From a8d285590aad6e413c23ec636736d88ab59c434a Mon Sep 17 00:00:00 2001
From: lregueiferos <124931111+lregueiferos@users.noreply.github.com>
Date: Sun, 1 Feb 2026 12:43:54 -0500
Subject: [PATCH 01/29] incoming proto

---
 subsystems/lib/src/devices/firmware.dart | 18 ++++++++++++++++--
 1 file changed, 16 insertions(+), 2 deletions(-)

diff --git a/subsystems/lib/src/devices/firmware.dart b/subsystems/lib/src/devices/firmware.dart
index 599f4bc0..a44ec987 100644
--- a/subsystems/lib/src/devices/firmware.dart
+++ b/subsystems/lib/src/devices/firmware.dart
@@ -7,7 +7,6 @@ import "package:burt_network/burt_network.dart";
 
 import "serial_utils.dart";
 
-/// Maps command names to [Device]s.
 final nameToDevice = <String, Device>{
   ArmCommand().messageName: Device.ARM,
   DriveCommand().messageName: Device.DRIVE,
@@ -81,7 +80,22 @@ class FirmwareManager extends Service {
     if (device == null) return;
     var bytesToSend = wrapper.data;
 
-    if (controlConnected) {
+    // Handle incoming ControlCommand messages by unwrapping them
+    if (wrapper.name == ControlCommand().messageName) {
+      final controlCommand = ControlCommand.fromBuffer(wrapper.data);
+      if (controlCommand.hasDrive()) {
+        // Send the DriveCommand directly to the drive device
+        device = Device.DRIVE;
+        bytesToSend = controlCommand.drive.writeToBuffer();
+      } else if (controlCommand.hasRelays()) {
+        // Send the RelaysCommand directly to the relay device
+        device = Device.RELAY;
+        bytesToSend = controlCommand.relays.writeToBuffer();
+      } else {
+        return;
+      }
+    } else if (controlConnected) {
+      // Wrap outgoing commands in ControlCommand if control board is connected
       if (device == Device.DRIVE) {
         bytesToSend = ControlCommand(
           drive: DriveCommand.fromBuffer(wrapper.data),

From 54a20cb21e16883ef4d78575b968d1ad246b2344 Mon Sep 17 00:00:00 2001
From: lregueiferos <124931111+lregueiferos@users.noreply.github.com>
Date: Sun, 1 Feb 2026 13:24:56 -0500
Subject: [PATCH 02/29] Fix incoming control commands

---
 subsystems/lib/src/devices/firmware.dart | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/subsystems/lib/src/devices/firmware.dart b/subsystems/lib/src/devices/firmware.dart
index a44ec987..6c5ca44e 100644
--- a/subsystems/lib/src/devices/firmware.dart
+++ b/subsystems/lib/src/devices/firmware.dart
@@ -46,11 +46,12 @@ class FirmwareManager extends Service {
           final controlData = ControlData.fromBuffer(wrapper.data);
           if (controlData.hasDrive()) {
             collection.server.sendMessage(controlData.drive);
-            return;
-          } else if (controlData.hasRelays()) {
+          }
+
+          if (controlData.hasRelays()) {
             collection.server.sendMessage(controlData.relays);
-            return;
           }
+          return;
         }
         collection.server.sendWrapper(wrapper);
       });

From 3c446207fe87901de19d28b250d2c4267c5d5428 Mon Sep 17 00:00:00 2001
From: lregueiferos <124931111+lregueiferos@users.noreply.github.com>
Date: Sun, 1 Feb 2026 13:26:28 -0500
Subject: [PATCH 03/29] Add control to deviceToDataName

---
 burt_network/lib/src/utils.dart | 1 +
 1 file changed, 1 insertion(+)

diff --git a/burt_network/lib/src/utils.dart b/burt_network/lib/src/utils.dart
index 2e203810..3b5f4e00 100644
--- a/burt_network/lib/src/utils.dart
+++ b/burt_network/lib/src/utils.dart
@@ -48,6 +48,7 @@ String? deviceToDataName(Device device) => switch (device) {
   Device.ANTENNA => AntennaFirmwareData().messageName,
   Device.BASE_STATION => BaseStationData().messageName,
   Device.RELAY => RelaysData().messageName,
+  Device.CONTROL_BOARD => ControlData().messageName,
   _ => null,
 };
 

From ec582ff464ffdf2203a4c2725f408c15dac8ff57 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Sun, 1 Feb 2026 17:19:10 -0500
Subject: [PATCH 04/29] Oops

---
 subsystems/lib/src/devices/firmware.dart | 1 +
 1 file changed, 1 insertion(+)

diff --git a/subsystems/lib/src/devices/firmware.dart b/subsystems/lib/src/devices/firmware.dart
index 6c5ca44e..4ca8528f 100644
--- a/subsystems/lib/src/devices/firmware.dart
+++ b/subsystems/lib/src/devices/firmware.dart
@@ -7,6 +7,7 @@ import "package:burt_network/burt_network.dart";
 
 import "serial_utils.dart";
 
+/// Maps command names to [Device]s.
 final nameToDevice = <String, Device>{
   ArmCommand().messageName: Device.ARM,
   DriveCommand().messageName: Device.DRIVE,

From ef8a79831a23daffa95649d79cb294a6e520a45c Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Sat, 7 Feb 2026 23:56:48 -0500
Subject: [PATCH 05/29] Update arm protobuf

---
 burt_network/Protobuf                         |   2 +-
 burt_network/lib/src/generated/arm.pb.dart    | 514 ++++++++++++++----
 .../lib/src/generated/arm.pbjson.dart         |  89 ++-
 3 files changed, 478 insertions(+), 127 deletions(-)

diff --git a/burt_network/Protobuf b/burt_network/Protobuf
index 7d44b26c..e275dd08 160000
--- a/burt_network/Protobuf
+++ b/burt_network/Protobuf
@@ -1 +1 @@
-Subproject commit 7d44b26cd0d591c45fcfd0dbcaea7d718b59aeb7
+Subproject commit e275dd08656bd5fd91ab7b79f0be4c616428fb66
diff --git a/burt_network/lib/src/generated/arm.pb.dart b/burt_network/lib/src/generated/arm.pb.dart
index 858c4c6a..2deedd3f 100644
--- a/burt_network/lib/src/generated/arm.pb.dart
+++ b/burt_network/lib/src/generated/arm.pb.dart
@@ -14,10 +14,10 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'geometry.pb.dart' as $0;
-import 'motor.pb.dart' as $1;
+import 'geometry.pb.dart' as $2;
+import 'motor.pb.dart' as $0;
 import 'utils.pbenum.dart' as $3;
-import 'version.pb.dart' as $2;
+import 'version.pb.dart' as $1;
 
 export 'package:protobuf/protobuf.dart' show GeneratedMessageGenericExtensions;
 
@@ -187,22 +187,160 @@ class JointAngleData extends $pb.GeneratedMessage {
   void clearWristPitchMulti() => $_clearField(10);
 }
 
+class WristData extends $pb.GeneratedMessage {
+  factory WristData({
+    $core.double? pitchAngle,
+    $core.double? rollAngle,
+    $0.MotorData? motorA,
+    $0.MotorData? motorB,
+    $3.BoolState? isMoving,
+    $3.BoolState? isCalibrated,
+    $1.Version? version,
+  }) {
+    final result = create();
+    if (pitchAngle != null) result.pitchAngle = pitchAngle;
+    if (rollAngle != null) result.rollAngle = rollAngle;
+    if (motorA != null) result.motorA = motorA;
+    if (motorB != null) result.motorB = motorB;
+    if (isMoving != null) result.isMoving = isMoving;
+    if (isCalibrated != null) result.isCalibrated = isCalibrated;
+    if (version != null) result.version = version;
+    return result;
+  }
+
+  WristData._();
+
+  factory WristData.fromBuffer($core.List<$core.int> data,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromBuffer(data, registry);
+  factory WristData.fromJson($core.String json,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromJson(json, registry);
+
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(
+      _omitMessageNames ? '' : 'WristData',
+      createEmptyInstance: create)
+    ..aD(1, _omitFieldNames ? '' : 'pitchAngle', fieldType: $pb.PbFieldType.OF)
+    ..aD(2, _omitFieldNames ? '' : 'rollAngle', fieldType: $pb.PbFieldType.OF)
+    ..aOM<$0.MotorData>(3, _omitFieldNames ? '' : 'motorA',
+        protoName: 'motorA', subBuilder: $0.MotorData.create)
+    ..aOM<$0.MotorData>(4, _omitFieldNames ? '' : 'motorB',
+        protoName: 'motorB', subBuilder: $0.MotorData.create)
+    ..aE<$3.BoolState>(5, _omitFieldNames ? '' : 'isMoving',
+        enumValues: $3.BoolState.values)
+    ..aE<$3.BoolState>(6, _omitFieldNames ? '' : 'isCalibrated',
+        enumValues: $3.BoolState.values)
+    ..aOM<$1.Version>(7, _omitFieldNames ? '' : 'version',
+        subBuilder: $1.Version.create)
+    ..hasRequiredFields = false;
+
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  WristData clone() => deepCopy();
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  WristData copyWith(void Function(WristData) updates) =>
+      super.copyWith((message) => updates(message as WristData)) as WristData;
+
+  @$core.override
+  $pb.BuilderInfo get info_ => _i;
+
+  @$core.pragma('dart2js:noInline')
+  static WristData create() => WristData._();
+  @$core.override
+  WristData createEmptyInstance() => create();
+  @$core.pragma('dart2js:noInline')
+  static WristData getDefault() =>
+      _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<WristData>(create);
+  static WristData? _defaultInstance;
+
+  /// Virtual joint state (what the subsystem thinks pitch/roll are).
+  @$pb.TagNumber(1)
+  $core.double get pitchAngle => $_getN(0);
+  @$pb.TagNumber(1)
+  set pitchAngle($core.double value) => $_setFloat(0, value);
+  @$pb.TagNumber(1)
+  $core.bool hasPitchAngle() => $_has(0);
+  @$pb.TagNumber(1)
+  void clearPitchAngle() => $_clearField(1);
+
+  @$pb.TagNumber(2)
+  $core.double get rollAngle => $_getN(1);
+  @$pb.TagNumber(2)
+  set rollAngle($core.double value) => $_setFloat(1, value);
+  @$pb.TagNumber(2)
+  $core.bool hasRollAngle() => $_has(1);
+  @$pb.TagNumber(2)
+  void clearRollAngle() => $_clearField(2);
+
+  @$pb.TagNumber(3)
+  $0.MotorData get motorA => $_getN(2);
+  @$pb.TagNumber(3)
+  set motorA($0.MotorData value) => $_setField(3, value);
+  @$pb.TagNumber(3)
+  $core.bool hasMotorA() => $_has(2);
+  @$pb.TagNumber(3)
+  void clearMotorA() => $_clearField(3);
+  @$pb.TagNumber(3)
+  $0.MotorData ensureMotorA() => $_ensure(2);
+
+  @$pb.TagNumber(4)
+  $0.MotorData get motorB => $_getN(3);
+  @$pb.TagNumber(4)
+  set motorB($0.MotorData value) => $_setField(4, value);
+  @$pb.TagNumber(4)
+  $core.bool hasMotorB() => $_has(3);
+  @$pb.TagNumber(4)
+  void clearMotorB() => $_clearField(4);
+  @$pb.TagNumber(4)
+  $0.MotorData ensureMotorB() => $_ensure(3);
+
+  /// Overall health/status flags
+  @$pb.TagNumber(5)
+  $3.BoolState get isMoving => $_getN(4);
+  @$pb.TagNumber(5)
+  set isMoving($3.BoolState value) => $_setField(5, value);
+  @$pb.TagNumber(5)
+  $core.bool hasIsMoving() => $_has(4);
+  @$pb.TagNumber(5)
+  void clearIsMoving() => $_clearField(5);
+
+  @$pb.TagNumber(6)
+  $3.BoolState get isCalibrated => $_getN(5);
+  @$pb.TagNumber(6)
+  set isCalibrated($3.BoolState value) => $_setField(6, value);
+  @$pb.TagNumber(6)
+  $core.bool hasIsCalibrated() => $_has(5);
+  @$pb.TagNumber(6)
+  void clearIsCalibrated() => $_clearField(6);
+
+  @$pb.TagNumber(7)
+  $1.Version get version => $_getN(6);
+  @$pb.TagNumber(7)
+  set version($1.Version value) => $_setField(7, value);
+  @$pb.TagNumber(7)
+  $core.bool hasVersion() => $_has(6);
+  @$pb.TagNumber(7)
+  void clearVersion() => $_clearField(7);
+  @$pb.TagNumber(7)
+  $1.Version ensureVersion() => $_ensure(6);
+}
+
 class ArmData extends $pb.GeneratedMessage {
   factory ArmData({
-    $0.Coordinates? currentPosition,
-    $0.Coordinates? targetPosition,
-    $1.MotorData? base,
-    $1.MotorData? shoulder,
-    $1.MotorData? elbow,
-    $2.Version? version,
+    $2.Coordinates? currentPosition,
+    $2.Coordinates? targetPosition,
+    $0.MotorData? base,
+    $0.MotorData? shoulder,
+    $0.MotorData? elbow,
+    $1.Version? version,
     $core.double? ussDistance,
-    $1.MotorData? lift,
-    $1.MotorData? rotate,
-    $1.MotorData? pinch,
+    $0.MotorData? lift,
+    $0.MotorData? rotate,
+    $0.MotorData? pinch,
     $core.int? servoAngle,
     $3.BoolState? laserState,
-    $1.MotorData? roll,
+    $0.MotorData? roll,
     JointAngleData? jointAngles,
+    WristData? wrist,
   }) {
     final result = create();
     if (currentPosition != null) result.currentPosition = currentPosition;
@@ -219,6 +357,7 @@ class ArmData extends $pb.GeneratedMessage {
     if (laserState != null) result.laserState = laserState;
     if (roll != null) result.roll = roll;
     if (jointAngles != null) result.jointAngles = jointAngles;
+    if (wrist != null) result.wrist = wrist;
     return result;
   }
 
