diff --git a/src/controller.h b/src/controller.h
index bd6ad63..770b080 100644
--- a/src/controller.h
+++ b/src/controller.h
@@ -14,6 +14,8 @@ struct Controller {
         serial{serial}, enableLeft{enableLeft}, enableRight{enableRight}, invertLeft{invertLeft}, invertRight{invertRight}
     {
     }
+//    Controller(const Controller &) = delete;
+//    Controller &operator=(const Controller &) = delete;
 
     std::reference_wrapper<HardwareSerial> serial;
     bool &enableLeft, &enableRight, &invertLeft, &invertRight;
diff --git a/src/debugcolorhelpers.h b/src/debugcolorhelpers.h
index bb0ced0..0d20cde 100644
--- a/src/debugcolorhelpers.h
+++ b/src/debugcolorhelpers.h
@@ -4,12 +4,12 @@
 #include "globals.h"
 
 namespace {
-template<Controller &Tcontroller, int TsuccessColor>
-class FeedbackColor : public virtual ColorInterface { public: int color() const { return Tcontroller.feedbackValid ? TsuccessColor : TFT_RED; } };
+template<typename Tcontroller, int TsuccessColor>
+class FeedbackColor : public virtual ColorInterface { public: int color() const { return Tcontroller::get().feedbackValid ? TsuccessColor : TFT_RED; } };
 
 template<int TsuccessColor>
-using FrontFeedbackColor = FeedbackColor<front, TsuccessColor>;
+using FrontFeedbackColor = FeedbackColor<FrontControllerGetter, TsuccessColor>;
 
 template<int TsuccessColor>
-using BackFeedbackColor = FeedbackColor<back, TsuccessColor>;
+using BackFeedbackColor = FeedbackColor<BackControllerGetter, TsuccessColor>;
 }
diff --git a/src/debugtexthelpers.h b/src/debugtexthelpers.h
index 28cf877..cdf0d2b 100644
--- a/src/debugtexthelpers.h
+++ b/src/debugtexthelpers.h
@@ -5,31 +5,31 @@
 #include "utils.h"
 
 namespace {
-template<Controller &controller>
+template<typename controller>
 struct ControllerTexts
 {
     ControllerTexts() = delete;
     ~ControllerTexts() = delete;
 
-    struct BuzzerFreqText : public virtual TextInterface { public: String text() const override { return String{"buzzerFreq: "} + toString(controller.command.buzzer.freq); } };
-    struct BuzzerPatternText : public virtual TextInterface { public: String text() const override { return String{"buzzerPattern: "} + toString(controller.command.buzzer.pattern); } };
-    struct PoweroffText : public virtual TextInterface { public: String text() const override { return String{"poweroff: "} + toString(controller.command.poweroff); } };
-    struct LedText : public virtual TextInterface { public: String text() const override { return String{"led: "} + toString(controller.command.led); } };
+    struct BuzzerFreqText : public virtual TextInterface { public: String text() const override { return String{"buzzerFreq: "} + toString(controller::get().command.buzzer.freq); } };
+    struct BuzzerPatternText : public virtual TextInterface { public: String text() const override { return String{"buzzerPattern: "} + toString(controller::get().command.buzzer.pattern); } };
+    struct PoweroffText : public virtual TextInterface { public: String text() const override { return String{"poweroff: "} + toString(controller::get().command.poweroff); } };
+    struct LedText : public virtual TextInterface { public: String text() const override { return String{"led: "} + toString(controller::get().command.led); } };
 
     struct LeftCommand
     {
         LeftCommand() = delete;
         ~LeftCommand() = delete;
 
