diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 6a2efba..a76809c 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -49,6 +49,7 @@ set(headers
     cloudtexthelpers.h
     controller.h
     debugcolorhelpers.h
+    debuginputhandler.h
     debugtexthelpers.h
     displays/bmsdisplay.h
     displays/calibratedisplay.h
@@ -185,8 +186,7 @@ set(headers
     qrimport.h
     rotary.h
     screens.h
-    serial.h
-    serialhandler.h
+    serial_bobby.h
     settings.h
     settingspersister.h
     settingsutils.h
@@ -264,6 +264,7 @@ set(sources
     cloudtexthelpers.cpp
     controller.cpp
     debugcolorhelpers.cpp
+    debuginputhandler.cpp
     debugtexthelpers.cpp
     displays/bmsdisplay.cpp
     displays/calibratedisplay.cpp
@@ -401,8 +402,7 @@ set(sources
     qrimport.cpp
     rotary.cpp
     screens.cpp
-    serial.cpp
-    serialhandler.cpp
+    serial_bobby.cpp
     settings.cpp
     settingspersister.cpp
     settingsutils.cpp
diff --git a/main/accessors/settingsaccessors.h b/main/accessors/settingsaccessors.h
index 654b9e4..17d7103 100644
--- a/main/accessors/settingsaccessors.h
+++ b/main/accessors/settingsaccessors.h
@@ -130,11 +130,6 @@ struct StatsUpdateRateAccessor : public RefAccessorSaveSettings<int16_t> { int16
 struct DisplayUpdateRateAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.timersSettings.displayUpdateRate; } };
 struct DisplayRedrawRateAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.timersSettings.displayRedrawRate; } };
 
-// CAN
-#ifdef FEATURE_CAN
-struct CanReceiveRateAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.timersSettings.canReceiveRate; } };
-#endif
-
 // Cloud
 #ifdef FEATURE_CLOUD
 struct CloudCollectRateAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.timersSettings.cloudCollectRate; } };
diff --git a/main/debuginputhandler.cpp b/main/debuginputhandler.cpp
new file mode 100644
index 0000000..6a54445
--- /dev/null
+++ b/main/debuginputhandler.cpp
@@ -0,0 +1,127 @@
+#include "debuginputhandler.h"
+
+// Arduino includes
+#include <HardwareSerial.h>
+
+// 3rdparty lib includes
+#include <tftinstance.h>
+
+// local includes
+#include "globals.h"
+#include "utils.h"
+#include "screens.h"
+#include "buttons.h"
+
+using namespace espgui;
+
+//wl_status_t last_status;
+//IPAddress last_ip;
+
+void initDebugInput()
+{
+    Serial.begin(115200);
+    //Serial.setDebugOutput(true);
+}
+
+void handleDebugInput()
+{
+    //const auto status = WiFi.status();
+    //if (last_status != status)
+    //{
+        //Serial.print("Status changed to: ");
+        //Serial.println(to_string(status).c_str());
+        //last_status = status;
+    //}
+
+    //const auto ip = WiFi.localIP();
+    //if (last_ip != ip)
+    //{
+        //Serial.print("IP changed to: ");
+        //Serial.println(to_string(ip).c_str());
+        //last_ip = ip;
+    //}
+
+    while(Serial.available())
+    {
+        const auto c = Serial.read();
+
+        switch (c)
+        {
+        case 'i':
+        case 'I':
+            tft.init();
+            break;
+        case 'p':
+        case 'P':
+        {
+            const auto firstPower = controllers.front.command.poweroff;
+            for (Controller &controller : controllers)
+                controller.command.poweroff = !firstPower;
+            break;
+        }
+        case 'l':
+        case 'L':
+        {
+            const auto firstLed = controllers.front.command.led;
+            for (Controller &controller : controllers)
+                controller.command.led = !firstLed;
+            break;
+        }
+        case 'r':
+        case 'R':
+            loadSettings();
+            break;
+        case 's':
+        case 'S':
+            saveSettings();
+            break;
+        case '0':
+        case '1':
+        case '2':
+        case '3':
+        case '4':
+        case '5':
+        case '6':
+        case '7':
+        case '8':
+        case '9':
+            for (Controller &controller : controllers)
+                controller.command.buzzer.freq = c-'0';
+            break;
+        case 'A':
+            InputDispatcher::rotate(-1);
+            break;
+        case 'B':
+            InputDispatcher::rotate(1);
+            break;
+        case 'C':
+            InputDispatcher::confirmButton(true);
+            InputDispatcher::confirmButton(false);
+            break;
+        case 'D':
+            InputDispatcher::backButton(true);
+            InputDispatcher::backButton(false);
+            break;
+        case 'z':
+        case 'Z':
+#ifndef LEDSTRIP_WRONG_DIRECTION
+            InputDispatcher::blinkLeftButton(true);
+            InputDispatcher::blinkLeftButton(false);
+#else
+            InputDispatcher::blinkRightButton(true);
+            InputDispatcher::blinkRightButton(false);
+#endif
+            break;
+        case 'u':
+        case 'U':
+#ifndef LEDSTRIP_WRONG_DIRECTION
+            InputDispatcher::blinkRightButton(true);
+            InputDispatcher::blinkRightButton(false);
+#else
+            InputDispatcher::blinkLeftButton(true);
+            InputDispatcher::blinkLeftButton(false);
+#endif
+            break;
+        }
+    }
+}
diff --git a/main/serialhandler.h b/main/debuginputhandler.h
similarity index 61%
rename from main/serialhandler.h
rename to main/debuginputhandler.h
index 87e8aff..8d44fcf 100644
--- a/main/serialhandler.h
+++ b/main/debuginputhandler.h
@@ -3,4 +3,5 @@
 //extern wl_status_t last_status;
 //extern IPAddress last_ip;
 
