diff --git a/.clang-format b/.clang-format
index 7030cd1..fc9422d 100644
--- a/.clang-format
+++ b/.clang-format
@@ -1,8 +1,8 @@
 BasedOnStyle: LLVM
-IndentWidth: 4
-TabWidth: 4
-UseTab: Never
-ColumnLimit: 120
+IndentWidth: 4                 # Use 4 spaces for indentation
+TabWidth: 4                    # Tab width is also 4 spaces
+UseTab: Never                  # Always use spaces instead of tabs
+ColumnLimit: 120                # Wrap lines after 80 characters
 AllowShortLoopsOnASingleLine: true
 AllowShortFunctionsOnASingleLine: false
 AlwaysBreakTemplateDeclarations: true
diff --git a/filters/Makefile b/filters/Makefile
deleted file mode 100644
index 2213e3d..0000000
--- a/filters/Makefile
+++ /dev/null
@@ -1,12 +0,0 @@
-CC ?= gcc
-CFLAGS ?= -Wall -O2
-
-TARGET = main.elf
-SRC = message.c main_demo.c
-
-$(TARGET): $(SRC)
-	@echo CC $@
-	@$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
-
-clean:
-	rm -f $(TARGET)
diff --git a/filters/filters.c b/filters/filters.c
deleted file mode 100644
index c559c53..0000000
--- a/filters/filters.c
+++ /dev/null
@@ -1,71 +0,0 @@
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-
-#define N 8
-
-uint16_t buffer[N];
-uint8_t  idx = 0;
-
-/*
- * Pros: Simple and smooths well.
- * Cons: Lag, slow to respond to real changes.
- */
-uint16_t moving_average(uint16_t new_sample) {
-    buffer[idx++] = new_sample;
-    if (idx >= N)
-        idx = 0;
-
-    uint32_t sum = 0;
-    for (int i = 0; i < N; i++) sum += buffer[i];
-    return sum / N;
-}
-
-float alpha = 0.1f; // Between 0 (more smoothing) and 1 (less)
-float filtered = 0;
-
-/*
- * Pros: Very lightweight, tunable.
- * Cons: Might not remove all burst noise
- */
-uint16_t low_pass_filter(uint16_t new_sample) {
-    filtered = alpha * new_sample + (1 - alpha) * filtered;
-    return (uint16_t)filtered;
-}
-
-int compare_uint16(const void *a, const void *b) {
-    return (*(uint16_t *)a - *(uint16_t *)b);
-}
-
-uint16_t median_filter(uint16_t new_sample) {
-    static uint16_t window[N];
-    static uint8_t  index = 0;
-    window[index++] = new_sample;
-    if (index >= N)
-        index = 0;
-
-    // Copy and sort
-    uint16_t sorted[N];
-    memcpy(sorted, window, sizeof(sorted));
-    qsort(sorted, N, sizeof(uint16_t), compare_uint16);
-    return sorted[N / 2];
-}
-
-#undef N
-#define N 5
-float coeffs[N] = {0.1, 0.15, 0.5, 0.15, 0.1};  // Symmetric LPF
-float buffer[N] = {0};
-int index = 0;
-
-float fir_filter(float sample) {
-    buffer[index] = sample;
-    float result = 0;
-    int i, j = index;
-    for (i = 0; i < N; i++) {
-        result += coeffs[i] * buffer[j];
-        j = (j - 1 + N) % N;
-    }
-    index = (index + 1) % N;
-    return result;
-}
-
diff --git a/lua_advanced/esc.c b/lua_advanced/esc.c
deleted file mode 100644
index 026ca2e..0000000
--- a/lua_advanced/esc.c
+++ /dev/null
@@ -1,70 +0,0 @@
-#include <lauxlib.h>
-#include <lua.h>
-#include <lualib.h>
-#include <stdbool.h>
-
-struct EscConfig {
-    int   maxspeed;
-    float odometer;
-    bool  started;
-};
-
-static struct EscConfig esc_config = {
-    .maxspeed = 100,
-    .odometer = 12.5f,
-    .started = false,
-};
-
-/* Lua: get_esc_config() -> table */
-static int l_get_esc_config(lua_State *L) {
-    lua_newtable(L);
-
-    lua_pushstring(L, "maxspeed");
-    lua_pushinteger(L, esc_config.maxspeed);
-    lua_settable(L, -3);
-
-    lua_pushstring(L, "odometer");
-    lua_pushnumber(L, esc_config.odometer);
-    lua_settable(L, -3);
-
-    lua_pushstring(L, "started");
-    lua_pushboolean(L, esc_config.started);
-    lua_settable(L, -3);
-
-    return 1; // return the table
-}
-
-/* Lua: set_maxspeed(value) */
-static int l_set_maxspeed(lua_State *L) {
-    int maxspeed = luaL_checkinteger(L, 1);
-    esc_config.maxspeed = maxspeed;
-    return 0;
-}
-
-/* Lua: set_started(value) */
-static int l_set_started(lua_State *L) {
-    int started = lua_toboolean(L, 1);
-    esc_config.started = started;
-    return 0;
-}
-
-/* Lua: add_odometer(delta) */
-static int l_add_odometer(lua_State *L) {
-    float delta = luaL_checknumber(L, 1);
-    esc_config.odometer += delta;
-    return 0;
-}
-
-static const struct luaL_Reg esc_funcs[] = {
-    {"get_esc_config", l_get_esc_config},
-    {"set_maxspeed", l_set_maxspeed},
-    {"set_started", l_set_started},
-    {"add_odometer", l_add_odometer},
-    {NULL, NULL},
-};
-
-/* Register the functions into Lua as global "esc" */
-void register_esc(lua_State *L) {
-    luaL_newlib(L, esc_funcs); // create table with all funcs
-    lua_setglobal(L, "esc");   // set global "esc"
-}
diff --git a/lua_advanced/esc.h b/lua_advanced/esc.h
deleted file mode 100644
index e1880bc..0000000
--- a/lua_advanced/esc.h
+++ /dev/null
@@ -1,4 +0,0 @@
-#pragma once
-#include <lua.h>
-
-void register_esc(lua_State *L);
diff --git a/lua_advanced/esc.lua b/lua_advanced/esc.lua
deleted file mode 100644
index c9abe87..0000000
--- a/lua_advanced/esc.lua
+++ /dev/null
@@ -1,27 +0,0 @@
----@meta
-
----@class EscConfig
----@field maxspeed integer
----@field odometer number
----@field started boolean
-
----@class esc
-esc = {}
-
----Get current ESC config
----@return EscConfig
-function esc.get_esc_config() end
-
----Set maximum speed
----@param value integer
-function esc.set_maxspeed(value) end
-
----Set started flag
----@param value boolean
-function esc.set_started(value) end
-
----Add to odometer
----@param delta number
-function esc.add_odometer(delta) end
-
-return esc