diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index 6a58732..683600e 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -292,7 +292,7 @@ static _Noreturn void Mma_Thread(tMma *env) {
 
 
     env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
-    SystemDelayMs(1000);
+    SystemDelayMs(100);
 
     LoadDataInFromModel(env);
 
diff --git a/MainModesArbiter_InitStage.c b/MainModesArbiter_InitStage.c
index 4e3a517..6362a48 100644
--- a/MainModesArbiter_InitStage.c
+++ b/MainModesArbiter_InitStage.c
@@ -147,28 +147,28 @@ static void Mma_InitSubSystems(tMma *env) {
     Lin_5_Init(&env->linTaskSensor5, linData5, &env->linPorts->lin5_Io, &env->slog.logger);
     Lin5_StartThread(&env->linTaskSensor5);
 
-
     Adc_0_Init(&env->adcTask0, &env->adcs->adc_0_IO, env->gpios);
     Adc_0_StartThread(&env->adcTask0);
 
     Adc_1_Init(&env->adcTask1, &env->adcs->adc_1_IO, env->gpios);
     Adc_1_StartThread(&env->adcTask1);
 
-    StandBy_Init(&env->standBy);
-
-    ModelTask_Init(&env->ModelTask, &env->linTaskActuator1, &env->linTaskActuator2, &env->linTaskActuator3, &env->slog.logger);
-
-
     CanUds_Init(
             &env->canUds,
             &env->Diagnostic,
             &env->canPorts->Can0_IO,
             &env->storage,
             &env->canSpamTransmitter,
+            &env->adcTask0,
             &env->slog.logger);
 
     CanSerialPortCanUds_Start(&env->canUds);
 
+    StandBy_Init(&env->standBy);
+
+    ModelTask_Init(&env->ModelTask, &env->linTaskActuator1, &env->linTaskActuator2, &env->linTaskActuator3, &env->slog.logger);
+
+
     LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "End of subsystem initialization")
 
 }