diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6dfc772..9427cb9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,6 +67,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     app/ring_buffer.c
     app/ranging.c
     app/util.c
+    app/battery_monitor.c
     ${APP_SOURCE}
 )
 
diff --git a/Inc/adc.h b/Inc/adc.h
index 797598d..1e1046f 100644
--- a/Inc/adc.h
+++ b/Inc/adc.h
@@ -32,12 +32,15 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern ADC_HandleTypeDef hadc1;
+
 extern ADC_HandleTypeDef hadc2;
 
 /* USER CODE BEGIN Private defines */
 
 /* USER CODE END Private defines */
 
+void MX_ADC1_Init(void);
 void MX_ADC2_Init(void);
 
 /* USER CODE BEGIN Prototypes */
diff --git a/Inc/stm32f3xx_it.h b/Inc/stm32f3xx_it.h
index 9ce2ab1..29dfe71 100644
--- a/Inc/stm32f3xx_it.h
+++ b/Inc/stm32f3xx_it.h
@@ -57,6 +57,7 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void EXTI0_IRQHandler(void);
 void EXTI4_IRQHandler(void);
+void ADC1_2_IRQHandler(void);
 void TIM1_TRG_COM_TIM17_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */
diff --git a/Inc/tim.h b/Inc/tim.h
index be5cc5d..1437221 100644
--- a/Inc/tim.h
+++ b/Inc/tim.h
@@ -36,6 +36,8 @@ extern TIM_HandleTypeDef htim1;
 
 extern TIM_HandleTypeDef htim2;
 
+extern TIM_HandleTypeDef htim6;
+
 extern TIM_HandleTypeDef htim17;
 
 /* USER CODE BEGIN Private defines */
@@ -44,6 +46,7 @@ extern TIM_HandleTypeDef htim17;
 
 void MX_TIM1_Init(void);
 void MX_TIM2_Init(void);
+void MX_TIM6_Init(void);
 void MX_TIM17_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
diff --git a/Src/adc.c b/Src/adc.c
index f0b366b..1168b8b 100644
--- a/Src/adc.c
+++ b/Src/adc.c
@@ -24,9 +24,72 @@
 
 /* USER CODE END 0 */
 
+ADC_HandleTypeDef hadc1;
 ADC_HandleTypeDef hadc2;
 DMA_HandleTypeDef hdma_adc2;
 
+/* ADC1 init function */
+void MX_ADC1_Init(void)
+{
+
+  /* USER CODE BEGIN ADC1_Init 0 */
+  // This ADC is used to read the battery voltage through a voltage divider, triggered regularly
+  // by TIM6 update events.
+  /* USER CODE END ADC1_Init 0 */
+
+  ADC_MultiModeTypeDef multimode = {0};
+  ADC_ChannelConfTypeDef sConfig = {0};
+
+  /* USER CODE BEGIN ADC1_Init 1 */
+
+  /* USER CODE END ADC1_Init 1 */
+
+  /** Common config
+  */
+  hadc1.Instance = ADC1;
+  hadc1.Init.ClockPrescaler = ADC_CLOCK_ASYNC_DIV1;
+  hadc1.Init.Resolution = ADC_RESOLUTION_12B;
+  hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
+  hadc1.Init.ContinuousConvMode = DISABLE;
+  hadc1.Init.DiscontinuousConvMode = DISABLE;
+  hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_FALLING;
+  hadc1.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T6_TRGO;
+  hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
+  hadc1.Init.NbrOfConversion = 1;
+  hadc1.Init.DMAContinuousRequests = DISABLE;
+  hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
+  hadc1.Init.LowPowerAutoWait = DISABLE;
+  hadc1.Init.Overrun = ADC_OVR_DATA_OVERWRITTEN;
+  if (HAL_ADC_Init(&hadc1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure the ADC multi-mode
+  */
+  multimode.Mode = ADC_MODE_INDEPENDENT;
+  if (HAL_ADCEx_MultiModeConfigChannel(&hadc1, &multimode) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Configure Regular Channel
+  */
+  sConfig.Channel = ADC_CHANNEL_2;
+  sConfig.Rank = ADC_REGULAR_RANK_1;
+  sConfig.SingleDiff = ADC_SINGLE_ENDED;
+  sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
+  sConfig.OffsetNumber = ADC_OFFSET_NONE;
+  sConfig.Offset = 0;
+  if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN ADC1_Init 2 */
+
+  /* USER CODE END ADC1_Init 2 */
+
+}
 /* ADC2 init function */
 void MX_ADC2_Init(void)
 {
@@ -109,17 +172,49 @@ void MX_ADC2_Init(void)
 
