diff --git a/inc/sp140/battery/BatteryData.h b/inc/sp140/battery/BatteryData.h
new file mode 100644
index 00000000..667fdb87
--- /dev/null
+++ b/inc/sp140/battery/BatteryData.h
@@ -0,0 +1,11 @@
+#ifndef BATTERY_DATA_H
+#define BATTERY_DATA_H
+
+typedef struct {
+
+float watts;
+float wattHoursUsed;
+
+} BatteryData;
+
+#endif
\ No newline at end of file
diff --git a/inc/sp140/display.h b/inc/sp140/display.h
index c99b92b0..d3916e35 100644
--- a/inc/sp140/display.h
+++ b/inc/sp140/display.h
@@ -13,6 +13,7 @@
 
 #include <Adafruit_ST7735.h>
 #include "utilities.h"
+#include "../../inc/sp140/battery/BatteryData.h"
 
 // Library config
 #define NO_ADAFRUIT_SSD1306_COLOR_COMPATIBILITY
@@ -58,9 +59,6 @@ struct UIColors {
   uint16_t ui_accent;
 };
 
-extern float watts;
-extern float wattHoursUsed;
-
 // Set up the display and show splash screen
 void setupDisplay(const STR_DEVICE_DATA_140_V1& deviceData, const HardwareConfig& board_config);
 
@@ -70,7 +68,8 @@ void displayMeta(const STR_DEVICE_DATA_140_V1& deviceData, int duration = 1500);
 void resetRotation(unsigned int orientation);
 
 // Show data on screen
-void updateDisplay(const STR_DEVICE_DATA_140_V1& deviceData,
+void updateDisplay(BatteryData& batteryData,
+                   const STR_DEVICE_DATA_140_V1& deviceData,
                    const STR_ESC_TELEMETRY_140& escTelemetry,
                    float altitude, bool armed, bool cruising,
                    unsigned int armedStartMillis);
diff --git a/inc/sp140/esc.h b/inc/sp140/esc.h
deleted file mode 100644
index 32164f54..00000000
--- a/inc/sp140/esc.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#ifndef INC_SP140_ESC_H_
-#define INC_SP140_ESC_H_
-
-#include <Arduino.h>
-#include "sp140/structs.h"
-
-#ifdef M0_PIO
-  #include "../../inc/sp140/m0-config.h"
-#else
-  #include "../../inc/sp140/rp2040-config.h"
-#endif
-
-// ESC communication parameters
-#define ESC_BAUD_RATE         115200
-#define ESC_DATA_V2_SIZE      22
-#define READ_INTERVAL         0
-#define ESC_TIMEOUT           15
-
-void initESC(int escPin);
-void setupESCSerial();
-void setESCThrottle(int throttlePWM);
-void readESCTelemetry();
-void handleESCSerialData(byte buffer[]);
-void prepareESCSerialRead();
-int checkFletcher16(byte byteBuffer[]);
-
-// External declaration of telemetry data structure
-extern STR_ESC_TELEMETRY_140 escTelemetryData;
-
-#endif  // INC_SP140_ESC_H_
diff --git a/inc/sp140/esc/EscBase.h b/inc/sp140/esc/EscBase.h
new file mode 100644
index 00000000..f8e6b749
--- /dev/null
+++ b/inc/sp140/esc/EscBase.h
@@ -0,0 +1,22 @@
+#ifndef ESC_BASE_H
+#define ESC_BASE_H
+
+#include <Arduino.h>
+#include "sp140/structs.h"
+#include "EscData.h"
+
+class EscBase {
+
+public:
+    virtual void initESC(int escPin) = 0;
+    virtual void setupESCSerial() = 0;
+    virtual void setESCThrottle(int throttlePWM) = 0;
+    virtual void readESCTelemetry(BatteryData& batteryData, EscData& escData) = 0;
+    virtual void handleESCSerialData(BatteryData& batteryData, EscData& escData, byte buffer[]) = 0;
+    virtual void prepareESCSerialRead() = 0;
+    virtual int checkFletcher16(byte byteBuffer[]) = 0;
+};
+
+
+
+#endif
\ No newline at end of file
diff --git a/inc/sp140/esc/EscData.h b/inc/sp140/esc/EscData.h
new file mode 100644
index 00000000..285b39a7
--- /dev/null
+++ b/inc/sp140/esc/EscData.h
@@ -0,0 +1,15 @@
+#ifndef ESC_DATA_H
+#define ESC_DATA_H
+
+#include <Arduino.h>
+#include "sp140/structs.h"
+
+
+typedef struct {
+
+STR_ESC_TELEMETRY_140 escTelemetryData;
+telem_esc_t raw_esc_telemdata;
+
+} EscData;
+
+#endif
\ No newline at end of file
diff --git a/inc/sp140/esc/FactoryEsc.h b/inc/sp140/esc/FactoryEsc.h
new file mode 100644
index 00000000..38714551
--- /dev/null
+++ b/inc/sp140/esc/FactoryEsc.h
@@ -0,0 +1,35 @@
+#ifndef FACTORY_ESC_H
+#define FACTORY_ESC_H
+
+#include <Servo.h>
+#include <CircularBuffer.hpp>
+#include "EscBase.h"
+#include "EscData.h"
+
+// ESC communication parameters
+#define ESC_BAUD_RATE         115200
+#define ESC_DATA_V2_SIZE      22
+#define READ_INTERVAL         0
+#define ESC_TIMEOUT           15
+
+class FactoryEsc : public EscBase {
+public:
+    static void printRawSentence(byte buffer[]);
+
+    FactoryEsc(CircularBuffer<float, 50>* pVoltageBuffer);
+
+    virtual void initESC(int escPin);
+    virtual void setupESCSerial();
+    virtual void setESCThrottle(int throttlePWM);
+    virtual void readESCTelemetry(BatteryData& batteryData, EscData& escData);
+    virtual void handleESCSerialData(BatteryData& batteryData, EscData& escData, byte buffer[]);
+    virtual void prepareESCSerialRead();
+    virtual int checkFletcher16(byte byteBuffer[]);
+private: 
+
+    Servo esc;
+    CircularBuffer<float, 50>* pVoltageBuffer;
+};
+
+
+#endif
\ No newline at end of file
diff --git a/inc/sp140/globals.h b/inc/sp140/globals.h
index 4e1bcd4a..24d385b6 100644
--- a/inc/sp140/globals.h
+++ b/inc/sp140/globals.h
@@ -9,11 +9,6 @@ extern unsigned long cruisedAtMillis;
 extern int prevPotLvl;
 extern int cruisedPotVal;
 
