diff --git a/headcrab-cubemx/Core/Inc/hx711.h b/headcrab-cubemx/Core/Inc/hx711.h
new file mode 100644
index 0000000..08f7f25
--- /dev/null
+++ b/headcrab-cubemx/Core/Inc/hx711.h
@@ -0,0 +1,35 @@
+/**
+  ******************************************************************************
+  * @file           : hx711.h
+  * @brief          : HX711 library header file
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center> by leonek
+  * have fun</center></h2>
+  *
+  * gnu gpl v3.0 licence forever!~
+  *
+  ******************************************************************************
+  */
+
+#ifndef HX711_H //we want to include library only once
+#define HX711_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+// all hxes
+typedef enum
+{
+    HX_A  = 0, //top right
+    HX_B  = 1, //top left
+    HX_C  = 2, //bottom left
+    HX_D  = 3  //bottom right
+} HX_nr;
+
+void HX_begin(HX_nr module);
+uint32_t HX_read(HX_nr module);
+bool HX_check(HX_nr module);
+
+#endif
\ No newline at end of file
diff --git a/headcrab-cubemx/Core/Inc/pca9685.h b/headcrab-cubemx/Core/Inc/pca9685.h
new file mode 100644
index 0000000..61b6284
--- /dev/null
+++ b/headcrab-cubemx/Core/Inc/pca9685.h
@@ -0,0 +1,36 @@
+/**
+  ******************************************************************************
+  * @file           : pca9685.h
+  * @brief          : PCA9685 PWM library header file
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center> by leonek
+  * have fun</center></h2>
+  *
+  * gnu gpl v3.0 licence forever!~
+  *
+  ******************************************************************************
+  */
+
+#ifndef PCA9685_H //we want to include library only once
+#define PCA9685_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+uint8_t PCA_read8(uint8_t reg);
+void PCA_write8(uint8_t reg, uint8_t val);
+void PCA_reset();
+void PCA_setBit(uint8_t reg, uint8_t bit, bool val);
+void PCA_sleepMode(bool s);
+void PCA_restartMode(bool s);
+void PCA_autoIncrement(bool s);
+void PCA_setFreq(int f);
+void PCA_setPWM(uint8_t channel, int ontime, int offtime);
+void PCA_setPin(uint8_t channel, int value);
+long map(long x, long in_min, long in_max, long out_min, long out_max);
+void PCA_setServoAngle(uint8_t channel, float angle);
+void PCA_begin();
+
+#endif
\ No newline at end of file
diff --git a/headcrab-cubemx/Core/Src/hx711.c b/headcrab-cubemx/Core/Src/hx711.c
new file mode 100644
index 0000000..418fec3
--- /dev/null
+++ b/headcrab-cubemx/Core/Src/hx711.c
@@ -0,0 +1,81 @@
+/**
+  ******************************************************************************
+  * @file           : xh711.c
+  * @brief          : XH711 library source file
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center> by leonek
+  * have fun</center></h2>
+  *
+  * gnu gpl v3.0 licence forever!~
+  *
+  ******************************************************************************
+  */
+#include <stdbool.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include "hx711.h"
+#include "gpio.h"
+#include "main.h"
+
+typedef struct
+{
+    GPIO_TypeDef* clk_port;
+    uint16_t clk_pin;
+    GPIO_TypeDef* data_port;
+    uint16_t data_pin;
+} HX_ADC;
+
+static const HX_ADC HXes[] =
+{
+  {HX0_CLOCK_GPIO_Port, HX0_CLOCK_Pin, HX0_DATA_GPIO_Port, HX0_DATA_Pin},