 }
 
+static uint32_t HAL_RCC_ADC12_CLK_ENABLED=0;
+
 void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
 {
 
   GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(adcHandle->Instance==ADC2)
+  if(adcHandle->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspInit 0 */
+
+  /* USER CODE END ADC1_MspInit 0 */
+    /* ADC1 clock enable */
+    HAL_RCC_ADC12_CLK_ENABLED++;
+    if(HAL_RCC_ADC12_CLK_ENABLED==1){
+      __HAL_RCC_ADC12_CLK_ENABLE();
+    }
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**ADC1 GPIO Configuration
+    PA1     ------> ADC1_IN2
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_1;
+    GPIO_InitStruct.Mode = GPIO_MODE_ANALOG;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* ADC1 interrupt Init */
+    HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
+  /* USER CODE BEGIN ADC1_MspInit 1 */
+
+  /* USER CODE END ADC1_MspInit 1 */
+  }
+  else if(adcHandle->Instance==ADC2)
   {
   /* USER CODE BEGIN ADC2_MspInit 0 */
 
   /* USER CODE END ADC2_MspInit 0 */
     /* ADC2 clock enable */
-    __HAL_RCC_ADC12_CLK_ENABLE();
+    HAL_RCC_ADC12_CLK_ENABLED++;
+    if(HAL_RCC_ADC12_CLK_ENABLED==1){
+      __HAL_RCC_ADC12_CLK_ENABLE();
+    }
 
     __HAL_RCC_GPIOA_CLK_ENABLE();
     /**ADC2 GPIO Configuration
@@ -150,6 +245,9 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
 
     __HAL_LINKDMA(adcHandle,DMA_Handle,hdma_adc2);
 
+    /* ADC2 interrupt Init */
+    HAL_NVIC_SetPriority(ADC1_2_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(ADC1_2_IRQn);
   /* USER CODE BEGIN ADC2_MspInit 1 */
 
   /* USER CODE END ADC2_MspInit 1 */
@@ -159,13 +257,45 @@ void HAL_ADC_MspInit(ADC_HandleTypeDef* adcHandle)
 void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
 {
 
-  if(adcHandle->Instance==ADC2)
+  if(adcHandle->Instance==ADC1)
+  {
+  /* USER CODE BEGIN ADC1_MspDeInit 0 */
+
+  /* USER CODE END ADC1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    HAL_RCC_ADC12_CLK_ENABLED--;
+    if(HAL_RCC_ADC12_CLK_ENABLED==0){
+      __HAL_RCC_ADC12_CLK_DISABLE();
+    }
+
+    /**ADC1 GPIO Configuration
+    PA1     ------> ADC1_IN2
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1);
+
+    /* ADC1 interrupt Deinit */
+  /* USER CODE BEGIN ADC1:ADC1_2_IRQn disable */
+    /**
+    * Uncomment the line below to disable the "ADC1_2_IRQn" interrupt
+    * Be aware, disabling shared interrupt may affect other IPs
+    */
+    /* HAL_NVIC_DisableIRQ(ADC1_2_IRQn); */
+  /* USER CODE END ADC1:ADC1_2_IRQn disable */
+
+  /* USER CODE BEGIN ADC1_MspDeInit 1 */
+
+  /* USER CODE END ADC1_MspDeInit 1 */
+  }
+  else if(adcHandle->Instance==ADC2)
   {
   /* USER CODE BEGIN ADC2_MspDeInit 0 */
 
   /* USER CODE END ADC2_MspDeInit 0 */
     /* Peripheral clock disable */
-    __HAL_RCC_ADC12_CLK_DISABLE();
+    HAL_RCC_ADC12_CLK_ENABLED--;
+    if(HAL_RCC_ADC12_CLK_ENABLED==0){
+      __HAL_RCC_ADC12_CLK_DISABLE();
+    }
 
     /**ADC2 GPIO Configuration
     PA4     ------> ADC2_IN1
@@ -177,6 +307,16 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* adcHandle)
 
