diff --git a/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino b/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino
index fa90d05..e873919 100644
--- a/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino
+++ b/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino
@@ -136,7 +136,7 @@ void IRAM_ATTR isrR(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
     if (g_step_hz_r < 30) g_step_hz_r = 30;
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -153,7 +153,7 @@ void IRAM_ATTR isrL(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
     if (g_step_hz_l < 30) g_step_hz_l = 30;
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -201,20 +201,20 @@ void setup()
 
   delay(2000);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);  //1MHz(1us)
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1000 * 1us =1000us(1kHz)
+  timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, &isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);  //2MHz(0.5us)
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);  //2MHz(0.5us)
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
+  timerStart(g_timer3);
 
   g_allocator = rcl_get_default_allocator();
 
diff --git a/uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino b/uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino
index 4d36b25..591333c 100644
--- a/uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino
+++ b/uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino
@@ -163,10 +163,10 @@ void setup()
 
   delay(2000);
 
-  g_timer1 = timerBegin(1, 80, true);  //1us
-  timerAttachInterrupt(g_timer1, &onTimer1, true);
-  timerAlarmWrite(g_timer1, 250, true);  //4kHz
-  timerAlarmEnable(g_timer1);
+  g_timer1 = timerBegin(1000000);  //1MHz(1us)
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 250, true, 0);  //250 * 1us = 250us(4kHz)
+  timerStart(g_timer1);
 
   g_allocator = rcl_get_default_allocator();
 
diff --git a/uROS_STEP12_micromouse/device.h b/uROS_STEP12_micromouse/device.h
index 8dddc49..b48bbbb 100644
--- a/uROS_STEP12_micromouse/device.h
+++ b/uROS_STEP12_micromouse/device.h
@@ -36,6 +36,4 @@
 #define SW_CM 2
 #define SW_RM 4
 
-#define BUZZER_CH 0
-
 #endif  // DEVICE_H_
\ No newline at end of file
diff --git a/uROS_STEP12_micromouse/device.ino b/uROS_STEP12_micromouse/device.ino
index 61ed13b..1135770 100644
--- a/uROS_STEP12_micromouse/device.ino
+++ b/uROS_STEP12_micromouse/device.ino
@@ -60,7 +60,7 @@ void IRAM_ATTR isrR(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);
   if (g_motor_move) {
     if (g_step_hz_r < 30) g_step_hz_r = 30;
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -76,7 +76,7 @@ void IRAM_ATTR isrL(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);
   if (g_motor_move) {
     if (g_step_hz_l < 30) g_step_hz_l = 30;
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -87,21 +87,21 @@ void IRAM_ATTR isrL(void)
   portEXIT_CRITICAL_ISR(&g_timer_mux);
 }
 
-void controlInterruptStart(void) { timerAlarmEnable(g_timer0); }
-void controlInterruptStop(void) { timerAlarmDisable(g_timer0); }
+void controlInterruptStart(void) { timerStart(g_timer0); }
+void controlInterruptStop(void) { timerStop(g_timer0); }
 
-void sensorInterruptStart(void) { timerAlarmEnable(g_timer1); }
-void sensorInterruptStop(void) { timerAlarmDisable(g_timer1); }
+void sensorInterruptStart(void) { timerStart(g_timer1); }
+void sensorInterruptStop(void) { timerStop(g_timer1); }
 
 void PWMInterruptStart(void)
 {
-  timerAlarmEnable(g_timer2);
-  timerAlarmEnable(g_timer3);
+  timerStart(g_timer2);
+  timerStart(g_timer3);
 }
 void PWMInterruptStop(void)
 {
-  timerAlarmDisable(g_timer2);
-  timerAlarmDisable(g_timer3);
+  timerStop(g_timer2);
+  timerStop(g_timer3);
 }
 
 void initDevice(void)
@@ -118,9 +118,8 @@ void initDevice(void)
   pinMode(SW_C, INPUT);
   pinMode(SW_R, INPUT);
 
-  ledcSetup(0, 440, 10);
-  ledcAttachPin(BUZZER, 0);
-  ledcWrite(0, 1024);
+  ledcAttach(BUZZER, 440, 10);
+  ledcWrite(BUZZER, 1024);
 
   pinMode(SLED_FR, OUTPUT);
   pinMode(SLED_FL, OUTPUT);
@@ -149,25 +148,25 @@ void initDevice(void)
     }
   }
 