-        struct EnableText : public virtual TextInterface { public: String text() const override { return String{"enable: "} + toString(controller.command.left.enable); } };
-        struct PwmText : public virtual TextInterface { public: String text() const override { return String{"pwm: "} + toString(controller.command.left.pwm); } };
-        struct CtrlTypText : public virtual TextInterface { public: String text() const override { return String{"ctrlTyp: "} + toString(controller.command.left.ctrlTyp); } };
-        struct CtrlModText : public virtual TextInterface { public: String text() const override { return String{"ctrlMod: "} + toString(controller.command.left.ctrlMod); } };
-        struct IMotMaxText : public virtual TextInterface { public: String text() const override { return String{"iMotMax: "} + toString(controller.command.left.iMotMax); } };
-        struct IDcMaxText : public virtual TextInterface { public: String text() const override { return String{"iDcMax: "} + toString(controller.command.left.iDcMax); } };
-        struct NMotMaxText : public virtual TextInterface { public: String text() const override { return String{"nMotMax: "} + toString(controller.command.left.nMotMax); } };
-        struct FieldWeakMaxText : public virtual TextInterface { public: String text() const override { return String{"fieldWeakMax: "} + toString(controller.command.left.fieldWeakMax); } };
-        struct PhaseAdvMaxText : public virtual TextInterface { public: String text() const override { return String{"phaseAdvMax: "} + toString(controller.command.left.phaseAdvMax); } };
+        struct EnableText : public virtual TextInterface { public: String text() const override { return String{"enable: "} + toString(controller::get().command.left.enable); } };
+        struct PwmText : public virtual TextInterface { public: String text() const override { return String{"pwm: "} + toString(controller::get().command.left.pwm); } };
+        struct CtrlTypText : public virtual TextInterface { public: String text() const override { return String{"ctrlTyp: "} + toString(controller::get().command.left.ctrlTyp); } };
+        struct CtrlModText : public virtual TextInterface { public: String text() const override { return String{"ctrlMod: "} + toString(controller::get().command.left.ctrlMod); } };
+        struct IMotMaxText : public virtual TextInterface { public: String text() const override { return String{"iMotMax: "} + toString(controller::get().command.left.iMotMax); } };
+        struct IDcMaxText : public virtual TextInterface { public: String text() const override { return String{"iDcMax: "} + toString(controller::get().command.left.iDcMax); } };
+        struct NMotMaxText : public virtual TextInterface { public: String text() const override { return String{"nMotMax: "} + toString(controller::get().command.left.nMotMax); } };
+        struct FieldWeakMaxText : public virtual TextInterface { public: String text() const override { return String{"fieldWeakMax: "} + toString(controller::get().command.left.fieldWeakMax); } };
+        struct PhaseAdvMaxText : public virtual TextInterface { public: String text() const override { return String{"phaseAdvMax: "} + toString(controller::get().command.left.phaseAdvMax); } };
     };
 
     struct RightCommand
@@ -37,36 +37,36 @@ struct ControllerTexts
         RightCommand() = delete;
         ~RightCommand() = delete;
 
-        struct EnableText : public virtual TextInterface { public: String text() const override { return String{"enable: "} + toString(controller.command.right.enable); } };
-        struct PwmText : public virtual TextInterface { public: String text() const override { return String{"pwm: "} + toString(controller.command.right.pwm); } };
-        struct CtrlTypText : public virtual TextInterface { public: String text() const override { return String{"ctrlTyp: "} + toString(controller.command.right.ctrlTyp); } };
-        struct CtrlModText : public virtual TextInterface { public: String text() const override { return String{"ctrlMod: "} + toString(controller.command.right.ctrlMod); } };
-        struct IMotMaxText : public virtual TextInterface { public: String text() const override { return String{"iMotMax: "} + toString(controller.command.right.iMotMax); } };
-        struct IDcMaxText : public virtual TextInterface { public: String text() const override { return String{"iDcMax: "} + toString(controller.command.right.iDcMax); } };
-        struct NMotMaxText : public virtual TextInterface { public: String text() const override { return String{"nMotMax: "} + toString(controller.command.right.nMotMax); } };
-        struct FieldWeakMaxText : public virtual TextInterface { public: String text() const override { return String{"fieldWeakMax: "} + toString(controller.command.right.fieldWeakMax); } };
-        struct PhaseAdvMaxText : public virtual TextInterface { public: String text() const override { return String{"phaseAdvMax: "} + toString(controller.command.right.phaseAdvMax); } };
+        struct EnableText : public virtual TextInterface { public: String text() const override { return String{"enable: "} + toString(controller::get().command.right.enable); } };
+        struct PwmText : public virtual TextInterface { public: String text() const override { return String{"pwm: "} + toString(controller::get().command.right.pwm); } };
+        struct CtrlTypText : public virtual TextInterface { public: String text() const override { return String{"ctrlTyp: "} + toString(controller::get().command.right.ctrlTyp); } };
+        struct CtrlModText : public virtual TextInterface { public: String text() const override { return String{"ctrlMod: "} + toString(controller::get().command.right.ctrlMod); } };
+        struct IMotMaxText : public virtual TextInterface { public: String text() const override { return String{"iMotMax: "} + toString(controller::get().command.right.iMotMax); } };
+        struct IDcMaxText : public virtual TextInterface { public: String text() const override { return String{"iDcMax: "} + toString(controller::get().command.right.iDcMax); } };
+        struct NMotMaxText : public virtual TextInterface { public: String text() const override { return String{"nMotMax: "} + toString(controller::get().command.right.nMotMax); } };
+        struct FieldWeakMaxText : public virtual TextInterface { public: String text() const override { return String{"fieldWeakMax: "} + toString(controller::get().command.right.fieldWeakMax); } };
+        struct PhaseAdvMaxText : public virtual TextInterface { public: String text() const override { return String{"phaseAdvMax: "} + toString(controller::get().command.right.phaseAdvMax); } };
     };
 