     /* ADC2 DMA DeInit */
     HAL_DMA_DeInit(adcHandle->DMA_Handle);
+
+    /* ADC2 interrupt Deinit */
+  /* USER CODE BEGIN ADC2:ADC1_2_IRQn disable */
+    /**
+    * Uncomment the line below to disable the "ADC1_2_IRQn" interrupt
+    * Be aware, disabling shared interrupt may affect other IPs
+    */
+    /* HAL_NVIC_DisableIRQ(ADC1_2_IRQn); */
+  /* USER CODE END ADC2:ADC1_2_IRQn disable */
+
   /* USER CODE BEGIN ADC2_MspDeInit 1 */
 
   /* USER CODE END ADC2_MspDeInit 1 */
diff --git a/Src/gpio.c b/Src/gpio.c
index c189b22..2f7c102 100644
--- a/Src/gpio.c
+++ b/Src/gpio.c
@@ -53,7 +53,7 @@ void MX_GPIO_Init(void)
   HAL_GPIO_WritePin(GPIOF, GPIO_PIN_0|GPIO_PIN_1, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_8|GPIO_PIN_11, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0|GPIO_PIN_8|GPIO_PIN_11, GPIO_PIN_RESET);
 
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1|GPIO_PIN_3, GPIO_PIN_RESET);
@@ -65,8 +65,8 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
   HAL_GPIO_Init(GPIOF, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PA0 PA1 PA8 PA11 */
-  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_8|GPIO_PIN_11;
+  /*Configure GPIO pins : PA0 PA8 PA11 */
+  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_8|GPIO_PIN_11;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
diff --git a/Src/main.c b/Src/main.c
index 4ec36b2..efeb7bd 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -95,7 +95,7 @@ int main(void)
   MX_DMA_Init();
   MX_USART2_UART_Init();
   /* USER CODE BEGIN 2 */
-    app_init();
+  app_init();
   /* USER CODE END 2 */
 
   /* Infinite loop */
diff --git a/Src/stm32f3xx_it.c b/Src/stm32f3xx_it.c
index c324297..7616f8f 100644
--- a/Src/stm32f3xx_it.c
+++ b/Src/stm32f3xx_it.c
@@ -55,6 +55,8 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
+extern ADC_HandleTypeDef hadc1;
+extern ADC_HandleTypeDef hadc2;
 extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim17;
 /* USER CODE BEGIN EV */
@@ -227,6 +229,21 @@ void EXTI4_IRQHandler(void)
   /* USER CODE END EXTI4_IRQn 1 */
 }
 
+/**
+  * @brief This function handles ADC1 and ADC2 interrupts.
+  */
+void ADC1_2_IRQHandler(void)
+{
+  /* USER CODE BEGIN ADC1_2_IRQn 0 */
+
+  /* USER CODE END ADC1_2_IRQn 0 */
+  HAL_ADC_IRQHandler(&hadc1);
+  HAL_ADC_IRQHandler(&hadc2);
+  /* USER CODE BEGIN ADC1_2_IRQn 1 */
+
+  /* USER CODE END ADC1_2_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM1 trigger and commutation and TIM17 interrupts.
   */
diff --git a/Src/tim.c b/Src/tim.c
index 46db034..4ee0b52 100644
--- a/Src/tim.c
+++ b/Src/tim.c
@@ -26,6 +26,7 @@
 
 TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
+TIM_HandleTypeDef htim6;
 TIM_HandleTypeDef htim17;
 
 /* TIM1 init function */
@@ -134,6 +135,39 @@ void MX_TIM2_Init(void)
   /* USER CODE END TIM2_Init 2 */
   HAL_TIM_MspPostInit(&htim2);
 
