diff --git a/Cargo.lock b/Cargo.lock
index 7653df5d..bfb667ec 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -301,10 +301,6 @@ dependencies = [
  "heapless",
 ]
 
-[[package]]
-name = "hyped_levitation"
-version = "0.1.0"
-
 [[package]]
 name = "hyped_localisation"
 version = "0.1.0"
diff --git a/Cargo.toml b/Cargo.toml
index e30463b0..f299079f 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -7,5 +7,6 @@ exclude = [
   "boards/stm32l476rg",
   "boards/stm32h743zi",
   "boards/stm32f767zi",
+  "boards/stm32l432kc",
 ]
 resolver = "2"
diff --git a/boards/stm32f767zi/src/bin/adc_test.rs b/boards/stm32f767zi/src/bin/adc_test.rs
index c25161c6..bae27e8c 100644
--- a/boards/stm32f767zi/src/bin/adc_test.rs
+++ b/boards/stm32f767zi/src/bin/adc_test.rs
@@ -28,7 +28,6 @@ async fn main(_spawner: Spawner) {
         (u32::from(sample) * VREFINT_MV / u32::from(vrefint_sample)) as u16
     };
 
-
     let mut hyped_adc = Stm32f767ziAdc::new(adc, pin.degrade_adc());
 
     loop {
@@ -36,4 +35,4 @@ async fn main(_spawner: Spawner) {
         info!("--> {} - {} mV", v, convert_to_millivolts(v));
         Timer::after_millis(100).await;
     }
-}
\ No newline at end of file
+}
diff --git a/boards/stm32f767zi/src/io.rs b/boards/stm32f767zi/src/io.rs
index 1646eded..3d3539cc 100644
--- a/boards/stm32f767zi/src/io.rs
+++ b/boards/stm32f767zi/src/io.rs
@@ -1,3 +1,3 @@
+pub mod adc;
 pub mod gpio;
 pub mod i2c;
-pub mod adc;
diff --git a/boards/stm32l432kc/.cargo/config.toml b/boards/stm32l432kc/.cargo/config.toml
new file mode 100644
index 00000000..c15688b8
--- /dev/null
+++ b/boards/stm32l432kc/.cargo/config.toml
@@ -0,0 +1,9 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# replace STM32F429ZITx with your chip as listed in `probe-rs chip list`
+runner = "probe-rs run --chip STM32L432KCUx"
+
+[build]
+target = "thumbv7em-none-eabihf"
+
+[env]
+DEFMT_LOG = "debug,smoltcp=info"
diff --git a/boards/stm32l432kc/Cargo.lock b/boards/stm32l432kc/Cargo.lock
new file mode 100644
index 00000000..af962edb
--- /dev/null
+++ b/boards/stm32l432kc/Cargo.lock
@@ -0,0 +1,918 @@
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+# It is not intended for manual editing.
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+
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+ "heapless",
+ "managed",
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diff --git a/boards/stm32l432kc/Cargo.toml b/boards/stm32l432kc/Cargo.toml
new file mode 100644
index 00000000..7ab9fdc8
--- /dev/null
+++ b/boards/stm32l432kc/Cargo.toml
@@ -0,0 +1,28 @@
+[package]
+name = "hyped_boards_stm32l432kc"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+embassy-stm32 = { version = "0.1.0", features = ["defmt", "stm32l432kc", "memory-x", "unstable-pac", "time-driver-any", "exti"] , git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"}
+embassy-sync = { version = "0.6.0", features = ["defmt"], git = "https://github.com/embassy-rs/embassy"}
+embassy-executor = { version = "0.6.0", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"}
+embassy-time = { version = "0.3.1", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"}
+embassy-net = { version = "0.4.0", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet"], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"}