-extern float watts;
-extern float wattHoursUsed;
-
 extern STR_DEVICE_DATA_140_V1 deviceData;
 
-extern STR_ESC_TELEMETRY_140 escTelemetryData;
-
 #endif  // INC_SP140_GLOBALS_H_
diff --git a/inc/sp140/rp2040-config.h b/inc/sp140/rp2040-config.h
index b220f908..f1954630 100644
--- a/inc/sp140/rp2040-config.h
+++ b/inc/sp140/rp2040-config.h
@@ -3,6 +3,7 @@
 #define INC_SP140_RP2040_CONFIG_H_
 
 #include "shared-config.h"
+#include <HardwareSerial.h>
 
 #define SerialESC  Serial1  // ESC UART connection
 
diff --git a/src/sp140/display.cpp b/src/sp140/display.cpp
index 94c6744b..88ae110c 100644
--- a/src/sp140/display.cpp
+++ b/src/sp140/display.cpp
@@ -136,6 +136,7 @@ void setupDisplay(const STR_DEVICE_DATA_140_V1& deviceData, const HardwareConfig
 }
 
 void updateDisplay(
+  BatteryData& batteryData,
   const STR_DEVICE_DATA_140_V1& deviceData,
   const STR_ESC_TELEMETRY_140& escTelemetry,
   float altitude, bool armed, bool cruising,
@@ -193,9 +194,9 @@ void updateDisplay(
     canvas.print(" ?%");
   }
 
-  float kWatts = constrain(watts / 1000.0, 0, 50);
+  float kWatts = constrain(batteryData.watts / 1000.0, 0, 50);
   float volts = escTelemetry.volts;
-  float kWh = wattHoursUsed / 1000.0;
+  float kWh = batteryData.wattHoursUsed/ 1000.0;
   float amps = escTelemetry.amps;
 
