diff --git a/UML/class.uxf b/UML/class.uxf
new file mode 100644
index 0000000..4e335b5
--- /dev/null
+++ b/UML/class.uxf
@@ -0,0 +1,106 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<diagram program="umlet" version="15.0.0">
+  <zoom_level>7</zoom_level>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>105</x>
+      <y>77</y>
+      <w>301</w>
+      <h>126</h>
+    </coordinates>
+    <panel_attributes>CAN_INTERFACE
+--
+-sender: uint8_t
+--
+CAN_init(): void
+CAN_startBehaviour(): void
+CAN_processEvent(ev: Event*): bool
+--
+CAN_onReceiveCan(f: CAN_CALLBACK): void
+--
+CAN_newMsg(): void
+CAN_Send(idRecipient: uint8_t, idMsg: uint8_t, data: uint32_t): void
+--
+CAN_setSender(idSender: uint8_t): void</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>315</x>
+      <y>350</y>
+      <w>301</w>
+      <h>126</h>
+    </coordinates>
+    <panel_attributes>JOYSTICK
+--
+-: uint8_t
+--
+JOY_init(JOY* me): void
+JOY_startBehaviour(JOY* me): void
+JOY_processEvent(ev: Event*): bool
+--
+JOY_onMove(f: JOY_CALLBACK): void
+--
+JOY_emitMove(me: JOY*, t: uint8_t, data: uint32_t): void
+--
+CAN_setSender(idSender: uint8_t): void</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>812</x>
+      <y>154</y>
+      <w>322</w>
+      <h>504</h>
+    </coordinates>
+    <panel_attributes>MEMORY_CST
+--
+-CONTROL_STEERING_MODE:		uint8_t
+-CONTROL_ALIVE_TIME:			uint8_t
+-CONTROL_SPEED_FACTOR:		uint32_t
+-CONTROL_POWER_FACTOR:		uint32_t
+-CONTROL_STEERING_FACTOR:	uint32_t
+-CONTROL_MAX_SPEED_FW: 		uint8_t
+-CONTROL_MAX_SPEED_BW: 		uint8_t
+-JOYSTICK_ALIVE_TIME: 		uint8_t
+-DISPLAY_ALIVE_TIME: 			uint8_t
+-DRIVE_SPEED_TIME: 			uint8_t
+-DRIVE_STOP_TIME: 				uint8_t
+-DRIVE_ALIVE_TIME: 			uint8_t
+-STEERING_ALIVE_TIME: 		uint8_t
+-BATTERY_ALIVE_TIME: 			uint8_t
+--
++MEM_write_CONTROL_STEERING_MODE(data: uint8_t): void
++MEM_write_CONTROL_ALIVE_TIME(data: uint8_t): void
++MEM_write_CONTROL_SPEED_FACTOR(data: uint32_t): void
++MEM_write_CONTROL_POWER_FACTOR(data: uint32_t): void
++MEM_write_CONTROL_STEERING_FACTOR(data: uint32_t): void
++MEM_write_CONTROL_MAX_SPEED_FW(data: uint8_t): void
++MEM_write_CONTROL_MAX_SPEED_BW(data: uint8_t): void
++MEM_write_JOYSTICK_ALIVE_TIME(data: uint8_t): void
++MEM_write_DISPLAY_ALIVE_TIME(data: uint8_t): void
++MEM_write_DRIVE_SPEED_TIME(data: uint8_t): void
++MEM_write_DRIVE_STOP_TIME(data: uint8_t): void
++MEM_write_DRIVE_ALIVE_TIME(data: uint8_t): void
++MEM_write_STEERING_ALIVE_TIME(data: uint8_t): void
++MEM_write_BATTERY_ALIVE_TIME(data: uint8_t): void
++MEM_read_CONTROL_STEERING_MODE(): uint8_t
++MEM_read_CONTROL_ALIVE_TIME(): uint8_t
++MEM_read_CONTROL_SPEED_FACTOR(): uint32_t
++MEM_read_CONTROL_POWER_FACTOR(): uint32_t
++MEM_read_CONTROL_STEERING_FACTOR(): uint32_t
++MEM_read_CONTROL_MAX_SPEED_FW(): uint8_t
++MEM_read_CONTROL_MAX_SPEED_BW(): uint8_t
++MEM_read_JOYSTICK_ALIVE_TIME(): uint8_t
++MEM_read_DISPLAY_ALIVE_TIME(): uint8_t
++MEM_read_DRIVE_SPEED_TIME(): uint8_t
++MEM_read_DRIVE_STOP_TIME(): uint8_t
++MEM_read_DRIVE_ALIVE_TIME(): uint8_t
++MEM_read_STEERING_ALIVE_TIME(): uint8_t
++MEM_read_BATTERY_ALIVE_TIME(): uint8_t</panel_attributes>
+    <additional_attributes/>
+  </element>
+</diagram>