diff --git a/Cargo.toml b/Cargo.toml
index 1fd18b4..c37556c 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -69,11 +69,11 @@ embassy-embedded-hal = "0.5.0"
 embedded-hal-async = "1.0.0"
 nalgebra = { version = "0.33.2", default-features = false, features = ["alloc", "libm"] }
 xtensa-lx-rt = { version = "*", features = ["float-save-restore"] }
-futures = { version = "0.3.31", default-features = false, features = ["async-await"] }
 micromath = "2.1.0"
 enumset = "1.1.10"
 enum-map = "2.7.3"
 portable-atomic = { version = "1.11", features = ["critical-section"] }
+embassy-futures = { version = "0.1.2", features = ["log"] }
 
 # Telemetry outputs
 esp-radio = { version = "*", optional = true, features = [
diff --git a/src/tasks/safetyui.rs b/src/tasks/safetyui.rs
index c6e83d1..f7bd6af 100644
--- a/src/tasks/safetyui.rs
+++ b/src/tasks/safetyui.rs
@@ -4,7 +4,6 @@ use figments::prelude::*;
 use figments_render::output::Brightness;
 use rgb::Rgba;
 use core::fmt::Debug;
-use futures::join;
 use log::*;
 
 use crate::{animation::{AnimDisplay, AnimatedSurface, Animation}, events::{Personality, Prediction}, graphics::{display::{DisplayControls, SegmentSpace, Uniforms}, shaders::*}, tasks::ui::UiSurfacePool};
@@ -84,10 +83,10 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
         self.headlight.set_visible(true);
         self.brakelight.set_opacity(0);
         self.brakelight.set_visible(true);
-        join!(
+        embassy_futures::join::join(
             fade_in.apply(&mut self.headlight),
             fade_in.apply(&mut self.brakelight)
-        );
+        ).await;
 
         info!("Fade out overlay");
         TURN_OFF.apply(&mut self.overlay).await;
@@ -100,17 +99,17 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
             Personality::Active => {
                 // FIXME: These should be a Off/Low/High enum, so the stopping brake looks different from the dayrunning brake.
                 warn!("Active personality: Turning on safety lights");
-                join!(
+                embassy_futures::join::join(
                     TURN_ON.apply(&mut self.brakelight),
                     TURN_ON.apply(&mut self.headlight)
-                );
+                ).await;
             },
             Personality::Parked => {
                 warn!("Idle personality: Turning off safety lights");
-                join!(
+                embassy_futures::join::join(
                     TURN_OFF.apply(&mut self.brakelight),
                     TURN_OFF.apply(&mut self.headlight)
-                );
+                ).await;
             },
             Personality::Sleeping => {
                 warn!("Sleeping personality: Safety UI is going to sleep");
diff --git a/src/tasks/ui.rs b/src/tasks/ui.rs
index b1f6926..67d5a3a 100644
--- a/src/tasks/ui.rs
+++ b/src/tasks/ui.rs
@@ -99,12 +99,12 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
                 let panels = Animation::default().duration(Duration::from_millis(300)).to(128);
                 let bg = Animation::default().duration(Duration::from_millis(300)).to(32);
                 let motion = Animation::default().duration(Duration::from_secs(1)).to(0);
-                join!(
+                embassy_futures::join::join4(
                     tail.apply(&mut self.tail),
                     panels.apply(&mut self.panels),
                     bg.apply(&mut self.background),
                     motion.apply(&mut self.motion)
-                );
+                ).await;
                 self.background.set_shader(Background::default());
             },
             Scene::Idle => {
@@ -114,12 +114,12 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
                 let bg_fade = Animation::default().duration(Duration::from_millis(300)).to(128);
                 
                 // FIXME: The scenes shouldn't be touching the brake/headlights at all here. In fact, they should be dealt with in a whole separate task from the main UI, maybe running on the motion prediction executor
-                join!(
+                embassy_futures::join::join4(
                     fg_fade.apply(&mut self.tail),
                     fg_fade.apply(&mut self.panels),
                     bg_fade.apply(&mut self.background),
                     fg_fade.apply(&mut self.motion)
-                );
+                ).await;
             },
             Scene::Accelerating => {
                 self.motion.set_shader(Movement::default());