-    struct BatVoltageText : public virtual TextInterface { public: String text() const override { auto line = String{"batVoltage: "}; if (controller.feedbackValid) line += toString(controller.feedback.batVoltage); return line; } };
-    struct BatVoltageFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"batVoltage: "}; if (controller.feedbackValid) line += toString(fixBatVoltage(controller.feedback.batVoltage)) + 'V'; return line; } };
-    struct BoardTempText : public virtual TextInterface { public: String text() const override { auto line = String{"boardTemp: "}; if (controller.feedbackValid) line += toString(controller.feedback.boardTemp); return line; } };
-    struct BoardTempFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"boardTemp: "}; if (controller.feedbackValid) line += toString(fixBoardTemp(controller.feedback.boardTemp)) + 'C'; return line; } };
-    struct TimeoutCntSerialText : public virtual TextInterface { public: String text() const override { auto line = String{"timeoutCntSerial: "}; if (controller.feedbackValid) line += toString(controller.feedback.timeoutCntSerial); return line; } };
+    struct BatVoltageText : public virtual TextInterface { public: String text() const override { auto line = String{"batVoltage: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.batVoltage); return line; } };
+    struct BatVoltageFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"batVoltage: "}; if (controller::get().feedbackValid) line += toString(fixBatVoltage(controller::get().feedback.batVoltage)) + 'V'; return line; } };
+    struct BoardTempText : public virtual TextInterface { public: String text() const override { auto line = String{"boardTemp: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.boardTemp); return line; } };
+    struct BoardTempFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"boardTemp: "}; if (controller::get().feedbackValid) line += toString(fixBoardTemp(controller::get().feedback.boardTemp)) + 'C'; return line; } };
+    struct TimeoutCntSerialText : public virtual TextInterface { public: String text() const override { auto line = String{"timeoutCntSerial: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.timeoutCntSerial); return line; } };
 
     struct LeftFeedback
     {
         LeftFeedback() = delete;
         ~LeftFeedback() = delete;
 
-        struct AngleText : public virtual TextInterface { public: String text() const override { auto line = String{"angle: "}; if (controller.feedbackValid) line += toString(controller.feedback.left.angle); return line; } };
-        struct SpeedText : public virtual TextInterface { public: String text() const override { auto line = String{"speed: "}; if (controller.feedbackValid) line += toString(controller.feedback.left.speed); return line; } };
-        struct SpeedKmhText : public virtual TextInterface { public: String text() const override { auto line = String{"speed kmh: "}; if (controller.feedbackValid) line += toString(convertToKmh(controller.feedback.left.speed)); return line; } };
-        struct ErrorText : public virtual TextInterface { public: String text() const override { auto line = String{"error: "}; if (controller.feedbackValid) line += toString(controller.feedback.left.error); return line; } };
-        struct CurrentText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller.feedbackValid) line += toString(controller.feedback.left.current); return line; } };
-        struct CurrentFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller.feedbackValid) line += toString(fixCurrent(controller.feedback.left.current)) + 'A'; return line; } };
-        struct ChopsText : public virtual TextInterface { public: String text() const override { auto line = String{"chops: "}; if (controller.feedbackValid) line += toString(controller.feedback.left.chops); return line; } };
-        struct HallText : public virtual TextInterface { public: String text() const override { auto line = String{"hall: "}; if (controller.feedbackValid) line += hallString(controller.feedback.left); return line; } };
+        struct AngleText : public virtual TextInterface { public: String text() const override { auto line = String{"angle: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.left.angle); return line; } };
+        struct SpeedText : public virtual TextInterface { public: String text() const override { auto line = String{"speed: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.left.speed); return line; } };
+        struct SpeedKmhText : public virtual TextInterface { public: String text() const override { auto line = String{"speed kmh: "}; if (controller::get().feedbackValid) line += toString(convertToKmh(controller::get().feedback.left.speed)); return line; } };
+        struct ErrorText : public virtual TextInterface { public: String text() const override { auto line = String{"error: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.left.error); return line; } };
+        struct CurrentText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.left.current); return line; } };
+        struct CurrentFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(fixCurrent(controller::get().feedback.left.current)) + 'A'; return line; } };
+        struct ChopsText : public virtual TextInterface { public: String text() const override { auto line = String{"chops: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.left.chops); return line; } };
+        struct HallText : public virtual TextInterface { public: String text() const override { auto line = String{"hall: "}; if (controller::get().feedbackValid) line += hallString(controller::get().feedback.left); return line; } };
     };
 
     struct RightFeedback
@@ -74,17 +74,17 @@ struct ControllerTexts
         RightFeedback() = delete;
         ~RightFeedback() = delete;
 