@@ -234,32 +373,34 @@ class ArmData extends $pb.GeneratedMessage {
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(
       _omitMessageNames ? '' : 'ArmData',
       createEmptyInstance: create)
-    ..aOM<$0.Coordinates>(1, _omitFieldNames ? '' : 'currentPosition',
-        subBuilder: $0.Coordinates.create)
-    ..aOM<$0.Coordinates>(2, _omitFieldNames ? '' : 'targetPosition',
-        subBuilder: $0.Coordinates.create)
-    ..aOM<$1.MotorData>(3, _omitFieldNames ? '' : 'base',
-        subBuilder: $1.MotorData.create)
-    ..aOM<$1.MotorData>(4, _omitFieldNames ? '' : 'shoulder',
-        subBuilder: $1.MotorData.create)
-    ..aOM<$1.MotorData>(5, _omitFieldNames ? '' : 'elbow',
-        subBuilder: $1.MotorData.create)
-    ..aOM<$2.Version>(6, _omitFieldNames ? '' : 'version',
-        subBuilder: $2.Version.create)
+    ..aOM<$2.Coordinates>(1, _omitFieldNames ? '' : 'currentPosition',
+        subBuilder: $2.Coordinates.create)
+    ..aOM<$2.Coordinates>(2, _omitFieldNames ? '' : 'targetPosition',
+        subBuilder: $2.Coordinates.create)
+    ..aOM<$0.MotorData>(3, _omitFieldNames ? '' : 'base',
+        subBuilder: $0.MotorData.create)
+    ..aOM<$0.MotorData>(4, _omitFieldNames ? '' : 'shoulder',
+        subBuilder: $0.MotorData.create)
+    ..aOM<$0.MotorData>(5, _omitFieldNames ? '' : 'elbow',
+        subBuilder: $0.MotorData.create)
+    ..aOM<$1.Version>(6, _omitFieldNames ? '' : 'version',
+        subBuilder: $1.Version.create)
     ..aD(7, _omitFieldNames ? '' : 'ussDistance', fieldType: $pb.PbFieldType.OF)
-    ..aOM<$1.MotorData>(8, _omitFieldNames ? '' : 'lift',
-        subBuilder: $1.MotorData.create)
-    ..aOM<$1.MotorData>(9, _omitFieldNames ? '' : 'rotate',
-        subBuilder: $1.MotorData.create)
-    ..aOM<$1.MotorData>(10, _omitFieldNames ? '' : 'pinch',
-        subBuilder: $1.MotorData.create)
+    ..aOM<$0.MotorData>(8, _omitFieldNames ? '' : 'lift',
+        subBuilder: $0.MotorData.create)
+    ..aOM<$0.MotorData>(9, _omitFieldNames ? '' : 'rotate',
+        subBuilder: $0.MotorData.create)
+    ..aOM<$0.MotorData>(10, _omitFieldNames ? '' : 'pinch',
+        subBuilder: $0.MotorData.create)
     ..aI(11, _omitFieldNames ? '' : 'servoAngle')
     ..aE<$3.BoolState>(12, _omitFieldNames ? '' : 'laserState',
         enumValues: $3.BoolState.values)
-    ..aOM<$1.MotorData>(13, _omitFieldNames ? '' : 'roll',
-        subBuilder: $1.MotorData.create)
+    ..aOM<$0.MotorData>(13, _omitFieldNames ? '' : 'roll',
+        subBuilder: $0.MotorData.create)
     ..aOM<JointAngleData>(14, _omitFieldNames ? '' : 'jointAngles',
         subBuilder: JointAngleData.create)
+    ..aOM<WristData>(15, _omitFieldNames ? '' : 'wrist',
+        subBuilder: WristData.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -282,70 +423,70 @@ class ArmData extends $pb.GeneratedMessage {
 
   /// Arm Commands
   @$pb.TagNumber(1)
-  $0.Coordinates get currentPosition => $_getN(0);
+  $2.Coordinates get currentPosition => $_getN(0);
   @$pb.TagNumber(1)
-  set currentPosition($0.Coordinates value) => $_setField(1, value);
+  set currentPosition($2.Coordinates value) => $_setField(1, value);
   @$pb.TagNumber(1)
   $core.bool hasCurrentPosition() => $_has(0);
   @$pb.TagNumber(1)
   void clearCurrentPosition() => $_clearField(1);
   @$pb.TagNumber(1)
-  $0.Coordinates ensureCurrentPosition() => $_ensure(0);
+  $2.Coordinates ensureCurrentPosition() => $_ensure(0);
 
   @$pb.TagNumber(2)
-  $0.Coordinates get targetPosition => $_getN(1);
+  $2.Coordinates get targetPosition => $_getN(1);
   @$pb.TagNumber(2)
-  set targetPosition($0.Coordinates value) => $_setField(2, value);
+  set targetPosition($2.Coordinates value) => $_setField(2, value);
   @$pb.TagNumber(2)
   $core.bool hasTargetPosition() => $_has(1);
   @$pb.TagNumber(2)
   void clearTargetPosition() => $_clearField(2);
   @$pb.TagNumber(2)
-  $0.Coordinates ensureTargetPosition() => $_ensure(1);
+  $2.Coordinates ensureTargetPosition() => $_ensure(1);
 
   @$pb.TagNumber(3)
-  $1.MotorData get base => $_getN(2);
+  $0.MotorData get base => $_getN(2);
   @$pb.TagNumber(3)
-  set base($1.MotorData value) => $_setField(3, value);
+  set base($0.MotorData value) => $_setField(3, value);
   @$pb.TagNumber(3)
   $core.bool hasBase() => $_has(2);
   @$pb.TagNumber(3)
   void clearBase() => $_clearField(3);
   @$pb.TagNumber(3)
-  $1.MotorData ensureBase() => $_ensure(2);
+  $0.MotorData ensureBase() => $_ensure(2);
 
   @$pb.TagNumber(4)
-  $1.MotorData get shoulder => $_getN(3);
+  $0.MotorData get shoulder => $_getN(3);
   @$pb.TagNumber(4)
-  set shoulder($1.MotorData value) => $_setField(4, value);
+  set shoulder($0.MotorData value) => $_setField(4, value);
   @$pb.TagNumber(4)
   $core.bool hasShoulder() => $_has(3);
   @$pb.TagNumber(4)
   void clearShoulder() => $_clearField(4);
   @$pb.TagNumber(4)
-  $1.MotorData ensureShoulder() => $_ensure(3);
+  $0.MotorData ensureShoulder() => $_ensure(3);
 
   @$pb.TagNumber(5)
-  $1.MotorData get elbow => $_getN(4);
+  $0.MotorData get elbow => $_getN(4);
   @$pb.TagNumber(5)
-  set elbow($1.MotorData value) => $_setField(5, value);
+  set elbow($0.MotorData value) => $_setField(5, value);
   @$pb.TagNumber(5)
   $core.bool hasElbow() => $_has(4);
   @$pb.TagNumber(5)
   void clearElbow() => $_clearField(5);
   @$pb.TagNumber(5)
-  $1.MotorData ensureElbow() => $_ensure(4);
+  $0.MotorData ensureElbow() => $_ensure(4);
 
