diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
index cfdd4e9..1581e9e 100644
--- a/firmware/mode_configs/bhaptics/tactal.cpp
+++ b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -61,17 +61,14 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
       batteryVoltageSensor,
       SS_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     batteryTask->begin();
 
-    auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
-      batteryVoltageSensor,
-      &VoltageMap::LiPO_1S_42
-    );
+    auto* batterySensor = new LookupTableInterpolateBatterySensor(batteryVoltageSensor, &VoltageMap::LiPO_1S_42);
     batterySensor->addValueCallback([](BatteryState value) -> void {
         app->postEvent(new BatteryLevelEvent(value));
     });
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
index d139740..6f48863 100644
--- a/firmware/mode_configs/bhaptics/tactglove.cpp
+++ b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -69,17 +69,14 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
       batteryVoltageSensor,
       SS_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     batteryTask->begin();
 
-    auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
-      batteryVoltageSensor,
-      &VoltageMap::LiPO_1S_42
-    );
+    auto* batterySensor = new LookupTableInterpolateBatterySensor(batteryVoltageSensor, &VoltageMap::LiPO_1S_42);
     batterySensor->addValueCallback([](BatteryState value) -> void {
         app->postEvent(new BatteryLevelEvent(value));
     });
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
index ea6373b..78b09bc 100644
--- a/firmware/mode_configs/bhaptics/tactosy2.cpp
+++ b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -62,17 +62,14 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
       batteryVoltageSensor,
       SS_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     batteryTask->begin();
 
-    auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
-      batteryVoltageSensor,
-      &VoltageMap::LiPO_1S_42
-    );
+    auto* batterySensor = new LookupTableInterpolateBatterySensor(batteryVoltageSensor, &VoltageMap::LiPO_1S_42);
     batterySensor->addValueCallback([](BatteryState value) -> void {
         app->postEvent(new BatteryLevelEvent(value));
     });
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
index 63860af..8e5f7a0 100644
--- a/firmware/mode_configs/bhaptics/tactosyf.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -63,17 +63,14 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
       batteryVoltageSensor,
       SS_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     batteryTask->begin();
 
-    auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
-      batteryVoltageSensor,
-      &VoltageMap::LiPO_1S_42
-    );
+    auto* batterySensor = new LookupTableInterpolateBatterySensor(batteryVoltageSensor, &VoltageMap::LiPO_1S_42);
     batterySensor->addValueCallback([](BatteryState value) -> void {
         app->postEvent(new BatteryLevelEvent(value));
     });
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
index be8bfd7..7e62e41 100644
--- a/firmware/mode_configs/bhaptics/tactosyh.cpp
+++ b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -63,17 +63,14 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
       batteryVoltageSensor,
       SS_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     batteryTask->begin();
 
-    auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
-      batteryVoltageSensor,
-      &VoltageMap::LiPO_1S_42
-    );
+    auto* batterySensor = new LookupTableInterpolateBatterySensor(batteryVoltageSensor, &VoltageMap::LiPO_1S_42);
     batterySensor->addValueCallback([](BatteryState value) -> void {
         app->postEvent(new BatteryLevelEvent(value));
     });
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
index bdc9521..18b01d2 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -72,17 +72,14 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
       batteryVoltageSensor,
       SS_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     batteryTask->begin();
 
-    auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
-      batteryVoltageSensor,
-      &VoltageMap::LiPO_1S_42
-    );
+    auto* batterySensor = new LookupTableInterpolateBatterySensor(batteryVoltageSensor, &VoltageMap::LiPO_1S_42);
     batterySensor->addValueCallback([](BatteryState value) -> void {
         app->postEvent(new BatteryLevelEvent(value));
     });
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
index 2042b58..1d52cbf 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x16_pca9685.cpp
@@ -77,17 +77,14 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
       batteryVoltageSensor,
       SS_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     batteryTask->begin();
 
-    auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
-      batteryVoltageSensor,
-      &VoltageMap::LiPO_1S_42
-    );
+    auto* batterySensor = new LookupTableInterpolateBatterySensor(batteryVoltageSensor, &VoltageMap::LiPO_1S_42);
     batterySensor->addValueCallback([](BatteryState value) -> void {
         app->postEvent(new BatteryLevelEvent(value));
     });
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
index 09e0dab..fa8d960 100644
--- a/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
+++ b/firmware/mode_configs/bhaptics/tactsuit_x40.cpp
@@ -86,17 +86,14 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
       batteryVoltageSensor,
       SS_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     batteryTask->begin();
 
-    auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
-      batteryVoltageSensor,
-      &VoltageMap::LiPO_1S_42
-    );
+    auto* batterySensor = new LookupTableInterpolateBatterySensor(batteryVoltageSensor, &VoltageMap::LiPO_1S_42);
     batterySensor->addValueCallback([](BatteryState value) -> void {
         app->postEvent(new BatteryLevelEvent(value));
     });
diff --git a/firmware/mode_configs/bhaptics/tactvisor.cpp b/firmware/mode_configs/bhaptics/tactvisor.cpp
index b6c618b..a2ee5aa 100644
--- a/firmware/mode_configs/bhaptics/tactvisor.cpp
+++ b/firmware/mode_configs/bhaptics/tactvisor.cpp
@@ -61,17 +61,14 @@ void setupMode()
       new MultiplyFilter(3.3F),                      // Convert to raw pin voltage
       new VoltageDividerFilter(27000.0F, 100000.0F), // Convert to voltage divider voltage
     });
-    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask<SimpleSensorDecorator<float>>(
+    auto* batteryTask = new ::SenseShift::FreeRTOS::ComponentUpdateTask(
       batteryVoltageSensor,
       SS_BATTERY_SAMPLE_RATE,
       { "ADC Battery", 4096, SS_BATTERY_TASK_PRIORITY, tskNO_AFFINITY }
     );
     batteryTask->begin();
 
-    auto* batterySensor = new LookupTableInterpolateBatterySensor<const frozen::map<float, float, 21>>(
-      batteryVoltageSensor,
-      &VoltageMap::LiPO_1S_42
-    );
+    auto* batterySensor = new LookupTableInterpolateBatterySensor(batteryVoltageSensor, &VoltageMap::LiPO_1S_42);
     batterySensor->addValueCallback([](BatteryState value) -> void {
         app->postEvent(new BatteryLevelEvent(value));
     });
diff --git a/ini/bhaptics.ini b/ini/bhaptics.ini
index a9dc121..9a10f78 100644
--- a/ini/bhaptics.ini
+++ b/ini/bhaptics.ini
@@ -1,6 +1,7 @@
 [bhaptics]
 platform          = platformio/espressif32@^6.1.0
 platform_packages =
+    toolchain-xtensa-esp32@12.2.0+20230208
     platformio/framework-arduinoespressif32@^3.20014.231204
 framework         = arduino
 board             = esp32doit-devkit-v1