-        struct AngleText : public virtual TextInterface { public: String text() const override { auto line = String{"angle: "}; if (controller.feedbackValid) line += toString(controller.feedback.right.angle); return line; } };
-        struct SpeedText : public virtual TextInterface { public: String text() const override { auto line = String{"speed: "}; if (controller.feedbackValid) line += toString(controller.feedback.right.speed); return line; } };
-        struct SpeedKmhText : public virtual TextInterface { public: String text() const override { auto line = String{"speed kmh: "}; if (controller.feedbackValid) line += toString(convertToKmh(controller.feedback.right.speed)); return line; } };
-        struct ErrorText : public virtual TextInterface { public: String text() const override { auto line = String{"error: "}; if (controller.feedbackValid) line += toString(controller.feedback.right.error); return line; } };
-        struct CurrentText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller.feedbackValid) line += toString(controller.feedback.right.current); return line; } };
-        struct CurrentFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller.feedbackValid) line += toString(fixCurrent(controller.feedback.right.current)) + 'A'; return line; } };
-        struct ChopsText : public virtual TextInterface { public: String text() const override { auto line = String{"chops: "}; if (controller.feedbackValid) line += toString(controller.feedback.right.chops); return line; } };
-        struct HallText : public virtual TextInterface { public: String text() const override { auto line = String{"hall: "}; if (controller.feedbackValid) line += hallString(controller.feedback.right); return line; } };
+        struct AngleText : public virtual TextInterface { public: String text() const override { auto line = String{"angle: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.right.angle); return line; } };
+        struct SpeedText : public virtual TextInterface { public: String text() const override { auto line = String{"speed: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.right.speed); return line; } };
+        struct SpeedKmhText : public virtual TextInterface { public: String text() const override { auto line = String{"speed kmh: "}; if (controller::get().feedbackValid) line += toString(convertToKmh(controller::get().feedback.right.speed)); return line; } };
+        struct ErrorText : public virtual TextInterface { public: String text() const override { auto line = String{"error: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.right.error); return line; } };
+        struct CurrentText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.right.current); return line; } };
+        struct CurrentFixedText : public virtual TextInterface { public: String text() const override { auto line = String{"current: "}; if (controller::get().feedbackValid) line += toString(fixCurrent(controller::get().feedback.right.current)) + 'A'; return line; } };
+        struct ChopsText : public virtual TextInterface { public: String text() const override { auto line = String{"chops: "}; if (controller::get().feedbackValid) line += toString(controller::get().feedback.right.chops); return line; } };
+        struct HallText : public virtual TextInterface { public: String text() const override { auto line = String{"hall: "}; if (controller::get().feedbackValid) line += hallString(controller::get().feedback.right); return line; } };
     };
 };
 
-using FrontTexts = ControllerTexts<front>;
-using BackTexts = ControllerTexts<back>;
+using FrontTexts = ControllerTexts<FrontControllerGetter>;
+using BackTexts = ControllerTexts<BackControllerGetter>;
 }
diff --git a/src/displays/menus/buzzermenu.h b/src/displays/menus/buzzermenu.h
index dfcab2e..898d24d 100644
--- a/src/displays/menus/buzzermenu.h
+++ b/src/displays/menus/buzzermenu.h
@@ -19,7 +19,7 @@ class SettingsMenu;
 }
 
 namespace {
-struct FrontFreqAccessor : public RefAccessor<uint8_t> { uint8_t &getRef() const override { return front.command.buzzer.freq; } };
+struct FrontFreqAccessor : public RefAccessor<uint8_t> { uint8_t &getRef() const override { return controllers.front.command.buzzer.freq; } };
 using FrontFreqChangeScreen = makeComponent<
     ChangeValueDisplay<uint8_t>,
     StaticText<TEXT_FRONTFREQ>,
@@ -28,7 +28,7 @@ using FrontFreqChangeScreen = makeComponent<
     SwitchScreenAction<BuzzerMenu>
 >;
 
