diff --git a/include/BLE.cpp b/include/BLE.cpp
index 627108a..30a3da0 100644
--- a/include/BLE.cpp
+++ b/include/BLE.cpp
@@ -266,7 +266,7 @@ void BLE_manager_task(void *pvParameters) {
         if (!scanBlock) {
           scanBlock = true;
           printf("Scanning WiFi...\n");
-          bmWiFi.scanAndUpdateSSIDList();
+          WiFi::scanAndUpdateSSIDList();
         }
         else printf("Duplicate scan request\n");
       }
@@ -285,12 +285,12 @@ void BLE_manager_task(void *pvParameters) {
       else if (received_event_type == EVENT_SHUTDOWN) break;
     }
   }
-  xSemaphoreGive(BLE_Queue_Shutdown_Semaphore);
+  xSemaphoreGive(BLE_Queue_Shutdown_Semaphore); // this is null-safe
   vTaskDelete(NULL);
 }
 
 bool tokenCheck() {
-  if (!bmWiFi.isConnected()) {
+  if (!WiFi::isConnected()) {
     printf("ERROR: token given without WiFi connection\n");
     notifyAuthStatus(false);
     return false;
@@ -353,8 +353,8 @@ bool attemptUseWiFiCreds() {
 
   bool wifiConnect;
   if (tmpAUTH == WIFI_AUTH_WPA2_ENTERPRISE || tmpAUTH == WIFI_AUTH_WPA3_ENTERPRISE)
-    wifiConnect = bmWiFi.attemptConnect(tmpSSID.c_str(), tmpUNAME.c_str(), tmpPASS.c_str(), tmpAUTH);
-  else wifiConnect = bmWiFi.attemptConnect(tmpSSID.c_str(), tmpPASS.c_str(), tmpAUTH);
+    wifiConnect = WiFi::attemptConnect(tmpSSID.c_str(), tmpUNAME.c_str(), tmpPASS.c_str(), tmpAUTH);
+  else wifiConnect = WiFi::attemptConnect(tmpSSID.c_str(), tmpPASS.c_str(), tmpAUTH);
   if (!wifiConnect) {
     // notify errored
     notifyConnectionStatus(false);
diff --git a/include/WiFi.cpp b/include/WiFi.cpp
index 80ca08c..3cd133a 100644
--- a/include/WiFi.cpp
+++ b/include/WiFi.cpp
@@ -12,8 +12,6 @@ esp_event_handler_instance_t WiFi::instance_got_ip = NULL;
 #define WIFI_CONNECTED_BIT BIT0
 #define WIFI_STARTED_BIT BIT1
 
-WiFi bmWiFi;
-
 // The Event Handler (The engine room)
 void WiFi::event_handler(void* arg, esp_event_base_t event_base,
                           int32_t event_id, void* event_data) {
diff --git a/include/WiFi.hpp b/include/WiFi.hpp
index 77bde73..335b3ed 100644
--- a/include/WiFi.hpp
+++ b/include/WiFi.hpp
@@ -27,6 +27,4 @@ class WiFi {
   static std::string getIP();
 };
 
-extern WiFi bmWiFi;
-
 #endif
\ No newline at end of file
diff --git a/include/bmEvents.hpp b/include/bmEvents.hpp
index e1eff23..9a3ae9a 100644
--- a/include/bmEvents.hpp
+++ b/include/bmEvents.hpp
@@ -6,4 +6,20 @@
 
 // void deinit_event_queue(QueueHandle_t& event_queue);
 
+// // 1. Event Types: The "What"
+// typedef enum {
+//     EVENT_BUTTON_PRESSED,
+//     EVENT_WIFI_CONNECTED,
+//     EVENT_WIFI_DISCONNECTED,
+//     EVENT_BLE_DATA_RECEIVED,
+//     EVENT_TIMER_TICK
+// } event_type_t;
+
+// // 2. The Message Structure: The "Payload"
+// typedef struct {
+//     event_type_t type;
+//     void *data;       // Optional: Pointer to data (buffer, string, etc.)
+//     int data_len;     // Optional: Length of data
+// } app_event_t;
+
 #endif
\ No newline at end of file
diff --git a/include/calibration.hpp b/include/calibration.hpp
index e862e7e..ff3b0dc 100644
--- a/include/calibration.hpp
+++ b/include/calibration.hpp
@@ -5,20 +5,18 @@
 
