diff --git a/firmware/projects/EV5/FrontController/vehicle_control_system b/firmware/projects/EV5/FrontController/vehicle_control_system
deleted file mode 160000
index 4fddb9369..000000000
--- a/firmware/projects/EV5/FrontController/vehicle_control_system
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 4fddb9369730a8cee4e74f83d71d3b1e33b8d5ea
diff --git a/firmware/projects/debug/FrontControllerSimple/vehicle_control_system b/firmware/projects/debug/FrontControllerSimple/vehicle_control_system
deleted file mode 160000
index a04e3a93f..000000000
--- a/firmware/projects/debug/FrontControllerSimple/vehicle_control_system
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit a04e3a93f0def3d748ca7c636cb0f226328c0a10
diff --git a/scripts/can_errgo/README.md b/scripts/can_errgo/README.md
index 5e96b50c4..496301231 100644
--- a/scripts/can_errgo/README.md
+++ b/scripts/can_errgo/README.md
@@ -1,16 +1,55 @@
-# To test the virtual can and go script
+# CAN Error TUI
+
+This is a Tangible User Interface program designed to track CAN Errors including their count, recency, description, and name.
+
+Users can:
+
+- Acknowledge the error ( Hide the error until it is sent again)
+- Ignore the error ( Hides, resets, and stops reading all future occurrences of the error)
+- View ignored errors and choose to unignore those errors
+
+## Setup
+
+Install required dependencies:
+
+```bash
+sudo  apt-get  update
+sudo  apt-get  upgrade
+sudo  apt  install  net-tools  iproute2  can-utils  linux-modules-extra-$(uname  -r)
+```
 
 Kill all existing instances of ip-links:
 
-`ip link show`
-`sudo ip link delete <ip-link>`
+```bash
+ip  link  show
+sudo  ip  link  delete <ip-link>
+```
 
 Setup the can network:
 
-`./setup_vcan.sh <CAN_PORT>`
+```bash
+./setup_vcan.sh <CAN_PORT>
+```
 
-Start the CLI viewer:
-`go run error_tui.go -i <CAN_PORT>`
+## Usage
+
+Start the CLI viewer for single use:
+
+```bash
+go  run  error_tui.go  -i <CAN_PORT> -w <WARN_TIMER>
+```
+
+OR
+
+Build the go file:
+
+```bash
+go build -o <BUILD_NAME>
+./<BUILD_NAME> -i <CAN_PORT> -w <WARN_TIMER>
+```
 
 You can now run:
-`cansend <CAN_PORT>  <MSG_ID>#<MSG_DATA>`
+
+```bash
+cansend <CAN_PORT> <MSG>
+```
diff --git a/scripts/can_errgo/components/table.go b/scripts/can_errgo/components/table.go
index 024b75f8a..7b77bc795 100644
--- a/scripts/can_errgo/components/table.go
+++ b/scripts/can_errgo/components/table.go
@@ -1,10 +1,9 @@
 package components
 
 // Modified from "github.com/charmbracelet/bubbles/table"
+// Repurposed for use in CAN error handling application
 
 import (
-	"strings"
-
 	"github.com/charmbracelet/bubbles/help"
 	"github.com/charmbracelet/bubbles/key"
 	"github.com/charmbracelet/bubbles/viewport"
@@ -13,18 +12,25 @@ import (
 	"github.com/mattn/go-runewidth"
 )
 
+// MetaRow is the implementation of a Error Row with its corresponding error index within the 64-bit CAN frame
+type MetaRow struct{
+	Row Row
+	Index int
+}
+
 // Model defines a state for the table widget.
 type Model struct {
 	KeyMap KeyMap
 	Help   help.Model
 
 	cols   []Column
-	rows   []Row
+	metaRow []MetaRow
 	cursor int
 	focus  bool
 	styles Styles
 	ShowCursor bool
 
+
 	viewport viewport.Model
 	start    int
 	end      int
@@ -160,10 +166,10 @@ func WithColumns(cols []Column) Option {
 	}
 }
 