+}
+/* TIM6 init function */
+void MX_TIM6_Init(void)
+{
+
+  /* USER CODE BEGIN TIM6_Init 0 */
+  // Emit update events to trigger conversions on the battery monitor ADC channel.
+  /* USER CODE END TIM6_Init 0 */
+
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+
+  /* USER CODE BEGIN TIM6_Init 1 */
+  // Divide down to 1KHz, then set the period to 499, to trigger every 500ms.
+  /* USER CODE END TIM6_Init 1 */
+  htim6.Instance = TIM6;
+  htim6.Init.Prescaler = 63999;
+  htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim6.Init.Period = 499;
+  htim6.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim6) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim6, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM6_Init 2 */
+
+  /* USER CODE END TIM6_Init 2 */
+
 }
 /* TIM17 init function */
 void MX_TIM17_Init(void)
@@ -201,6 +235,17 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM1_MspInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM6)
+  {
+  /* USER CODE BEGIN TIM6_MspInit 0 */
+
+  /* USER CODE END TIM6_MspInit 0 */
+    /* TIM6 clock enable */
+    __HAL_RCC_TIM6_CLK_ENABLE();
+  /* USER CODE BEGIN TIM6_MspInit 1 */
+
+  /* USER CODE END TIM6_MspInit 1 */
+  }
   else if(tim_baseHandle->Instance==TIM17)
   {
   /* USER CODE BEGIN TIM17_MspInit 0 */
@@ -297,6 +342,17 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM1_MspDeInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM6)
+  {
+  /* USER CODE BEGIN TIM6_MspDeInit 0 */
+
+  /* USER CODE END TIM6_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM6_CLK_DISABLE();
+  /* USER CODE BEGIN TIM6_MspDeInit 1 */
+
+  /* USER CODE END TIM6_MspDeInit 1 */
+  }
   else if(tim_baseHandle->Instance==TIM17)
   {
   /* USER CODE BEGIN TIM17_MspDeInit 0 */
diff --git a/app/app.c b/app/app.c
index bc60b6c..455e18c 100644
--- a/app/app.c
+++ b/app/app.c
@@ -1,4 +1,5 @@
 #include "VL53L4CD_api.h"
+#include "battery_monitor.h"
 #include "debug.h"
 #include "drivers/ir_remote.h"
 #include "drivers/line_sensor.h"
@@ -10,6 +11,7 @@
 
 void app_init(void)
 {
+    battery_monitor_init();
     // Used by microsecond sleep utility, and for IR remote input capture.
     MX_TIM17_Init();
     if (HAL_TIM_Base_Start(&htim17) != HAL_OK)
diff --git a/app/app_config.h b/app/app_config.h
index b93ab09..3f47002 100644
--- a/app/app_config.h
+++ b/app/app_config.h
@@ -1,4 +1,13 @@
 #pragma once
 #include <stdint.h>
 