   @$pb.TagNumber(6)
-  $2.Version get version => $_getN(5);
+  $1.Version get version => $_getN(5);
   @$pb.TagNumber(6)
-  set version($2.Version value) => $_setField(6, value);
+  set version($1.Version value) => $_setField(6, value);
   @$pb.TagNumber(6)
   $core.bool hasVersion() => $_has(5);
   @$pb.TagNumber(6)
   void clearVersion() => $_clearField(6);
   @$pb.TagNumber(6)
-  $2.Version ensureVersion() => $_ensure(5);
+  $1.Version ensureVersion() => $_ensure(5);
 
   /// USS data
   @$pb.TagNumber(7)
@@ -359,37 +500,37 @@ class ArmData extends $pb.GeneratedMessage {
 
   /// Gripper Commands
   @$pb.TagNumber(8)
-  $1.MotorData get lift => $_getN(7);
+  $0.MotorData get lift => $_getN(7);
   @$pb.TagNumber(8)
-  set lift($1.MotorData value) => $_setField(8, value);
+  set lift($0.MotorData value) => $_setField(8, value);
   @$pb.TagNumber(8)
   $core.bool hasLift() => $_has(7);
   @$pb.TagNumber(8)
   void clearLift() => $_clearField(8);
   @$pb.TagNumber(8)
-  $1.MotorData ensureLift() => $_ensure(7);
+  $0.MotorData ensureLift() => $_ensure(7);
 
   @$pb.TagNumber(9)
-  $1.MotorData get rotate => $_getN(8);
+  $0.MotorData get rotate => $_getN(8);
   @$pb.TagNumber(9)
-  set rotate($1.MotorData value) => $_setField(9, value);
+  set rotate($0.MotorData value) => $_setField(9, value);
   @$pb.TagNumber(9)
   $core.bool hasRotate() => $_has(8);
   @$pb.TagNumber(9)
   void clearRotate() => $_clearField(9);
   @$pb.TagNumber(9)
-  $1.MotorData ensureRotate() => $_ensure(8);
+  $0.MotorData ensureRotate() => $_ensure(8);
 
   @$pb.TagNumber(10)
-  $1.MotorData get pinch => $_getN(9);
+  $0.MotorData get pinch => $_getN(9);
   @$pb.TagNumber(10)
-  set pinch($1.MotorData value) => $_setField(10, value);
+  set pinch($0.MotorData value) => $_setField(10, value);
   @$pb.TagNumber(10)
   $core.bool hasPinch() => $_has(9);
   @$pb.TagNumber(10)
   void clearPinch() => $_clearField(10);
   @$pb.TagNumber(10)
-  $1.MotorData ensurePinch() => $_ensure(9);
+  $0.MotorData ensurePinch() => $_ensure(9);
 
   @$pb.TagNumber(11)
   $core.int get servoAngle => $_getIZ(10);
@@ -410,15 +551,15 @@ class ArmData extends $pb.GeneratedMessage {
   void clearLaserState() => $_clearField(12);
 
   @$pb.TagNumber(13)
-  $1.MotorData get roll => $_getN(12);
+  $0.MotorData get roll => $_getN(12);
   @$pb.TagNumber(13)
-  set roll($1.MotorData value) => $_setField(13, value);
+  set roll($0.MotorData value) => $_setField(13, value);
   @$pb.TagNumber(13)
   $core.bool hasRoll() => $_has(12);
   @$pb.TagNumber(13)
   void clearRoll() => $_clearField(13);
   @$pb.TagNumber(13)
-  $1.MotorData ensureRoll() => $_ensure(12);
+  $0.MotorData ensureRoll() => $_ensure(12);
 
   @$pb.TagNumber(14)
   JointAngleData get jointAngles => $_getN(13);
@@ -430,31 +571,156 @@ class ArmData extends $pb.GeneratedMessage {
   void clearJointAngles() => $_clearField(14);
   @$pb.TagNumber(14)
   JointAngleData ensureJointAngles() => $_ensure(13);
+
+  @$pb.TagNumber(15)
+  WristData get wrist => $_getN(14);
+  @$pb.TagNumber(15)
+  set wrist(WristData value) => $_setField(15, value);
+  @$pb.TagNumber(15)
+  $core.bool hasWrist() => $_has(14);
+  @$pb.TagNumber(15)
+  void clearWrist() => $_clearField(15);
+  @$pb.TagNumber(15)
+  WristData ensureWrist() => $_ensure(14);
+}
+
+class WristCommand extends $pb.GeneratedMessage {
+  factory WristCommand({
+    $core.bool? stop,
+    $core.bool? calibrate,
+    $0.MotorCommand? pitch,
+    $0.MotorCommand? roll,
+    $1.Version? version,
+  }) {
+    final result = create();
+    if (stop != null) result.stop = stop;
+    if (calibrate != null) result.calibrate = calibrate;
+    if (pitch != null) result.pitch = pitch;
+    if (roll != null) result.roll = roll;
+    if (version != null) result.version = version;
+    return result;
+  }
+
+  WristCommand._();
+
+  factory WristCommand.fromBuffer($core.List<$core.int> data,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromBuffer(data, registry);
+  factory WristCommand.fromJson($core.String json,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromJson(json, registry);
+
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(
+      _omitMessageNames ? '' : 'WristCommand',
+      createEmptyInstance: create)
+    ..aOB(1, _omitFieldNames ? '' : 'stop')
+    ..aOB(2, _omitFieldNames ? '' : 'calibrate')
+    ..aOM<$0.MotorCommand>(3, _omitFieldNames ? '' : 'pitch',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(4, _omitFieldNames ? '' : 'roll',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$1.Version>(5, _omitFieldNames ? '' : 'version',
+        subBuilder: $1.Version.create)
+    ..hasRequiredFields = false;
+
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  WristCommand clone() => deepCopy();
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  WristCommand copyWith(void Function(WristCommand) updates) =>
+      super.copyWith((message) => updates(message as WristCommand))
+          as WristCommand;
+
+  @$core.override
+  $pb.BuilderInfo get info_ => _i;
+
+  @$core.pragma('dart2js:noInline')
+  static WristCommand create() => WristCommand._();
+  @$core.override
+  WristCommand createEmptyInstance() => create();
+  @$core.pragma('dart2js:noInline')
+  static WristCommand getDefault() => _defaultInstance ??=
+      $pb.GeneratedMessage.$_defaultFor<WristCommand>(create);
+  static WristCommand? _defaultInstance;
+
+  /// General commands for wrist
+  @$pb.TagNumber(1)
+  $core.bool get stop => $_getBF(0);
+  @$pb.TagNumber(1)
+  set stop($core.bool value) => $_setBool(0, value);
+  @$pb.TagNumber(1)
+  $core.bool hasStop() => $_has(0);
+  @$pb.TagNumber(1)
+  void clearStop() => $_clearField(1);
+
+  @$pb.TagNumber(2)
+  $core.bool get calibrate => $_getBF(1);
+  @$pb.TagNumber(2)
+  set calibrate($core.bool value) => $_setBool(1, value);
+  @$pb.TagNumber(2)
+  $core.bool hasCalibrate() => $_has(1);
+  @$pb.TagNumber(2)
+  void clearCalibrate() => $_clearField(2);
+
+  /// Virtual joints (preferred): command the coupled wrist DOFs.
+  /// Firmware may execute one axis at a time for mechanical safety.
+  @$pb.TagNumber(3)
+  $0.MotorCommand get pitch => $_getN(2);
+  @$pb.TagNumber(3)
+  set pitch($0.MotorCommand value) => $_setField(3, value);
+  @$pb.TagNumber(3)
+  $core.bool hasPitch() => $_has(2);
+  @$pb.TagNumber(3)
+  void clearPitch() => $_clearField(3);
+  @$pb.TagNumber(3)
+  $0.MotorCommand ensurePitch() => $_ensure(2);
+
+  @$pb.TagNumber(4)
+  $0.MotorCommand get roll => $_getN(3);
+  @$pb.TagNumber(4)
+  set roll($0.MotorCommand value) => $_setField(4, value);
+  @$pb.TagNumber(4)
+  $core.bool hasRoll() => $_has(3);
+  @$pb.TagNumber(4)
+  void clearRoll() => $_clearField(4);
+  @$pb.TagNumber(4)
+  $0.MotorCommand ensureRoll() => $_ensure(3);
+
+  @$pb.TagNumber(5)
+  $1.Version get version => $_getN(4);
+  @$pb.TagNumber(5)
+  set version($1.Version value) => $_setField(5, value);
+  @$pb.TagNumber(5)
+  $core.bool hasVersion() => $_has(4);
+  @$pb.TagNumber(5)
+  void clearVersion() => $_clearField(5);
+  @$pb.TagNumber(5)
+  $1.Version ensureVersion() => $_ensure(4);
 }
 
 class ArmCommand extends $pb.GeneratedMessage {
   factory ArmCommand({
     $core.bool? stop,
     $core.bool? calibrate,
-    $1.MotorCommand? swivel,
-    $1.MotorCommand? shoulder,
-    $1.MotorCommand? elbow,
-    $1.MotorCommand? gripperLift,
+    $0.MotorCommand? swivel,
+    $0.MotorCommand? shoulder,
+    $0.MotorCommand? elbow,
+    $0.MotorCommand? gripperLift,
     $core.double? ikX,
     $core.double? ikY,
     $core.double? ikZ,
     $core.bool? jab,
-    $2.Version? version,
+    $1.Version? version,
     $3.BoolState? startUss,
-    $1.MotorCommand? lift,
-    $1.MotorCommand? rotate,
-    $1.MotorCommand? pinch,
+    $0.MotorCommand? lift,
+    $0.MotorCommand? rotate,
+    $0.MotorCommand? pinch,
     $core.bool? open,
     $core.bool? close,
     $core.bool? spin,
     $core.int? servoAngle,
     $3.BoolState? laserState,
-    $1.MotorCommand? roll,
+    $0.MotorCommand? roll,
+    WristCommand? wrist,
   }) {
     final result = create();
     if (stop != null) result.stop = stop;
@@ -478,6 +744,7 @@ class ArmCommand extends $pb.GeneratedMessage {
     if (servoAngle != null) result.servoAngle = servoAngle;
     if (laserState != null) result.laserState = laserState;
     if (roll != null) result.roll = roll;
+    if (wrist != null) result.wrist = wrist;
     return result;
   }
 
