diff --git a/firmware/integration/ac_control.txt b/firmware/controllers/actuators/ac_control.txt
similarity index 100%
rename from firmware/integration/ac_control.txt
rename to firmware/controllers/actuators/ac_control.txt
diff --git a/firmware/controllers/generated/ac_control_generated.h b/firmware/controllers/actuators/ac_control_generated.h
similarity index 100%
rename from firmware/controllers/generated/ac_control_generated.h
rename to firmware/controllers/actuators/ac_control_generated.h
diff --git a/firmware/integration/engine_state.txt b/firmware/controllers/algo/engine_state.txt
similarity index 100%
rename from firmware/integration/engine_state.txt
rename to firmware/controllers/algo/engine_state.txt
diff --git a/firmware/controllers/generated/engine_state_generated.h b/firmware/controllers/algo/engine_state_generated.h
similarity index 100%
rename from firmware/controllers/generated/engine_state_generated.h
rename to firmware/controllers/algo/engine_state_generated.h
diff --git a/firmware/integration/wall_fuel_state.txt b/firmware/controllers/algo/wall_fuel_state.txt
similarity index 100%
rename from firmware/integration/wall_fuel_state.txt
rename to firmware/controllers/algo/wall_fuel_state.txt
diff --git a/firmware/controllers/generated/wall_fuel_state_generated.h b/firmware/controllers/algo/wall_fuel_state_generated.h
similarity index 100%
rename from firmware/controllers/generated/wall_fuel_state_generated.h
rename to firmware/controllers/algo/wall_fuel_state_generated.h
diff --git a/firmware/integration/trigger_central.txt b/firmware/controllers/trigger/trigger_central.txt
similarity index 100%
rename from firmware/integration/trigger_central.txt
rename to firmware/controllers/trigger/trigger_central.txt
diff --git a/firmware/controllers/generated/trigger_central_generated.h b/firmware/controllers/trigger/trigger_central_generated.h
similarity index 100%
rename from firmware/controllers/generated/trigger_central_generated.h
rename to firmware/controllers/trigger/trigger_central_generated.h
diff --git a/firmware/integration/trigger_state.txt b/firmware/controllers/trigger/trigger_state.txt
similarity index 100%
rename from firmware/integration/trigger_state.txt
rename to firmware/controllers/trigger/trigger_state.txt
diff --git a/firmware/controllers/generated/trigger_state_generated.h b/firmware/controllers/trigger/trigger_state_generated.h
similarity index 100%
rename from firmware/controllers/generated/trigger_state_generated.h
rename to firmware/controllers/trigger/trigger_state_generated.h
diff --git a/firmware/integration/pid_state.txt b/firmware/util/math/pid_state.txt
similarity index 100%
rename from firmware/integration/pid_state.txt
rename to firmware/util/math/pid_state.txt
diff --git a/firmware/controllers/generated/pid_state_generated.h b/firmware/util/math/pid_state_generated.h
similarity index 100%
rename from firmware/controllers/generated/pid_state_generated.h
rename to firmware/util/math/pid_state_generated.h