-#define IR_REMOTE_ADDR ((uint16_t)0xBF00)
\ No newline at end of file
+// IR Remote
+#define IR_REMOTE_ADDR ((uint16_t)0xBF00)
+
+// Battery
+#define LOW_BATTERY_THRESHOLD_MV 6700U
+// The duration the battery threshold needs to be crossed before taking action.
+#define LOW_BATTERY_THRESHOLD_DURATION_MS 3000U
+
+// Ranging
+#define RANGING_MAX_DISTANCE_MM 400U
diff --git a/app/battery_monitor.c b/app/battery_monitor.c
new file mode 100644
index 0000000..3915fda
--- /dev/null
+++ b/app/battery_monitor.c
@@ -0,0 +1,87 @@
+#include <stdbool.h>
+
+#include "adc.h"
+#include "app_config.h"
+#include "debug.h"
+#include "drivers/motor_driver.h"
+#include "main.h"
+#include "tim.h"
+
+#define ADC_VOLTAGE_REF_MV 3300U
+#define ADC_12_BIT_RESOLUTION 4095U
+#define BATTERY_MONITOR_R1_OHM 75000U
+#define BATTERY_MONITOR_R2_OHM 24000U
+
+volatile uint32_t adc_val = 0;
+uint32_t latest_valid_reading = 0;
+
+/**
+ * @brief Read the latest battery monitor voltage measurement in mV.
+ */
+static uint32_t battery_monitor_get_voltage_mv()
+{
+    // Convert the 12 bit ADC reading to millivolts.
+    uint32_t adc_raw = adc_val;
+    uint32_t adc_voltage_mv = adc_raw * ADC_VOLTAGE_REF_MV / ADC_12_BIT_RESOLUTION;
+
+    // Apply the battery monitor voltage divider ratio to get the battery voltage.
+    uint32_t battery_voltage_mv =
+        adc_voltage_mv * (BATTERY_MONITOR_R1_OHM + BATTERY_MONITOR_R2_OHM) / BATTERY_MONITOR_R2_OHM;
+
+    if (battery_voltage_mv > LOW_BATTERY_THRESHOLD_MV)
+    {
+        latest_valid_reading = HAL_GetTick();
+    }
+
+    return battery_voltage_mv;
+}
+
+bool battery_monitor_check_low_voltage()
+{
+    uint32_t battery_voltage = battery_monitor_get_voltage_mv();
+
+    return battery_voltage < LOW_BATTERY_THRESHOLD_MV &&
+           HAL_GetTick() - latest_valid_reading > LOW_BATTERY_THRESHOLD_DURATION_MS;
+}
+
+void battery_monitor_low_voltage_shutdown(void)
+{
+    motor_drive(0, DRIVE_STOP);
+
+    while (1)
+    {
+        DEBUG_PRINTF("Battery voltage critically low: %dmV\n", battery_monitor_get_voltage_mv());
+
+        HAL_GPIO_TogglePin(GPIOF, GPIO_PIN_1);
+        HAL_Delay(500);
+    }
+}
+
+// cppcheck-suppress constParameterPointer
+void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
+{
+    if (hadc->Instance == ADC1)
+    {
+        adc_val = HAL_ADC_GetValue(&hadc1);
+    }
+}
+
+void battery_monitor_init(void)
+{
+    MX_TIM6_Init();
+    MX_ADC1_Init();
+
+    if (HAL_ADC_Start_IT(&hadc1) != HAL_OK)
+    {
+        Error_Handler();
+    }
+
+    if (HAL_TIM_Base_Start(&htim6) != HAL_OK)
+    {
+        Error_Handler();
+    }
+
+    // Trigger the initial ADC conversion immediately, so we don't need to wait for the first
+    // timer reload.
+    HAL_TIM_GenerateEvent(&htim6, TIM_EVENTSOURCE_UPDATE);
+}
\ No newline at end of file
diff --git a/app/battery_monitor.h b/app/battery_monitor.h
new file mode 100644
index 0000000..b2a8106
--- /dev/null
+++ b/app/battery_monitor.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include <stdbool.h>
+
+/**
+ * @brief Check whether the battery voltage is below the safe threshold.
+ */
+bool battery_monitor_check_low_voltage();
+
+/**
+ * @brief Shut down the motor, and indicate failure with LEDs in an infinite loop.
+ */
+void battery_monitor_low_voltage_shutdown(void);
+
+/**
+ * @brief Initialize the battery monitor.
+ *
+ * Initialize and start the conversion triggering timer peripheral and the ADC.
+ */
+void battery_monitor_init(void);
\ No newline at end of file
diff --git a/app/state.c b/app/state.c
index 55b6732..06c1175 100644
--- a/app/state.c
+++ b/app/state.c
@@ -3,6 +3,8 @@
 #include <stdint.h>
 #include <stdlib.h>
 
+#include "app_config.h"
+#include "battery_monitor.h"
 #include "debug.h"
 #include "drivers/line_sensor.h"
 #include "drivers/motor_driver.h"
@@ -142,6 +144,11 @@ static void process_event(StateEvent event)
  */
 static StateEvent process_input(void)
 {
+    if (battery_monitor_check_low_voltage())
+    {
+        battery_monitor_low_voltage_shutdown();
+    }
+
     IrCommand cmd = ir_remote_get_cmd();
     LineType line = get_line();
     // TODO: if data is ready this will do I2C reads which can take a few ms, we
@@ -177,8 +184,6 @@ static StateEvent process_input(void)
 
     if (enemy.bearing != BEARING_NONE)
     {
-        DEBUG_PRINTF("Enemy bearing: %d, distance: %dmm, state: %d\n", enemy.bearing,
-                     enemy.distance_mm, ctx.state);
         return EVT_ENEMY;
     }
 