@@ -495,36 +762,38 @@ class ArmCommand extends $pb.GeneratedMessage {
       createEmptyInstance: create)
     ..aOB(1, _omitFieldNames ? '' : 'stop')
     ..aOB(2, _omitFieldNames ? '' : 'calibrate')
-    ..aOM<$1.MotorCommand>(3, _omitFieldNames ? '' : 'swivel',
-        subBuilder: $1.MotorCommand.create)
-    ..aOM<$1.MotorCommand>(4, _omitFieldNames ? '' : 'shoulder',
-        subBuilder: $1.MotorCommand.create)
-    ..aOM<$1.MotorCommand>(5, _omitFieldNames ? '' : 'elbow',
-        subBuilder: $1.MotorCommand.create)
-    ..aOM<$1.MotorCommand>(6, _omitFieldNames ? '' : 'gripperLift',
-        subBuilder: $1.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(3, _omitFieldNames ? '' : 'swivel',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(4, _omitFieldNames ? '' : 'shoulder',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(5, _omitFieldNames ? '' : 'elbow',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(6, _omitFieldNames ? '' : 'gripperLift',
+        subBuilder: $0.MotorCommand.create)
     ..aD(7, _omitFieldNames ? '' : 'ikX', fieldType: $pb.PbFieldType.OF)
     ..aD(8, _omitFieldNames ? '' : 'ikY', fieldType: $pb.PbFieldType.OF)
     ..aD(9, _omitFieldNames ? '' : 'ikZ', fieldType: $pb.PbFieldType.OF)
     ..aOB(10, _omitFieldNames ? '' : 'jab')
-    ..aOM<$2.Version>(11, _omitFieldNames ? '' : 'version',
-        subBuilder: $2.Version.create)
+    ..aOM<$1.Version>(11, _omitFieldNames ? '' : 'version',
+        subBuilder: $1.Version.create)
     ..aE<$3.BoolState>(12, _omitFieldNames ? '' : 'startUss',
         enumValues: $3.BoolState.values)
-    ..aOM<$1.MotorCommand>(13, _omitFieldNames ? '' : 'lift',
-        subBuilder: $1.MotorCommand.create)
-    ..aOM<$1.MotorCommand>(14, _omitFieldNames ? '' : 'rotate',
-        subBuilder: $1.MotorCommand.create)
-    ..aOM<$1.MotorCommand>(15, _omitFieldNames ? '' : 'pinch',
-        subBuilder: $1.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(13, _omitFieldNames ? '' : 'lift',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(14, _omitFieldNames ? '' : 'rotate',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(15, _omitFieldNames ? '' : 'pinch',
+        subBuilder: $0.MotorCommand.create)
     ..aOB(16, _omitFieldNames ? '' : 'open')
     ..aOB(17, _omitFieldNames ? '' : 'close')
     ..aOB(18, _omitFieldNames ? '' : 'spin')
     ..aI(19, _omitFieldNames ? '' : 'servoAngle')
     ..aE<$3.BoolState>(20, _omitFieldNames ? '' : 'laserState',
         enumValues: $3.BoolState.values)
-    ..aOM<$1.MotorCommand>(21, _omitFieldNames ? '' : 'roll',
-        subBuilder: $1.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(21, _omitFieldNames ? '' : 'roll',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<WristCommand>(22, _omitFieldNames ? '' : 'wrist',
+        subBuilder: WristCommand.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -566,50 +835,50 @@ class ArmCommand extends $pb.GeneratedMessage {
 
   /// Move individual motors
   @$pb.TagNumber(3)
-  $1.MotorCommand get swivel => $_getN(2);
+  $0.MotorCommand get swivel => $_getN(2);
   @$pb.TagNumber(3)
-  set swivel($1.MotorCommand value) => $_setField(3, value);
+  set swivel($0.MotorCommand value) => $_setField(3, value);
   @$pb.TagNumber(3)
   $core.bool hasSwivel() => $_has(2);
   @$pb.TagNumber(3)
   void clearSwivel() => $_clearField(3);
   @$pb.TagNumber(3)
-  $1.MotorCommand ensureSwivel() => $_ensure(2);
+  $0.MotorCommand ensureSwivel() => $_ensure(2);
 
   @$pb.TagNumber(4)
-  $1.MotorCommand get shoulder => $_getN(3);
+  $0.MotorCommand get shoulder => $_getN(3);
   @$pb.TagNumber(4)
-  set shoulder($1.MotorCommand value) => $_setField(4, value);
+  set shoulder($0.MotorCommand value) => $_setField(4, value);
   @$pb.TagNumber(4)
   $core.bool hasShoulder() => $_has(3);
   @$pb.TagNumber(4)
   void clearShoulder() => $_clearField(4);
   @$pb.TagNumber(4)
-  $1.MotorCommand ensureShoulder() => $_ensure(3);
+  $0.MotorCommand ensureShoulder() => $_ensure(3);
 
   @$pb.TagNumber(5)
-  $1.MotorCommand get elbow => $_getN(4);
+  $0.MotorCommand get elbow => $_getN(4);
   @$pb.TagNumber(5)
-  set elbow($1.MotorCommand value) => $_setField(5, value);
+  set elbow($0.MotorCommand value) => $_setField(5, value);
   @$pb.TagNumber(5)
   $core.bool hasElbow() => $_has(4);
   @$pb.TagNumber(5)
   void clearElbow() => $_clearField(5);
   @$pb.TagNumber(5)
-  $1.MotorCommand ensureElbow() => $_ensure(4);
+  $0.MotorCommand ensureElbow() => $_ensure(4);
 
   /// Needed for IK: If the wrist-lift moves, we need to re-calculate IK to keep the end-effector
   /// stationary. See /Arm/src/ik/README.md in the Arm-Firmware repository.
   @$pb.TagNumber(6)
-  $1.MotorCommand get gripperLift => $_getN(5);
+  $0.MotorCommand get gripperLift => $_getN(5);
   @$pb.TagNumber(6)
-  set gripperLift($1.MotorCommand value) => $_setField(6, value);
+  set gripperLift($0.MotorCommand value) => $_setField(6, value);
   @$pb.TagNumber(6)
   $core.bool hasGripperLift() => $_has(5);
   @$pb.TagNumber(6)
   void clearGripperLift() => $_clearField(6);
   @$pb.TagNumber(6)
-  $1.MotorCommand ensureGripperLift() => $_ensure(5);
+  $0.MotorCommand ensureGripperLift() => $_ensure(5);
 
   /// Can be removed in future versions
   @$pb.TagNumber(7)
@@ -650,15 +919,15 @@ class ArmCommand extends $pb.GeneratedMessage {
   void clearJab() => $_clearField(10);
 
   @$pb.TagNumber(11)
-  $2.Version get version => $_getN(10);
+  $1.Version get version => $_getN(10);
   @$pb.TagNumber(11)
-  set version($2.Version value) => $_setField(11, value);
+  set version($1.Version value) => $_setField(11, value);
   @$pb.TagNumber(11)
   $core.bool hasVersion() => $_has(10);
   @$pb.TagNumber(11)
   void clearVersion() => $_clearField(11);
   @$pb.TagNumber(11)
-  $2.Version ensureVersion() => $_ensure(10);
+  $1.Version ensureVersion() => $_ensure(10);
 
   /// USS commands
   @$pb.TagNumber(12)
@@ -672,37 +941,37 @@ class ArmCommand extends $pb.GeneratedMessage {
 
   /// Move individual motors
   @$pb.TagNumber(13)
-  $1.MotorCommand get lift => $_getN(12);
+  $0.MotorCommand get lift => $_getN(12);
   @$pb.TagNumber(13)
-  set lift($1.MotorCommand value) => $_setField(13, value);
+  set lift($0.MotorCommand value) => $_setField(13, value);
   @$pb.TagNumber(13)
   $core.bool hasLift() => $_has(12);
   @$pb.TagNumber(13)
   void clearLift() => $_clearField(13);
   @$pb.TagNumber(13)
-  $1.MotorCommand ensureLift() => $_ensure(12);
+  $0.MotorCommand ensureLift() => $_ensure(12);
 
   @$pb.TagNumber(14)
-  $1.MotorCommand get rotate => $_getN(13);
+  $0.MotorCommand get rotate => $_getN(13);
   @$pb.TagNumber(14)
-  set rotate($1.MotorCommand value) => $_setField(14, value);
+  set rotate($0.MotorCommand value) => $_setField(14, value);
   @$pb.TagNumber(14)
   $core.bool hasRotate() => $_has(13);
   @$pb.TagNumber(14)
   void clearRotate() => $_clearField(14);
   @$pb.TagNumber(14)
-  $1.MotorCommand ensureRotate() => $_ensure(13);
+  $0.MotorCommand ensureRotate() => $_ensure(13);
 
   @$pb.TagNumber(15)
-  $1.MotorCommand get pinch => $_getN(14);
+  $0.MotorCommand get pinch => $_getN(14);
   @$pb.TagNumber(15)
-  set pinch($1.MotorCommand value) => $_setField(15, value);
+  set pinch($0.MotorCommand value) => $_setField(15, value);
   @$pb.TagNumber(15)
   $core.bool hasPinch() => $_has(14);
   @$pb.TagNumber(15)
   void clearPinch() => $_clearField(15);
   @$pb.TagNumber(15)
-  $1.MotorCommand ensurePinch() => $_ensure(14);
+  $0.MotorCommand ensurePinch() => $_ensure(14);
 
   /// Custom actions
   @$pb.TagNumber(16)
@@ -751,15 +1020,26 @@ class ArmCommand extends $pb.GeneratedMessage {
   void clearLaserState() => $_clearField(20);
 
   @$pb.TagNumber(21)
-  $1.MotorCommand get roll => $_getN(20);
+  $0.MotorCommand get roll => $_getN(20);
   @$pb.TagNumber(21)
-  set roll($1.MotorCommand value) => $_setField(21, value);
+  set roll($0.MotorCommand value) => $_setField(21, value);
   @$pb.TagNumber(21)
   $core.bool hasRoll() => $_has(20);
   @$pb.TagNumber(21)
   void clearRoll() => $_clearField(21);
   @$pb.TagNumber(21)
-  $1.MotorCommand ensureRoll() => $_ensure(20);
+  $0.MotorCommand ensureRoll() => $_ensure(20);
+
+  @$pb.TagNumber(22)
+  WristCommand get wrist => $_getN(21);
+  @$pb.TagNumber(22)
+  set wrist(WristCommand value) => $_setField(22, value);
+  @$pb.TagNumber(22)
+  $core.bool hasWrist() => $_has(21);
+  @$pb.TagNumber(22)
+  void clearWrist() => $_clearField(22);
+  @$pb.TagNumber(22)
+  WristCommand ensureWrist() => $_ensure(21);
 }
 
 const $core.bool _omitFieldNames =
diff --git a/burt_network/lib/src/generated/arm.pbjson.dart b/burt_network/lib/src/generated/arm.pbjson.dart
index 8b9cb1fc..ac1b9614 100644
--- a/burt_network/lib/src/generated/arm.pbjson.dart
+++ b/burt_network/lib/src/generated/arm.pbjson.dart
@@ -55,6 +55,42 @@ final $typed_data.Uint8List jointAngleDataDescriptor = $convert.base64Decode(
     'KAJSCXJvbGxNdWx0aRIqChF3cmlzdF9waXRjaF9tdWx0aRgKIAEoAlIPd3Jpc3RQaXRjaE11bH'
     'Rp');
 