-// WithRows sets the table rows (data).
-func WithRows(rows []Row) Option {
+//WithRows sets the table rows (data).
+func WithRows(rows []MetaRow) Option {
 	return func(m *Model) {
-		m.rows = rows
+		m.metaRow = rows
 	}
 }
 
@@ -268,7 +274,7 @@ func (m Model) HelpView() string {
 // UpdateViewport updates the list content based on the previously defined
 // columns and rows.
 func (m *Model) UpdateViewport() {
-	renderedRows := make([]string, 0, len(m.rows))
+	renderedRows := make([]string, 0, len(m.metaRow))
 
 	// Render only rows from: m.cursor-m.viewport.Height to: m.cursor+m.viewport.Height
 	// Constant runtime, independent of number of rows in a table.
@@ -278,7 +284,7 @@ func (m *Model) UpdateViewport() {
 	} else {
 		m.start = 0
 	}
-	m.end = clamp(m.cursor+m.viewport.Height, m.cursor, len(m.rows))
+	m.end = clamp(m.cursor+m.viewport.Height, m.cursor, len(m.metaRow))
 	for i := m.start; i < m.end; i++ {
 		renderedRows = append(renderedRows, m.renderRow(i))
 	}
@@ -291,16 +297,24 @@ func (m *Model) UpdateViewport() {
 // SelectedRow returns the selected row.
 // You can cast it to your own implementation.
 func (m Model) SelectedRow() Row {
-	if m.cursor < 0 || m.cursor >= len(m.rows) {
+	if m.cursor < 0 || m.cursor >= len(m.metaRow) {
 		return nil
 	}
 
-	return m.rows[m.cursor]
+	return m.metaRow[m.cursor].Row
+}
+
+// SelectedIndex returns the Error Index of the selected row.
+func (m Model) SelectedIndex() int {
+	if m.cursor < 0 || m.cursor >= len(m.metaRow) {
+		return -1
+	}
+	return m.metaRow[m.cursor].Index
 }
 
-// Rows returns the current rows.
-func (m Model) Rows() []Row {
-	return m.rows
+// Rows returns the current metaRow.
+func (m Model) Rows() []MetaRow {
+	return m.metaRow
 }
 
 // Columns returns the current columns.
@@ -308,9 +322,9 @@ func (m Model) Columns() []Column {
 	return m.cols
 }
 
-// SetRows sets a new rows state.
-func (m *Model) SetRows(r []Row) {
-	m.rows = r
+// SetRows sets a new metaRow state.
+func (m *Model) SetRows(r []MetaRow) {
+	m.metaRow = r
 	m.UpdateViewport()
 }
 
@@ -350,23 +364,23 @@ func (m Model) Cursor() int {
 // ForceCursor forces the cursor to a specific row, regardless if the row is out of bounds.
 func (m *Model) ForceCursor(n int) {
     // Clamp the cursor position within bounds
-    m.cursor = clamp(n, 0, len(m.rows)-1)
+    m.cursor = clamp(n, 0, len(m.metaRow)-1)
     m.UpdateViewport()
 }
 
 // SetCursor sets the cursor position in the table.
 func (m *Model) SetCursor(n int) {
-	m.cursor = clamp(n, 0, len(m.rows)-1)
+	m.cursor = clamp(n, 0, len(m.metaRow)-1)
 	m.UpdateViewport()
 }
 // SetCursor sets the cursor position in the table.
 func (m *Model) SetCursorAndViewport(n int) {
-	m.cursor = clamp(n, 0, len(m.rows)-1)
+	m.cursor = clamp(n, 0, len(m.metaRow)-1)
 
 	switch {
 	case m.start == 0:
 		m.viewport.SetYOffset(clamp(m.viewport.YOffset, 0, m.cursor))
-	case m.end == len(m.rows) && m.cursor > m.viewport.Height:
+	case m.end == len(m.metaRow) && m.cursor > m.viewport.Height:
 		m.viewport.SetYOffset(clamp(m.viewport.YOffset-n, 1, m.viewport.Height))
 	}
 
@@ -378,10 +392,10 @@ func (m *Model) SetShowCursor(show bool) {
 	m.UpdateViewport()
 }
 