+  {HX1_CLOCK_GPIO_Port, HX1_CLOCK_Pin, HX1_DATA_GPIO_Port, HX1_DATA_Pin},
+  {HX2_CLOCK_GPIO_Port, HX2_CLOCK_Pin, HX2_DATA_GPIO_Port, HX2_DATA_Pin},
+  {HX3_CLOCK_GPIO_Port, HX3_CLOCK_Pin, HX3_DATA_GPIO_Port, HX3_DATA_Pin}
+};
+
+#define BITS_A_128   25
+#define BITS_B_32    26
+#define BITS_A_64    27
+
+#define CLOCK_BITS BITS_A_128
+
+void HX_begin(HX_nr module)
+{
+    while(HAL_GPIO_ReadPin(HXes[module].data_port, HXes[module].data_pin)); //wait til ready
+    for(int x = 0; x < CLOCK_BITS; x++)
+    {
+        HAL_GPIO_WritePin(HXes[module].data_port, HXes[module].data_pin, GPIO_PIN_SET);
+        HAL_Delay(1);
+        HAL_GPIO_WritePin(HXes[module].data_port, HXes[module].data_pin, GPIO_PIN_SET);
+        HAL_Delay(0);
+    }
+}
+
+//read
+uint32_t HX_read(HX_nr module)
+{
+    uint32_t result = 0;
+    while(HAL_GPIO_ReadPin(HXes[module].data_port, HXes[module].data_pin)); //wait til ready
+
+    for(int x = 0; x < CLOCK_BITS; x++)
+    {
+        HAL_GPIO_WritePin(HXes[module].data_port, HXes[module].data_pin, GPIO_PIN_SET);
+        if(x < 25) result |= HAL_GPIO_ReadPin(HXes[module].data_port, HXes[module].data_pin) << x;
+        HAL_GPIO_WritePin(HXes[module].data_port, HXes[module].data_pin, GPIO_PIN_RESET);
+    }
+    return result;
+}
+
+//check the state 
+bool HX_check(HX_nr module)
+{
+    if(HAL_GPIO_ReadPin(HXes[module].data_port, HXes[module].data_pin) == GPIO_PIN_SET)
+        return true;
+    else
+        return false;
+}
+
diff --git a/headcrab-cubemx/Core/Src/main.c b/headcrab-cubemx/Core/Src/main.c
index e037d5f..c51f03e 100644
--- a/headcrab-cubemx/Core/Src/main.c
+++ b/headcrab-cubemx/Core/Src/main.c
@@ -35,6 +35,8 @@
 #include <stdlib.h>
 #include "dfplayermini.h"
 #include <math.h>
+#include "pca9685.h"
+#include "hx711.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -59,62 +61,6 @@ typedef struct
 #define CRLF 1
 #define NOCRLF 0
 
-#define PCA9685_ADDRESS 0x80
-//registers
-#define PCA9685_MODE1 0x00      
-#define PCA9685_MODE2 0x01      
-#define PCA9685_SUBADR1 0x02    
-#define PCA9685_SUBADR2 0x03    
-#define PCA9685_SUBADR3 0x04    
-#define PCA9685_ALLCALLADR 0x05 
-#define PCA9685_LED0_ON_L 0x06  
-#define PCA9685_LED0_ON_H 0x07  
-#define PCA9685_LED0_OFF_L 0x08 
-#define PCA9685_LED0_OFF_H 0x09 
-// etc all 16:  LED15_OFF_H 0x45
-
-#define PCA9685_ALLLED_ON_L 0xFA  
-#define PCA9685_ALLLED_ON_H 0xFB  
-#define PCA9685_ALLLED_OFF_L 0xFC 
-#define PCA9685_ALLLED_OFF_H 0xFD 
-#define PCA9685_PRESCALE 0xFE
-
-// MODE1 bits
-#define MODE1_ALLCAL 0x01  /**< respond to LED All Call I2C-bus address */
-#define MODE1_SUB3 0x02    /**< respond to I2C-bus subaddress 3 */
-#define MODE1_SUB2 0x04    /**< respond to I2C-bus subaddress 2 */
-#define MODE1_SUB1 0x08    /**< respond to I2C-bus subaddress 1 */
-#define PCA9685_BIT_SLEEP 0x04   /**< Low power mode. Oscillator off */
-#define PCA9685_BIT_AI 0x05      /**< Auto-Increment enabled */
-#define MODE1_EXTCLK 0x40  /**< Use EXTCLK pin clock */
-#define PCA9685_BIT_RESTART 0x07 /**< Restart enabled */
-// MODE2 bits
-#define MODE2_OUTNE_0 0x01 /**< Active LOW output enable input */
-#define MODE2_OUTNE_1 0x02 /**< Active LOW output enable input - high impedience */