+@$core.Deprecated('Use wristDataDescriptor instead')
+const WristData$json = {
+  '1': 'WristData',
+  '2': [
+    {'1': 'pitch_angle', '3': 1, '4': 1, '5': 2, '10': 'pitchAngle'},
+    {'1': 'roll_angle', '3': 2, '4': 1, '5': 2, '10': 'rollAngle'},
+    {'1': 'motorA', '3': 3, '4': 1, '5': 11, '6': '.MotorData', '10': 'motorA'},
+    {'1': 'motorB', '3': 4, '4': 1, '5': 11, '6': '.MotorData', '10': 'motorB'},
+    {
+      '1': 'is_moving',
+      '3': 5,
+      '4': 1,
+      '5': 14,
+      '6': '.BoolState',
+      '10': 'isMoving'
+    },
+    {
+      '1': 'is_calibrated',
+      '3': 6,
+      '4': 1,
+      '5': 14,
+      '6': '.BoolState',
+      '10': 'isCalibrated'
+    },
+    {'1': 'version', '3': 7, '4': 1, '5': 11, '6': '.Version', '10': 'version'},
+  ],
+};
+
+/// Descriptor for `WristData`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List wristDataDescriptor = $convert.base64Decode(
+    'CglXcmlzdERhdGESHwoLcGl0Y2hfYW5nbGUYASABKAJSCnBpdGNoQW5nbGUSHQoKcm9sbF9hbm'
+    'dsZRgCIAEoAlIJcm9sbEFuZ2xlEiIKBm1vdG9yQRgDIAEoCzIKLk1vdG9yRGF0YVIGbW90b3JB'
+    'EiIKBm1vdG9yQhgEIAEoCzIKLk1vdG9yRGF0YVIGbW90b3JCEicKCWlzX21vdmluZxgFIAEoDj'
+    'IKLkJvb2xTdGF0ZVIIaXNNb3ZpbmcSLwoNaXNfY2FsaWJyYXRlZBgGIAEoDjIKLkJvb2xTdGF0'
+    'ZVIMaXNDYWxpYnJhdGVkEiIKB3ZlcnNpb24YByABKAsyCC5WZXJzaW9uUgd2ZXJzaW9u');
+
 @$core.Deprecated('Use armDataDescriptor instead')
 const ArmData$json = {
   '1': 'ArmData',
@@ -90,6 +126,7 @@ const ArmData$json = {
     {'1': 'uss_distance', '3': 7, '4': 1, '5': 2, '10': 'ussDistance'},
     {'1': 'lift', '3': 8, '4': 1, '5': 11, '6': '.MotorData', '10': 'lift'},
     {'1': 'rotate', '3': 9, '4': 1, '5': 11, '6': '.MotorData', '10': 'rotate'},
+    {'1': 'wrist', '3': 15, '4': 1, '5': 11, '6': '.WristData', '10': 'wrist'},
     {'1': 'pinch', '3': 10, '4': 1, '5': 11, '6': '.MotorData', '10': 'pinch'},
     {'1': 'servo_angle', '3': 11, '4': 1, '5': 5, '10': 'servoAngle'},
     {
@@ -120,10 +157,36 @@ final $typed_data.Uint8List armDataDescriptor = $convert.base64Decode(
     'ZWxib3cSHgoEcm9sbBgNIAEoCzIKLk1vdG9yRGF0YVIEcm9sbBIiCgd2ZXJzaW9uGAYgASgLMg'
     'guVmVyc2lvblIHdmVyc2lvbhIhCgx1c3NfZGlzdGFuY2UYByABKAJSC3Vzc0Rpc3RhbmNlEh4K'
     'BGxpZnQYCCABKAsyCi5Nb3RvckRhdGFSBGxpZnQSIgoGcm90YXRlGAkgASgLMgouTW90b3JEYX'
-    'RhUgZyb3RhdGUSIAoFcGluY2gYCiABKAsyCi5Nb3RvckRhdGFSBXBpbmNoEh8KC3NlcnZvX2Fu'
-    'Z2xlGAsgASgFUgpzZXJ2b0FuZ2xlEisKC2xhc2VyX3N0YXRlGAwgASgOMgouQm9vbFN0YXRlUg'
-    'psYXNlclN0YXRlEjIKDGpvaW50X2FuZ2xlcxgOIAEoCzIPLkpvaW50QW5nbGVEYXRhUgtqb2lu'
-    'dEFuZ2xlcw==');
+    'RhUgZyb3RhdGUSIAoFd3Jpc3QYDyABKAsyCi5XcmlzdERhdGFSBXdyaXN0EiAKBXBpbmNoGAog'
+    'ASgLMgouTW90b3JEYXRhUgVwaW5jaBIfCgtzZXJ2b19hbmdsZRgLIAEoBVIKc2Vydm9BbmdsZR'
+    'IrCgtsYXNlcl9zdGF0ZRgMIAEoDjIKLkJvb2xTdGF0ZVIKbGFzZXJTdGF0ZRIyCgxqb2ludF9h'
+    'bmdsZXMYDiABKAsyDy5Kb2ludEFuZ2xlRGF0YVILam9pbnRBbmdsZXM=');
+
+@$core.Deprecated('Use wristCommandDescriptor instead')
+const WristCommand$json = {
+  '1': 'WristCommand',
+  '2': [
+    {'1': 'stop', '3': 1, '4': 1, '5': 8, '10': 'stop'},
+    {'1': 'calibrate', '3': 2, '4': 1, '5': 8, '10': 'calibrate'},
+    {
+      '1': 'pitch',
+      '3': 3,
+      '4': 1,
+      '5': 11,
+      '6': '.MotorCommand',
+      '10': 'pitch'
+    },
+    {'1': 'roll', '3': 4, '4': 1, '5': 11, '6': '.MotorCommand', '10': 'roll'},
+    {'1': 'version', '3': 5, '4': 1, '5': 11, '6': '.Version', '10': 'version'},
+  ],
+};
+
+/// Descriptor for `WristCommand`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List wristCommandDescriptor = $convert.base64Decode(
+    'CgxXcmlzdENvbW1hbmQSEgoEc3RvcBgBIAEoCFIEc3RvcBIcCgljYWxpYnJhdGUYAiABKAhSCW'
+    'NhbGlicmF0ZRIjCgVwaXRjaBgDIAEoCzINLk1vdG9yQ29tbWFuZFIFcGl0Y2gSIQoEcm9sbBgE'
+    'IAEoCzINLk1vdG9yQ29tbWFuZFIEcm9sbBIiCgd2ZXJzaW9uGAUgASgLMgguVmVyc2lvblIHdm'
+    'Vyc2lvbg==');
 
 @$core.Deprecated('Use armCommandDescriptor instead')
 const ArmCommand$json = {
@@ -193,6 +256,14 @@ const ArmCommand$json = {
       '6': '.MotorCommand',
       '10': 'rotate'
     },
+    {
+      '1': 'wrist',
+      '3': 22,
+      '4': 1,
+      '5': 11,
+      '6': '.WristCommand',
+      '10': 'wrist'
+    },
     {
       '1': 'pinch',
       '3': 15,
@@ -226,8 +297,8 @@ final $typed_data.Uint8List armCommandDescriptor = $convert.base64Decode(
     'EoAlIDaWtYEhEKBGlrX3kYCCABKAJSA2lrWRIRCgRpa196GAkgASgCUgNpa1oSEAoDamFiGAog'
     'ASgIUgNqYWISIgoHdmVyc2lvbhgLIAEoCzIILlZlcnNpb25SB3ZlcnNpb24SJwoJc3RhcnRfdX'
     'NzGAwgASgOMgouQm9vbFN0YXRlUghzdGFydFVzcxIhCgRsaWZ0GA0gASgLMg0uTW90b3JDb21t'
-    'YW5kUgRsaWZ0EiUKBnJvdGF0ZRgOIAEoCzINLk1vdG9yQ29tbWFuZFIGcm90YXRlEiMKBXBpbm'
-    'NoGA8gASgLMg0uTW90b3JDb21tYW5kUgVwaW5jaBISCgRvcGVuGBAgASgIUgRvcGVuEhQKBWNs'
-    'b3NlGBEgASgIUgVjbG9zZRISCgRzcGluGBIgASgIUgRzcGluEh8KC3NlcnZvX2FuZ2xlGBMgAS'
-    'gFUgpzZXJ2b0FuZ2xlEisKC2xhc2VyX3N0YXRlGBQgASgOMgouQm9vbFN0YXRlUgpsYXNlclN0'
-    'YXRl');
+    'YW5kUgRsaWZ0EiUKBnJvdGF0ZRgOIAEoCzINLk1vdG9yQ29tbWFuZFIGcm90YXRlEiMKBXdyaX'
+    'N0GBYgASgLMg0uV3Jpc3RDb21tYW5kUgV3cmlzdBIjCgVwaW5jaBgPIAEoCzINLk1vdG9yQ29t'
+    'bWFuZFIFcGluY2gSEgoEb3BlbhgQIAEoCFIEb3BlbhIUCgVjbG9zZRgRIAEoCFIFY2xvc2USEg'
+    'oEc3BpbhgSIAEoCFIEc3BpbhIfCgtzZXJ2b19hbmdsZRgTIAEoBVIKc2Vydm9BbmdsZRIrCgts'
+    'YXNlcl9zdGF0ZRgUIAEoDjIKLkJvb2xTdGF0ZVIKbGFzZXJTdGF0ZQ==');

From 9038db70ec962bff92f3ba22b650d67315432772 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Sun, 8 Feb 2026 01:34:21 -0500
Subject: [PATCH 06/29] Update protobuf