-void handleSerial();
+void initDebugInput();
+void handleDebugInput();
diff --git a/main/displays/menus/timersmenu.cpp b/main/displays/menus/timersmenu.cpp
index 7d72040..5b60650 100644
--- a/main/displays/menus/timersmenu.cpp
+++ b/main/displays/menus/timersmenu.cpp
@@ -42,16 +42,6 @@ using DisplayRedrawRateChangeDisplay = makeComponent<
     BackActionInterface<SwitchScreenAction<TimersMenu>>,
     SwitchScreenAction<TimersMenu>
 >;
-
-#ifdef FEATURE_CAN
-using CanReceiveRateChangeDisplay = makeComponent<
-    ChangeValueDisplay<int16_t>,
-    StaticText<TEXT_CANRECEIVERATE>,
-    CanReceiveRateAccessor,
-    BackActionInterface<SwitchScreenAction<TimersMenu>>,
-    SwitchScreenAction<TimersMenu>
->;
-#endif
 }
 
 TimersMenu::TimersMenu()
@@ -60,9 +50,6 @@ TimersMenu::TimersMenu()
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_STATSUPDATERATE>,   SwitchScreenAction<StatsUpdateRateChangeDisplay>>>();
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_DISPLAYUPDATERATE>, SwitchScreenAction<DisplayUpdateRateChangeDisplay>>>();
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_DISPLAYREDRAWRATE>, SwitchScreenAction<DisplayRedrawRateChangeDisplay>>>();
-#ifdef FEATURE_CAN
-    constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_CANRECEIVERATE>,    SwitchScreenAction<CanReceiveRateChangeDisplay>>>();
-#endif
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,              SwitchScreenAction<BoardcomputerHardwareSettingsMenu>, StaticMenuItemIcon<&espgui::icons::back>>>();
 }
 
diff --git a/main/main.cpp b/main/main.cpp
index b1823d3..5674eca 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -25,22 +25,8 @@ using namespace std::chrono_literals;
 #include "macros_bobbycar.h"
 #include "globals.h"
 #include "screens.h"
-#include "serialhandler.h"
-#ifdef FEATURE_OTA
-#include "ota.h"
-#include "displays/menus/selectbuildservermenu.h"
-#endif
 #include "presets.h"
 #include "statistics.h"
-#ifdef FEATURE_BLE
-#include "ble_bobby.h"
-#endif
-#ifdef FEATURE_WEBSERVER
-#include "webserver.h"
-#endif
-#ifdef FEATURE_CAN
-#include "can.h"
-#endif
 #ifdef FEATURE_CLOUD
 #include "cloud.h"
 #include "udpcloud.h"
@@ -68,12 +54,6 @@ std::optional<espchrono::millis_clock::time_point> lastModeUpdate;
 std::optional<espchrono::millis_clock::time_point> lastStatsUpdate;
 std::optional<espchrono::millis_clock::time_point> lastDisplayUpdate;
 std::optional<espchrono::millis_clock::time_point> lastDisplayRedraw;
-#ifdef FEATURE_CAN
-std::optional<espchrono::millis_clock::time_point> lastCanParse;
-#endif
-#ifdef FEATURE_BLE
-std::optional<espchrono::millis_clock::time_point> lastBleUpdate;
-#endif
 #ifdef FEATURE_CLOUD
 std::optional<espchrono::millis_clock::time_point> lastCloudCollect;
 std::optional<espchrono::millis_clock::time_point> lastCloudSend;
@@ -85,10 +65,6 @@ std::optional<espchrono::millis_clock::time_point> lastLedstripUpdate;
 