-struct FrontPatternAccessor : public RefAccessor<uint8_t> { uint8_t &getRef() const override { return front.command.buzzer.pattern; } };
+struct FrontPatternAccessor : public RefAccessor<uint8_t> { uint8_t &getRef() const override { return controllers.front.command.buzzer.pattern; } };
 using FrontPatternChangeScreen = makeComponent<
     ChangeValueDisplay<uint8_t>,
     StaticText<TEXT_FRONTPATTERN>,
@@ -37,7 +37,7 @@ using FrontPatternChangeScreen = makeComponent<
     SwitchScreenAction<BuzzerMenu>
 >;
 
-struct BackFreqAccessor : public RefAccessor<uint8_t> { uint8_t &getRef() const override { return back.command.buzzer.freq; } };
+struct BackFreqAccessor : public RefAccessor<uint8_t> { uint8_t &getRef() const override { return controllers.back.command.buzzer.freq; } };
 using BackFreqChangeScreen = makeComponent<
     ChangeValueDisplay<uint8_t>,
     StaticText<TEXT_BACKFREQ>,
@@ -46,7 +46,7 @@ using BackFreqChangeScreen = makeComponent<
     SwitchScreenAction<BuzzerMenu>
 >;
 
-struct BackPatternAccessor : public RefAccessor<uint8_t> { uint8_t &getRef() const override { return back.command.buzzer.pattern; } };
+struct BackPatternAccessor : public RefAccessor<uint8_t> { uint8_t &getRef() const override { return controllers.back.command.buzzer.pattern; } };
 using BackPatternChangeScreen = makeComponent<
     ChangeValueDisplay<uint8_t>,
     StaticText<TEXT_BACKPATTERN>,
diff --git a/src/displays/menus/settingsmenu.h b/src/displays/menus/settingsmenu.h
index 5717501..6aeb986 100644
--- a/src/displays/menus/settingsmenu.h
+++ b/src/displays/menus/settingsmenu.h
@@ -30,8 +30,8 @@ class MainMenu;
 }
 
 namespace {
-struct FrontLedAccessor : public RefAccessor<bool> { bool &getRef() const override { return front.command.led; } };
-struct BackLedAccessor : public RefAccessor<bool> { bool &getRef() const override { return back.command.led; } };
+struct FrontLedAccessor : public RefAccessor<bool> { bool &getRef() const override { return controllers.front.command.led; } };
+struct BackLedAccessor : public RefAccessor<bool> { bool &getRef() const override { return controllers.back.command.led; } };
 
 class SettingsMenu :
     public MenuDisplay,
diff --git a/src/displays/poweroffdisplay.h b/src/displays/poweroffdisplay.h
index c7c8fe7..a6f2b2e 100644
--- a/src/displays/poweroffdisplay.h
+++ b/src/displays/poweroffdisplay.h
@@ -29,7 +29,7 @@ void PoweroffDisplay::start()
 {
     m_startTime = millis();
 
-    for (Controller &controller : controllers())
+    for (Controller &controller : controllers)
         controller.command.poweroff = true;
 }
 
@@ -56,7 +56,7 @@ void PoweroffDisplay::update()
 
 void PoweroffDisplay::stop()
 {
-    for (Controller &controller : controllers())
+    for (Controller &controller : controllers)
         controller.command.poweroff = false;
 }
 }
diff --git a/src/displays/statusdisplay.h b/src/displays/statusdisplay.h
index 3ec84eb..799b2f4 100644
--- a/src/displays/statusdisplay.h
+++ b/src/displays/statusdisplay.h
@@ -152,14 +152,14 @@ void StatusDisplay::redraw()
     m_labelBrems.redraw(String{brems});
     m_progressBarBrems.redraw(brems);
 
-    m_frontStatus.redraw(::front);
-    m_backStatus.redraw(::back);
+    m_frontStatus.redraw(controllers.front);
+    m_backStatus.redraw(controllers.back);
 
     tft.setTextFont(2);
     m_labelWifiStatus.redraw(toString(WiFi.status()));
-    m_labelLimit0.redraw(String{front.command.left.iMotMax} + "A");
+    m_labelLimit0.redraw(String{controllers.front.command.left.iMotMax} + "A");
     m_labelIpAddress.redraw(WiFi.localIP().toString());
-    m_labelLimit1.redraw(String{front.command.left.iDcMax} + "A");
+    m_labelLimit1.redraw(String{controllers.front.command.left.iDcMax} + "A");
     m_labelPerformance.redraw(String{performance.last});
     m_labelMode.redraw(currentMode->displayName());
     m_labelName.redraw(&deviceName[0]);
diff --git a/src/globals.h b/src/globals.h
index 9b8bc6f..9eca80a 100644
--- a/src/globals.h
+++ b/src/globals.h
@@ -28,8 +28,31 @@ char deviceName[32];
 Settings settings;
 SettingsSaver settingsSaver;
 
