diff --git a/frtos/config/motor_config.h b/frtos/config/motor_config.h
index 1deb183..f3b7873 100644
--- a/frtos/config/motor_config.h
+++ b/frtos/config/motor_config.h
@@ -43,8 +43,8 @@ typedef struct {
     float               target_speed_cms;
     float               current_speed_cms;
     uint16_t            pwm_level;
-    SemaphoreHandle_t * p_sem;
-    uint              * p_slice_num;
+    SemaphoreHandle_t   sem;
+    uint                slice_num;
     uint                pwm_channel;
 } motor_speed_t;
 
diff --git a/frtos/motor/motor_init.h b/frtos/motor/motor_init.h
index 189a9ef..2ebdca3 100644
--- a/frtos/motor/motor_init.h
+++ b/frtos/motor/motor_init.h
@@ -19,30 +19,18 @@
 
 #include "motor_config.h"
 
-uint g_slice_num_left  = 0U;
-uint g_slice_num_right = 0U;
+motor_speed_t g_motor_speed_left  = { .pwm_level   = 2500u,
+                                      .pwm_channel = PWM_CHAN_A };
 
-SemaphoreHandle_t g_wheel_speed_sem_left  = NULL;
-SemaphoreHandle_t g_wheel_speed_sem_right = NULL;
-
-motor_speed_t g_motor_speed_left = { .target_speed_cms = 0.0f,
-                                     .pwm_level        = 2500u,
-                                     .p_sem            = &g_wheel_speed_sem_left,
-                                     .p_slice_num      = &g_slice_num_left,
-                                     .pwm_channel      = PWM_CHAN_A };
-
-motor_speed_t g_motor_speed_right = { .target_speed_cms = 0.0f,
-                                      .pwm_level        = 2500u,
-                                      .p_sem            = &g_wheel_speed_sem_right,
-                                      .p_slice_num      = &g_slice_num_right,
-                                      .pwm_channel      = PWM_CHAN_B };
+motor_speed_t g_motor_speed_right = { .pwm_level   = 2500u,
+                                      .pwm_channel = PWM_CHAN_B };
 
 void
 motor_init(void)
 {
     // Semaphore
-    g_wheel_speed_sem_left  = xSemaphoreCreateBinary();
-    g_wheel_speed_sem_right = xSemaphoreCreateBinary();
+    g_motor_speed_left.sem  = xSemaphoreCreateBinary();
+    g_motor_speed_right.sem = xSemaphoreCreateBinary();
 
     gpio_init(SPEED_PIN_RIGHT);
     gpio_init(SPEED_PIN_LEFT);
@@ -64,21 +52,21 @@ motor_init(void)
     gpio_set_function(PWM_PIN_LEFT, GPIO_FUNC_PWM);
     gpio_set_function(PWM_PIN_RIGHT, GPIO_FUNC_PWM);
 
-    g_slice_num_left  = pwm_gpio_to_slice_num(PWM_PIN_LEFT);
-    g_slice_num_right = pwm_gpio_to_slice_num(PWM_PIN_RIGHT);
+    g_motor_speed_left.slice_num  = pwm_gpio_to_slice_num(PWM_PIN_LEFT);
+    g_motor_speed_right.slice_num = pwm_gpio_to_slice_num(PWM_PIN_RIGHT);
 
     // NOTE: PWM clock is 125MHz for raspberrypi pico w by default
 
     // 125MHz / 250 = 500kHz
-    pwm_set_clkdiv(g_slice_num_left, PWM_CLK_DIV);
-    pwm_set_clkdiv(g_slice_num_right, PWM_CLK_DIV);
+    pwm_set_clkdiv(g_motor_speed_left.slice_num, PWM_CLK_DIV);
+    pwm_set_clkdiv(g_motor_speed_right.slice_num, PWM_CLK_DIV);
 
     // have them to be 500kHz / 5000 = 100Hz
-    pwm_set_wrap(g_slice_num_left, (PWM_WRAP - 1U));
-    pwm_set_wrap(g_slice_num_right, (PWM_WRAP - 1U));
+    pwm_set_wrap(g_motor_speed_left.slice_num, (PWM_WRAP - 1U));
+    pwm_set_wrap(g_motor_speed_right.slice_num, (PWM_WRAP - 1U));
 
-    pwm_set_enabled(g_slice_num_left, true);
-    pwm_set_enabled(g_slice_num_right, true);
+    pwm_set_enabled(g_motor_speed_left.slice_num, true);
+    pwm_set_enabled(g_motor_speed_right.slice_num, true);
 }
 
 #endif /* MOTOR_INIT_H */
\ No newline at end of file
diff --git a/frtos/motor/motor_pid.h b/frtos/motor/motor_pid.h
index 34a446a..d924819 100644
--- a/frtos/motor/motor_pid.h
+++ b/frtos/motor/motor_pid.h
@@ -63,7 +63,7 @@ motor_pid_task(void *p_param)
         printf("control signal: %f\n", control_signal);
         printf("new pwm: %hu\n\n", p_motor_speed->pwm_level);
 
-        pwm_set_chan_level(*p_motor_speed->p_slice_num,
+        pwm_set_chan_level(p_motor_speed->slice_num,
                            p_motor_speed->pwm_channel,
                            p_motor_speed->pwm_level);
 
diff --git a/frtos/motor/motor_speed.h b/frtos/motor/motor_speed.h
index bb91ce7..2b49b82 100644
--- a/frtos/motor/motor_speed.h
+++ b/frtos/motor/motor_speed.h
@@ -17,7 +17,7 @@ h_wheel_sensor_isr_handler(void)
         gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL);
 
         BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-        xSemaphoreGiveFromISR(g_wheel_speed_sem_left,
+        xSemaphoreGiveFromISR(g_motor_speed_left.sem,
                               &xHigherPriorityTaskWoken);
         portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
     }
@@ -27,7 +27,7 @@ h_wheel_sensor_isr_handler(void)
         gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL);
 
         BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-        xSemaphoreGiveFromISR(g_wheel_speed_sem_right,
+        xSemaphoreGiveFromISR(g_motor_speed_right.sem,
                               &xHigherPriorityTaskWoken);
         portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
     }
@@ -51,7 +51,7 @@ monitor_wheel_speed_task(void *pvParameters)
 
     for (;;)
     {
-        if (xSemaphoreTake(*p_motor_speed->p_sem, pdMS_TO_TICKS(100))
+        if (xSemaphoreTake(p_motor_speed->sem, pdMS_TO_TICKS(100))
             == pdTRUE)
         {
             curr_time    = time_us_64();