 extern "C" void app_main()
 {
-    Serial.begin(115200);
-    //Serial.setDebugOutput(true);
-    //Serial.println("setup()");
-
 #ifdef FEATURE_LEDBACKLIGHT
     pinMode(PINS_LEDBACKLIGHT, OUTPUT);
     digitalWrite(PINS_LEDBACKLIGHT, ledBacklightInverted ? LOW : HIGH);
@@ -133,22 +109,6 @@ extern "C" void app_main()
         task.setup();
     }
 
-#ifdef FEATURE_CAN
-    bootLabel.redraw("can");
-    can::initCan();
-#endif
-
-#ifdef FEATURE_SERIAL
-    bootLabel.redraw("front Serial begin");
-    controllers.front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
-
-    bootLabel.redraw("back Serial begin");
-    controllers.back.serial.get().begin(38400, SERIAL_8N1, PINS_RX2, PINS_TX2);
-
-    bootLabel.redraw("swap front back");
-    updateSwapFrontBack();
-#endif
-
 #ifdef FEATURE_LEDSTRIP
     bootLabel.redraw("LED strip");
     initLedStrip();
@@ -159,24 +119,6 @@ extern "C" void app_main()
 
     currentMode = &modes::defaultMode;
 
-#ifdef FEATURE_OTA
-    bootLabel.redraw("ota");
-    initOta();
-#endif
-
-#ifdef FEATURE_BLE
-    bootLabel.redraw("ble");
-    initBle();
-#endif
-
-#ifdef FEATURE_WEBSERVER
-    bootLabel.redraw("webserver");
-    initWebserver();
-#endif
-
-    bootLabel.redraw("potis");
-    readPotis();
-
 #ifdef FEATURE_CLOUD
     bootLabel.redraw("cloud");
     initCloud();
@@ -266,36 +208,6 @@ extern "C" void app_main()
             performance.lastTime = now;
         }
 
-#ifdef FEATURE_CAN
-        if (!lastCanParse || now - *lastCanParse >= 1000ms/settings.boardcomputerHardware.timersSettings.canReceiveRate)
-        {
-            //can::tryParseCanInput();
-            can::parseCanInput();
-
-            lastCanParse = now;
-        }
-#endif
-
-#ifdef FEATURE_SERIAL
-        for (Controller &controller : controllers)
-            controller.parser.update();
-#endif
-
-        handleSerial();
-
-#ifdef FEATURE_OTA
-        handleOta();
-#endif
-
-#ifdef FEATURE_BLE
-        if (!lastBleUpdate || now - *lastBleUpdate >= 250ms)
-        {
-            handleBle();
-
-            lastBleUpdate = now;
-        }
-#endif
-
 #ifdef FEATURE_ESPNOW
         espnow::handle();
 #endif
@@ -316,10 +228,6 @@ extern "C" void app_main()
         }
 #endif
 
-#ifdef FEATURE_WEBSERVER
-        handleWebserver();
-#endif
-
 #ifdef FEATURE_BMS
         bms::update();
 #endif
diff --git a/main/potis.cpp b/main/potis.cpp
index 4a0ed5c..bc20584 100644
--- a/main/potis.cpp
+++ b/main/potis.cpp
@@ -6,7 +6,6 @@
 
 // local includes
 #include "globals.h"
-
 #ifdef FEATURE_CAN
 #include "can.h"
 #endif
@@ -19,6 +18,8 @@ void initPotis()
     raw_brems = std::nullopt;
     gas = std::nullopt;
     brems = std::nullopt;
+
+    readPotis();
 }
 