   // for testing
diff --git a/src/sp140/esc.cpp b/src/sp140/esc.cpp
deleted file mode 100644
index 0360f434..00000000
--- a/src/sp140/esc.cpp
+++ /dev/null
@@ -1,208 +0,0 @@
-#include "sp140/esc.h"
-#include <Servo.h>
-#include "sp140/globals.h"
-#include <CircularBuffer.hpp>
-
-Servo esc;
-extern CircularBuffer<float, 50> voltageBuffer;
-
-STR_ESC_TELEMETRY_140 escTelemetryData;
-static telem_esc_t raw_esc_telemdata;
-
-void initESC(int escPin) {
-  esc.attach(escPin);
-  esc.writeMicroseconds(ESC_DISARMED_PWM);
-  setupESCSerial();
-}
-
-void setupESCSerial() {
-  SerialESC.begin(ESC_BAUD_RATE);
-  SerialESC.setTimeout(ESC_TIMEOUT);
-}
-
-void setESCThrottle(int throttlePWM) {
-  esc.writeMicroseconds(throttlePWM);
-}
-
-void readESCTelemetry() {
-  prepareESCSerialRead();
-  static byte escDataV2[ESC_DATA_V2_SIZE];
-  SerialESC.readBytes(escDataV2, ESC_DATA_V2_SIZE);
-  handleESCSerialData(escDataV2);
-}
-
-void prepareESCSerialRead() {
-  while (SerialESC.available() > 0) {
-    SerialESC.read();
-  }
-}
-
-void handleESCSerialData(byte buffer[]) {
-  // if(sizeof(buffer) != 22) {
-  //     Serial.print("wrong size ");
-  //     Serial.println(sizeof(buffer));
-  //     return; //Ignore malformed packets
-  // }
-
-  if (buffer[20] != 255 || buffer[21] != 255) {
-    // Serial.println("no stop byte");
-
-    return;  // Stop byte of 65535 not received
-  }
-
-  // Check the fletcher checksum
-  int checkFletch = checkFletcher16(buffer);
-
-  // checksum
-  raw_esc_telemdata.CSUM_HI = buffer[19];
-  raw_esc_telemdata.CSUM_LO = buffer[18];
-
-  // TODO: alert if no new data in 3 seconds
-  int checkCalc = (int)(((raw_esc_telemdata.CSUM_HI << 8) + raw_esc_telemdata.CSUM_LO));
-
-  // Checksums do not match
-  if (checkFletch != checkCalc) {
-    return;
-  }
-  // Voltage
-  raw_esc_telemdata.V_HI = buffer[1];
-  raw_esc_telemdata.V_LO = buffer[0];
-
-  float voltage = (raw_esc_telemdata.V_HI << 8 | raw_esc_telemdata.V_LO) / 100.0;
-  escTelemetryData.volts = voltage;  // Voltage
-
-  if (escTelemetryData.volts > BATT_MIN_V) {
-    escTelemetryData.volts += 1.0;  // calibration
-  }
-
-  voltageBuffer.push(escTelemetryData.volts);
-
-  // Temperature
-  raw_esc_telemdata.T_HI = buffer[3];
-  raw_esc_telemdata.T_LO = buffer[2];
-
-  float rawVal = (float)((raw_esc_telemdata.T_HI << 8) + raw_esc_telemdata.T_LO);
-
-  static int SERIESRESISTOR = 10000;
-  static int NOMINAL_RESISTANCE = 10000;
-  static int NOMINAL_TEMPERATURE = 25;
-  static int BCOEFFICIENT = 3455;
-
-  // convert value to resistance
-  float Rntc = (4096 / (float) rawVal) - 1;
-  Rntc = SERIESRESISTOR / Rntc;
-
-  // Get the temperature
-  float temperature = Rntc / (float) NOMINAL_RESISTANCE;  // (R/Ro)
-  temperature = (float) log(temperature);  // ln(R/Ro)
-  temperature /= BCOEFFICIENT;  // 1/B * ln(R/Ro)
-
-  temperature += 1.0 / ((float) NOMINAL_TEMPERATURE + 273.15);  // + (1/To)
-  temperature = 1.0 / temperature;  // Invert
-  temperature -= 273.15;  // convert to Celsius
-
-  // filter bad values
-  if (temperature < 0 || temperature > 200) {
-    escTelemetryData.temperatureC = __FLT_MIN__;
-  } else {
-    temperature = (float) trunc(temperature * 100) / 100;  // 2 decimal places
-    escTelemetryData.temperatureC = temperature;
-  }
-
-  // Current
-  int16_t _amps = 0;
-  _amps = word(buffer[5], buffer[4]);
-  escTelemetryData.amps = _amps / 12.5;
-
-  // Serial.print("amps ");
-  // Serial.print(currentAmpsInput);
-  // Serial.print(" - ");
-
