diff --git a/firmware/Makefile b/firmware/Makefile
index f2891058fd..db9de08cf1 100644
--- a/firmware/Makefile
+++ b/firmware/Makefile
@@ -295,7 +295,7 @@ INCDIR = $(CHIBIOS)/os/license \
 	development \
 	development/hw_layer \
 	development/test \
-	controllers \
+	$(CONTROLLERS_INC) \
 	controllers/sensors \
 	controllers/system \
 	controllers/algo \
diff --git a/firmware/controllers/alternator_controller.cpp b/firmware/controllers/actuators/alternator_controller.cpp
similarity index 100%
rename from firmware/controllers/alternator_controller.cpp
rename to firmware/controllers/actuators/alternator_controller.cpp
diff --git a/firmware/controllers/alternator_controller.h b/firmware/controllers/actuators/alternator_controller.h
similarity index 100%
rename from firmware/controllers/alternator_controller.h
rename to firmware/controllers/actuators/alternator_controller.h
diff --git a/firmware/controllers/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
similarity index 100%
rename from firmware/controllers/electronic_throttle.cpp
rename to firmware/controllers/actuators/electronic_throttle.cpp
diff --git a/firmware/controllers/electronic_throttle.h b/firmware/controllers/actuators/electronic_throttle.h
similarity index 100%
rename from firmware/controllers/electronic_throttle.h
rename to firmware/controllers/actuators/electronic_throttle.h
diff --git a/firmware/controllers/malfunction_indicator.cpp b/firmware/controllers/actuators/malfunction_indicator.cpp
similarity index 100%
rename from firmware/controllers/malfunction_indicator.cpp
rename to firmware/controllers/actuators/malfunction_indicator.cpp
diff --git a/firmware/controllers/malfunction_indicator.h b/firmware/controllers/actuators/malfunction_indicator.h
similarity index 100%
rename from firmware/controllers/malfunction_indicator.h
rename to firmware/controllers/actuators/malfunction_indicator.h
diff --git a/firmware/controllers/tachometer.cpp b/firmware/controllers/actuators/tachometer.cpp
similarity index 100%
rename from firmware/controllers/tachometer.cpp
rename to firmware/controllers/actuators/tachometer.cpp
diff --git a/firmware/controllers/tachometer.h b/firmware/controllers/actuators/tachometer.h
similarity index 100%
rename from firmware/controllers/tachometer.h
rename to firmware/controllers/actuators/tachometer.h
diff --git a/firmware/controllers/controllers.mk b/firmware/controllers/controllers.mk
index 428da4988e..45a31161f2 100644
--- a/firmware/controllers/controllers.mk
+++ b/firmware/controllers/controllers.mk
@@ -1,8 +1,13 @@
+CONTROLLERS_DIR=$(PROJECT_DIR)/controllers
 
 CONTROLLERSSRC =
 	
-CONTROLLERS_SRC_CPP = $(PROJECT_DIR)/controllers/settings.cpp \
-	$(PROJECT_DIR)/controllers/electronic_throttle.cpp \
+CONTROLLERS_SRC_CPP = \
+	$(CONTROLLERS_DIR)/actuators/electronic_throttle.cpp \
+	$(CONTROLLERS_DIR)/actuators/alternator_controller.cpp \
+	$(CONTROLLERS_DIR)/actuators/malfunction_indicator.cpp \
+	$(CONTROLLERS_DIR)/actuators/tachometer.cpp \
+	$(PROJECT_DIR)/controllers/settings.cpp \
 	$(PROJECT_DIR)/controllers/error_handling.cpp \
 	$(PROJECT_DIR)/controllers/map_averaging.cpp \
 	$(PROJECT_DIR)/controllers/flash_main.cpp \
@@ -10,9 +15,11 @@ CONTROLLERS_SRC_CPP = $(PROJECT_DIR)/controllers/settings.cpp \
 	$(PROJECT_DIR)/controllers/idle_thread.cpp \
 	$(PROJECT_DIR)/controllers/pwm_tester.cpp \
 	$(PROJECT_DIR)/controllers/obd2.cpp \
-	$(PROJECT_DIR)/controllers/malfunction_indicator.cpp \
-	$(PROJECT_DIR)/controllers/alternator_controller.cpp \
 	$(PROJECT_DIR)/controllers/lcd_controller.cpp \
-	$(PROJECT_DIR)/controllers/tachometer.cpp \
  	$(PROJECT_DIR)/controllers/engine_controller.cpp \
 	$(PROJECT_DIR)/controllers/persistent_store.cpp
+
+CONTROLLERS_INC=\
+	$(CONTROLLERS_DIR) \
+	$(CONTROLLERS_DIR)/actuators \
+
diff --git a/simulator/Makefile b/simulator/Makefile
index 3aae4f7ffc..c8d9e6c767 100644
--- a/simulator/Makefile
+++ b/simulator/Makefile
@@ -182,6 +182,7 @@ INCDIR = . \
           $(PROJECT_DIR)/hw_layer \
           $(PROJECT_DIR)/hw_layer/algo \
           $(HW_SENSORS_INC) \
+          $(CONTROLLERS_INC) \
           $(PROJECT_DIR)/development \
           $(PROJECT_DIR)/controllers/algo \
           $(PROJECT_DIR)/controllers/core \