-#define MODE2_OUTDRV 0x04 /**< totem pole structure vs open-drain */
-#define MODE2_OCH 0x08    /**< Outputs change on ACK vs STOP */
-#define MODE2_INVRT 0x10  /**< Output logic state inverted */
-
-const int servoMinMaxValues[16][2] = 
-{
-  {140, 410},
-  {100, 480},
-  {80, 470},
-  {0, 0},
-  {150, 440},
-  {100, 480},
-  {80, 470},
-  {0, 0},
-  {150, 450},
-  {110, 480},
-  {160, 510}, //fix
-  {0, 0},
-  {170, 470},
-  {100, 470},
-  {150, 520},
-  {0, 0}
-};
-
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
@@ -148,120 +94,6 @@ bool debug_echo = false;
 void SystemClock_Config(void);
 /* USER CODE BEGIN PFP */
 
-uint8_t PCA_read8(uint8_t reg)
-{
-	  uint8_t value = 0;
-	  HAL_I2C_Mem_Read(&hi2c1, PCA9685_ADDRESS, reg, 1, &value, 1, HAL_MAX_DELAY);
-	  return value;
-}
-
-void PCA_write8(uint8_t reg, uint8_t val)
-{
-    HAL_I2C_Mem_Write(&hi2c1, PCA9685_ADDRESS, reg, 1, &val, 1, HAL_MAX_DELAY);
-}
-
-void PCA_reset()
-{
-    uint8_t rst = 0x06;
-    HAL_I2C_Master_Transmit(&hi2c1, 0x00, &rst, 1, HAL_MAX_DELAY);
-    HAL_Delay(10);
-}
-
-//register, bit place, the bit (lol)
-void PCA_setBit(uint8_t reg, uint8_t bit, bool val)
-{
-    uint8_t value = PCA_read8(reg);
-
-	  if(val) value |= val << bit;
-    else value &= ~(!val << bit);
-
-    char b[10];
-    itoa(value, b, 16);
-    char msg[32] = "VALUE: ";
-    strcat(msg, b);
-    debug_serialWrite(msg, CRLF);
-
-    PCA_write8(reg, value);
-}
-
-void PCA_sleepMode(bool s)
-{
-    PCA_setBit(PCA9685_MODE1, PCA9685_BIT_SLEEP, s);
-}
-
-void PCA_restartMode(bool s)
-{
-    PCA_setBit(PCA9685_MODE1, PCA9685_BIT_RESTART, s);
-}
-void PCA_autoIncrement(bool s)
-{
-  	PCA_setBit(PCA9685_MODE1, PCA9685_BIT_AI, s);
-}
-
-void PCA_setFreq(int f)
-{
-    uint8_t prescale = 0;
-    if(f >= 1526)
-        prescale = 0x03;
-    else if(f <= 24)
-        prescale = 0xFF;
-    else 
-    {
-        float val = (25000000 / (4096 * (float)f)) - 1;
-        prescale = round(val);
-    }
-
-    PCA_sleepMode(1);
-    PCA_write8(PCA9685_PRESCALE, prescale);
-    PCA_sleepMode(0);
-    PCA_restartMode(1);
-}
-
-void PCA_setPWM(uint8_t channel, int ontime, int offtime)
-{
-    uint8_t reg;
-    uint8_t buffer[4];
-
-    reg = PCA9685_LED0_ON_L + (4 * channel);
-    buffer[0] = ontime;
-    buffer[1] = ontime >> 8;
-    buffer[2] = offtime;
-    buffer[3] = offtime >> 8;
-
-    HAL_I2C_Mem_Write(&hi2c1, PCA9685_ADDRESS, reg, 1, buffer, 4, HAL_MAX_DELAY);
-}
-
-void PCA_setPin(uint8_t channel, int value)
-{
-  if(value == 4095)
-      PCA_setPWM(channel, 4096, 0);
-  else if(value == 0)
-      PCA_setPWM(channel, 0, 4096);
-  else
-      PCA_setPWM(channel, 0, value);
-}
-
-//straight from arduino ide :3
-long map(long x, long in_min, long in_max, long out_min, long out_max)
-{
-  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-}
-
-void PCA_setServoAngle(uint8_t channel, float angle)
-{
-    int a;
-    if(angle < 0) a = 0;
-    else a = map((uint16_t)angle, 0, 180, servoMinMaxValues[channel][0], servoMinMaxValues[channel][1]);
-    PCA_setPin(channel, a);
-}
-
-void PCA_begin()
-{
-    PCA_reset();
-    PCA_setFreq(50);
-    PCA_autoIncrement(true);
-}
-
 //turn on/off builtin leds
 void led_set(int led, bool turn_on)
 { 
@@ -271,6 +103,7 @@ void led_set(int led, bool turn_on)