diff --git a/sumo.ioc b/sumo.ioc
index 96997e2..88ec06d 100644
--- a/sumo.ioc
+++ b/sumo.ioc
@@ -1,4 +1,16 @@
 #MicroXplorer Configuration settings - do not modify
+ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_2
+ADC1.ExternalTrigConv=ADC_EXTERNALTRIGCONV_T6_TRGO
+ADC1.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_FALLING
+ADC1.IPParameters=SubFamily,Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,SamplingTimeOPAMP-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,Offset-0\#ChannelRegularConversion,NbrOfConversionFlag,ExternalTrigConv,ExternalTrigConvEdge
+ADC1.NbrOfConversionFlag=1
+ADC1.Offset-0\#ChannelRegularConversion=0
+ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
+ADC1.Rank-0\#ChannelRegularConversion=1
+ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_1CYCLE_5
+ADC1.SamplingTimeOPAMP-0\#ChannelRegularConversion=ADC_SAMPLETIME_61CYCLES_5
+ADC1.SubFamily=STM32F303x8
+ADC1.master=1
 ADC2.Channel-6\#ChannelRegularConversion=ADC_CHANNEL_1
 ADC2.Channel-7\#ChannelRegularConversion=ADC_CHANNEL_2
 ADC2.Channel-8\#ChannelRegularConversion=ADC_CHANNEL_3
@@ -54,17 +66,19 @@ I2C1.Timing=0x00100001
 KeepUserPlacement=false
 Mcu.CPN=STM32F303K8T6
 Mcu.Family=STM32F3
-Mcu.IP0=ADC2
-Mcu.IP1=DMA
-Mcu.IP2=I2C1
-Mcu.IP3=NVIC
-Mcu.IP4=RCC
-Mcu.IP5=SYS
-Mcu.IP6=TIM1
-Mcu.IP7=TIM2
-Mcu.IP8=TIM17
-Mcu.IP9=USART2
-Mcu.IPNb=10
+Mcu.IP0=ADC1
+Mcu.IP1=ADC2
+Mcu.IP10=TIM17
+Mcu.IP11=USART2
+Mcu.IP2=DMA
+Mcu.IP3=I2C1
+Mcu.IP4=NVIC
+Mcu.IP5=RCC
+Mcu.IP6=SYS
+Mcu.IP7=TIM1
+Mcu.IP8=TIM2
+Mcu.IP9=TIM6
+Mcu.IPNb=12
 Mcu.Name=STM32F303K(6-8)Tx
 Mcu.Package=LQFP32
 Mcu.Pin0=PF0 / OSC_IN
@@ -86,7 +100,8 @@ Mcu.Pin22=PB6
 Mcu.Pin23=PB7
 Mcu.Pin24=VP_SYS_VS_Systick
 Mcu.Pin25=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin26=VP_TIM17_VS_ClockSourceINT
+Mcu.Pin26=VP_TIM6_VS_ClockSourceINT
+Mcu.Pin27=VP_TIM17_VS_ClockSourceINT
 Mcu.Pin3=PA1
 Mcu.Pin4=PA2
 Mcu.Pin5=PA3
@@ -94,12 +109,13 @@ Mcu.Pin6=PA4
 Mcu.Pin7=PA5
 Mcu.Pin8=PA6
 Mcu.Pin9=PA7
-Mcu.PinsNb=27
+Mcu.PinsNb=28
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F303K8Tx
 MxCube.Version=6.17.0
 MxDb.Version=DB.6.0.170
+NVIC.ADC1_2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.EXTI0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
@@ -118,7 +134,8 @@ NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA0.Locked=true
 PA0.Signal=GPIO_Output
 PA1.Locked=true
-PA1.Signal=GPIO_Output
+PA1.Mode=IN2-Single-Ended
+PA1.Signal=ADC1_IN2
 PA10.Locked=true
 PA10.Signal=S_TIM2_CH4
 PA11.Locked=true
@@ -266,6 +283,10 @@ TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
 TIM2.IPParameters=Period,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Prescaler
 TIM2.Period=100 - 1
 TIM2.Prescaler=31
+TIM6.IPParameters=Prescaler,Period,TIM_MasterOutputTrigger
+TIM6.Period=4999
+TIM6.Prescaler=63999
+TIM6.TIM_MasterOutputTrigger=TIM_TRGO_UPDATE
 USART2.BaudRate=115200
 USART2.IPParameters=VirtualMode-Asynchronous,BaudRate,Mode
 USART2.Mode=MODE_TX
@@ -276,4 +297,6 @@ VP_TIM17_VS_ClockSourceINT.Mode=Enable_Timer
 VP_TIM17_VS_ClockSourceINT.Signal=TIM17_VS_ClockSourceINT
 VP_TIM1_VS_ClockSourceINT.Mode=Internal
 VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
+VP_TIM6_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM6_VS_ClockSourceINT.Signal=TIM6_VS_ClockSourceINT
 board=custom