---
 burt_network/Protobuf                         |  2 +-
 burt_network/lib/src/generated/arm.pb.dart    | 67 ++++++++++++++++++-
 .../lib/src/generated/arm.pbjson.dart         | 40 ++++++++---
 3 files changed, 97 insertions(+), 12 deletions(-)

diff --git a/burt_network/Protobuf b/burt_network/Protobuf
index e275dd08..f5adb6e0 160000
--- a/burt_network/Protobuf
+++ b/burt_network/Protobuf
@@ -1 +1 @@
-Subproject commit e275dd08656bd5fd91ab7b79f0be4c616428fb66
+Subproject commit f5adb6e04ccfd469e6705c3cb44a51238436ca39
diff --git a/burt_network/lib/src/generated/arm.pb.dart b/burt_network/lib/src/generated/arm.pb.dart
index 2deedd3f..4c41aeec 100644
--- a/burt_network/lib/src/generated/arm.pb.dart
+++ b/burt_network/lib/src/generated/arm.pb.dart
@@ -341,6 +341,7 @@ class ArmData extends $pb.GeneratedMessage {
     $0.MotorData? roll,
     JointAngleData? jointAngles,
     WristData? wrist,
+    $3.BoolState? usingIk,
   }) {
     final result = create();
     if (currentPosition != null) result.currentPosition = currentPosition;
@@ -358,6 +359,7 @@ class ArmData extends $pb.GeneratedMessage {
     if (roll != null) result.roll = roll;
     if (jointAngles != null) result.jointAngles = jointAngles;
     if (wrist != null) result.wrist = wrist;
+    if (usingIk != null) result.usingIk = usingIk;
     return result;
   }
 
@@ -401,6 +403,8 @@ class ArmData extends $pb.GeneratedMessage {
         subBuilder: JointAngleData.create)
     ..aOM<WristData>(15, _omitFieldNames ? '' : 'wrist',
         subBuilder: WristData.create)
+    ..aE<$3.BoolState>(16, _omitFieldNames ? '' : 'usingIk',
+        enumValues: $3.BoolState.values)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -582,6 +586,15 @@ class ArmData extends $pb.GeneratedMessage {
   void clearWrist() => $_clearField(15);
   @$pb.TagNumber(15)
   WristData ensureWrist() => $_ensure(14);
+
+  @$pb.TagNumber(16)
+  $3.BoolState get usingIk => $_getN(15);
+  @$pb.TagNumber(16)
+  set usingIk($3.BoolState value) => $_setField(16, value);
+  @$pb.TagNumber(16)
+  $core.bool hasUsingIk() => $_has(15);
+  @$pb.TagNumber(16)
+  void clearUsingIk() => $_clearField(16);
 }
 
 class WristCommand extends $pb.GeneratedMessage {
@@ -721,6 +734,10 @@ class ArmCommand extends $pb.GeneratedMessage {
     $3.BoolState? laserState,
     $0.MotorCommand? roll,
     WristCommand? wrist,
+    $3.BoolState? usingIk,
+    $core.double? ikPitch,
+    $core.double? ikYaw,
+    $2.Pose3d? pose,
   }) {
     final result = create();
     if (stop != null) result.stop = stop;
@@ -745,6 +762,10 @@ class ArmCommand extends $pb.GeneratedMessage {
     if (laserState != null) result.laserState = laserState;
     if (roll != null) result.roll = roll;
     if (wrist != null) result.wrist = wrist;
+    if (usingIk != null) result.usingIk = usingIk;
+    if (ikPitch != null) result.ikPitch = ikPitch;
+    if (ikYaw != null) result.ikYaw = ikYaw;
+    if (pose != null) result.pose = pose;
     return result;
   }
 
@@ -794,6 +815,12 @@ class ArmCommand extends $pb.GeneratedMessage {
         subBuilder: $0.MotorCommand.create)
     ..aOM<WristCommand>(22, _omitFieldNames ? '' : 'wrist',
         subBuilder: WristCommand.create)
+    ..aE<$3.BoolState>(23, _omitFieldNames ? '' : 'usingIk',
+        enumValues: $3.BoolState.values)
+    ..aD(24, _omitFieldNames ? '' : 'ikPitch', fieldType: $pb.PbFieldType.OF)
+    ..aD(25, _omitFieldNames ? '' : 'ikYaw', fieldType: $pb.PbFieldType.OF)
+    ..aOM<$2.Pose3d>(26, _omitFieldNames ? '' : 'pose',
+        subBuilder: $2.Pose3d.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -867,8 +894,6 @@ class ArmCommand extends $pb.GeneratedMessage {
   @$pb.TagNumber(5)
   $0.MotorCommand ensureElbow() => $_ensure(4);
 
-  /// Needed for IK: If the wrist-lift moves, we need to re-calculate IK to keep the end-effector
-  /// stationary. See /Arm/src/ik/README.md in the Arm-Firmware repository.
   @$pb.TagNumber(6)
   $0.MotorCommand get gripperLift => $_getN(5);
   @$pb.TagNumber(6)
@@ -1040,6 +1065,44 @@ class ArmCommand extends $pb.GeneratedMessage {
   void clearWrist() => $_clearField(22);
   @$pb.TagNumber(22)
   WristCommand ensureWrist() => $_ensure(21);
+
+  @$pb.TagNumber(23)
+  $3.BoolState get usingIk => $_getN(22);
+  @$pb.TagNumber(23)
+  set usingIk($3.BoolState value) => $_setField(23, value);
+  @$pb.TagNumber(23)
+  $core.bool hasUsingIk() => $_has(22);
+  @$pb.TagNumber(23)
+  void clearUsingIk() => $_clearField(23);
+
+  @$pb.TagNumber(24)
+  $core.double get ikPitch => $_getN(23);
+  @$pb.TagNumber(24)
+  set ikPitch($core.double value) => $_setFloat(23, value);
+  @$pb.TagNumber(24)
+  $core.bool hasIkPitch() => $_has(23);
+  @$pb.TagNumber(24)
+  void clearIkPitch() => $_clearField(24);
+
+  @$pb.TagNumber(25)
+  $core.double get ikYaw => $_getN(24);
+  @$pb.TagNumber(25)
+  set ikYaw($core.double value) => $_setFloat(24, value);
+  @$pb.TagNumber(25)
+  $core.bool hasIkYaw() => $_has(24);
+  @$pb.TagNumber(25)
+  void clearIkYaw() => $_clearField(25);
+
+  @$pb.TagNumber(26)
+  $2.Pose3d get pose => $_getN(25);
+  @$pb.TagNumber(26)
+  set pose($2.Pose3d value) => $_setField(26, value);
+  @$pb.TagNumber(26)
+  $core.bool hasPose() => $_has(25);
+  @$pb.TagNumber(26)
+  void clearPose() => $_clearField(26);
+  @$pb.TagNumber(26)
+  $2.Pose3d ensurePose() => $_ensure(25);
 }
 
 const $core.bool _omitFieldNames =
diff --git a/burt_network/lib/src/generated/arm.pbjson.dart b/burt_network/lib/src/generated/arm.pbjson.dart
index ac1b9614..57f200d3 100644
--- a/burt_network/lib/src/generated/arm.pbjson.dart
+++ b/burt_network/lib/src/generated/arm.pbjson.dart
@@ -145,6 +145,14 @@ const ArmData$json = {
       '6': '.JointAngleData',
       '10': 'jointAngles'
     },
+    {
+      '1': 'using_ik',
+      '3': 16,
+      '4': 1,
+      '5': 14,
+      '6': '.BoolState',
+      '10': 'usingIk'
+    },
   ],
 };
 
@@ -160,7 +168,8 @@ final $typed_data.Uint8List armDataDescriptor = $convert.base64Decode(
     'RhUgZyb3RhdGUSIAoFd3Jpc3QYDyABKAsyCi5XcmlzdERhdGFSBXdyaXN0EiAKBXBpbmNoGAog'
     'ASgLMgouTW90b3JEYXRhUgVwaW5jaBIfCgtzZXJ2b19hbmdsZRgLIAEoBVIKc2Vydm9BbmdsZR'
     'IrCgtsYXNlcl9zdGF0ZRgMIAEoDjIKLkJvb2xTdGF0ZVIKbGFzZXJTdGF0ZRIyCgxqb2ludF9h'
-    'bmdsZXMYDiABKAsyDy5Kb2ludEFuZ2xlRGF0YVILam9pbnRBbmdsZXM=');
+    'bmdsZXMYDiABKAsyDy5Kb2ludEFuZ2xlRGF0YVILam9pbnRBbmdsZXMSJQoIdXNpbmdfaWsYEC'
+    'ABKA4yCi5Cb29sU3RhdGVSB3VzaW5nSWs=');
 
 @$core.Deprecated('Use wristCommandDescriptor instead')
 const WristCommand$json = {
@@ -230,6 +239,9 @@ const ArmCommand$json = {
     {'1': 'ik_x', '3': 7, '4': 1, '5': 2, '10': 'ikX'},
     {'1': 'ik_y', '3': 8, '4': 1, '5': 2, '10': 'ikY'},
     {'1': 'ik_z', '3': 9, '4': 1, '5': 2, '10': 'ikZ'},
+    {'1': 'ik_pitch', '3': 24, '4': 1, '5': 2, '10': 'ikPitch'},
+    {'1': 'ik_yaw', '3': 25, '4': 1, '5': 2, '10': 'ikYaw'},
+    {'1': 'pose', '3': 26, '4': 1, '5': 11, '6': '.Pose3d', '10': 'pose'},
     {'1': 'jab', '3': 10, '4': 1, '5': 8, '10': 'jab'},
     {
       '1': 'version',
@@ -284,6 +296,14 @@ const ArmCommand$json = {
       '6': '.BoolState',
       '10': 'laserState'
     },
+    {
+      '1': 'using_ik',
+      '3': 23,
+      '4': 1,
+      '5': 14,
+      '6': '.BoolState',
+      '10': 'usingIk'
+    },
   ],
 };
 