+embassy-futures = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"}
+
+defmt = "0.3"
+defmt-rtt = "0.4"
+
+cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
+cortex-m-rt = "0.7.0"
+embedded-hal = "0.2.6"
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+rand_core = "0.6.3"
+critical-section = "1.1"
+embedded-storage = "0.3.1"
+static_cell = "2"
+
+hyped_io = { path = "../../lib/io" }
+hyped_sensors = { path = "../../lib/sensors" }
+advanced-pid = { version = "0.2.2", default-features = false }
diff --git a/boards/stm32l432kc/build.rs b/boards/stm32l432kc/build.rs
new file mode 100644
index 00000000..8cd32d7e
--- /dev/null
+++ b/boards/stm32l432kc/build.rs
@@ -0,0 +1,5 @@
+fn main() {
+    println!("cargo:rustc-link-arg-bins=--nmagic");
+    println!("cargo:rustc-link-arg-bins=-Tlink.x");
+    println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+}
diff --git a/boards/stm32l432kc/src/bin/levitation.rs b/boards/stm32l432kc/src/bin/levitation.rs
new file mode 100644
index 00000000..03eb6920
--- /dev/null
+++ b/boards/stm32l432kc/src/bin/levitation.rs
@@ -0,0 +1,77 @@
+#![no_std]
+#![no_main]
+
+use defmt::info;
+use advanced_pid::{prelude::*, Pid, PidGain};
+use embassy_executor::Spawner;
+use embassy_stm32::gpio::OutputType;
+use embassy_stm32::timer::low_level::CountingMode;
+use embassy_stm32::timer::simple_pwm::{PwmPin, SimplePwm};
+use embassy_stm32::timer::Channel;
+use embassy_stm32::time::hz;
+use embassy_time::Instant;
+
+use {defmt_rtt as _, panic_probe as _};
+
+const MAX_VOLTAGE: f32 = 500.0; // TODOLater
+const MAX_CURRENT: f32 = 500.0; // TODOLater
+const TARGET_HEIGHT: f32 = 10.0; // TODOLater to be determined by levitation
+
+const GAIN_HEIGHT: PidGain = PidGain{ 
+    // TODOLater to be determined by levitation
+    kp: 1.0,
+    ki: 0.05,
+    kd: 0.005,
+};
+
+const GAIN_CURRENT: PidGain = PidGain{ 
+    // TODOLater determined by levitation
+    kp: 1.1,
+    ki: 0.12,
+    kd: 0.05,
+};
+
+
+#[embassy_executor::main] 
+async fn main(_spawner: Spawner) {
+
+    let mut pid_height = Pid::new(GAIN_HEIGHT.into());
+    let mut pid_current = Pid::new(GAIN_CURRENT.into());
+
+    let p = embassy_stm32::init(Default::default());
+
+    let green_light = PwmPin::new_ch2(p.PB3, OutputType::PushPull);
+
+    let mut pwm = SimplePwm::new(p.TIM2, None, Some(green_light), None, None, hz(2000), CountingMode::EdgeAlignedUp);
+    pwm.enable(Channel::Ch2);
+
+    let max_duty = pwm.get_max_duty() as f32;
+
+    let mut time_start = Instant::now().as_micros() as f32;
+
+    loop {
+        
+        let actual_height = 0.7; // TODOLater we'll get that from a sensor
+        
+        let dt = (Instant::now().as_micros() as f32) - time_start;
+
+        let output_height_pid = pid_height.update(TARGET_HEIGHT, actual_height, dt);
+
+        let target_current = (actual_height + output_height_pid).min(MAX_CURRENT);
+
+        let actual_current = 1.0; // TODOLater we'll get that from a sensor
+
+        let output_current_pid = pid_current.update(target_current, actual_current, dt);
+
+        let required_voltage = (actual_height + output_height_pid).min(MAX_VOLTAGE);
+
+        let duty_cycle = max_duty * (required_voltage / MAX_VOLTAGE);
+
+        pwm.set_duty(Channel::Ch2, duty_cycle as u32);    
