diff --git a/BLDC-Motor-Controller.ioc b/BLDC-Motor-Controller.ioc
index 51aa86d..40c22c7 100755
--- a/BLDC-Motor-Controller.ioc
+++ b/BLDC-Motor-Controller.ioc
@@ -212,14 +212,14 @@ TIM1.Channel-PWM\ Generation2\ CH2\ CH2N=TIM_CHANNEL_2
 TIM1.Channel-PWM\ Generation3\ CH3\ CH3N=TIM_CHANNEL_3
 TIM1.DeadTime=PWM_DEADTIME_COUNTS
 TIM1.IPParameters=Period,Prescaler,BreakState,AutomaticOutput,Channel-PWM Generation2 CH2 CH2N,OCFastMode_PWM-PWM Generation2 CH2 CH2N,DeadTime,OffStateRunMode,OffStateIDLEMode,Channel-PWM Generation1 CH1 CH1N,Channel-PWM Generation3 CH3 CH3N,OCFastMode_PWM-PWM Generation1 CH1 CH1N,OCFastMode_PWM-PWM Generation3 CH3 CH3N
-TIM1.IPParametersWithoutCheck=DeadTime,Period
+TIM1.IPParametersWithoutCheck=DeadTime,Prescaler,Period
 TIM1.OCFastMode_PWM-PWM\ Generation1\ CH1\ CH1N=TIM_OCFAST_ENABLE
 TIM1.OCFastMode_PWM-PWM\ Generation2\ CH2\ CH2N=TIM_OCFAST_ENABLE
 TIM1.OCFastMode_PWM-PWM\ Generation3\ CH3\ CH3N=TIM_OCFAST_ENABLE
 TIM1.OffStateIDLEMode=TIM_OSSI_ENABLE
 TIM1.OffStateRunMode=TIM_OSSR_ENABLE
 TIM1.Period=PWM_COUNTS-1
-TIM1.Prescaler=1
+TIM1.Prescaler=TIM1_PRESCALER
 TIM2.IPParameters=Prescaler,Period
 TIM2.Period=999
 TIM2.Prescaler=31
diff --git a/Core/Inc/motor_controller.h b/Core/Inc/motor_controller.h
index 8f3e622..c7ed8b1 100644
--- a/Core/Inc/motor_controller.h
+++ b/Core/Inc/motor_controller.h
@@ -10,13 +10,24 @@ typedef struct {
     uint32_t                U_Phase_TIM_Channel;
     uint32_t                V_Phase_TIM_Channel;
     uint32_t                W_Phase_TIM_Channel;
-}Cont_Mot_Interface_TypeDef;
+} Cont_Mot_PWMInterface_TypeDef;
 
 typedef struct {
-    Cont_Mot_Interface_TypeDef Motor_Interface;
+    uint32_t                rpm_rated_speed;
+    uint32_t                mA_rated_current;
+    uint8_t                 num_poles;
+    uint16_t                v_rated_voltage;
+    uint16_t                w_rated_power;
+    float                   vkrpm_bemf_constant;
+    uint32_t                Nmm_rated_torque;
+} Electrical_Specs_TypeDef;
+
+typedef struct {
+    Cont_Mot_PWMInterface_TypeDef   PWM_Interface;
+    Electrical_Specs_TypeDef        Electrical_Specs;
 } Motor_TypeDef;
 
-void BLDC_Init(Cont_Mot_Interface_TypeDef Interface);
+void BLDC_PWM_Init(Cont_Mot_PWMInterface_TypeDef* PWM_Interface);
 void BLDC_Loop();
 
 #endif
\ No newline at end of file
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 4fe84f1..d440b0c 100755
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -36,9 +36,12 @@
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
 
-#define PWM_COUNTS 2000
-
 #define CLOCK_SPEED_MHZ 32UL
+
+#define TIM1_PRESCALER 1
+#define PWM_COUNTS 2000
+#define PWM_FREQUENCY (CLOCK_SPEED_MHZ * 1000UL / (TIM1_PRESCALER + 1UL) * 1000 / PWM_COUNTS)
+
 #define PWM_DEADTIME_NS 1000UL
 #define PWM_DEADTIME_COUNTS (CLOCK_SPEED_MHZ * 1000UL / PWM_DEADTIME_NS)
 
@@ -62,6 +65,24 @@ DMA_HandleTypeDef hdma_usart1_tx;
 