 void readPotis()
diff --git a/main/presets.h b/main/presets.h
index 7310782..d1a799a 100644
--- a/main/presets.h
+++ b/main/presets.h
@@ -140,9 +140,6 @@ constexpr Settings::BoardcomputerHardware::TimersSettings defaultTimersSettings
     .statsUpdateRate = 50,
     .displayUpdateRate = 50,
     .displayRedrawRate = 50,
-#ifdef FEATURE_CAN
-    .canReceiveRate = 100,
-#endif
 #ifdef FEATURE_CLOUD
     .cloudCollectRate = 100,
     .cloudSendRate = 1,
diff --git a/main/serial.cpp b/main/serial.cpp
deleted file mode 100644
index e69de29..0000000
diff --git a/main/serial.h b/main/serial.h
deleted file mode 100644
index e69de29..0000000
diff --git a/main/serial_bobby.cpp b/main/serial_bobby.cpp
new file mode 100644
index 0000000..088dd0a
--- /dev/null
+++ b/main/serial_bobby.cpp
@@ -0,0 +1,27 @@
+#include "serial_bobby.h"
+
+// local includes
+#include "globals.h"
+#include "screens.h"
+
+#ifdef FEATURE_SERIAL
+
+void initSerial()
+{
+    bootLabel.redraw("front Serial begin");
+    controllers.front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
+
+    bootLabel.redraw("back Serial begin");
+    controllers.back.serial.get().begin(38400, SERIAL_8N1, PINS_RX2, PINS_TX2);
+
+    bootLabel.redraw("swap front back");
+    updateSwapFrontBack();
+}
+
+void updateSerial()
+{
+    for (Controller &controller : controllers)
+        controller.parser.update();
+}
+
+#endif
diff --git a/main/serial_bobby.h b/main/serial_bobby.h
new file mode 100644
index 0000000..9436c59
--- /dev/null
+++ b/main/serial_bobby.h
@@ -0,0 +1,8 @@
+#pragma once
+
+#ifdef FEATURE_SERIAL
+
+void initSerial();
+void updateSerial();
+
+#endif
diff --git a/main/settings.h b/main/settings.h
index a37096e..b7916f6 100644
--- a/main/settings.h
+++ b/main/settings.h
@@ -107,9 +107,6 @@ struct Settings
             int16_t statsUpdateRate;
             int16_t displayUpdateRate;
             int16_t displayRedrawRate;
-#ifdef FEATURE_CAN
-            int16_t canReceiveRate;
-#endif
 #ifdef FEATURE_CLOUD
             int16_t cloudCollectRate;
             int16_t cloudSendRate;
@@ -303,9 +300,6 @@ void Settings::executeForEveryCommonSetting(T &&callable)
     callable("statsUpdateRate", boardcomputerHardware.timersSettings.statsUpdateRate);
     callable("displayUpdateRa", boardcomputerHardware.timersSettings.displayUpdateRate);
     callable("displayRedrawRa", boardcomputerHardware.timersSettings.displayRedrawRate);
-#ifdef FEATURE_CAN
-    callable("canReceiveRate", boardcomputerHardware.timersSettings.canReceiveRate);
-#endif
 #ifdef FEATURE_CLOUD
     callable("cloudCollectRat", boardcomputerHardware.timersSettings.cloudCollectRate);
     callable("cloudSendRate", boardcomputerHardware.timersSettings.cloudSendRate);
diff --git a/main/taskmanager.cpp b/main/taskmanager.cpp
index 45d672f..2a185f8 100644
--- a/main/taskmanager.cpp
+++ b/main/taskmanager.cpp
@@ -41,6 +41,22 @@
 #ifdef FEATURE_BLUETOOTH
 #include "bluetooth_bobby.h"
 #endif
+#ifdef FEATURE_CAN
+#include "can.h"
+#endif
+#include "debuginputhandler.h"
+#ifdef FEATURE_SERIAL
+#include "serial_bobby.h"
+#endif
+#ifdef FEATURE_OTA
+#include "ota.h"
+#endif
+#ifdef FEATURE_BLE
+#include "ble_bobby.h"
+#endif
+#ifdef FEATURE_WEBSERVER
+#include "webserver.h"
+#endif
 
 using namespace std::chrono_literals;
 
@@ -49,36 +65,52 @@ constexpr const char * const TAG = "TASKS";
 
