diff --git a/app/raspberry_pi/repository/packages/r/rplidar/xmake.lua b/app/raspberry_pi/repository/packages/r/rplidar/xmake.lua
index 74acd686..ba365873 100644
--- a/app/raspberry_pi/repository/packages/r/rplidar/xmake.lua
+++ b/app/raspberry_pi/repository/packages/r/rplidar/xmake.lua
@@ -1,7 +1,6 @@
 package("rplidar")
     add_deps("serial", "spdlog", "tl_expected")
     set_sourcedir(path.join(os.scriptdir(), "rplidar"))
-    set_policy("package.install_always", true)
     on_install(function (package)
         local configs = {}
         import("package.tools.xmake").install(package, configs)
diff --git a/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp b/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp
index d4224743..4bc0cb59 100644
--- a/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp
+++ b/app/raspberry_pi/src/car/system/movement/MovementSystem.hpp
@@ -25,9 +25,9 @@ namespace car::system::movement {
 
 		void initalize()
 		{
-            this->pwn->init(1, 0x40);
+            this->pwm->init(1, 0x40);
             std::this_thread::sleep_for(std::chrono::milliseconds(100));
-            this->pwn->setPWMFreq(FREQUENCY);
+            this->pwm->setPWMFreq(FREQUENCY);
             std::this_thread::sleep_for(std::chrono::milliseconds(1000));
         }
 
@@ -37,12 +37,12 @@ namespace car::system::movement {
 
 		void terminate() {
 		}
-        //def map(self, x, in_min, in_max, out_min, out_max):
+
+        // https://www.arduino.cc/en/Reference/Map
         int map(int x, int in_min, int in_max, int out_min, int out_max) {
             return ((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min);
         }
 
-        //def _angle_to_analog(self, angle):
         int setAngleToAnalog(int angle) {
             float pulse_wide;
             int analog_value;
diff --git a/app/raspberry_pi/src/main.cpp b/app/raspberry_pi/src/main.cpp
index 7b1f67ee..a6d76c94 100644
--- a/app/raspberry_pi/src/main.cpp
+++ b/app/raspberry_pi/src/main.cpp
@@ -46,10 +46,13 @@ int main()
 
 	std::unique_ptr<MessagingSystem> messaging_system = std::make_unique<MessagingSystem>(websocket_url);
 
+	std::unique_ptr<MovementSystem> movement_system = std::make_unique<MovementSystem>();
+
 	auto car_system = std::make_unique<CarSystem>(
 		websocket_url,
 		std::move(scanner),
-		std::move(messaging_system)
+		std::move(messaging_system),
+		std::move(movement_system)
 	);
 
 	// The CarConsole object will display the UI and handle user input:
diff --git a/app/raspberry_pi/xmake.lua b/app/raspberry_pi/xmake.lua
index 60fabc96..1fe426f6 100644
--- a/app/raspberry_pi/xmake.lua
+++ b/app/raspberry_pi/xmake.lua
@@ -18,7 +18,7 @@ add_requires("imath")
 
 if is_plat("linux", "macosx") then
     -- For the SunFounder Car
-    add_requires("pca9685", {configs = {shared = true}})
+    add_requires("pca9685")
 end
 
 -- For Functional Programming?