-  g_timer0 = timerBegin(0, 80, true);
-  timerAttachInterrupt(g_timer0, &onTimer0, false);
-  timerAlarmWrite(g_timer0, 1000, true);
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);
+  timerStart(g_timer0);
 
-  g_timer1 = timerBegin(1, 80, true);
-  timerAttachInterrupt(g_timer1, &onTimer1, true);
-  timerAlarmWrite(g_timer1, 500, true);
-  timerAlarmEnable(g_timer1);
+  g_timer1 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 500, true, 0);
+  timerStart(g_timer1);
 
-  g_timer2 = timerBegin(2, 40, true);
-  timerAttachInterrupt(g_timer2, &isrR, false);
-  timerAlarmWrite(g_timer2, 13333, true);
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);
-  timerAttachInterrupt(g_timer3, &isrL, false);
-  timerAlarmWrite(g_timer3, 13333, true);
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);
+  timerStart(g_timer3);
 
   Serial.begin(115200);
 
@@ -199,10 +198,10 @@ void setBLED(char data)
 }
 
 //Buzzer
-void enableBuzzer(short f) { ledcWriteTone(BUZZER_CH, f); }
+void enableBuzzer(short f) { ledcWriteTone(BUZZER, f); }
 void disableBuzzer(void)
 {
-  ledcWrite(BUZZER_CH, 1024);  //duty 100% Buzzer OFF
+  ledcWrite(BUZZER, 1024);  //duty 100% Buzzer OFF
 }
 
 //motor
@@ -266,8 +265,7 @@ unsigned short getSensorR(void)
   for (int i = 0; i < WAITLOOP_SLED; i++) {
     asm("nop \n");
   }
-  //  unsigned short tmp = analogRead(AD3);
-  unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_5);
+  unsigned short tmp = analogRead(AD3);
   digitalWrite(SLED_R, LOW);
   return tmp;
 }
@@ -277,8 +275,7 @@ unsigned short getSensorL(void)
   for (int i = 0; i < WAITLOOP_SLED; i++) {
     asm("nop \n");
   }
-  //  unsigned short tmp = analogRead(AD4);
-  unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_6);
+  unsigned short tmp = analogRead(AD4);
   digitalWrite(SLED_L, LOW);
   return tmp;
 }
@@ -288,8 +285,7 @@ unsigned short getSensorFL(void)
   for (int i = 0; i < WAITLOOP_SLED; i++) {
     asm("nop \n");
   }
-  //  unsigned short tmp = analogRead(AD2);
-  unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_4);
+  unsigned short tmp = analogRead(AD2);
   digitalWrite(SLED_FL, LOW);  //LED消灯
   return tmp;
 }
@@ -299,8 +295,7 @@ unsigned short getSensorFR(void)
   for (int i = 0; i < WAITLOOP_SLED; i++) {
     asm("nop \n");
   }
-  //  unsigned short tmp = analogRead(AD1);
-  unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_3);
+  unsigned short tmp = analogRead(AD1);
   digitalWrite(SLED_FR, LOW);
   return tmp;
 }
diff --git a/uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino b/uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino
index 048f15f..f51a13f 100644
--- a/uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino
+++ b/uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino
@@ -60,22 +60,22 @@ void execByMode(char mode)
 {
   switch (mode) {
     case 1:
-      ledcWriteTone(0, FREQ_C);
+      ledcWriteTone(BUZZER, FREQ_C);
       delay(1000);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
       break;
     case 2:
-      ledcWriteTone(0, FREQ_D);
+      ledcWriteTone(BUZZER, FREQ_D);
       delay(1000);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
       break;
     case 3:
-      ledcWriteTone(0, FREQ_E);
+      ledcWriteTone(BUZZER, FREQ_E);
       delay(1000);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
       break;
     default:
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
       break;
   }
 }
@@ -92,9 +92,8 @@ void setup()
   pinMode(SW_C, INPUT);
   pinMode(SW_R, INPUT);
 