-Controller front{Serial1, settings.controllerHardware.enableFrontLeft, settings.controllerHardware.enableFrontRight, settings.controllerHardware.invertFrontLeft, settings.controllerHardware.invertFrontRight};
-Controller back{Serial2, settings.controllerHardware.enableBackLeft, settings.controllerHardware.enableBackRight, settings.controllerHardware.invertBackLeft, settings.controllerHardware.invertBackRight};
+class Controllers : public std::array<Controller, 2>
+{
+public:
+    explicit Controllers() :
+        std::array<Controller, 2>{{
+            Controller{Serial1, settings.controllerHardware.enableFrontLeft, settings.controllerHardware.enableFrontRight, settings.controllerHardware.invertFrontLeft, settings.controllerHardware.invertFrontRight},
+            Controller{Serial2, settings.controllerHardware.enableBackLeft, settings.controllerHardware.enableBackRight, settings.controllerHardware.invertBackLeft, settings.controllerHardware.invertBackRight}
+        }},
+        front{getFront()},
+        back(getBack())
+    {}
+    Controllers(const Controllers &) = delete;
+    Controllers &operator=(const Controllers &) = delete;
+
+    Controller &front;
+    Controller &back;
+
+private:
+    Controller &getFront() { return operator[](0); }
+    Controller &getBack() { return operator[](1); }
+};
+
+Controllers controllers;
+struct FrontControllerGetter { static Controller &get() { return controllers.front; }};
+struct BackControllerGetter { static Controller &get() { return controllers.back; }};
 
 struct {
     millis_t lastTime = millis();
diff --git a/src/main.cpp b/src/main.cpp
index 3b56f55..0645d38 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -109,15 +109,15 @@ void setup()
     } else if (settings.bluetoothSettings.autoBluetoothMode == BluetoothMode::Slave)
         BluetoothBeginAction{}.triggered();
 
-    front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
-    back.serial.get().begin(38400, SERIAL_8N1, PINS_RX2, PINS_TX2);
+    controllers.front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
+    controllers.back.serial.get().begin(38400, SERIAL_8N1, PINS_RX2, PINS_TX2);
 
     raw_gas = 0;
     raw_brems = 0;
     gas = 0;
     brems = 0;
 
-    for (Controller &controller : controllers())
+    for (Controller &controller : controllers)
         controller.command.buzzer = {};
 
     currentMode = &modes::defaultMode;
@@ -196,7 +196,7 @@ void loop()
         performance.lastTime = now;
     }
 
-    for (Controller &controller : controllers())
+    for (Controller &controller : controllers)
         controller.parser.update();
 
     handleSerial();
diff --git a/src/modes/defaultmode.h b/src/modes/defaultmode.h
index f1c1e53..99ab987 100644
--- a/src/modes/defaultmode.h
+++ b/src/modes/defaultmode.h
@@ -76,14 +76,19 @@ void DefaultMode::update()
     lastPwm = pwm;
     lastTime = now;
 
-    for (Controller &controller : controllers())
-        for (MotorState &motor : motorsInController(controller))
-        {
-            const auto pair = split(settings.defaultMode.modelMode);
-            motor.ctrlTyp = pair.first;
-            motor.ctrlMod = pair.second;
-            motor.pwm = pwm / 100. * (&controller == &front ? settings.defaultMode.frontPercentage : settings.defaultMode.backPercentage);
-        }
+    const auto pair = split(settings.defaultMode.modelMode);
+    for (MotorState &motor : motorsInController(controllers.front))
+    {
+        motor.ctrlTyp = pair.first;
+        motor.ctrlMod = pair.second;
+        motor.pwm = pwm / 100. * settings.defaultMode.frontPercentage;
+    }
+    for (MotorState &motor : motorsInController(controllers.back))
+    {
+        motor.ctrlTyp = pair.first;
+        motor.ctrlMod = pair.second;
+        motor.pwm = pwm / 100. * settings.defaultMode.backPercentage;
+    }
 
     fixCommonParams();
 
