART_ISR(USART2) & USART_ISR_RXNE) != 0) {
+      // TODO process byte
+      uint8_t rx = usart_recv(USART2);
+      usart_send_blocking(USART2, rx);
+    }
+  }
+}
+
+void SysTick_Handler(void);
+void SysTick_Handler(void) {
+}
diff --git a/controller-board/fw/ztheta-controller/main.c b/controller-board/fw/ztheta-controller/main.c
deleted file mode 100644
index d633183..0000000
--- a/controller-board/fw/ztheta-controller/main.c
+++ /dev/null
@@ -1,3 +0,0 @@
-int main(void) {
-  // TODO
-}
diff --git a/controller-board/fw/ztheta-controller/ztheta-controller.elf b/controller-board/fw/ztheta-controller/ztheta-controller.elf
deleted file mode 100755
index e1b79f6..0000000
Binary files a/controller-board/fw/ztheta-controller/ztheta-controller.elf and /dev/null differ