-// MoveUp moves the selection up by any number of rows.
+// MoveUp moves the selection up by any number of metaRow.
 // It can not go above the first row.
 func (m *Model) MoveUp(n int) {
-	m.cursor = clamp(m.cursor-n, 0, len(m.rows)-1)
+	m.cursor = clamp(m.cursor-n, 0, len(m.metaRow)-1)
 	switch {
 	case m.start == 0:
 		m.viewport.SetYOffset(clamp(m.viewport.YOffset, 0, m.cursor))
@@ -393,14 +407,14 @@ func (m *Model) MoveUp(n int) {
 	m.UpdateViewport()
 }
 
-// MoveDown moves the selection down by any number of rows.
+// MoveDown moves the selection down by any number of metaRow.
 // It can not go below the last row.
 func (m *Model) MoveDown(n int) {
-	m.cursor = clamp(m.cursor+n, 0, len(m.rows)-1)
+	m.cursor = clamp(m.cursor+n, 0, len(m.metaRow)-1)
 	m.UpdateViewport()
 
 	switch {
-	case m.end == len(m.rows) && m.viewport.YOffset > 0:
+	case m.end == len(m.metaRow) && m.viewport.YOffset > 0:
 		m.viewport.SetYOffset(clamp(m.viewport.YOffset-n, 1, m.viewport.Height))
 	case m.cursor > (m.end-m.start)/2 && m.viewport.YOffset > 0:
 		m.viewport.SetYOffset(clamp(m.viewport.YOffset-n, 1, m.cursor))
@@ -417,23 +431,7 @@ func (m *Model) GotoTop() {
 
 // GotoBottom moves the selection to the last row.
 func (m *Model) GotoBottom() {
-	m.MoveDown(len(m.rows))
-}
-
-// FromValues create the table rows from a simple string. It uses `\n` by
-// default for getting all the rows and the given separator for the fields on
-// each row.
-func (m *Model) FromValues(value, separator string) {
-	rows := []Row{}
-	for _, line := range strings.Split(value, "\n") {
-		r := Row{}
-		for _, field := range strings.Split(line, separator) {
-			r = append(r, field)
-		}
-		rows = append(rows, r)
-	}
-
-	m.SetRows(rows)
+	m.MoveDown(len(m.metaRow))
 }
 
 func (m Model) headersView() string {
@@ -451,7 +449,7 @@ func (m Model) headersView() string {
 
 func (m *Model) renderRow(r int) string {
 	s := make([]string, 0, len(m.cols))
-	for i, value := range m.rows[r] {
+	for i, value := range m.metaRow[r].Row {
 		if m.cols[i].Width <= 0 {
 			continue
 		}
diff --git a/scripts/can_errgo/error_tui.go b/scripts/can_errgo/error_tui.go
index ea8deaf8f..09ab00b4c 100644
--- a/scripts/can_errgo/error_tui.go
+++ b/scripts/can_errgo/error_tui.go
@@ -21,7 +21,7 @@ import (
 )
 
 
-const canFrameSize = 16      // CAN frame size (for a standard CAN frame)
+const canFrameSize = 16   // CAN frame size (for a standard CAN frame)
 
 // Converts a 8-byte slice to a uint64, this is for masking purposes.
 func bytesToUint64(b []byte) uint64 {
@@ -38,16 +38,16 @@ var baseStyle = lipgloss.NewStyle().
 	BorderStyle(lipgloss.NormalBorder()).
 	BorderForeground(lipgloss.Color("240"))
 
-// RowValuesToRow converts a RowValues struct to a table.Row
-func RowValuesToRow(r RowValues) table.Row{
-	return table.Row{r.Error, strconv.Itoa(r.Count), strconv.Itoa(r.Recency)}
+// RowValuesToRow converts a ErrorData struct to a table.Row
+func RowValuesToRow(r ErrorData) table.MetaRow{
+	return table.MetaRow{Row : table.Row{r.Error, strconv.Itoa(r.Count), strconv.Itoa(r.Recency)}, Index: r.ErrorIndex}
 }
 