@@ -294,11 +314,13 @@ final $typed_data.Uint8List armCommandDescriptor = $convert.base64Decode(
     'ZXIYBCABKAsyDS5Nb3RvckNvbW1hbmRSCHNob3VsZGVyEiMKBWVsYm93GAUgASgLMg0uTW90b3'
     'JDb21tYW5kUgVlbGJvdxIhCgRyb2xsGBUgASgLMg0uTW90b3JDb21tYW5kUgRyb2xsEjAKDGdy'
     'aXBwZXJfbGlmdBgGIAEoCzINLk1vdG9yQ29tbWFuZFILZ3JpcHBlckxpZnQSEQoEaWtfeBgHIA'
-    'EoAlIDaWtYEhEKBGlrX3kYCCABKAJSA2lrWRIRCgRpa196GAkgASgCUgNpa1oSEAoDamFiGAog'
-    'ASgIUgNqYWISIgoHdmVyc2lvbhgLIAEoCzIILlZlcnNpb25SB3ZlcnNpb24SJwoJc3RhcnRfdX'
-    'NzGAwgASgOMgouQm9vbFN0YXRlUghzdGFydFVzcxIhCgRsaWZ0GA0gASgLMg0uTW90b3JDb21t'
-    'YW5kUgRsaWZ0EiUKBnJvdGF0ZRgOIAEoCzINLk1vdG9yQ29tbWFuZFIGcm90YXRlEiMKBXdyaX'
-    'N0GBYgASgLMg0uV3Jpc3RDb21tYW5kUgV3cmlzdBIjCgVwaW5jaBgPIAEoCzINLk1vdG9yQ29t'
-    'bWFuZFIFcGluY2gSEgoEb3BlbhgQIAEoCFIEb3BlbhIUCgVjbG9zZRgRIAEoCFIFY2xvc2USEg'
-    'oEc3BpbhgSIAEoCFIEc3BpbhIfCgtzZXJ2b19hbmdsZRgTIAEoBVIKc2Vydm9BbmdsZRIrCgts'
-    'YXNlcl9zdGF0ZRgUIAEoDjIKLkJvb2xTdGF0ZVIKbGFzZXJTdGF0ZQ==');
+    'EoAlIDaWtYEhEKBGlrX3kYCCABKAJSA2lrWRIRCgRpa196GAkgASgCUgNpa1oSGQoIaWtfcGl0'
+    'Y2gYGCABKAJSB2lrUGl0Y2gSFQoGaWtfeWF3GBkgASgCUgVpa1lhdxIbCgRwb3NlGBogASgLMg'
+    'cuUG9zZTNkUgRwb3NlEhAKA2phYhgKIAEoCFIDamFiEiIKB3ZlcnNpb24YCyABKAsyCC5WZXJz'
+    'aW9uUgd2ZXJzaW9uEicKCXN0YXJ0X3VzcxgMIAEoDjIKLkJvb2xTdGF0ZVIIc3RhcnRVc3MSIQ'
+    'oEbGlmdBgNIAEoCzINLk1vdG9yQ29tbWFuZFIEbGlmdBIlCgZyb3RhdGUYDiABKAsyDS5Nb3Rv'
+    'ckNvbW1hbmRSBnJvdGF0ZRIjCgV3cmlzdBgWIAEoCzINLldyaXN0Q29tbWFuZFIFd3Jpc3QSIw'
+    'oFcGluY2gYDyABKAsyDS5Nb3RvckNvbW1hbmRSBXBpbmNoEhIKBG9wZW4YECABKAhSBG9wZW4S'
+    'FAoFY2xvc2UYESABKAhSBWNsb3NlEhIKBHNwaW4YEiABKAhSBHNwaW4SHwoLc2Vydm9fYW5nbG'
+    'UYEyABKAVSCnNlcnZvQW5nbGUSKwoLbGFzZXJfc3RhdGUYFCABKA4yCi5Cb29sU3RhdGVSCmxh'
+    'c2VyU3RhdGUSJQoIdXNpbmdfaWsYFyABKA4yCi5Cb29sU3RhdGVSB3VzaW5nSWs=');

From e4bd38759925695bbd3705b8c50cdee51f987f2a Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Sun, 8 Feb 2026 01:40:29 -0500
Subject: [PATCH 07/29] six seven

---
 burt_network/Protobuf                         |  2 +-
 burt_network/lib/src/generated/arm.pb.dart    | 31 ++++++++++++++
 .../lib/src/generated/arm.pbjson.dart         | 40 ++++++++++++++-----
 3 files changed, 61 insertions(+), 12 deletions(-)

diff --git a/burt_network/Protobuf b/burt_network/Protobuf
index f5adb6e0..06dc109a 160000
--- a/burt_network/Protobuf
+++ b/burt_network/Protobuf
@@ -1 +1 @@
-Subproject commit f5adb6e04ccfd469e6705c3cb44a51238436ca39
+Subproject commit 06dc109a951bb384cd6640bd64685647ed33efe5
diff --git a/burt_network/lib/src/generated/arm.pb.dart b/burt_network/lib/src/generated/arm.pb.dart
index 4c41aeec..d9118b27 100644
--- a/burt_network/lib/src/generated/arm.pb.dart
+++ b/burt_network/lib/src/generated/arm.pb.dart
@@ -342,6 +342,8 @@ class ArmData extends $pb.GeneratedMessage {
     JointAngleData? jointAngles,
     WristData? wrist,
     $3.BoolState? usingIk,
+    $2.Orientation? currentOrientation,
+    $2.Orientation? targetOrientation,
   }) {
     final result = create();
     if (currentPosition != null) result.currentPosition = currentPosition;
@@ -360,6 +362,9 @@ class ArmData extends $pb.GeneratedMessage {
     if (jointAngles != null) result.jointAngles = jointAngles;
     if (wrist != null) result.wrist = wrist;
     if (usingIk != null) result.usingIk = usingIk;
+    if (currentOrientation != null)
+      result.currentOrientation = currentOrientation;
+    if (targetOrientation != null) result.targetOrientation = targetOrientation;
     return result;
   }
 
@@ -405,6 +410,10 @@ class ArmData extends $pb.GeneratedMessage {
         subBuilder: WristData.create)
     ..aE<$3.BoolState>(16, _omitFieldNames ? '' : 'usingIk',
         enumValues: $3.BoolState.values)
+    ..aOM<$2.Orientation>(17, _omitFieldNames ? '' : 'currentOrientation',
+        subBuilder: $2.Orientation.create)
+    ..aOM<$2.Orientation>(18, _omitFieldNames ? '' : 'targetOrientation',
+        subBuilder: $2.Orientation.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -595,6 +604,28 @@ class ArmData extends $pb.GeneratedMessage {
   $core.bool hasUsingIk() => $_has(15);
   @$pb.TagNumber(16)
   void clearUsingIk() => $_clearField(16);
+
+  @$pb.TagNumber(17)
+  $2.Orientation get currentOrientation => $_getN(16);
+  @$pb.TagNumber(17)
+  set currentOrientation($2.Orientation value) => $_setField(17, value);
+  @$pb.TagNumber(17)
+  $core.bool hasCurrentOrientation() => $_has(16);
+  @$pb.TagNumber(17)
+  void clearCurrentOrientation() => $_clearField(17);
+  @$pb.TagNumber(17)
+  $2.Orientation ensureCurrentOrientation() => $_ensure(16);
+
+  @$pb.TagNumber(18)
+  $2.Orientation get targetOrientation => $_getN(17);
+  @$pb.TagNumber(18)
+  set targetOrientation($2.Orientation value) => $_setField(18, value);
+  @$pb.TagNumber(18)
+  $core.bool hasTargetOrientation() => $_has(17);
+  @$pb.TagNumber(18)
+  void clearTargetOrientation() => $_clearField(18);
+  @$pb.TagNumber(18)
+  $2.Orientation ensureTargetOrientation() => $_ensure(17);
 }
 
 class WristCommand extends $pb.GeneratedMessage {
diff --git a/burt_network/lib/src/generated/arm.pbjson.dart b/burt_network/lib/src/generated/arm.pbjson.dart
index 57f200d3..8429942f 100644
--- a/burt_network/lib/src/generated/arm.pbjson.dart
+++ b/burt_network/lib/src/generated/arm.pbjson.dart
@@ -103,6 +103,14 @@ const ArmData$json = {
       '6': '.Coordinates',
       '10': 'currentPosition'
     },
+    {
+      '1': 'current_orientation',
+      '3': 17,
+      '4': 1,
+      '5': 11,
+      '6': '.Orientation',
+      '10': 'currentOrientation'
+    },
     {
       '1': 'target_position',
       '3': 2,
@@ -111,6 +119,14 @@ const ArmData$json = {
       '6': '.Coordinates',
       '10': 'targetPosition'
     },
+    {
+      '1': 'target_orientation',
+      '3': 18,
+      '4': 1,
+      '5': 11,
+      '6': '.Orientation',
+      '10': 'targetOrientation'
+    },
     {'1': 'base', '3': 3, '4': 1, '5': 11, '6': '.MotorData', '10': 'base'},
     {
       '1': 'shoulder',
@@ -159,17 +175,19 @@ const ArmData$json = {
 /// Descriptor for `ArmData`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List armDataDescriptor = $convert.base64Decode(
     'CgdBcm1EYXRhEjcKEGN1cnJlbnRfcG9zaXRpb24YASABKAsyDC5Db29yZGluYXRlc1IPY3Vycm'
-    'VudFBvc2l0aW9uEjUKD3RhcmdldF9wb3NpdGlvbhgCIAEoCzIMLkNvb3JkaW5hdGVzUg50YXJn'
-    'ZXRQb3NpdGlvbhIeCgRiYXNlGAMgASgLMgouTW90b3JEYXRhUgRiYXNlEiYKCHNob3VsZGVyGA'
-    'QgASgLMgouTW90b3JEYXRhUghzaG91bGRlchIgCgVlbGJvdxgFIAEoCzIKLk1vdG9yRGF0YVIF'
-    'ZWxib3cSHgoEcm9sbBgNIAEoCzIKLk1vdG9yRGF0YVIEcm9sbBIiCgd2ZXJzaW9uGAYgASgLMg'
-    'guVmVyc2lvblIHdmVyc2lvbhIhCgx1c3NfZGlzdGFuY2UYByABKAJSC3Vzc0Rpc3RhbmNlEh4K'
-    'BGxpZnQYCCABKAsyCi5Nb3RvckRhdGFSBGxpZnQSIgoGcm90YXRlGAkgASgLMgouTW90b3JEYX'
-    'RhUgZyb3RhdGUSIAoFd3Jpc3QYDyABKAsyCi5XcmlzdERhdGFSBXdyaXN0EiAKBXBpbmNoGAog'
-    'ASgLMgouTW90b3JEYXRhUgVwaW5jaBIfCgtzZXJ2b19hbmdsZRgLIAEoBVIKc2Vydm9BbmdsZR'
-    'IrCgtsYXNlcl9zdGF0ZRgMIAEoDjIKLkJvb2xTdGF0ZVIKbGFzZXJTdGF0ZRIyCgxqb2ludF9h'
-    'bmdsZXMYDiABKAsyDy5Kb2ludEFuZ2xlRGF0YVILam9pbnRBbmdsZXMSJQoIdXNpbmdfaWsYEC'
-    'ABKA4yCi5Cb29sU3RhdGVSB3VzaW5nSWs=');
+    'VudFBvc2l0aW9uEj0KE2N1cnJlbnRfb3JpZW50YXRpb24YESABKAsyDC5PcmllbnRhdGlvblIS'
+    'Y3VycmVudE9yaWVudGF0aW9uEjUKD3RhcmdldF9wb3NpdGlvbhgCIAEoCzIMLkNvb3JkaW5hdG'
+    'VzUg50YXJnZXRQb3NpdGlvbhI7ChJ0YXJnZXRfb3JpZW50YXRpb24YEiABKAsyDC5PcmllbnRh'
+    'dGlvblIRdGFyZ2V0T3JpZW50YXRpb24SHgoEYmFzZRgDIAEoCzIKLk1vdG9yRGF0YVIEYmFzZR'
+    'ImCghzaG91bGRlchgEIAEoCzIKLk1vdG9yRGF0YVIIc2hvdWxkZXISIAoFZWxib3cYBSABKAsy'
+    'Ci5Nb3RvckRhdGFSBWVsYm93Eh4KBHJvbGwYDSABKAsyCi5Nb3RvckRhdGFSBHJvbGwSIgoHdm'
+    'Vyc2lvbhgGIAEoCzIILlZlcnNpb25SB3ZlcnNpb24SIQoMdXNzX2Rpc3RhbmNlGAcgASgCUgt1'
+    'c3NEaXN0YW5jZRIeCgRsaWZ0GAggASgLMgouTW90b3JEYXRhUgRsaWZ0EiIKBnJvdGF0ZRgJIA'
+    'EoCzIKLk1vdG9yRGF0YVIGcm90YXRlEiAKBXdyaXN0GA8gASgLMgouV3Jpc3REYXRhUgV3cmlz'
+    'dBIgCgVwaW5jaBgKIAEoCzIKLk1vdG9yRGF0YVIFcGluY2gSHwoLc2Vydm9fYW5nbGUYCyABKA'
+    'VSCnNlcnZvQW5nbGUSKwoLbGFzZXJfc3RhdGUYDCABKA4yCi5Cb29sU3RhdGVSCmxhc2VyU3Rh'
+    'dGUSMgoMam9pbnRfYW5nbGVzGA4gASgLMg8uSm9pbnRBbmdsZURhdGFSC2pvaW50QW5nbGVzEi'
+    'UKCHVzaW5nX2lrGBAgASgOMgouQm9vbFN0YXRlUgd1c2luZ0lr');
 