 espcpputils::SchedulerTask schedulerTasksArr[] {
     espcpputils::SchedulerTask { "wifi",           wifi_begin,            wifi_update,             100ms },
-    espcpputils::SchedulerTask { "input",          InputDispatcher::init, InputDispatcher::update, {}    },
+    espcpputils::SchedulerTask { "input",          InputDispatcher::init, InputDispatcher::update, 20ms  },
 #ifdef FEATURE_DPAD
-    espcpputils::SchedulerTask { "dpad",           dpad::init,            dpad::update,            {}    },
+    espcpputils::SchedulerTask { "dpad",           dpad::init,            dpad::update,            20ms  },
 #endif
 #ifdef FEATURE_DPAD_3WIRESW
-    espcpputils::SchedulerTask { "dpad3wire",      dpad3wire::init,       dpad3wire::update,       {}    },
+    espcpputils::SchedulerTask { "dpad3wire",      dpad3wire::init,       dpad3wire::update,       20ms  },
 #endif
 #ifdef FEATURE_DPAD_5WIRESW
-    espcpputils::SchedulerTask { "dpad5wire",      dpad5wire::init,       dpad5wire::update,       {}    },
+    espcpputils::SchedulerTask { "dpad5wire",      dpad5wire::init,       dpad5wire::update,       20ms  },
 #endif
 #ifdef FEATURE_DPAD_5WIRESW_2OUT
-    espcpputils::SchedulerTask { "dpad5wire_2out", dpad5wire_2out::init,  dpad5wire_2out::update,  {}    },
+    espcpputils::SchedulerTask { "dpad5wire_2out", dpad5wire_2out::init,  dpad5wire_2out::update,  20ms  },
 #endif
 #ifdef FEATURE_DPAD_6WIRESW
-    espcpputils::SchedulerTask { "dpad6wire",      dpad6wire::init,       dpad6wire::update,       {}    },
+    espcpputils::SchedulerTask { "dpad6wire",      dpad6wire::init,       dpad6wire::update,       20ms  },
 #endif
 #ifdef FEATURE_ROTARY
-    espcpputils::SchedulerTask { "rotary",         initRotary,            updateRotary,            {}    },
+    espcpputils::SchedulerTask { "rotary",         initRotary,            updateRotary,            20ms  },
 #endif
 #ifdef FEATURE_MOSFETS
-    espcpputils::SchedulerTask { "mosfets",        init_mosfets,          update_mosfets,          {}    },
+    espcpputils::SchedulerTask { "mosfets",        init_mosfets,          update_mosfets,          100ms },
 #endif
     espcpputils::SchedulerTask { "wifi",           wifi_begin,            wifi_update,             100ms },
 #ifdef FEATURE_NTP
     espcpputils::SchedulerTask { "time",           initTime,              updateTime,              100ms },
 #endif
-    espcpputils::SchedulerTask { "potis",          initPotis,             readPotis,               20ms },
+    espcpputils::SchedulerTask { "potis",          initPotis,             readPotis,               20ms  },
 #ifdef FEATURE_BLUETOOTH
     espcpputils::SchedulerTask { "bluetooth",      bluetooth_init,        bluetooth_update,        100ms },
 #endif
+#ifdef FEATURE_CAN
+    espcpputils::SchedulerTask { "can",            can::initCan,          can::parseCanInput,      50ms  },
+#endif
+    espcpputils::SchedulerTask { "debuginput",     initDebugInput,        handleDebugInput,        50ms  },
+#ifdef FEATURE_SERIAL
+    espcpputils::SchedulerTask { "serial",         initSerial,            updateSerial,            50ms  },
+#endif
+#ifdef FEATURE_OTA
+    espcpputils::SchedulerTask { "ota",            initOta,               handleOta,               50ms  },
+#endif
+#ifdef FEATURE_BLE
+    espcpputils::SchedulerTask { "ble",            initBle,               handleBle,               100ms },
+#endif
+#ifdef FEATURE_WEBSERVER
+    espcpputils::SchedulerTask { "webserver",      initWebserver,         handleWebserver,         100ms },
+#endif
 };
 } // namespace
 
diff --git a/main/texts.cpp b/main/texts.cpp
index 9f58ec6..770bf1e 100644
--- a/main/texts.cpp
+++ b/main/texts.cpp
@@ -428,9 +428,6 @@ char TEXT_MODEUPDATERATE[] = "Mode update rate";
 char TEXT_STATSUPDATERATE[] = "Stats update rate";
 char TEXT_DISPLAYUPDATERATE[] = "Display update rate";
 char TEXT_DISPLAYREDRAWRATE[] = "Display redraw rate";
-#ifdef FEATURE_CAN
-char TEXT_CANRECEIVERATE[] = "CAN receive rate";
-#endif
 //char TEXT_BACK[] = "Back";
 
 //TimeSettingsMenu
diff --git a/main/texts.h b/main/texts.h
index 92f706f..8c4f188 100644
--- a/main/texts.h
+++ b/main/texts.h
@@ -428,9 +428,6 @@ extern char TEXT_MODEUPDATERATE[];
 extern char TEXT_STATSUPDATERATE[];
 extern char TEXT_DISPLAYUPDATERATE[];
 extern char TEXT_DISPLAYREDRAWRATE[];
-#ifdef FEATURE_CAN
-extern char TEXT_CANRECEIVERATE[];
-#endif
 //extern char TEXT_BACK[];
 
 //TimeSettingsMenu