-// Convert a slice of RowValues to a slice of table.Rows
-func toTableRows(r []RowValues) []table.Row {
-	var rows []table.Row
+// Convert a slice of ErrorData to a slice of table.Rows
+func toTableRows(r []ErrorData) []table.MetaRow {
+	var rows []table.MetaRow
 	for _, v := range r {
-		// Check if the RowValues is "non-empty" and Active
+		// Check if the ErrorData is "non-empty" and Active
 		if v.Error != "" && v.Count != 0 && !v.Ignored{
 			rows = append(rows, RowValuesToRow(v))
 		}
@@ -55,79 +55,64 @@ func toTableRows(r []RowValues) []table.Row {
 	return rows
 }
 
-// SortRowValuesBy sorts a slice of RowValues by the specified column, this creates a deep copy of the input slice.
-func SortRowValuesBy(r []RowValues, column int) []RowValues {
+// SortRowValuesByRecency sorts a slice of ErrorData by the Recency column.
+// This creates a deep copy of the input slice.
+func SortRowValuesByRecency(r []ErrorData) []ErrorData {
 	// Create a deep copy of the input slice
-	copied := make([]RowValues, len(r))
+	copied := make([]ErrorData, len(r))
 	copy(copied, r)
 
-	// Sort the copied slice
+	// Sort the copied slice by Recency
 	sort.SliceStable(copied, func(i, j int) bool {
-		switch column {
-		case 0:
-			return copied[i].Error < copied[j].Error
-		case 1:
-			return copied[i].Count < copied[j].Count
-		case 2:
-			return copied[i].Recency < copied[j].Recency
-		}
-		return false
+		return copied[i].Recency < copied[j].Recency
 	})
 
 	return copied
 }
 
-// getDescription returns the description of the error, if the error is not found it returns a default message.
-func (m model) getDescription(errorName string) string {
-	for i := range(len(m.rowsValues)){
-		if m.rowsValues[i].Error == errorName{
-			return m.rowsValues[i].Description
-		}
-	}
-	return "No description available"
-}
 
-// findError returns the index of the error in the slice of RowValues, if the error is not found it returns -1.
-func findError(errorName string, rowValues []RowValues) int {
+// findError returns the relative index (Row index) of the error in the slice of ErrorData, if the error is not found it returns -1.
+func findError(errorIndex int, rowValues []ErrorData) int {
 	cnt := 0
-	for i := range(len(rowValues)){
-		if rowValues[i].Error == ""{
+	for i ,row := range rowValues{
+		if row.Error == "" || row.Ignored{
 			cnt += 1
 		} 
-		if rowValues[i].Error == errorName{
-			return i - cnt
+		if row.ErrorIndex == errorIndex{
+			return i - cnt  
 		}
 	}
 	return -1
 }
 
-// resetRowValue resets the count and recency of the error in the slice of RowValues.
+// resetRowValue resets the count and recency of the error in the slice of ErrorData.
 func (m model) resetRowValue(errorName string) {
-	for i := range(len(m.rowsValues)){
-		if m.rowsValues[i].Error == errorName{
-			m.rowsValues[i].Count = 0
-			m.rowsValues[i].Recency = 0
+	for _,row := range m.errorData{
+		if row.Error == errorName{
+			row.Count = 0
+			row.Recency = 0
 		}
 	}
 }
 
 // getIgnoredRows returns a slice of table.Rows that are ignored and have an error message.
-func (m model) getIgnoredRows() []table.Row {
-	var rows []table.Row
-	for i := range(len(m.rowsValues)){
-		if m.rowsValues[i].Ignored && m.rowsValues[i].Error != ""{
-		rows = append(rows, table.Row{m.rowsValues[i].Error})
+func (m model) getIgnoredRows() []table.MetaRow {
+	var rows []table.MetaRow
+	for _,row := range m.errorData{
+		if row.Ignored && row.Error != ""{
+		rows = append(rows, table.MetaRow{Row: table.Row{row.Error}, Index: row.ErrorIndex})
 		}
 	}
 	return rows
 }
 
-type RowValues struct{
+type ErrorData struct{
 	Error string
 	Count int
 	Recency int
 	Description string
 	Ignored bool
+	ErrorIndex int
 }
 
