Feature/controller

[hirotadashi]

Before submitting this PR, please make sure:

• [ ] Your code builds clean without any errors or warnings
• [ ] You are using approved title ("feat/", "fix/", "docs/", "refactor/")

A description of the changes proposed in the pull request:

Tests performed by the developer:

Tips for QA testing:

[ahmadyazdanii]

Hey @hirotadashi, please solve the merge conflict on this PR

[hirotadashi]

Solved @ahmadyazdanii .