 class Calibration {
   public:
-    void init();
-    bool beginDownwardCalib(Encoder& topEnc);
-    bool completeCalib(Encoder& topEnc);
-    int32_t convertToTicks(uint8_t appPos);
-    uint8_t convertToAppPos(int32_t ticks);
-    bool getCalibrated() {return calibrated;}
-    bool clearCalibrated();
-    std::atomic<int32_t> DownTicks;
-    std::atomic<int32_t> UpTicks;
+    static void init();
+    static bool beginDownwardCalib(Encoder& topEnc);
+    static bool completeCalib(Encoder& topEnc);
+    static int32_t convertToTicks(uint8_t appPos);
+    static uint8_t convertToAppPos(int32_t ticks);
+    static bool getCalibrated() {return calibrated;}
+    static bool clearCalibrated();
+    static std::atomic<int32_t> DownTicks;
+    static std::atomic<int32_t> UpTicks;
 
   private:
-    std::atomic<bool> calibrated;
+    static std::atomic<bool> calibrated;
 };
 
-extern Calibration calib;
-
 #endif
\ No newline at end of file
diff --git a/include/servo.cpp b/include/servo.cpp
index b81d61f..49d4916 100644
--- a/include/servo.cpp
+++ b/include/servo.cpp
@@ -49,7 +49,7 @@ void servoInit() {
   gpio_set_level(debugLED, 0); // Start with LED off
 
   topEnc->count = servoReadPos();
-  if (calib.getCalibrated()) initMainLoop();
+  if (Calibration::getCalibrated()) initMainLoop();
   debugLEDSwitch(1);
 }
 
@@ -89,7 +89,7 @@ bool servoInitCalib() {
   bottomEnc->wandListen.store(false, std::memory_order_release);
   topEnc->wandListen.store(false, std::memory_order_release);
   topEnc->serverListen.store(false, std::memory_order_release);
-  if (!calib.clearCalibrated()) return false;
+  if (!Calibration::clearCalibrated()) return false;
   if (topEnc == nullptr || bottomEnc == nullptr) {
     printf("ERROR: CALIBRATION STARTED BEFORE SERVO INITIALIZATION\n");
     return false;
@@ -119,7 +119,7 @@ bool servoBeginDownwardCalib() {
   calibListen = false;
   servoOff();
   vTaskDelay(pdMS_TO_TICKS(1000));
-  if (!calib.beginDownwardCalib(*topEnc)) return false;
+  if (!Calibration::beginDownwardCalib(*topEnc)) return false;
   baseDiff = bottomEnc->getCount() - topEnc->getCount();
   calibListen = true;
   return true;
@@ -129,7 +129,7 @@ bool servoCompleteCalib() {
   calibListen = false;
   servoOff();
   vTaskDelay(pdMS_TO_TICKS(1000));
-  if (!calib.completeCalib(*topEnc)) return false;
+  if (!Calibration::completeCalib(*topEnc)) return false;
   initMainLoop();
   return true;
 }
@@ -205,8 +205,8 @@ void servoWandListen() {
   stopServerRun();
 
   // freeze atomic values
-  int32_t upBound = calib.UpTicks;
-  int32_t downBound = calib.DownTicks;
+  int32_t upBound = Calibration::UpTicks;
+  int32_t downBound = Calibration::DownTicks;
   int32_t bottomCount = bottomEnc->getCount();
   int32_t topCount = topEnc->getCount();
 
@@ -259,10 +259,10 @@ void servoServerListen() {
 void runToAppPos(uint8_t appPos) {
   // manual control takes precedence over remote control, always.
   // also do not begin operation if not calibrated;
-  if (runningManual || !calib.getCalibrated()) return;
+  if (runningManual || !Calibration::getCalibrated()) return;
   servoOff();
 
-  target = calib.convertToTicks(appPos); // calculate target encoder position
+  target = Calibration::convertToTicks(appPos); // calculate target encoder position
   printf("runToAppPos Called, running to %d from %d", target.load(), topEnc->getCount());
 