-  watts = escTelemetryData.amps * escTelemetryData.volts;
-
-  // Reserved
-  raw_esc_telemdata.R0_HI = buffer[7];
-  raw_esc_telemdata.R0_LO = buffer[6];
-
-  // eRPM
-  raw_esc_telemdata.RPM0 = buffer[11];
-  raw_esc_telemdata.RPM1 = buffer[10];
-  raw_esc_telemdata.RPM2 = buffer[9];
-  raw_esc_telemdata.RPM3 = buffer[8];
-
-  int poleCount = 62;
-  uint32_t rawERPM = (raw_esc_telemdata.RPM0 << 24) |
-                     (raw_esc_telemdata.RPM1 << 16) |
-                     (raw_esc_telemdata.RPM2 << 8) |
-                     raw_esc_telemdata.RPM3;
-  int currentERPM = static_cast<int>(rawERPM);  // ERPM output
-  int currentRPM = currentERPM / poleCount;  // Real RPM output
-  escTelemetryData.eRPM = currentRPM;
-
-  // Serial.print("RPM ");
-  // Serial.print(currentRPM);
-  // Serial.print(" - ");
-
-  // Input Duty
-  raw_esc_telemdata.DUTYIN_HI = buffer[13];
-  raw_esc_telemdata.DUTYIN_LO = buffer[12];
-
-  int throttleDuty = (int)(((raw_esc_telemdata.DUTYIN_HI << 8) + raw_esc_telemdata.DUTYIN_LO) / 10);
-  escTelemetryData.inPWM = (throttleDuty / 10);  // Input throttle
-
-  // Serial.print("throttle ");
-  // Serial.print(escTelemetryData.inPWM);
-  // Serial.print(" - ");
-
-  // Motor Duty
-  // raw_esc_telemdata.MOTORDUTY_HI = buffer[15];
-  // raw_esc_telemdata.MOTORDUTY_LO = buffer[14];
-
-  // int motorDuty = (int)(((raw_esc_telemdata.MOTORDUTY_HI << 8) + raw_esc_telemdata.MOTORDUTY_LO) / 10);
-  // int currentMotorDuty = (motorDuty / 10);  // Motor duty cycle
-
-  // Reserved
-  // raw_esc_telemdata.R1 = buffer[17];
-
-  /* Status Flags
-  # Bit position in byte indicates flag set, 1 is set, 0 is default
-  # Bit 0: Motor Started, set when motor is running as expected
-  # Bit 1: Motor Saturation Event, set when saturation detected and power is reduced for desync protection
-  # Bit 2: ESC Over temperature event occurring, shut down method as per configuration
-  # Bit 3: ESC Overvoltage event occurring, shut down method as per configuration
-  # Bit 4: ESC Undervoltage event occurring, shut down method as per configuration
-  # Bit 5: Startup error detected, motor stall detected upon trying to start*/
-  raw_esc_telemdata.statusFlag = buffer[16];
-  escTelemetryData.statusFlag = raw_esc_telemdata.statusFlag;
-  // Serial.print("status ");
-  // Serial.print(raw_esc_telemdata.statusFlag, BIN);
-  // Serial.print(" - ");
-  // Serial.println(" ");
-}
-
-// new V2 ESC checking
-int checkFletcher16(byte byteBuffer[]) {
-  int fCCRC16;
-  int i;
-  int c0 = 0;
-  int c1 = 0;
-
-  // Calculate checksum intermediate bytesUInt16
-  for (i = 0; i < 18; i++) {  // Check only first 18 bytes, skip crc bytes
-    c0 = (int)(c0 + ((int)byteBuffer[i])) % 255;
-    c1 = (int)(c1 + c0) % 255;
-  }
-  // Assemble the 16-bit checksum value
-  fCCRC16 = (c1 << 8) | c0;
-  return (int)fCCRC16;
-}
-
-// for debugging
-static void printRawSentence(byte buffer[]) {
-  Serial.print(F("DATA: "));
-  for (int i = 0; i < ESC_DATA_V2_SIZE; i++) {
-    Serial.print(buffer[i], HEX);
-    Serial.print(F(" "));
-  }
-  Serial.println();
-}
diff --git a/src/sp140/esc/FactoryEsc.cpp b/src/sp140/esc/FactoryEsc.cpp
new file mode 100644
index 00000000..ed5d7a87
--- /dev/null
+++ b/src/sp140/esc/FactoryEsc.cpp
@@ -0,0 +1,223 @@
+#ifndef FACTORY_ESC
+#define FACTORY_ESC
+
+#ifdef M0_PIO
+  #include "../../inc/sp140/m0-config.h"
+#else
+  #include "../../inc/sp140/rp2040-config.h"
+#endif
+
+#include <Arduino.h>
+// #include <CircularBuffer.hpp>