-  ledcSetup(0, 440, 10);
-  ledcAttachPin(BUZZER, 0);
-  ledcWrite(0, 1024);
+  ledcAttach(BUZZER, 440, 10);
+  ledcWrite(BUZZER, 1024);
 
   g_mode = 1;
   setLED(g_mode);
@@ -111,9 +110,9 @@ void loop()
     if (g_mode > 15) {
       g_mode = 15;
     } else {
-      ledcWriteTone(0, INC_FREQ);
+      ledcWriteTone(BUZZER, INC_FREQ);
       delay(30);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
     }
     setLED(g_mode);
   }
@@ -122,18 +121,18 @@ void loop()
     if (g_mode < 1) {
       g_mode = 1;
     } else {
-      ledcWriteTone(0, DEC_FREQ);
+      ledcWriteTone(BUZZER, DEC_FREQ);
       delay(30);
-      ledcWrite(0, 1024);
+      ledcWrite(BUZZER, 1024);
     }
     setLED(g_mode);
   }
   if (digitalRead(SW_C) == 0) {
-    ledcWriteTone(0, INC_FREQ);
+    ledcWriteTone(BUZZER, INC_FREQ);
     delay(80);
-    ledcWriteTone(0, DEC_FREQ);
+    ledcWriteTone(BUZZER, DEC_FREQ);
     delay(80);
-    ledcWrite(0, 1024);
+    ledcWrite(BUZZER, 1024);
     delay(300);
     execByMode(g_mode);
   }
diff --git a/uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino b/uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino
index a5454e5..eb1dc96 100644
--- a/uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino
+++ b/uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino
@@ -94,10 +94,10 @@ void setup()
 
   Serial.begin(115200);
 
-  g_timer1 = timerBegin(1, 80, true);  //1us
-  timerAttachInterrupt(g_timer1, &onTimer1, true);
-  timerAlarmWrite(g_timer1, 250, true);  //4kHz
-  timerAlarmEnable(g_timer1);
+  g_timer1 = timerBegin(1000000);  //1MHz(1us)
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 250, true, 0);  //250 * 1us =250us(4kHz)
+  timerStart(g_timer1);
 }
 
 void loop()
diff --git a/uROS_STEP5_Straight/uROS_STEP5_Straight.ino b/uROS_STEP5_Straight/uROS_STEP5_Straight.ino
index 6c77f5a..f5fa6c0 100644
--- a/uROS_STEP5_Straight/uROS_STEP5_Straight.ino
+++ b/uROS_STEP5_Straight/uROS_STEP5_Straight.ino
@@ -63,7 +63,7 @@ void IRAM_ATTR isrR(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -79,7 +79,7 @@ void IRAM_ATTR isrL(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -115,20 +115,20 @@ void setup()
   digitalWrite(PWM_R, LOW);
   digitalWrite(PWM_L, LOW);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);  //1MHz(1us)
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1000 * 1us =1000us(1kHz)
+  timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);  //2MHz(0.5us)
+  timerAttachInterrupt(g_timer2, isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);  //2MHz(0.5us)
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
+  timerStart(g_timer3);
 }
 
 void loop()
diff --git a/uROS_STEP6_rotate/uROS_STEP6_rotate.ino b/uROS_STEP6_rotate/uROS_STEP6_rotate.ino
index a4d6ff6..2797f4f 100644
--- a/uROS_STEP6_rotate/uROS_STEP6_rotate.ino
+++ b/uROS_STEP6_rotate/uROS_STEP6_rotate.ino
@@ -72,7 +72,7 @@ void IRAM_ATTR isrR(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -88,7 +88,7 @@ void IRAM_ATTR isrL(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -124,20 +124,20 @@ void setup()
   digitalWrite(PWM_R, LOW);
   digitalWrite(PWM_L, LOW);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);  //1MHz(1us)
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1000 * 1us = 1000us(1kHz)
+  timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, &isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);  //2MHz(0.5us)
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);  //2MHz(0.5us)
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
+  timerStart(g_timer3);
 }
 
 void loop()
diff --git a/uROS_STEP7_P_control/uROS_STEP7_P_control.ino b/uROS_STEP7_P_control/uROS_STEP7_P_control.ino
index cfeefa0..a64c2c8 100644
--- a/uROS_STEP7_P_control/uROS_STEP7_P_control.ino
+++ b/uROS_STEP7_P_control/uROS_STEP7_P_control.ino
@@ -127,7 +127,7 @@ void IRAM_ATTR isrR(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -143,7 +143,7 @@ void IRAM_ATTR isrL(void)
 {
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -190,25 +190,25 @@ void setup()
 