+
+        time_start = Instant::now().as_micros() as f32;
+
+        info!("height = {}", actual_height);
+        info!("v_out = {}", required_voltage);
+    }
+}
diff --git a/lib/levitation/src/control.rs b/boards/stm32l432kc/src/io.rs
similarity index 100%
rename from lib/levitation/src/control.rs
rename to boards/stm32l432kc/src/io.rs
diff --git a/boards/stm32l432kc/src/lib.rs b/boards/stm32l432kc/src/lib.rs
new file mode 100644
index 00000000..bf7c872c
--- /dev/null
+++ b/boards/stm32l432kc/src/lib.rs
@@ -0,0 +1,4 @@
+#![no_std]
+
+pub mod io;
+pub mod tasks;
diff --git a/boards/stm32l432kc/src/tasks.rs b/boards/stm32l432kc/src/tasks.rs
new file mode 100644
index 00000000..e69de29b
diff --git a/boards/stm32l476rg/src/bin/adc_test.rs b/boards/stm32l476rg/src/bin/adc_test.rs
deleted file mode 100644
index a76f2610..00000000
--- a/boards/stm32l476rg/src/bin/adc_test.rs
+++ /dev/null
@@ -1,34 +0,0 @@
-#![no_std]
-#![no_main]
-
-use defmt::*;
-use embassy_executor::Spawner;
-use embassy_stm32::{
-    adc::{Adc, AdcChannel, Resolution},
-    Config,
-};
-use embassy_time::{Duration, Timer};
-use hyped_boards_stm32l476rg::io::adc::Stm32l476rgAdc;
-use hyped_io::adc::HypedAdc;
-use {defmt_rtt as _, panic_probe as _};
-
-#[embassy_executor::main]
-async fn main(_spawner: Spawner) -> ! {
-    info!("Hello World!");
-
-    let mut config = Config::default();
-    {
-        use embassy_stm32::rcc::*;
-        config.rcc.mux.adcsel = mux::Adcsel::SYS;
-    }
-    let p = embassy_stm32::init(config);
-
-    let mut adc = Adc::new(p.ADC1);
-    adc.set_resolution(Resolution::BITS12);
-    let mut channel = p.PA0;
-
-    loop {
-        let v = adc.blocking_read(&mut channel);
-        info!("--> {}", v);
-    }
-}
diff --git a/boards/stm32l476rg/src/io.rs b/boards/stm32l476rg/src/io.rs
index 1646eded..3d3539cc 100644
--- a/boards/stm32l476rg/src/io.rs
+++ b/boards/stm32l476rg/src/io.rs
@@ -1,3 +1,3 @@
+pub mod adc;
 pub mod gpio;
 pub mod i2c;
-pub mod adc;
diff --git a/lib/levitation/Cargo.toml b/lib/levitation/Cargo.toml
deleted file mode 100644
index 2d8ac209..00000000
--- a/lib/levitation/Cargo.toml
+++ /dev/null
@@ -1,4 +0,0 @@
-[package]
-name = "hyped_levitation"
-version = "0.1.0"
-edition = "2021"
diff --git a/lib/levitation/src/lib.rs b/lib/levitation/src/lib.rs
deleted file mode 100644
index f16f322e..00000000
--- a/lib/levitation/src/lib.rs
+++ /dev/null
@@ -1,3 +0,0 @@
-pub mod control;
-pub mod pid;
-pub mod pwm;
diff --git a/lib/levitation/src/pid.rs b/lib/levitation/src/pid.rs
deleted file mode 100644
index 73fae030..00000000
--- a/lib/levitation/src/pid.rs
+++ /dev/null
@@ -1,2 +0,0 @@
-pub mod current;
-pub mod height;
diff --git a/lib/levitation/src/pid/current.rs b/lib/levitation/src/pid/current.rs
deleted file mode 100644
index 8b137891..00000000
--- a/lib/levitation/src/pid/current.rs
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/lib/levitation/src/pid/height.rs b/lib/levitation/src/pid/height.rs
deleted file mode 100644
index 8b137891..00000000
--- a/lib/levitation/src/pid/height.rs
+++ /dev/null
@@ -1 +0,0 @@
-
diff --git a/lib/levitation/src/pwm.rs b/lib/levitation/src/pwm.rs
deleted file mode 100644
index 8b137891..00000000
--- a/lib/levitation/src/pwm.rs
+++ /dev/null
@@ -1 +0,0 @@
-