+#include "../../../inc/sp140/battery/BatteryData.h"
+#include "../../../inc/sp140/esc/FactoryEsc.h"
+#include "../../../inc/sp140/esc/EscBase.h"
+#include "sp140/structs.h"
+
+FactoryEsc::FactoryEsc(CircularBuffer<float, 50>* pVoltageBuffer) {
+    this->pVoltageBuffer = pVoltageBuffer;
+}
+
+void FactoryEsc::initESC(int escPin) {
+    esc.attach(escPin);
+    esc.writeMicroseconds(ESC_DISARMED_PWM);
+    setupESCSerial();
+}
+
+void FactoryEsc::setupESCSerial() {
+    SerialESC.begin(ESC_BAUD_RATE);
+    SerialESC.setTimeout(ESC_TIMEOUT);
+}
+
+void FactoryEsc::setESCThrottle(int throttlePWM) {
+    esc.writeMicroseconds(throttlePWM);
+}
+
+void FactoryEsc::readESCTelemetry(BatteryData& batteryData, EscData& escData) {
+    prepareESCSerialRead();
+    static byte escDataV2[ESC_DATA_V2_SIZE];
+    SerialESC.readBytes(escDataV2, ESC_DATA_V2_SIZE);
+    handleESCSerialData(batteryData, escData, escDataV2);
+}
+
+void FactoryEsc::prepareESCSerialRead() {
+  while (SerialESC.available() > 0) {
+    SerialESC.read();
+  }
+}
+
+void FactoryEsc::handleESCSerialData(BatteryData& batteryData, EscData& escData, byte buffer[]) {
+    // if(sizeof(buffer) != 22) {
+  //     Serial.print("wrong size ");
+  //     Serial.println(sizeof(buffer));
+  //     return; //Ignore malformed packets
+  // }
+
+  if (buffer[20] != 255 || buffer[21] != 255) {
+    // Serial.println("no stop byte");
+
+    return;  // Stop byte of 65535 not received
+  }
+
+  // Check the fletcher checksum
+  int checkFletch = checkFletcher16(buffer);
+  telem_esc_t& raw_telemdata = escData.raw_esc_telemdata;
+  STR_ESC_TELEMETRY_140& telemeteryData = escData.escTelemetryData;
+  // checksum
+  raw_telemdata.CSUM_HI = buffer[19];
+  raw_telemdata.CSUM_LO = buffer[18];
+
+  // TODO: alert if no new data in 3 seconds
+  int checkCalc = (int)(((raw_telemdata.CSUM_HI << 8) + raw_telemdata.CSUM_LO));
+
+  // Checksums do not match
+  if (checkFletch != checkCalc) {
+    return;
+  }
+  // Voltage
+  raw_telemdata.V_HI = buffer[1];
+  raw_telemdata.V_LO = buffer[0];
+
+  float voltage = (raw_telemdata.V_HI << 8 | raw_telemdata.V_LO) / 100.0;
+  telemeteryData.volts = voltage;  // Voltage
+
+  if (telemeteryData.volts > BATT_MIN_V) {
+    telemeteryData.volts += 1.0;  // calibration
+  }
+
+  pVoltageBuffer->push(telemeteryData.volts);
+
+  // Temperature
+  raw_telemdata.T_HI = buffer[3];
+  raw_telemdata.T_LO = buffer[2];
+
+  float rawVal = (float)((raw_telemdata.T_HI << 8) + raw_telemdata.T_LO);
+
+  static int SERIESRESISTOR = 10000;
+  static int NOMINAL_RESISTANCE = 10000;
+  static int NOMINAL_TEMPERATURE = 25;
+  static int BCOEFFICIENT = 3455;
+
+  // convert value to resistance
+  float Rntc = (4096 / (float) rawVal) - 1;
+  Rntc = SERIESRESISTOR / Rntc;
+
+  // Get the temperature
+  float temperature = Rntc / (float) NOMINAL_RESISTANCE;  // (R/Ro)
+  temperature = (float) log(temperature);  // ln(R/Ro)
+  temperature /= BCOEFFICIENT;  // 1/B * ln(R/Ro)
+
+  temperature += 1.0 / ((float) NOMINAL_TEMPERATURE + 273.15);  // + (1/To)
+  temperature = 1.0 / temperature;  // Invert
+  temperature -= 273.15;  // convert to Celsius
+
+  // filter bad values
+  if (temperature < 0 || temperature > 200) {
+    telemeteryData.temperatureC = __FLT_MIN__;
+  } else {
+    temperature = (float) trunc(temperature * 100) / 100;  // 2 decimal places
+    telemeteryData.temperatureC = temperature;
+  }
+
+  // Current
+  int16_t _amps = 0;
+  _amps = word(buffer[5], buffer[4]);
+  telemeteryData.amps = _amps / 12.5;
