diff --git a/Project_4_Distributed_Control/Part_1_Porting_controller_to_Zephyr/zephyr/boards/nucleo_l432kc.overlay b/Project_4_Distributed_Control/Part_1_Porting_controller_to_Zephyr/zephyr/boards/nucleo_l432kc.overlay
index 54d75d8..3c85ab2 100644
--- a/Project_4_Distributed_Control/Part_1_Porting_controller_to_Zephyr/zephyr/boards/nucleo_l432kc.overlay
+++ b/Project_4_Distributed_Control/Part_1_Porting_controller_to_Zephyr/zephyr/boards/nucleo_l432kc.overlay
@@ -4,7 +4,16 @@
 / {
     aliases {
         sw1 = &user_button;
-        pwm-led0 = &pwm_led_0;
+
+        encoder-c1 = &encoder_c1;
+        encoder-c2 = &encoder_c2;
+
+        motor-ain1 = &motor_ain1;
+        motor-ain2 = &motor_ain2;
+
+        motor-flt = &motor_flt;
+
+        status-led = &led0;
     };
 
     buttons {
@@ -16,11 +25,32 @@
         };
     };
 
-    pwmleds {
-        compatible = "pwm-leds";
+    encoders {
+        encoder_c1: c1 {
+            gpios = <&gpioX X GPIO_ACTIVE_HIGH>;
+            label = "Encoder C1";
+        };
 
-        pwm_led_0: pwm_led_0 {
+        encoder_c2: c2 {
+            gpios = <&gpioX X GPIO_ACTIVE_HIGH>;
+            label = "Encoder C2";
+        };
+    };
+
+    motor {
+        motor_ain1: ain1 {
             pwms = <&pwm1 1 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
+            label = "Motor AIN1";
+        };
+
+        motor_ain2: ain2 {
+            pwms = <&pwm2 1 PWM_MSEC(20) PWM_POLARITY_NORMAL>;
+            label = "Motor AIN2";
+        };
+
+        motor_flt: flt {
+            gpios = <&gpioX X GPIO_ACTIVE_LOW>;
+            label = "Motor FLT";
         };
     };
 };