 
@@ -150,7 +135,7 @@ type model struct {
 	submenuKeys   KeyMap
 
 	// Slice of row information and ignore mask for incoming errors/bits
-	rowsValues  []RowValues
+	errorData  []ErrorData
     ignoreMask   uint64
 
 	// Timeout flag and last CAN message time
@@ -179,13 +164,12 @@ func tickEvery(t time.Duration) tea.Cmd {
 }
 
 // Increment the recency of all errors
-func (m *model) refresh(){
-	rows := m.rowsValues
-	for i := range(len(rows)){
-		if m.rowsValues[i].Count !=0{
-			m.rowsValues[i].Recency += 1
+func (m *model) refresh() {
+	for i := range m.errorData { // Use index to modify the original slice
+		if m.errorData[i].Count != 0 {
+			m.errorData[i].Recency += 1
 		}
-	}
+	}	
 }
 
 func (m model) Init() tea.Cmd { return tickEvery(m.t) }
@@ -210,9 +194,9 @@ func (m model) Update(msg tea.Msg) (tea.Model, tea.Cmd) {
 				}
 				
 				// Toggle the mask for the selected error and delete the row. 
-				errorIndex := findError(m.submenuTable.SelectedRow()[0], m.rowsValues)
+				errorIndex := m.submenuTable.SelectedIndex()
 				m.ignoreMask = toggleBit(m.ignoreMask, errorIndex)
-				m.rowsValues[errorIndex].Ignored = false
+				m.errorData[errorIndex].Ignored = false
 				newRows := m.getIgnoredRows()
 				m.submenuTable.SetRows(newRows)
 
@@ -252,9 +236,9 @@ func (m model) Update(msg tea.Msg) (tea.Model, tea.Cmd) {
 			}
 
 			// Remove the row and reset its count.
-			errorIndex := findError(m.table.SelectedRow()[0], m.rowsValues)
-			m.rowsValues[errorIndex].Count = 0
-			newRows := toTableRows(m.rowsValues)
+			errorIndex := m.table.SelectedIndex()
+			m.errorData[errorIndex].Count = 0
+			newRows := toTableRows(m.errorData)
 			m.table.SetRows(newRows)
 
 
@@ -274,13 +258,13 @@ func (m model) Update(msg tea.Msg) (tea.Model, tea.Cmd) {
 			}
 
 			// Toggle the mask for the selected error and move it to the ignore menu.
-			errorIndex := findError(m.table.SelectedRow()[0], m.rowsValues)
+			errorIndex := m.table.SelectedIndex()
 			m.ignoreMask = toggleBit(m.ignoreMask, errorIndex)
-			m.rowsValues[errorIndex].Ignored = true
+			m.errorData[errorIndex].Ignored = true
 
 			// Remove the row from the main table and reset its count.
-			m.rowsValues[errorIndex].Count = 0
-			newRows := toTableRows(m.rowsValues)
+			m.errorData[errorIndex].Count = 0
+			newRows := toTableRows(m.errorData)
 			m.table.SetRows(newRows)
 