+
+  // Serial.print("amps ");
+  // Serial.print(currentAmpsInput);
+  // Serial.print(" - ");
+
+  batteryData.watts = telemeteryData.amps * telemeteryData.volts;
+
+  // Reserved
+  raw_telemdata.R0_HI = buffer[7];
+  raw_telemdata.R0_LO = buffer[6];
+
+  // eRPM
+  raw_telemdata.RPM0 = buffer[11];
+  raw_telemdata.RPM1 = buffer[10];
+  raw_telemdata.RPM2 = buffer[9];
+  raw_telemdata.RPM3 = buffer[8];
+
+  int poleCount = 62;
+  uint32_t rawERPM = (raw_telemdata.RPM0 << 24) |
+                     (raw_telemdata.RPM1 << 16) |
+                     (raw_telemdata.RPM2 << 8) |
+                     raw_telemdata.RPM3;
+  int currentERPM = static_cast<int>(rawERPM);  // ERPM output
+  int currentRPM = currentERPM / poleCount;  // Real RPM output
+  telemeteryData.eRPM = currentRPM;
+
+  // Serial.print("RPM ");
+  // Serial.print(currentRPM);
+  // Serial.print(" - ");
+
+  // Input Duty
+  raw_telemdata.DUTYIN_HI = buffer[13];
+  raw_telemdata.DUTYIN_LO = buffer[12];
+
+  int throttleDuty = (int)(((raw_telemdata.DUTYIN_HI << 8) + raw_telemdata.DUTYIN_LO) / 10);
+  telemeteryData.inPWM = (throttleDuty / 10);  // Input throttle
+
+  // Serial.print("throttle ");
+  // Serial.print(escTelemetryData.inPWM);
+  // Serial.print(" - ");
+
+  // Motor Duty
+  // raw_esc_telemdata.MOTORDUTY_HI = buffer[15];
+  // raw_esc_telemdata.MOTORDUTY_LO = buffer[14];
+
+  // int motorDuty = (int)(((raw_esc_telemdata.MOTORDUTY_HI << 8) + raw_esc_telemdata.MOTORDUTY_LO) / 10);
+  // int currentMotorDuty = (motorDuty / 10);  // Motor duty cycle
+
+  // Reserved
+  // raw_esc_telemdata.R1 = buffer[17];
+
+  /* Status Flags
+  # Bit position in byte indicates flag set, 1 is set, 0 is default
+  # Bit 0: Motor Started, set when motor is running as expected
+  # Bit 1: Motor Saturation Event, set when saturation detected and power is reduced for desync protection
+  # Bit 2: ESC Over temperature event occurring, shut down method as per configuration
+  # Bit 3: ESC Overvoltage event occurring, shut down method as per configuration
+  # Bit 4: ESC Undervoltage event occurring, shut down method as per configuration
+  # Bit 5: Startup error detected, motor stall detected upon trying to start*/
+  raw_telemdata.statusFlag = buffer[16];
+  telemeteryData.statusFlag = raw_telemdata.statusFlag;
+  // Serial.print("status ");
+  // Serial.print(raw_esc_telemdata.statusFlag, BIN);
+  // Serial.print(" - ");
+  // Serial.println(" ");
+}
+
+// new V2 ESC checking
+int FactoryEsc::checkFletcher16(byte byteBuffer[]) {
+    int fCCRC16;
+    int i;
+    int c0 = 0;
+    int c1 = 0;
+
+    // Calculate checksum intermediate bytesUInt16
+    for (i = 0; i < 18; i++) {  // Check only first 18 bytes, skip crc bytes
+    c0 = (int)(c0 + ((int)byteBuffer[i])) % 255;
+    c1 = (int)(c1 + c0) % 255;
+    }
+    // Assemble the 16-bit checksum value
+    fCCRC16 = (c1 << 8) | c0;
+    return (int)fCCRC16;
+}
+
+// for debugging
+void FactoryEsc::printRawSentence(byte buffer[]) {
+  Serial.print(F("DATA: "));
+  for (int i = 0; i < ESC_DATA_V2_SIZE; i++) {
+    Serial.print(buffer[i], HEX);
+    Serial.print(F(" "));
+  }
+  Serial.println();
+}
+
+// FactoryEsc::~FactoryEsc() {
+// }
+
+#endif
\ No newline at end of file
diff --git a/src/sp140/globals.cpp b/src/sp140/globals.cpp
index fa05c369..1e463800 100644
--- a/src/sp140/globals.cpp
+++ b/src/sp140/globals.cpp
@@ -31,7 +31,4 @@ unsigned long cruisedAtMillis = 0;
 int prevPotLvl = 0;
 int cruisedPotVal = 0;
 