 		HAL_GPIO_WritePin(LEDs[led].port, LEDs[led].pin, state);
 }
 
+// toggle yay
 void led_toggle(int led)
 {
     if (led >= 0 && led < 8)
@@ -319,8 +152,6 @@ HAL_StatusTypeDef debug_serialWrite(char* message, bool nl)
   return HAL_UART_Transmit(&huart1, (uint8_t*)&msg, strlen(msg), HAL_MAX_DELAY);
 }
 
-
-
 // split received data and execute a command
 void debug_executeSerial()
 {
@@ -444,6 +275,7 @@ void debug_handleSerial()
     }
 }
 
+// interrupt on receive
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 {
     if(huart == &huart1)
@@ -516,6 +348,10 @@ int main(void)
 
   PCA_begin();
 
+  HX_begin(0);
+
+  
+
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -523,6 +359,11 @@ int main(void)
   while (1)
   {
       led_toggle(6);
+      char msg[32] = "ODCZYT: ";
+      char buff[32];
+      itoa(HX_read(0), buff, 2);
+      strcat(msg, buff);
+      debug_serialWrite(msg, 1);
       HAL_Delay(100);
       HAL_IWDG_Refresh(&hiwdg);
     /* USER CODE END WHILE */
diff --git a/headcrab-cubemx/Core/Src/pca9685.c b/headcrab-cubemx/Core/Src/pca9685.c
new file mode 100644
index 0000000..f0e8576
--- /dev/null
+++ b/headcrab-cubemx/Core/Src/pca9685.c
@@ -0,0 +1,191 @@
+/**
+  ******************************************************************************
+  * @file           : pca9685.c
+  * @brief          : PCA9685 library source file
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center> by leonek
+  * have fun</center></h2>
+  *
+  * gnu gpl v3.0 licence forever!~
+  *
+  ******************************************************************************
+  */
+#include <stdbool.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include "pca9685.h"
+#include "i2c.h"
+
+#define PCA9685_ADDRESS 0x80
+//registers
+#define PCA9685_MODE1 0x00      
+#define PCA9685_MODE2 0x01      
+#define PCA9685_SUBADR1 0x02    
+#define PCA9685_SUBADR2 0x03    
+#define PCA9685_SUBADR3 0x04    
+#define PCA9685_ALLCALLADR 0x05 
+#define PCA9685_LED0_ON_L 0x06  
+#define PCA9685_LED0_ON_H 0x07  
+#define PCA9685_LED0_OFF_L 0x08 
+#define PCA9685_LED0_OFF_H 0x09 
+// etc all 16:  LED15_OFF_H 0x45
+
+#define PCA9685_ALLLED_ON_L 0xFA  
+#define PCA9685_ALLLED_ON_H 0xFB  
+#define PCA9685_ALLLED_OFF_L 0xFC 
+#define PCA9685_ALLLED_OFF_H 0xFD 
+#define PCA9685_PRESCALE 0xFE
+
+// MODE1 bits
+#define MODE1_ALLCAL 0x01  /**< respond to LED All Call I2C-bus address */
+#define MODE1_SUB3 0x02    /**< respond to I2C-bus subaddress 3 */
+#define MODE1_SUB2 0x04    /**< respond to I2C-bus subaddress 2 */
+#define MODE1_SUB1 0x08    /**< respond to I2C-bus subaddress 1 */
+#define PCA9685_BIT_SLEEP 0x04   /**< Low power mode. Oscillator off */
+#define PCA9685_BIT_AI 0x05      /**< Auto-Increment enabled */
+#define MODE1_EXTCLK 0x40  /**< Use EXTCLK pin clock */
+#define PCA9685_BIT_RESTART 0x07 /**< Restart enabled */
+// MODE2 bits
+#define MODE2_OUTNE_0 0x01 /**< Active LOW output enable input */
+#define MODE2_OUTNE_1 0x02 /**< Active LOW output enable input - high impedience */
+#define MODE2_OUTDRV 0x04 /**< totem pole structure vs open-drain */
+#define MODE2_OCH 0x08    /**< Outputs change on ACK vs STOP */
+#define MODE2_INVRT 0x10  /**< Output logic state inverted */
+