   Serial.begin(115200);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
-
-  g_timer1 = timerBegin(1, 80, true);
-  timerAttachInterrupt(g_timer1, &onTimer1, false);
-  timerAlarmWrite(g_timer1, 250, true);
-  timerAlarmEnable(g_timer1);
-
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, &isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
-
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer0 = timerBegin(1000000);  //1MHz(1us)
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1000 * 1us =1000us(1kHz)
+  timerStart(g_timer0);
+
+  g_timer1 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 250, true, 0);
+  timerStart(g_timer1);
+
+  g_timer2 = timerBegin(2000000);  //2MHz(0.5us)
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
+  timerStart(g_timer2);
+
+  g_timer3 = timerBegin(2000000);  //2MHz(0.5us)
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
+  timerStart(g_timer3);
 
   g_sen_r.ref = REF_SEN_R;
   g_sen_l.ref = REF_SEN_L;
diff --git a/uROS_STEP8_micromouse/device.h b/uROS_STEP8_micromouse/device.h
index 8dddc49..b48bbbb 100644
--- a/uROS_STEP8_micromouse/device.h
+++ b/uROS_STEP8_micromouse/device.h
@@ -36,6 +36,4 @@
 #define SW_CM 2
 #define SW_RM 4
 
-#define BUZZER_CH 0
-
 #endif  // DEVICE_H_
\ No newline at end of file
diff --git a/uROS_STEP8_micromouse/device.ino b/uROS_STEP8_micromouse/device.ino
index 821e6db..600c229 100644
--- a/uROS_STEP8_micromouse/device.ino
+++ b/uROS_STEP8_micromouse/device.ino
@@ -53,7 +53,7 @@ void IRAM_ATTR isrR(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);
   if (g_motor_move) {
     if (g_step_hz_r < 30) g_step_hz_r = 30;
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -69,7 +69,7 @@ void IRAM_ATTR isrL(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);
   if (g_motor_move) {
     if (g_step_hz_l < 30) g_step_hz_l = 30;
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -80,21 +80,21 @@ void IRAM_ATTR isrL(void)
   portEXIT_CRITICAL_ISR(&g_timer_mux);
 }
 
-void controlInterruptStart(void) { timerAlarmEnable(g_timer0); }
-void controlInterruptStop(void) { timerAlarmDisable(g_timer0); }
+void controlInterruptStart(void) { timerStart(g_timer0); }
+void controlInterruptStop(void) { timerStop(g_timer0); }
 
-void sensorInterruptStart(void) { timerAlarmEnable(g_timer1); }
-void sensorInterruptStop(void) { timerAlarmDisable(g_timer1); }
+void sensorInterruptStart(void) { timerStart(g_timer1); }
+void sensorInterruptStop(void) { timerStop(g_timer1); }
 
 void PWMInterruptStart(void)
 {
-  timerAlarmEnable(g_timer2);
-  timerAlarmEnable(g_timer3);
+  timerStart(g_timer2);
+  timerStart(g_timer3);
 }
 void PWMInterruptStop(void)
 {
-  timerAlarmDisable(g_timer2);
-  timerAlarmDisable(g_timer3);
+  timerStop(g_timer2);
+  timerStop(g_timer3);
 }
 
 void initAll(void)
@@ -111,9 +111,8 @@ void initAll(void)
   pinMode(SW_C, INPUT);
   pinMode(SW_R, INPUT);
 
-  ledcSetup(0, 440, 10);
-  ledcAttachPin(BUZZER, 0);
-  ledcWrite(0, 1024);
+  ledcAttach(BUZZER, 440, 10);
+  ledcWrite(BUZZER, 1024);
 
   pinMode(SLED_FR, OUTPUT);
   pinMode(SLED_FL, OUTPUT);
@@ -142,25 +141,25 @@ void initAll(void)
     }
   }
 