-float watts = 0;
-float wattHoursUsed = 0;
-
 STR_DEVICE_DATA_140_V1 deviceData;
diff --git a/src/sp140/sp140-helpers.ino b/src/sp140/sp140-helpers.ino
index 2909360d..14bc9b24 100644
--- a/src/sp140/sp140-helpers.ino
+++ b/src/sp140/sp140-helpers.ino
@@ -1,5 +1,7 @@
 // Copyright 2020 <Zach Whitehead>
 
+#include <CircularBuffer.hpp>
+
 // initialize the buzzer
 void initBuzz() {
   pinMode(board_config.buzzer_pin, OUTPUT);
@@ -39,14 +41,12 @@ int limitedThrottle(int current, int last, int threshold) {
 }
 
 // ring buffer for voltage readings
-float getBatteryVoltSmoothed() {
+float getBatteryVoltSmoothed(CircularBuffer<float, 50>* pVoltageBuffer) {
   float avg = 0.0;
+  if (pVoltageBuffer->isEmpty()) { return avg; }
 
-  if (voltageBuffer.isEmpty()) { return avg; }
-
-  using index_t = decltype(voltageBuffer)::index_t;
-  for (index_t i = 0; i < voltageBuffer.size(); i++) {
-    avg += voltageBuffer[i] / voltageBuffer.size();
+  for (int i = 0; i < pVoltageBuffer->size(); i++) {
+    avg += pVoltageBuffer->operator[](i) / pVoltageBuffer->size();
   }
   return avg;
 }
diff --git a/src/sp140/sp140.ino b/src/sp140/sp140.ino
index ca900128..a2be7e2c 100644
--- a/src/sp140/sp140.ino
+++ b/src/sp140/sp140.ino
@@ -17,7 +17,7 @@
 #include "../../inc/sp140/structs.h"         // data structs
 #include <AceButton.h>           // button clicks
 #include <ArduinoJson.h>
-#include <CircularBuffer.hpp>      // smooth out readings
+#include <CircularBuffer.hpp>  
 #include <ResponsiveAnalogRead.h>  // smoothing for throttle
 #include <SPI.h>
 #include <TimeLib.h>  // convert time to hours mins etc
@@ -38,13 +38,28 @@
 #endif
 