   // allow servo position to settle
diff --git a/include/setup.cpp b/include/setup.cpp
index a138aae..bd7ad4f 100644
--- a/include/setup.cpp
+++ b/include/setup.cpp
@@ -15,6 +15,7 @@ void initialSetup() {
 }
 
 void setupLoop(void *pvParameters) {
+  TaskHandle_t parent_handle = (TaskHandle_t)pvParameters;
   bool initSuccess = false;
   while(!initSuccess) {
     nvs_handle_t WiFiHandle;
@@ -36,7 +37,7 @@ void setupLoop(void *pvParameters) {
         char pw[pwSize];
         nvs_get_str(WiFiHandle, passTag, pw, &pwSize);
         nvs_close(WiFiHandle);
-        if (!bmWiFi.attemptConnect(ssid, pw, (wifi_auth_mode_t)authMode)) {
+        if (!WiFi::attemptConnect(ssid, pw, (wifi_auth_mode_t)authMode)) {
           // Make RGB LED certain color (Blue?)
           printf("Found credentials, failed to connect.\n");
           initialSetup();
@@ -102,4 +103,6 @@ void setupLoop(void *pvParameters) {
       initialSetup();
     }
   }
+  xTaskNotifyGive(parent_handle);
+  vTaskDelete(NULL);
 }
\ No newline at end of file
diff --git a/include/setup.hpp b/include/setup.hpp
index f75f527..9c81b57 100644
--- a/include/setup.hpp
+++ b/include/setup.hpp
@@ -2,6 +2,7 @@
 #define SETUP_H
 
 extern TaskHandle_t setupTaskHandle;
+extern SemaphoreHandle_t Setup_Complete_Semaphore;
 
 void initialSetup();
 void setupLoop(void *pvParameters);
diff --git a/include/socketIO.cpp b/include/socketIO.cpp
index 0bdb530..7829339 100644
--- a/include/socketIO.cpp
+++ b/include/socketIO.cpp
@@ -93,7 +93,7 @@ static void socketio_event_handler(void *handler_args, esp_event_base_t base,
                       if (port != 1) printf("ERROR: NON-1 PORT RECEIVED\n");
                       // Report back actual calibration status from device
                       else {
-                        bool deviceCalibrated = calib.getCalibrated();
+                        bool deviceCalibrated = Calibration::getCalibrated();
                         emitCalibStatus(deviceCalibrated);
                         printf("  Reported calibrated=%d for port %d\n", deviceCalibrated, port);
                         runToAppPos(lastPos);
@@ -106,7 +106,7 @@ static void socketio_event_handler(void *handler_args, esp_event_base_t base,
                   statusResolved = true;
                 } else {
                   printf("Device authentication failed\n");
-                  calib.clearCalibrated();
+                  Calibration::clearCalibrated();
                   deleteWiFiAndTokenDetails();
                   connected = false;
                   statusResolved = true;
@@ -123,7 +123,7 @@ static void socketio_event_handler(void *handler_args, esp_event_base_t base,
                   printf("Server message: %s\n", message->valuestring);
                 }
               }
-              calib.clearCalibrated();
+              Calibration::clearCalibrated();
               deleteWiFiAndTokenDetails();
               connected = false;
               statusResolved = true;
diff --git a/src/main.cpp b/src/main.cpp
index 5bd2bb7..4034111 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -16,8 +16,9 @@ Encoder* bottomEnc = new Encoder(InputEnc_PIN_A, InputEnc_PIN_B);
 
 // Global encoder pointers (used by servo.cpp)
 
-// Global calibration instance
-Calibration calib;
+void MainTask(void *pvParameters) {
+
+}
 
 void mainApp() {
   esp_err_t ret = nvs_flash_init(); // change to secure init logic soon!!
@@ -28,15 +29,16 @@ void mainApp() {
   }
   ESP_ERROR_CHECK(ret);
 
-  bmWiFi.init();
-  calib.init();
+  WiFi::init();
+  Calibration::init();
   
   // Initialize encoders
   topEnc->init();
   bottomEnc->init();
   servoInit();
 
-  xTaskCreate(setupLoop, "Setup", 8192, NULL, 5, &setupTaskHandle);
+  xTaskCreate(setupLoop, "Setup", 8192, xTaskGetCurrentTaskHandle(), 5, &setupTaskHandle);
+  ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
   
   // TOMORROW!!!
   // statusResolved = false;