-  g_timer0 = timerBegin(0, 80, true);
-  timerAttachInterrupt(g_timer0, &onTimer0, false);
-  timerAlarmWrite(g_timer0, 1000, true);
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);
+  timerStart(g_timer0);
 
-  g_timer1 = timerBegin(1, 80, true);
-  timerAttachInterrupt(g_timer1, &onTimer1, false);
-  timerAlarmWrite(g_timer1, 250, true);
-  timerAlarmEnable(g_timer1);
+  g_timer1 = timerBegin(1000000);
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 250, true, 0);
+  timerStart(g_timer1);
 
-  g_timer2 = timerBegin(2, 40, true);
-  timerAttachInterrupt(g_timer2, &isrR, false);
-  timerAlarmWrite(g_timer2, 13333, true);
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);
-  timerAttachInterrupt(g_timer3, &isrL, false);
-  timerAlarmWrite(g_timer3, 13333, true);
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);
+  timerStart(g_timer3);
 
   Serial.begin(115200);
 
@@ -212,10 +211,10 @@ void setBLED(char data)
 }
 
 //Buzzer
-void enableBuzzer(short f) { ledcWriteTone(BUZZER_CH, f); }
+void enableBuzzer(short f) { ledcWriteTone(BUZZER, f); }
 void disableBuzzer(void)
 {
-  ledcWrite(BUZZER_CH, 1024);  //duty 100% Buzzer OFF
+  ledcWrite(BUZZER, 1024);  //duty 100% Buzzer OFF
 }
 
 //motor
diff --git a/uROS_STEP9_twistMsg/uROS_STEP9_twistMsg.ino b/uROS_STEP9_twistMsg/uROS_STEP9_twistMsg.ino
index 8cf5d5e..c28a188 100644
--- a/uROS_STEP9_twistMsg/uROS_STEP9_twistMsg.ino
+++ b/uROS_STEP9_twistMsg/uROS_STEP9_twistMsg.ino
@@ -109,7 +109,7 @@ void IRAM_ATTR isrR(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
     if (g_step_hz_r < 30) g_step_hz_r = 30;
-    timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
+    timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
     digitalWrite(PWM_R, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -126,7 +126,7 @@ void IRAM_ATTR isrL(void)
   portENTER_CRITICAL_ISR(&g_timer_mux);  //割り込み禁止
   if (g_motor_move) {
     if (g_step_hz_l < 30) g_step_hz_l = 30;
-    timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
+    timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
     digitalWrite(PWM_L, HIGH);
     for (int i = 0; i < 100; i++) {
       asm("nop \n");
@@ -174,20 +174,20 @@ void setup()
 
   delay(2000);
 
-  g_timer0 = timerBegin(0, 80, true);  //1us
-  timerAttachInterrupt(g_timer0, &onTimer0, true);
-  timerAlarmWrite(g_timer0, 1000, true);  //1kHz
-  timerAlarmEnable(g_timer0);
+  g_timer0 = timerBegin(1000000);  //1MHz(1us)
+  timerAttachInterrupt(g_timer0, &onTimer0);
+  timerAlarm(g_timer0, 1000, true, 0);  //1000 * 1us = 1000us(1kHz)
+  timerStart(g_timer0);
 
-  g_timer2 = timerBegin(2, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer2, &isrR, true);
-  timerAlarmWrite(g_timer2, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer2);
+  g_timer2 = timerBegin(2000000);  //2MHz(0.5us)
+  timerAttachInterrupt(g_timer2, &isrR);
+  timerAlarm(g_timer2, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
+  timerStart(g_timer2);
 
-  g_timer3 = timerBegin(3, 40, true);  //0.5us
-  timerAttachInterrupt(g_timer3, &isrL, true);
-  timerAlarmWrite(g_timer3, 13333, true);  //150Hz
-  timerAlarmEnable(g_timer3);
+  g_timer3 = timerBegin(2000000);  //2MHz(0.5us)
+  timerAttachInterrupt(g_timer3, &isrL);
+  timerAlarm(g_timer3, 13333, true, 0);  //13333 * 0.5us = 6666us(150Hz)
+  timerStart(g_timer3);
 
   g_allocator = rcl_get_default_allocator();