diff --git a/App/Inc/sta/config.hpp b/App/Inc/sta/config.hpp
index 06a096a..bd3f7e0 100644
--- a/App/Inc/sta/config.hpp
+++ b/App/Inc/sta/config.hpp
@@ -29,14 +29,10 @@
 #define STA_RTOS_SYSTEM_EVENTS_ENABLE
 // #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
 // #define STA_RTOS_WATCHDOG_ENABLE
+//#define STA_CAN_BUS_ENABLE
 
-
-// Settings for TACOS
-#define STA_TACOS_MANAGER_PRIORITY osPriorityNormal
-#define STA_TACOS_STATEMACHINE_PRIORITY osPriorityNormal
-
-// Statemachine settings. Here, we only have a single state which is also the initial state.
+// Uses the default configuration for TACOS.
+#include<sta/tacos/configs/default.hpp>
 #define STA_TACOS_NUM_STATES 3
-#define STA_TACOS_INITIAL_STATE 0
 
 #endif /* INC_STA_CONFIG_HPP_ */
diff --git a/App/Src/tasks/can_task.cpp b/App/Src/tasks/can_task.cpp
index 9f8e2ee..4ffd940 100644
--- a/App/Src/tasks/can_task.cpp
+++ b/App/Src/tasks/can_task.cpp
@@ -8,9 +8,12 @@
 #include <tasks/can_task.hpp>
 #include <sta/debug/debug.hpp>
 #include <sta/rtos/debug/heap_stats.hpp>
+#include <sta/rtos/system/can_bus.hpp>
 
 #include <cmsis_os2.h>
 
+#include <sta/tacos/can_bus.hpp>
+
 namespace demo
 {
 	CanTask::CanTask(const char* name, CAN_HandleTypeDef * handle)
@@ -36,9 +39,12 @@ namespace demo
 
 	void CanTask::func()
 	{
-		//STA_DEBUG_HEAP_STATS();
+		//struct CanDataMsg myCanDataMsg = {
+        ///*.header = */ txHeader.id.sid, txHeader.id.eid, (uint8_t)txHeader.id.format, txHeader.payloadLength ,
+        ///*.payload = */ *payload  // Initialize payload to zero (or any other values as needed)
+    	//};
 		canController.sendFrame(txHeader, payload);
-		//STA_DEBUG_HEAP_STATS();
+		//STA_DEBUG_PRINTLN(sta::tacos::CanBus::instance()->queueCanBusMsg(myCanDataMsg, osWaitForever));
 		STA_DEBUG_PRINTLN("SENT FRAME");
 		HAL_Delay(1000);
 	}
diff --git a/CAN-Demo Debug.launch b/CAN-Demo Debug.launch
index 957bae9..9dae82a 100644
--- a/CAN-Demo Debug.launch	
+++ b/CAN-Demo Debug.launch	
@@ -30,7 +30,7 @@
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="75"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="C:\Users\carlw\Desktop\to-the-moon\CAN-Demo\Debug\st-link_gdbserver_log.txt"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="enable"/>
diff --git a/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c b/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
index 9977a70..60543e3 100644
--- a/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
+++ b/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
@@ -386,8 +386,7 @@ HAL_TickFreqTypeDef HAL_GetTickFreq(void)
   * @param Delay specifies the delay time length, in milliseconds.
   * @retval None
   */
-__weak void HAL_Delay(uint32_t Delay)
-{
+__weak void HAL_Delay(uint32_t Delay){
   uint32_t tickstart = HAL_GetTick();
   uint32_t wait = Delay;
 
diff --git a/Libs/TACOS b/Libs/TACOS
index bfba172..16b2ed5 160000
--- a/Libs/TACOS
+++ b/Libs/TACOS
@@ -1 +1 @@
-Subproject commit bfba17245ff5a4f2c5e2f7e08a8dc719676ae32a
+Subproject commit 16b2ed5a20df1c04b9bbcf5e12101d5e822e45d2
diff --git a/Libs/rtos2-utils b/Libs/rtos2-utils
index 16f3385..1925a16 160000
--- a/Libs/rtos2-utils
+++ b/Libs/rtos2-utils
@@ -1 +1 @@
-Subproject commit 16f33857f7f32f1b7b71959e5a322728a88a53ce
+Subproject commit 1925a1668e847e048423499f523f3293ea9d923a