diff --git a/.github/workflows/pico-build.yml b/.github/workflows/pico-build.yml
index 159edb5..8367a95 100644
--- a/.github/workflows/pico-build.yml
+++ b/.github/workflows/pico-build.yml
@@ -95,7 +95,7 @@ jobs:
source_dir: "Source Code/pico_ws"
output_dir: "build"
output_ext: "*.uf2 *.elf *.elf.map *.hex *.bin *.dis"
- output_ignored_dirs: "src/lib"
+ output_ignored_dirs: "src/lib _deps"
cmake_args: "-DCMAKE_BUILD_TYPE=Release"
- name: Upload Pico Source Code Artifacts
diff --git a/Source Code/pico_ws/src/CMakeLists.txt b/Source Code/pico_ws/src/CMakeLists.txt
index 1a087d7..cc1844d 100644
--- a/Source Code/pico_ws/src/CMakeLists.txt
+++ b/Source Code/pico_ws/src/CMakeLists.txt
@@ -21,5 +21,4 @@
add_subdirectory(lib)
# Pico firmware
-add_subdirectory(pico)
-#add_subdirectory(systest)
\ No newline at end of file
+add_subdirectory(pico)
\ No newline at end of file
diff --git a/Source Code/pico_ws/src/systest/CMakeLists.txt b/Source Code/pico_ws/src/systest/CMakeLists.txt
deleted file mode 100644
index 138ef66..0000000
--- a/Source Code/pico_ws/src/systest/CMakeLists.txt
+++ /dev/null
@@ -1,67 +0,0 @@
-# The ROS remote project - Pico firmware CMake config
-# (NOTE: THIS IS NOT THE TOP-LEVEL CMAKE FILE!)
-# Copyright 2024 Samyar Sadat Akhavi
-# Written by Samyar Sadat Akhavi, 2024.
-#
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program. If not, see .
-
-
-
-# ---- Pico ----
-message("Configuring Pico firmware build... (${PICO_NAME})")
-
-# Add source files
-add_executable(${PICO_NAME} Pico.c++)
-
-# Create map/bin/hex/uf2 files
-pico_add_extra_outputs(${PICO_NAME})
-
-# Link to libraries
-target_link_libraries(${PICO_NAME} pico_stdlib
- hardware_pwm
- hardware_adc
- helpers_lib
-)
-
-# Link to include directories
-target_include_directories(${PICO_NAME} PUBLIC ${CMAKE_CURRENT_LIST_DIR})
-
-# Target-specific compile definitions
-target_compile_definitions(${PICO_NAME} PRIVATE
- PICO_RP2040_B0_SUPPORTED=0
- PICO_STACK_SIZE=0x1000
- PICO_USE_STACK_GUARDS=1
- PICO_DEFAULT_UART=1
- PICO_DEFAULT_UART_TX_PIN=8
- PICO_DEFAULT_UART_RX_PIN=9
-)
-
-# PicoTool binary information
-pico_set_program_name(${PICO_NAME} ${PICO_NAME})
-pico_set_program_version(${PICO_NAME} ${PROJECT_VERSION})
-pico_set_program_description(${PICO_NAME} "The ROS Remote Project - Main Pico Firmware")
-
-# Enable STDIO over USB and UART
-pico_enable_stdio_usb(${PICO_NAME} 1)
-pico_enable_stdio_uart(${PICO_NAME} 1)
-
-# CMake flags
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -ffunction-sections -fdata-sections")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ffunction-sections -fdata-sections")
-
-# Compile definitions & options
-add_compile_definitions(PICO_UART_ENABLE_CRLF_SUPPORT=0)
-add_compile_definitions(PICO_STDIO_ENABLE_CRLF_SUPPORT=0)
-add_compile_definitions(PICO_STDIO_DEFAULT_CRLF=0)
-add_compile_options(-Wall -Wextra -Wpedantic)
\ No newline at end of file
diff --git a/Source Code/pico_ws/src/systest/Pico.c++ b/Source Code/pico_ws/src/systest/Pico.c++
deleted file mode 100644
index 7b6e2f1..0000000
--- a/Source Code/pico_ws/src/systest/Pico.c++
+++ /dev/null
@@ -1,122 +0,0 @@
-/*
- The ROS remote project - Raspberry Pi Pico firmware
- Copyright 2024 Samyar Sadat Akhavi
- Written by Samyar Sadat Akhavi, 2024.
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see .
-*/
-
-#include "helpers_lib/Helpers.h"
-#include "hardware/adc.h"
-
-
-int main()
-{
- stdio_init_all();
- adc_init();
-
- init_pin(0, OUTPUT_PWM);
- init_pin(1, OUTPUT_PWM);
- init_pin(2, OUTPUT_PWM);
-
- init_pin(3, INPUT_PULLUP);
- init_pin(4, INPUT_PULLUP);
- init_pin(5, INPUT_PULLUP);
- init_pin(6, INPUT_PULLUP);
- init_pin(7, INPUT_PULLUP);
-
- init_pin(8, OUTPUT_PWM);
- init_pin(9, OUTPUT_PWM);
- init_pin(10, OUTPUT_PWM);
- init_pin(11, OUTPUT_PWM);
- init_pin(12, OUTPUT_PWM);
- init_pin(13, OUTPUT_PWM);
- init_pin(14, OUTPUT_PWM);
- init_pin(15, OUTPUT_PWM);
-
- init_pin(18, INPUT_PULLUP);
- init_pin(19, INPUT_PULLUP);
- init_pin(20, INPUT_PULLUP);
- init_pin(21, INPUT_PULLUP);
- init_pin(22, INPUT_PULLUP);
-
- init_pin(26, INPUT_ADC);
- init_pin(27, INPUT_ADC);
- init_pin(28, INPUT_ADC);
-
- init_pin(23, OUTPUT);
- gpio_put(23, HIGH);
-
- /*while (true)
- {
- for (int i = 0; i < 16; i++)
- {
- if (i == 3)
- {
- i = 8;
- }
-
- gpio_put_pwm(i, 65535);
- sleep_ms(100);
- }
-
- for (int i = 0; i < 16; i++)
- {
- if (i == 3)
- {
- i = 8;
- }
-
- gpio_put_pwm(i, 0);
- sleep_ms(100);
- }
- }*/
-
- for (int i = 0; i < 16; i++)
- {
- if (i == 3)
- {
- i = 8;
- }
-
- gpio_put_pwm(i, 65535);
- sleep_ms(250);
- }
-
- while (true)
- {
- // ADC
- adc_select_input(0);
- sleep_ms(1);
- float adc0 = adc_read();
-
- adc_select_input(1);
- sleep_ms(1);
- float adc1 = adc_read();
-
- adc_select_input(2);
- sleep_ms(1);
- float adc2 = adc_read();
-
- printf("A0: %.2f, A1: %.2f, A2: %.2f\r\n", adc0, adc1, adc2);
-
- // DIGITAL
- //printf("D3 %i, D4 %i, D5 %i, D6 %i, D7 %i, D18 %i, D19 %i, D20 %i, D21 %i, D22 %i\r\n", gpio_get(3), gpio_get(4), gpio_get(5),
- // gpio_get(6), gpio_get(7), gpio_get(18),
- // gpio_get(19), gpio_get(20), gpio_get(21),
- // gpio_get(22));
- }
-
- return 0;
-}
\ No newline at end of file