diff --git a/.gitmodules b/.gitmodules
index 4f2e601..e2524c3 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,4 +1,7 @@
 [submodule "projects/vn200"]
 	path = projects/vn200
 	url = ssh://git@git.fasttube.de:313/FaSTTUBe/vn200.git
-	ignore = all
\ No newline at end of file
+	ignore = all
+[submodule "projects/epsc_ft24"]
+	path = projects/epsc_ft24
+	url = ssh://git@git.fasttube.de:313/FaSTTUBe/EPSC_FT24_code.git
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 7f52cc8..8d8a383 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -10,12 +10,12 @@
                 "${workspaceFolder}/projects/${PROJECT_NAME_VN200}/Drivers/CMSIS/Include",
                 "${workspaceFolder}/projects/${PROJECT_NAME_VN200}/Libs/can-transceiver-lib/include",
                 "${workspaceFolder}/projects/${PROJECT_NAME_VN200}/Libs/vn-interface/include",
-                "/usr/local/include/**"
+                "/usr/local/include/**",
             ],
             "defines": [
                 "__cplusplus",
                 "USE_HAL_DRIVER",
-                "STM32F302xC", // Change this to your MCU for correct linting
+                "STM32F302xC",
                 "DEBUG"
             ],
             "compilerPath": "/usr/bin/gcc",
@@ -24,5 +24,5 @@
             "intelliSenseMode": "linux-gcc-x64"
         }
     ],
-    "version": 4,
+    "version": 4
 }
\ No newline at end of file
diff --git a/.vscode/launch.json b/.vscode/launch.json
index 94b2357..7b3c0a9 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -2,7 +2,7 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "F3 - VN200",
+            "name": "VN200",
             "type": "cortex-debug",
             "request": "launch",
             "servertype": "openocd",
@@ -12,8 +12,20 @@
                 "/usr/share/openocd/scripts/interface/stlink.cfg",
                 "/home/stm32_devcontainer/.vscode/stm32f3x_custom.cfg"
             ],
-            //"svdFile": "${workspaceRoot}/path/to/your.svd",
             "preLaunchTask": "build_vn200"
+        },
+        {
+            "name": "EPSC",
+            "type": "cortex-debug",
+            "request": "launch",
+            "servertype": "openocd",
+            "cwd": "${workspaceRoot}/projects/epsc_ft24",
+            "executable": "${workspaceRoot}/projects/epsc_ft24/build/${env:PROJECT_NAME_EPSC}.elf",
+            "configFiles": [
+                "/usr/share/openocd/scripts/interface/stlink.cfg",
+                "/home/stm32_devcontainer/.vscode/stm32f3x_custom.cfg"
+            ],
+            "preLaunchTask": "build_epsc"
         }
     ]
 }
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index f3750d2..9e26dfe 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,14 +1 @@
-{
-    "files.associations": {
-        "main.h": "cpp",
-        "main.c": "cpp",
-        "test.h": "cpp",
-        "test.cpp": "cpp",
-        "array": "cpp",
-        "string": "cpp",
-        "string_view": "cpp",
-        "ranges": "cpp"
-    },
-    "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 150}",
-    "C_Cpp.clang_format_sortIncludes": false
-}
\ No newline at end of file
+{}
\ No newline at end of file
diff --git a/.vscode/stm32_devcontainer.code-workspace b/.vscode/stm32_devcontainer.code-workspace
new file mode 100644
index 0000000..0db8080
--- /dev/null
+++ b/.vscode/stm32_devcontainer.code-workspace
@@ -0,0 +1,25 @@
+{
+	"folders": [
+		{
+			"path": ".."
+		},
+		{
+			"path": "../projects/epsc_ft24"
+		}
+	],
+	"settings": {
+		"files.associations": {
+			"main.h": "cpp",
+			"main.c": "cpp",
+			"test.h": "cpp",
+			"test.cpp": "cpp",
+			"array": "cpp",
+			"string": "cpp",
+			"string_view": "cpp",
+			"ranges": "cpp"
+		},
+		"C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 150}",
+		"C_Cpp.clang_format_sortIncludes": false,
+		"editor.formatOnPaste": true
+	},
+}
\ No newline at end of file
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 7d55e9b..7d62bba 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -13,7 +13,21 @@
             "problemMatcher": [
                 "$gcc"
             ],
-            "detail": "Generated task by Debugger."
+            "detail": "Build the code for the VN200"
+        },
+        {
+            "label": "build_epsc",
+            "type": "shell",
+            "command": "make -C /home/stm32_devcontainer/projects/${env:PROJECT_NAME_EPSC}/build", // or any other build command
+            "args": [],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": [
+                "$gcc"
+            ],
+            "detail": "Build the code for the EPSC"
         }
     ]
 }
\ No newline at end of file
diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
index 5e4c47f..88a289a 100644
--- a/docker/docker-compose.yaml
+++ b/docker/docker-compose.yaml
@@ -27,4 +27,5 @@ services:
       DISPLAY: $DISPLAY
       ROS_AUTOMATIC_DISCOVERY_RANGE: "LOCALHOST"
       ROS_DOMAIN_ID: "0"
-      PROJECT_NAME_VN200: vn200
\ No newline at end of file
+      PROJECT_NAME_VN200: vn200
+      PROJECT_NAME_EPSC: epsc_ft24
\ No newline at end of file
diff --git a/projects/epsc_ft24 b/projects/epsc_ft24
new file mode 160000
index 0000000..b4b72f2
--- /dev/null
+++ b/projects/epsc_ft24
@@ -0,0 +1 @@
+Subproject commit b4b72f2ba6f610ab227e32b3f16bbfe2a219191a