diff --git a/program/main_controller/src/headers/motion_control.h b/program/main_controller/src/headers/motion_control.h
index 2fed9d8..a8f49ac 100644
--- a/program/main_controller/src/headers/motion_control.h
+++ b/program/main_controller/src/headers/motion_control.h
@@ -13,7 +13,7 @@ typedef struct motion_control_data_t {
 } motion_control_data_t;
 
 // Init values for motion control
-void init_motion_control(void);
+void motion_control_init(void);
 // Update motion control buffer from motion control data and gyro data
 void i2c_update_motion_control(void);
 // Update servo motors from motion control data
diff --git a/program/main_controller/src/i2c/headers/gyro.h b/program/main_controller/src/i2c/headers/gyro.h
index 3fe6e43..eef77f3 100644
--- a/program/main_controller/src/i2c/headers/gyro.h
+++ b/program/main_controller/src/i2c/headers/gyro.h
@@ -1,7 +1,7 @@
 #ifndef GYRO_H
 #define GYRO_H
 
-#define I2C_GYRO_ADDRESS 0x6b
+#define I2C_GYRO_ADDRESS 0x6B
 
 typedef struct gyro_data_t {
     float x_offset, y_offset, z_offset;
diff --git a/program/main_controller/src/i2c/headers/mcp23017.h b/program/main_controller/src/i2c/headers/mcp23017.h
index 07b90a4..d9a1f19 100644
--- a/program/main_controller/src/i2c/headers/mcp23017.h
+++ b/program/main_controller/src/i2c/headers/mcp23017.h
@@ -6,7 +6,6 @@
 
 #define I2C_MCP23017_ADDRESS 0x20
 
-
 typedef struct mcp23017_data_t {
     uint8_t gpio_state[2];
 } mcp23017_data_t;
diff --git a/program/main_controller/src/motion_control.c b/program/main_controller/src/motion_control.c
index c183ecf..0f4ed8e 100644
--- a/program/main_controller/src/motion_control.c
+++ b/program/main_controller/src/motion_control.c
@@ -7,7 +7,7 @@
 
 #define GAIN_KD 10
 
-void init_motion_control(void)
+void motion_control_init(void)
 {
     robot.motion_control_data.angle = 0;
     robot.motion_control_data.x_axis_speed = 0;