diff --git a/motors/medium_salsa.cc b/motors/medium_salsa.cc
index 1fbe9a6..144fc1e 100644
--- a/motors/medium_salsa.cc
+++ b/motors/medium_salsa.cc
@@ -2,15 +2,35 @@
 
 #include <stdio.h>
 
+#include <atomic>
+
 #include "motors/core/time.h"
+#include "motors/motor.h"
+#include "motors/motor_controls.h"
+#include "motors/peripheral/adc.h"
+#include "motors/peripheral/can.h"
 #include "motors/usb/usb_serial.h"
 #include "motors/util.h"
 
 namespace frc971 {
 namespace salsa {
+namespace {
+
+::std::atomic<Motor *> global_motor{nullptr};
 
 extern "C" {
+
 void *__stack_chk_guard = (void *)0x67111971;
+void __stack_chk_fail(void) {
+  while (true) {
+    GPIOC_PSOR = (1 << 5);
+    printf("Stack corruption detected\n");
+    delay(1000);
+    GPIOC_PCOR = (1 << 5);
+    delay(1000);
+  }
+}
+
 extern void usb_init();
 int _write(int file, char *ptr, int len) {
   (void)file;
@@ -24,7 +44,12 @@
 extern uint32_t __heap_start__[];
 extern uint32_t __stack_end__[];
 
+void ftm0_isr(void) {
+  global_motor.load(::std::memory_order_relaxed)->HandleInterrupt();
+}
+
 }  // extern "C"
+}  // namespace
 
 extern "C" int main(void) {
   // for background about this startup delay, please see these conversations
@@ -39,38 +64,63 @@
   // relative to each other, which means centralizing them here makes it a lot
   // more manageable.
   NVIC_SET_SANE_PRIORITY(IRQ_USBOTG, 0x7);
+  NVIC_SET_SANE_PRIORITY(IRQ_FTM0, 0x3);
 
   // Set the LED's pin to output mode.
   GPIO_BITBAND(GPIOC_PDDR, 5) = 1;
   PORTC_PCR5 = PORT_PCR_DSE | PORT_PCR_MUX(1);
 
+  GPIO_BITBAND(GPIOA_PDDR, 15) = 1;
+  PORTA_PCR15 = PORT_PCR_DSE | PORT_PCR_MUX(1);
+
+  DMA_CR = DMA_CR_EMLM;
   usb_serial_init();
   usb_descriptor_set_product_id(0x0490);
   usb_init();
+  AdcInit();
+  MathInit();
+  delay(1000);
+  can_init();
+
+  MotorControlsImplementation controls;
+
+  delay(1000);
+  Motor motor(FTM0, FTM1, &controls);
+  motor.Init();
+  global_motor.store(&motor, ::std::memory_order_relaxed);
+  // Output triggers to things like the PDBs on initialization.
+  FTM0_EXTTRIG = FTM_EXTTRIG_INITTRIGEN;
+  // Don't let any memory accesses sneak past here, because we actually
+  // need everything to be starting up.
+  __asm__("" :: : "memory");
 
   // Give everything a chance to get going.
   delay(100);
 
+#if 0
   printf("Ram start:   %p\n", __bss_ram_start__);
   printf("Heap start:  %p\n", __heap_start__);
   printf("Heap end:    %p\n", __brkval);
   printf("Stack start: %p\n", __stack_end__);
+#endif
 
-  GPIOC_PSOR = 1 << 5;
+  printf("Going silent to zero motors...\n");
+  // Give the print a chance to make it out.
+  delay(1000);
+  motor.Zero();
+
+  printf("Zeroed motor!\n");
+  // Give stuff a chance to recover from interrupts-disabled.
+  delay(100);
+  motor.Start();
+
+  GPIOA_PCOR = 1 << 15;
+
+  // TODO(Brian): Use SLEEPONEXIT to reduce interrupt latency?
   while (true) {}
 
   return 0;
 }
 
-void __stack_chk_fail(void) {
-  while (true) {
-    GPIOC_PSOR = (1 << 5);
-    printf("Stack corruption detected\n");
-    delay(1000);
-    GPIOC_PCOR = (1 << 5);
-    delay(1000);
-  }
-}
-
 }  // namespace salsa
 }  // namespace frc971