 #include "../../inc/sp140/globals.h"  // device config
-#include "../../inc/sp140/esc.h"
+#include "../../inc/sp140/battery/BatteryData.h"
+#include "../../inc/sp140/esc/EscData.h"
+#include "../../inc/sp140/esc/EscBase.h"
+#include "../../inc/sp140/esc/FactoryEsc.h"
+#include "../../inc/sp140/structs.h"
 #include "../../inc/sp140/display.h"
 #include "../../inc/sp140/altimeter.h"
 #include "../../inc/sp140/vibration.h"
 
 using namespace ace_button;
 
+BatteryData batteryData;
+
+CircularBuffer<float, 50> voltageBuffer;
+CircularBuffer<int, 8> potBuffer;
+
+EscData escData;
+FactoryEsc factoryEsc(&voltageBuffer);
+EscBase* pEsc = &factoryEsc;
+
+
+
 UBaseType_t uxCoreAffinityMask0 = (1 << 0); // Core 0
 UBaseType_t uxCoreAffinityMask1 = (1 << 1); // Core 1
 
@@ -64,9 +79,6 @@ ButtonConfig* buttonConfig;
   extEEPROM eep(kbits_64, 1, 64);
 #endif
 
-CircularBuffer<float, 50> voltageBuffer;
-CircularBuffer<int, 8> potBuffer;
-
 Adafruit_NeoPixel pixels(1, LED_BUILTIN, NEO_GRB + NEO_KHZ800);
 uint32_t led_color = LED_RED; // current LED color
 
@@ -166,7 +178,7 @@ void telemetryTask(void *pvParameters) {
   (void) pvParameters;  // this is a standard idiom to avoid compiler warnings about unused parameters.
 
   for (;;) {  // infinite loop
-    readESCTelemetry();
+    pEsc->readESCTelemetry(batteryData, escData);
     delay(50);  // wait for 50ms
   }
   vTaskDelete(NULL);  // should never reach this
@@ -189,7 +201,7 @@ void updateDisplayTask(void *pvParameters) {
     const float altitude = getAltitude(deviceData);
     bool isArmed = (currentState != DISARMED);
     bool isCruising = (currentState == ARMED_CRUISING);
-    updateDisplay(deviceData, escTelemetryData, altitude, isArmed, isCruising, armedAtMillis);
+    updateDisplay(batteryData, deviceData, escData.escTelemetryData, altitude, isArmed, isCruising, armedAtMillis);
     delay(250);
   }
   vTaskDelete(NULL);  // should never reach this
@@ -359,7 +371,7 @@ void psTop() {
 }
 
 void setup140() {
-  initESC(board_config.esc_pin);
+  pEsc->initESC(board_config.esc_pin);
 
   initBuzz();
   Wire1.setSDA(A0); // Have to use Wire1 because pins are assigned that in hardware
@@ -399,7 +411,7 @@ void printTime(const char* label) {
 }
 
 void disarmESC() {
-  setESCThrottle(ESC_DISARMED_PWM);
+  pEsc->setESCThrottle(ESC_DISARMED_PWM);
 }
 
 // reset smoothing
@@ -570,7 +582,7 @@ void handleThrottle() {
     localThrottlePWM = mapd(potLvl, 0, 4095, ESC_MIN_PWM, maxPWM);
   }
 
-  setESCThrottle(localThrottlePWM);  // using val as the signal to esc
+  pEsc->setESCThrottle(localThrottlePWM);  // using val as the signal to esc
 }
 
 int averagePotBuffer() {
@@ -586,7 +598,7 @@ bool armSystem() {
   uint16_t arm_melody[] = { 1760, 1976, 2093 };
   const unsigned int arm_vibes[] = { 1, 85, 1, 85, 1, 85, 1 };
 
-  setESCThrottle(ESC_DISARMED_PWM);  // initialize the signal to low
+  pEsc->setESCThrottle(ESC_DISARMED_PWM);  // initialize the signal to low
 
   //ledBlinkThread.enabled = false;
   armedAtMillis = millis();
@@ -637,6 +649,6 @@ void trackPower() {
   prevPwrMillis = currentPwrMillis;
 
   if (currentState != DISARMED) {
-    wattHoursUsed += round(watts/60/60*msec_diff)/1000.0;
+    batteryData.wattHoursUsed += round(batteryData.watts/60/60*msec_diff)/1000.0;
   }
 }