diff --git a/src/serialhandler.h b/src/serialhandler.h
index 8ed6e52..aab936d 100644
--- a/src/serialhandler.h
+++ b/src/serialhandler.h
@@ -42,16 +42,16 @@ void handleSerial()
         case 'p':
         case 'P':
         {
-            const auto firstPower = front.command.poweroff;
-            for (Controller &controller : controllers())
+            const auto firstPower = controllers.front.command.poweroff;
+            for (Controller &controller : controllers)
                 controller.command.poweroff = !firstPower;
             break;
         }
         case 'l':
         case 'L':
         {
-            const auto firstLed = front.command.led;
-            for (Controller &controller : controllers())
+            const auto firstLed = controllers.front.command.led;
+            for (Controller &controller : controllers)
                 controller.command.led = !firstLed;
             break;
         }
@@ -73,7 +73,7 @@ void handleSerial()
         case '7':
         case '8':
         case '9':
-            for (Controller &controller : controllers())
+            for (Controller &controller : controllers)
                 controller.command.buzzer.freq = c-'0';
             break;
         case 'A':
diff --git a/src/statistics.h b/src/statistics.h
index c562a93..ea4bbba 100644
--- a/src/statistics.h
+++ b/src/statistics.h
@@ -24,17 +24,17 @@ void pushStats()
     statistics::avgSpeedKmh.push_back(avgSpeedKmh);
     statistics::sumCurrent.push_back(sumCurrent);
     statistics::sumAbsoluteCurrent.push_back(sumAbsoluteCurrent);
-    if (front.feedbackValid)
+    if (controllers.front.feedbackValid)
     {
-        statistics::frontVoltage.push_back(fixBatVoltage(front.feedback.batVoltage));
-        statistics::frontLeftCurrent.push_back(fixCurrent(front.feedback.left.current));
-        statistics::frontRightCurrent.push_back(fixCurrent(front.feedback.right.current));
+        statistics::frontVoltage.push_back(fixBatVoltage(controllers.front.feedback.batVoltage));
+        statistics::frontLeftCurrent.push_back(fixCurrent(controllers.front.feedback.left.current));
+        statistics::frontRightCurrent.push_back(fixCurrent(controllers.front.feedback.right.current));
     }
-    if (back.feedbackValid)
+    if (controllers.back.feedbackValid)
     {
-        statistics::backVoltage.push_back(fixBatVoltage(back.feedback.batVoltage));
-        statistics::backLeftCurrent.push_back(fixCurrent(back.feedback.left.current));
-        statistics::backRightCurrent.push_back(fixCurrent(back.feedback.right.current));
+        statistics::backVoltage.push_back(fixBatVoltage(controllers.back.feedback.batVoltage));
+        statistics::backLeftCurrent.push_back(fixCurrent(controllers.back.feedback.left.current));
+        statistics::backRightCurrent.push_back(fixCurrent(controllers.back.feedback.right.current));
     }
 #ifdef FEATURE_BMS
     statistics::bmsVoltage.push_back(bms::voltage);
diff --git a/src/utils.h b/src/utils.h
index ab5cfd5..38f621f 100644
--- a/src/utils.h
+++ b/src/utils.h
@@ -142,11 +142,6 @@ String toString<ota_error_t>(ota_error_t value)
     return String("Unknown: ") + int(value);
 }
 
-std::array<std::reference_wrapper<Controller>, 2> controllers()
-{
-    return {front, back};
-}
-
 std::array<std::reference_wrapper<MotorState>, 2> motorsInController(Controller &controller)
 {
     return {std::ref(controller.command.left), std::ref(controller.command.right)};
@@ -170,22 +165,21 @@ std::array<std::reference_wrapper<const MotorFeedback>, 2> motorFeedbacksInContr
 std::array<std::reference_wrapper<MotorState>, 4> motors()
 {
     return {
-        std::ref(front.command.left), std::ref(front.command.right),
-        std::ref(back.command.left), std::ref(back.command.right)
+        std::ref(controllers.front.command.left), std::ref(controllers.front.command.right),
+        std::ref(controllers.back.command.left), std::ref(controllers.back.command.right)
     };
 }
 
 void fixCommonParams()
 {
-    for (Controller &controller : controllers())
-        for (MotorState &motor : motorsInController(controller))
-        {
-            motor.iMotMax = settings.limits.iMotMax;
-            motor.iDcMax = settings.limits.iDcMax;
-            motor.nMotMax = settings.limits.nMotMax;
-            motor.fieldWeakMax = settings.limits.fieldWeakMax;
-            motor.phaseAdvMax = settings.limits.phaseAdvMax;
-        }
+    for (MotorState &motor : motors())
+    {
+        motor.iMotMax = settings.limits.iMotMax;
+        motor.iDcMax = settings.limits.iDcMax;
+        motor.nMotMax = settings.limits.nMotMax;
+        motor.fieldWeakMax = settings.limits.fieldWeakMax;
+        motor.phaseAdvMax = settings.limits.phaseAdvMax;
+    }
 
