diff --git a/Core/Inc/kicker_chipper_board/main.h b/Core/Inc/kicker_chipper_board/main.h
index 17a20f8f..61a0acbe 100644
--- a/Core/Inc/kicker_chipper_board/main.h
+++ b/Core/Inc/kicker_chipper_board/main.h
@@ -31,7 +31,7 @@ extern "C" {
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "kicker_board.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
diff --git a/Core/Inc/power_board/main.h b/Core/Inc/power_board/main.h
index 682909f7..723cfb89 100644
--- a/Core/Inc/power_board/main.h
+++ b/Core/Inc/power_board/main.h
@@ -31,6 +31,7 @@ extern "C" {
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "power_board.h"
 extern CAN_HandleTypeDef hcan;
 extern I2C_HandleTypeDef hi2c1;
 extern IWDG_HandleTypeDef hiwdg;
diff --git a/Core/Inc/top_board/Wireless/Wireless.h b/Core/Inc/top_board/Wireless/Wireless.h
index 96a75f1a..782ea830 100644
--- a/Core/Inc/top_board/Wireless/Wireless.h
+++ b/Core/Inc/top_board/Wireless/Wireless.h
@@ -14,18 +14,17 @@
 #include <stdint.h>
 #include "SX1280_Constants.h"
 #include "SX1280.h"
-#include "main.h"
 
 #define WIRELESS_YELLOW_CHANNELS 0
 #define WIRELESS_BLUE_CHANNELS 1
 
 /* Frequency steps in MHz, starting at 2.4GHz, going up to 2.5GHz */
 
-/* Frequencies for the TIGERs Invites (BuGa 2023) */
-#define WIRELESS_CHANNEL_YELLOW_ROBOT_TO_BASESTATION 86  
-#define WIRELESS_CHANNEL_BLUE_ROBOT_TO_BASESTATION   87
-#define WIRELESS_CHANNEL_YELLOW_BASESTATION_TO_ROBOT 88
-#define WIRELESS_CHANNEL_BLUE_BASESTATION_TO_ROBOT   89
+/* Frequencies for the RoboCup 2024 */
+#define WIRELESS_CHANNEL_YELLOW_ROBOT_TO_BASESTATION 65  
+#define WIRELESS_CHANNEL_BLUE_ROBOT_TO_BASESTATION   83
+#define WIRELESS_CHANNEL_YELLOW_BASESTATION_TO_ROBOT 85
+#define WIRELESS_CHANNEL_BLUE_BASESTATION_TO_ROBOT   87
 
 /* Frequencies below 2.4GHz to avoid WiFi. Officially not supported by documentation, but according to TIGERs it works */
 /*
diff --git a/Core/Inc/top_board/main.h b/Core/Inc/top_board/main.h
index bf171750..0b42a2fb 100644
--- a/Core/Inc/top_board/main.h
+++ b/Core/Inc/top_board/main.h
@@ -31,7 +31,7 @@ extern "C" {
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "robot.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
diff --git a/Core/Inc/top_board/robot.h b/Core/Inc/top_board/robot.h
index 530b1f5a..bb42fecd 100644
--- a/Core/Inc/top_board/robot.h
+++ b/Core/Inc/top_board/robot.h
@@ -4,28 +4,8 @@
 #include <unistd.h>
 #include "main.h"
 
-#include "control_util.h"
-#include "gpio_util.h"
-#include "tim_util.h"
-#include "peripheral_util.h"
-#include "wheels.h"
-#include "stateControl.h"
-#include "stateEstimation.h"
-#include "sdcard.h"
-#include "Wireless.h"
-#include "buzzer.h"
-#include "speaker.h"
-#include "MTi.h"
-#include "yawCalibration.h"
-#include "iwdg.h"
-#include "logging.h"
-#include "SX1280_Constants.h"
-#include "AssuredPacketManager.h"
 #include "drivers.h"
 #include "pages.h"
-#include "system_test.h"
-#include "drain_battery.h"
-#include "mcp_page.h"
 
 #include "rem.h"
 
diff --git a/Core/Src/kicker_chipper_board/main.c b/Core/Src/kicker_chipper_board/main.c
index dd12352b..d3f61215 100644
--- a/Core/Src/kicker_chipper_board/main.c
+++ b/Core/Src/kicker_chipper_board/main.c
@@ -21,7 +21,6 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "kicker_board.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
diff --git a/Core/Src/power_board/main.c b/Core/Src/power_board/main.c
index e43a82cf..3b822b5e 100644
--- a/Core/Src/power_board/main.c
+++ b/Core/Src/power_board/main.c
@@ -21,7 +21,6 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "power_board.h"
 
 /* USER CODE END Includes */
 
diff --git a/Core/Src/top_board/main.c b/Core/Src/top_board/main.c
index f1ae9e74..b14ef879 100644
--- a/Core/Src/top_board/main.c
+++ b/Core/Src/top_board/main.c
@@ -22,8 +22,6 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "robot.h"
-#include "MCP_Driver.h"
 
 /* USER CODE END Includes */
 
diff --git a/Core/Src/top_board/robot.c b/Core/Src/top_board/robot.c
index 2ac978f6..996d999b 100644
--- a/Core/Src/top_board/robot.c
+++ b/Core/Src/top_board/robot.c
@@ -1,5 +1,27 @@
 #include "robot.h"
 
+#include "control_util.h"
+#include "gpio_util.h"
+#include "tim_util.h"
+#include "peripheral_util.h"
+#include "wheels.h"
+#include "stateControl.h"
+#include "stateEstimation.h"
+#include "sdcard.h"
+#include "Wireless.h"
+#include "buzzer.h"
+#include "speaker.h"
+#include "MTi.h"
+#include "yawCalibration.h"
+#include "iwdg.h"
+#include "logging.h"
+#include "SX1280_Constants.h"
+#include "AssuredPacketManager.h"
+#include "system_test.h"
+#include "drain_battery.h"
+#include "mcp_page.h"
+
+
 /* ============================================================ */
 /* ======================= VARIABLES ========================== */
 /* ============================================================ */
@@ -873,9 +895,9 @@ void loop(void){
         }
 
 		// reset yaw calibration if robot has not been receiving camera yaw packet for the last 3 minutes
-		if ((current_time - timestamp_last_packet_with_camera_yaw) > 3 * 60 * 1000) {
-			yaw_ResetCalibration();
-		}
+		// if ((current_time - timestamp_last_packet_with_camera_yaw) > 3 * 60 * 1000) {
+		// 	yaw_ResetCalibration();
+		// }
 
         // Toggle liveliness LED
         toggle_Pin(LED0_pin);
@@ -1165,7 +1187,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 			robotFeedback.yaw = localState[yaw];
 			robotFeedback.theta = atan2(vv, vu);
 
-			if (dribblerAlive.ballsensorWorking) {
+			if (powerAlive.sensorWorking && powerVoltage.voltagePowerBoard > 15.1f) {
 				robotFeedback.batteryLevel = powerVoltage.voltagePowerBoard;
 			} else {
 				robotFeedback.batteryLevel = REM_PACKET_RANGE_REM_ROBOT_FEEDBACK_BATTERY_LEVEL_MIN;