 /* USER CODE BEGIN PV */
 
+Motor_TypeDef Motor1 = {
+  .Electrical_Specs = {
+    .mA_rated_current     =   4800,
+    .v_rated_voltage      =   24,
+    .rpm_rated_speed      =   3000,
+    .w_rated_power        =   75,
+    .num_poles            =   8,
+    .vkrpm_bemf_constant  =   4.41,
+    .Nmm_rated_torque     =   240,
+  },
+  .PWM_Interface = {
+    .Driver_PWM_TIM = &htim1,
+    .U_Phase_TIM_Channel  =   TIM_CHANNEL_1,
+    .V_Phase_TIM_Channel  =   TIM_CHANNEL_2,
+    .W_Phase_TIM_Channel  =   TIM_CHANNEL_3,
+  }
+};
+
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -127,28 +148,17 @@ int main(void)
   static uint32_t loops;
   HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
 
-  // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
-  // HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_1);
-  // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
-  // HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_2);
-  // HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
-  // HAL_TIMEx_PWMN_Start(&htim1, TIM_CHANNEL_3);
-  Cont_Mot_Interface_TypeDef MotorInterface = {
-    .Driver_PWM_TIM = &htim1,
-    .U_Phase_TIM_Channel = TIM_CHANNEL_1,
-    .V_Phase_TIM_Channel = TIM_CHANNEL_2,
-    .W_Phase_TIM_Channel = TIM_CHANNEL_3,
-  };
-
-  BLDC_Init(MotorInterface);
-
-
   HAL_ADC_Start(&hadc);
 
+  //These configure overcurrent protection. TODO
   HAL_GPIO_WritePin(OC_TH_STBY1_GPIO_Port, OC_TH_STBY1_Pin, GPIO_PIN_SET);
   HAL_GPIO_WritePin(OC_TH_STBY2_GPIO_Port, OC_TH_STBY2_Pin, GPIO_PIN_SET);
   HAL_GPIO_WritePin(PWM_LSW_GPIO_Port, PWM_LSW_Pin, GPIO_PIN_SET);
 
+  //Initialize the PWM for gate drivers.
+  BLDC_PWM_Init(&Motor1.PWM_Interface);
+
+  //Start timer with interrupt for control loop.
   HAL_TIM_Base_Start_IT(&htim2);
 
   while (1)
@@ -296,7 +306,7 @@ static void MX_TIM1_Init(void)
 
   /* USER CODE END TIM1_Init 1 */
   htim1.Instance = TIM1;
-  htim1.Init.Prescaler = 1;
+  htim1.Init.Prescaler = TIM1_PRESCALER;
   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
   htim1.Init.Period = PWM_COUNTS-1;
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
diff --git a/Core/Src/motor_controller.c b/Core/Src/motor_controller.c
index b272adb..647c8c5 100644
--- a/Core/Src/motor_controller.c
+++ b/Core/Src/motor_controller.c
@@ -3,13 +3,15 @@
 
 #include "motor_controller.h"
 
-void BLDC_Init(Cont_Mot_Interface_TypeDef Interface) {
-    HAL_TIM_PWM_Start(Interface.Driver_PWM_TIM, Interface.U_Phase_TIM_Channel);
-    HAL_TIMEx_PWMN_Start(Interface.Driver_PWM_TIM, Interface.U_Phase_TIM_Channel);
-    HAL_TIM_PWM_Start(Interface.Driver_PWM_TIM, Interface.V_Phase_TIM_Channel);
-    HAL_TIMEx_PWMN_Start(Interface.Driver_PWM_TIM, Interface.V_Phase_TIM_Channel);
-    HAL_TIM_PWM_Start(Interface.Driver_PWM_TIM, Interface.W_Phase_TIM_Channel);
-    HAL_TIMEx_PWMN_Start(Interface.Driver_PWM_TIM, Interface.W_Phase_TIM_Channel);
+void BLDC_PWM_Init(Cont_Mot_PWMInterface_TypeDef* PWM_Interface) {
+
+    //Start High-Side and Low-Side PWM Drivers
+    HAL_TIM_PWM_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->U_Phase_TIM_Channel);
+    HAL_TIMEx_PWMN_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->U_Phase_TIM_Channel);
+    HAL_TIM_PWM_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->V_Phase_TIM_Channel);
+    HAL_TIMEx_PWMN_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->V_Phase_TIM_Channel);
+    HAL_TIM_PWM_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->W_Phase_TIM_Channel);
+    HAL_TIMEx_PWMN_Start(PWM_Interface->Driver_PWM_TIM, PWM_Interface->W_Phase_TIM_Channel);
 }
 
 void BLDC_Loop() {
diff --git a/Makefile b/Makefile
index afeb73a..3a00e3c 100644
--- a/Makefile
+++ b/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.7.0-B52] date: [Sun Oct 05 13:27:16 CDT 2025] 
+# File automatically-generated by tool: [projectgenerator] version: [4.7.0-B52] date: [Sun Oct 05 14:55:26 CDT 2025] 
 ##########################################################################################################################
 
 # ------------------------------------------------