     if (settings.reverseBeep)
     {
@@ -198,12 +192,12 @@ void fixCommonParams()
             {
                 reverseBeepToggle = true;
                 lastReverseBeepToggle = millis();
-                for (const auto &ref : controllers())
-                    ref.get().command.buzzer = {.freq=settings.reverseBeepFreq0, .pattern=0};
+                for (auto &controller : controllers)
+                    controller.command.buzzer = {.freq=settings.reverseBeepFreq0, .pattern=0};
             }
             else
-                for (const auto &ref : controllers())
-                    ref.get().command.buzzer = {};
+                for (auto &controller : controllers)
+                    controller.command.buzzer = {};
 
             currentlyReverseBeeping = shouldBeep;
         }
@@ -211,37 +205,37 @@ void fixCommonParams()
         {
             reverseBeepToggle = !reverseBeepToggle;
 
-            for (const auto &ref : controllers())
-                ref.get().command.buzzer = {.freq=uint8_t(reverseBeepToggle?settings.reverseBeepFreq0:settings.reverseBeepFreq1), .pattern=0};
+            for (auto &controller : controllers)
+                controller.command.buzzer = {.freq=uint8_t(reverseBeepToggle?settings.reverseBeepFreq0:settings.reverseBeepFreq1), .pattern=0};
 
             lastReverseBeepToggle = millis();
         }
     }
     else if (currentlyReverseBeeping)
     {
-        for (const auto &ref : controllers())
-            ref.get().command.buzzer = {};
+        for (auto &controller : controllers)
+            controller.command.buzzer = {};
         currentlyReverseBeeping = false;
     }
 
-    front.command.left.enable = settings.controllerHardware.enableFrontLeft;
-    front.command.right.enable = settings.controllerHardware.enableFrontRight;
-    back.command.left.enable = settings.controllerHardware.enableBackLeft;
-    back.command.right.enable = settings.controllerHardware.enableBackRight;
+    controllers.front.command.left.enable = settings.controllerHardware.enableFrontLeft;
+    controllers.front.command.right.enable = settings.controllerHardware.enableFrontRight;
+    controllers.back.command.left.enable = settings.controllerHardware.enableBackLeft;
+    controllers.back.command.right.enable = settings.controllerHardware.enableBackRight;
 
     if (settings.controllerHardware.invertFrontLeft)
-        front.command.left.pwm = -front.command.left.pwm;
+        controllers.front.command.left.pwm = -controllers.front.command.left.pwm;
     if (settings.controllerHardware.invertFrontRight)
-        front.command.right.pwm = -front.command.right.pwm;
+        controllers.front.command.right.pwm = -controllers.front.command.right.pwm;
     if (settings.controllerHardware.invertBackLeft)
-        back.command.left.pwm = -back.command.left.pwm;
+        controllers.back.command.left.pwm = -controllers.back.command.left.pwm;
     if (settings.controllerHardware.invertBackRight)
-        back.command.right.pwm = -back.command.right.pwm;
+        controllers.back.command.right.pwm = -controllers.back.command.right.pwm;
 }
 
 void sendCommands()
 {
-    for (Controller &controller : controllers())
+    for (Controller &controller : controllers)
     {
         controller.command.start = Command::VALID_HEADER;
         controller.command.checksum = calculateChecksum(controller.command);
@@ -254,8 +248,8 @@ void switchScreen(Args&&... args);
 
 void updateSwapFrontBack()
 {
-    front.serial = settings.controllerHardware.swapFrontBack ? Serial2 : Serial1;
-    back.serial = settings.controllerHardware.swapFrontBack ? Serial1 : Serial2;
+    controllers.front.serial = settings.controllerHardware.swapFrontBack ? Serial2 : Serial1;
+    controllers.back.serial = settings.controllerHardware.swapFrontBack ? Serial1 : Serial2;
 }
 
 void loadSettings()
@@ -275,7 +269,7 @@ void updateAccumulators()
     sumAbsoluteCurrent = 0.f;
     uint8_t count{0};
 
-    for (const Controller &controller : controllers())
+    for (const Controller &controller : controllers)
     {
         if (!controller.feedbackValid)
             continue;