 			//Set add the ignored rows to submenu
@@ -320,25 +304,24 @@ func (m model) Update(msg tea.Msg) (tea.Model, tea.Cmd) {
 		for k := 0; k < 64; k++ { // Iterate through all 64 bits
 			if msg.Value&(1<<k) != 0 { // Check if the k-th bit is set
 				var errorNumberStr string = strconv.Itoa(k)
-				if m.rowsValues[k].Error == ""{
-					m.rowsValues[k] = RowValues{Error: "error" + errorNumberStr, Count: 1, Recency: 0, Description: "No description available for Error" + errorNumberStr, Ignored: false}
+				if m.errorData[k].Error == ""{
+					m.errorData[k] = ErrorData{Error: "error" + errorNumberStr, Count: 1, Recency: 0, Description: "No description available for Error" + errorNumberStr, Ignored: false, ErrorIndex: k}
 				} else{
-					m.rowsValues[k].Count += 1
-					m.rowsValues[k].Recency = 0
+					m.errorData[k].Count += 1
+					m.errorData[k].Recency = 0
 				}
 			}
-
-			// Sort the table by the recency.
-			currentError := m.table.SelectedRow()
-			newRowValues :=  SortRowValuesBy(m.rowsValues,2)
-			newRows := toTableRows(newRowValues)
-			m.table.SetRows(newRows)
-
-			// Fix the cursor back onto the row it was on before the sort.
-			if currentError != nil{
-				newIndex := findError(currentError[0], newRowValues)
-				m.table.SetCursorAndViewport(newIndex)
-			}
+		}
+		// Sort the table by the recency.
+		currentError := m.table.SelectedIndex()
+		newRowValues :=  SortRowValuesByRecency(m.errorData)
+		newRows := toTableRows(newRowValues)
+		m.table.SetRows(newRows)
+
+		// Fix the cursor back onto the row it was on before the sort.
+		if currentError != -1{
+			newIndex := findError(currentError, newRowValues)
+			m.table.SetCursorAndViewport(newIndex)
 		}
 		return m, nil
 	// If the message is a tick, check if the last CAN message was received more than the timeout duration ago
@@ -353,12 +336,9 @@ func (m model) Update(msg tea.Msg) (tea.Model, tea.Cmd) {
 	if _, ok := msg.(CANMsg); ok {
         // Update the mainTable regardless of submenu state
         m.table, cmd = m.table.Update(msg)
-    }else if m.submenuActive {
+    }else {
         m.submenuTable, cmd = m.submenuTable.Update(msg)
-    } else {
-        m.table, cmd = m.table.Update(msg)
-    }
-
+    } 
 	return m, cmd
 }
 
@@ -445,10 +425,10 @@ func (m model) View() string {
 
 	// Render the box 
 	if m.submenuActive && m.submenuTable.SelectedRow() != nil{
-		m.box.SetText(m.submenuTable.SelectedRow()[0], m.getDescription(m.submenuTable.SelectedRow()[0]))
+		m.box.SetText(m.submenuTable.SelectedRow()[0], m.errorData[m.submenuTable.SelectedIndex()].Description)
 		out = out + m.box.View()
 	} else if m.table.SelectedRow() != nil && !m.submenuActive{
-		m.box.SetText(m.table.SelectedRow()[0], m.getDescription(m.table.SelectedRow()[0]))
+		m.box.SetText(m.table.SelectedRow()[0],  m.errorData[m.table.SelectedIndex()].Description)
 		out = out + m.box.View()
 	}
 
@@ -472,7 +452,7 @@ func initViewer(warning int) model{
 		false,
 		subMenuKeyMap(),
 
-		make([]RowValues, 64),
+		make([]ErrorData, 64),
 		^uint64(0),
 		
 		false,
@@ -495,7 +475,7 @@ func createTable() table.Model{
 		{Title: "Recency", Width: 10},
 
 	}
-	rows := []table.Row {}
+	rows := []table.MetaRow{}
 	
 
 	t := table.New(
@@ -527,7 +507,7 @@ func createSubMenu() table.Model {
         {Title: "Ignored Errors:", Width: 60 + 4} ,
     }
 
-    rows := []table.Row{}
+    rows := []table.MetaRow{}
 	t := table.New(
 		table.WithColumns(columns),
 		table.WithRows(rows),
diff --git a/scripts/can_errgo/setup.txt b/scripts/can_errgo/setup.txt
deleted file mode 100644
index ea8ab4239..000000000
--- a/scripts/can_errgo/setup.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-sudo apt-get update
-sudo apt-get upgrade
-
-sudo apt install net-tools iproute2 can-utils linux-modules-extra-$(uname -r)
-
diff --git a/scripts/can_errgo/utilityFiles/utility_commands.txt b/scripts/can_errgo/utilityFiles/utility_commands.txt
deleted file mode 100644
index 943b3cd78..000000000
--- a/scripts/can_errgo/utilityFiles/utility_commands.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-ps aux | grep candump
-
-kill <PID>
-
-
-candump -L <CAN_PORT> > <LOG_FILE> &
-cansend <CAN_PORT> <MESSAGE>
-
-ip link show
-sudo ip link delete <IP>