+const int servoMinMaxValues[16][2] = 
+{
+  {140, 410},
+  {100, 480},
+  {80, 470},
+  {0, 0},
+  {150, 440},
+  {100, 480},
+  {80, 470},
+  {0, 0},
+  {150, 450},
+  {110, 480},
+  {160, 510}, //fix
+  {0, 0},
+  {170, 470},
+  {100, 470},
+  {150, 520},
+  {0, 0}
+};
+
+uint8_t PCA_read8(uint8_t reg)
+{
+	  uint8_t value = 0;
+	  HAL_I2C_Mem_Read(&hi2c1, PCA9685_ADDRESS, reg, 1, &value, 1, HAL_MAX_DELAY);
+	  return value;
+}
+
+void PCA_write8(uint8_t reg, uint8_t val)
+{
+    HAL_I2C_Mem_Write(&hi2c1, PCA9685_ADDRESS, reg, 1, &val, 1, HAL_MAX_DELAY);
+}
+
+void PCA_reset()
+{
+    uint8_t rst = 0x06;
+    HAL_I2C_Master_Transmit(&hi2c1, 0x00, &rst, 1, HAL_MAX_DELAY);
+    HAL_Delay(10);
+}
+
+//register, bit place, the bit (lol)
+void PCA_setBit(uint8_t reg, uint8_t bit, bool val)
+{
+    uint8_t value = PCA_read8(reg);
+
+	  if(val) value |= val << bit;
+    else value &= ~(!val << bit);
+
+    char b[10];
+    itoa(value, b, 16);
+    char msg[32] = "VALUE: ";
+    strcat(msg, b);
+    debug_serialWrite(msg, 1);
+
+    PCA_write8(reg, value);
+}
+
+void PCA_sleepMode(bool s)
+{
+    PCA_setBit(PCA9685_MODE1, PCA9685_BIT_SLEEP, s);
+}
+
+void PCA_restartMode(bool s)
+{
+    PCA_setBit(PCA9685_MODE1, PCA9685_BIT_RESTART, s);
+}
+void PCA_autoIncrement(bool s)
+{
+  	PCA_setBit(PCA9685_MODE1, PCA9685_BIT_AI, s);
+}
+
+void PCA_setFreq(int f)
+{
+    uint8_t prescale = 0;
+    if(f >= 1526)
+        prescale = 0x03;
+    else if(f <= 24)
+        prescale = 0xFF;
+    else 
+    {
+        float val = (25000000 / (4096 * (float)f)) - 1;
+        prescale = round(val);
+    }
+
+    PCA_sleepMode(1);
+    PCA_write8(PCA9685_PRESCALE, prescale);
+    PCA_sleepMode(0);
+    PCA_restartMode(1);
+}
+
+void PCA_setPWM(uint8_t channel, int ontime, int offtime)
+{
+    uint8_t reg;
+    uint8_t buffer[4];
+
+    reg = PCA9685_LED0_ON_L + (4 * channel);
+    buffer[0] = ontime;
+    buffer[1] = ontime >> 8;
+    buffer[2] = offtime;
+    buffer[3] = offtime >> 8;
+
+    HAL_I2C_Mem_Write(&hi2c1, PCA9685_ADDRESS, reg, 1, buffer, 4, HAL_MAX_DELAY);
+}
+
+void PCA_setPin(uint8_t channel, int value)
+{
+  if(value == 4095)
+      PCA_setPWM(channel, 4096, 0);
+  else if(value == 0)
+      PCA_setPWM(channel, 0, 4096);
+  else
+      PCA_setPWM(channel, 0, value);
+}
+
+//straight from arduino ide :3
+long map(long x, long in_min, long in_max, long out_min, long out_max)
+{
+  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+void PCA_setServoAngle(uint8_t channel, float angle)
+{
+    int a;
+    if(angle < 0) a = 0;
+    else a = map((uint16_t)angle, 0, 180, servoMinMaxValues[channel][0], servoMinMaxValues[channel][1]);
+    PCA_setPin(channel, a);
+}
+
+void PCA_begin()
+{
+    PCA_reset();
+    PCA_setFreq(50);
+    PCA_autoIncrement(true);
+}
\ No newline at end of file
diff --git a/headcrab-disco/platformio_cubemx.code-workspace b/headcrab-disco/platformio_cubemx.code-workspace
index 1b0246f..0ff59e5 100644
--- a/headcrab-disco/platformio_cubemx.code-workspace
+++ b/headcrab-disco/platformio_cubemx.code-workspace
@@ -23,7 +23,8 @@
 			"sstream": "c",
 			"main.h": "c",
 			"unordered_map": "cpp",
-			"initializer_list": "cpp"
+			"initializer_list": "cpp",
+			"stdlib.h": "c"
 		}
 	}
 }
\ No newline at end of file