 @$core.Deprecated('Use wristCommandDescriptor instead')
 const WristCommand$json = {

From 314fe06eb56ac7f78000f39932943654582ae25d Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Sun, 8 Feb 2026 11:44:34 -0500
Subject: [PATCH 08/29] Protobuf regen again

---
 burt_network/Protobuf                         |   2 +-
 burt_network/lib/src/generated/arm.pb.dart    | 330 ++++++------------
 .../lib/src/generated/arm.pbjson.dart         |  99 ++----
 burt_network/lib/src/generated/drive.pb.dart  | 118 ++-----
 .../lib/src/generated/drive.pbjson.dart       |  30 +-
 5 files changed, 174 insertions(+), 405 deletions(-)

diff --git a/burt_network/Protobuf b/burt_network/Protobuf
index 06dc109a..ab8ebd21 160000
--- a/burt_network/Protobuf
+++ b/burt_network/Protobuf
@@ -1 +1 @@
-Subproject commit 06dc109a951bb384cd6640bd64685647ed33efe5
+Subproject commit ab8ebd21ac0da710d1f9e5c26d1857e27bd7ba3c
diff --git a/burt_network/lib/src/generated/arm.pb.dart b/burt_network/lib/src/generated/arm.pb.dart
index d9118b27..d493d99b 100644
--- a/burt_network/lib/src/generated/arm.pb.dart
+++ b/burt_network/lib/src/generated/arm.pb.dart
@@ -326,8 +326,6 @@ class WristData extends $pb.GeneratedMessage {
 
 class ArmData extends $pb.GeneratedMessage {
   factory ArmData({
-    $2.Coordinates? currentPosition,
-    $2.Coordinates? targetPosition,
     $0.MotorData? base,
     $0.MotorData? shoulder,
     $0.MotorData? elbow,
@@ -342,12 +340,10 @@ class ArmData extends $pb.GeneratedMessage {
     JointAngleData? jointAngles,
     WristData? wrist,
     $3.BoolState? usingIk,
-    $2.Orientation? currentOrientation,
-    $2.Orientation? targetOrientation,
+    $2.Pose3d? currentPose,
+    $2.Pose3d? targetPose,
   }) {
     final result = create();
-    if (currentPosition != null) result.currentPosition = currentPosition;
-    if (targetPosition != null) result.targetPosition = targetPosition;
     if (base != null) result.base = base;
     if (shoulder != null) result.shoulder = shoulder;
     if (elbow != null) result.elbow = elbow;
@@ -362,9 +358,8 @@ class ArmData extends $pb.GeneratedMessage {
     if (jointAngles != null) result.jointAngles = jointAngles;
     if (wrist != null) result.wrist = wrist;
     if (usingIk != null) result.usingIk = usingIk;
-    if (currentOrientation != null)
-      result.currentOrientation = currentOrientation;
-    if (targetOrientation != null) result.targetOrientation = targetOrientation;
+    if (currentPose != null) result.currentPose = currentPose;
+    if (targetPose != null) result.targetPose = targetPose;
     return result;
   }
 
@@ -380,10 +375,6 @@ class ArmData extends $pb.GeneratedMessage {
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(
       _omitMessageNames ? '' : 'ArmData',
       createEmptyInstance: create)
-    ..aOM<$2.Coordinates>(1, _omitFieldNames ? '' : 'currentPosition',
-        subBuilder: $2.Coordinates.create)
-    ..aOM<$2.Coordinates>(2, _omitFieldNames ? '' : 'targetPosition',
-        subBuilder: $2.Coordinates.create)
     ..aOM<$0.MotorData>(3, _omitFieldNames ? '' : 'base',
         subBuilder: $0.MotorData.create)
     ..aOM<$0.MotorData>(4, _omitFieldNames ? '' : 'shoulder',
@@ -410,10 +401,10 @@ class ArmData extends $pb.GeneratedMessage {
         subBuilder: WristData.create)
     ..aE<$3.BoolState>(16, _omitFieldNames ? '' : 'usingIk',
         enumValues: $3.BoolState.values)
-    ..aOM<$2.Orientation>(17, _omitFieldNames ? '' : 'currentOrientation',
-        subBuilder: $2.Orientation.create)
-    ..aOM<$2.Orientation>(18, _omitFieldNames ? '' : 'targetOrientation',
-        subBuilder: $2.Orientation.create)
+    ..aOM<$2.Pose3d>(17, _omitFieldNames ? '' : 'currentPose',
+        subBuilder: $2.Pose3d.create)
+    ..aOM<$2.Pose3d>(18, _omitFieldNames ? '' : 'targetPose',
+        subBuilder: $2.Pose3d.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -434,198 +425,175 @@ class ArmData extends $pb.GeneratedMessage {
       _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<ArmData>(create);
   static ArmData? _defaultInstance;
 
-  /// Arm Commands
-  @$pb.TagNumber(1)
-  $2.Coordinates get currentPosition => $_getN(0);
-  @$pb.TagNumber(1)
-  set currentPosition($2.Coordinates value) => $_setField(1, value);
-  @$pb.TagNumber(1)
-  $core.bool hasCurrentPosition() => $_has(0);
-  @$pb.TagNumber(1)
-  void clearCurrentPosition() => $_clearField(1);
-  @$pb.TagNumber(1)
-  $2.Coordinates ensureCurrentPosition() => $_ensure(0);
-
-  @$pb.TagNumber(2)
-  $2.Coordinates get targetPosition => $_getN(1);
-  @$pb.TagNumber(2)
-  set targetPosition($2.Coordinates value) => $_setField(2, value);
-  @$pb.TagNumber(2)
-  $core.bool hasTargetPosition() => $_has(1);
-  @$pb.TagNumber(2)
-  void clearTargetPosition() => $_clearField(2);
-  @$pb.TagNumber(2)
-  $2.Coordinates ensureTargetPosition() => $_ensure(1);
-
   @$pb.TagNumber(3)
-  $0.MotorData get base => $_getN(2);
+  $0.MotorData get base => $_getN(0);
   @$pb.TagNumber(3)
   set base($0.MotorData value) => $_setField(3, value);
   @$pb.TagNumber(3)
-  $core.bool hasBase() => $_has(2);
+  $core.bool hasBase() => $_has(0);
   @$pb.TagNumber(3)
   void clearBase() => $_clearField(3);
   @$pb.TagNumber(3)
-  $0.MotorData ensureBase() => $_ensure(2);
+  $0.MotorData ensureBase() => $_ensure(0);
 
   @$pb.TagNumber(4)
-  $0.MotorData get shoulder => $_getN(3);
+  $0.MotorData get shoulder => $_getN(1);
   @$pb.TagNumber(4)
   set shoulder($0.MotorData value) => $_setField(4, value);
   @$pb.TagNumber(4)
-  $core.bool hasShoulder() => $_has(3);
+  $core.bool hasShoulder() => $_has(1);
   @$pb.TagNumber(4)
   void clearShoulder() => $_clearField(4);
   @$pb.TagNumber(4)
-  $0.MotorData ensureShoulder() => $_ensure(3);
+  $0.MotorData ensureShoulder() => $_ensure(1);
 
   @$pb.TagNumber(5)
-  $0.MotorData get elbow => $_getN(4);
+  $0.MotorData get elbow => $_getN(2);
   @$pb.TagNumber(5)
   set elbow($0.MotorData value) => $_setField(5, value);
   @$pb.TagNumber(5)
-  $core.bool hasElbow() => $_has(4);
+  $core.bool hasElbow() => $_has(2);
   @$pb.TagNumber(5)
   void clearElbow() => $_clearField(5);
   @$pb.TagNumber(5)
-  $0.MotorData ensureElbow() => $_ensure(4);
+  $0.MotorData ensureElbow() => $_ensure(2);
 
   @$pb.TagNumber(6)
-  $1.Version get version => $_getN(5);
+  $1.Version get version => $_getN(3);
   @$pb.TagNumber(6)
   set version($1.Version value) => $_setField(6, value);
   @$pb.TagNumber(6)
-  $core.bool hasVersion() => $_has(5);
+  $core.bool hasVersion() => $_has(3);
   @$pb.TagNumber(6)
   void clearVersion() => $_clearField(6);
   @$pb.TagNumber(6)
-  $1.Version ensureVersion() => $_ensure(5);
+  $1.Version ensureVersion() => $_ensure(3);
 
   /// USS data
   @$pb.TagNumber(7)
-  $core.double get ussDistance => $_getN(6);
+  $core.double get ussDistance => $_getN(4);
   @$pb.TagNumber(7)
-  set ussDistance($core.double value) => $_setFloat(6, value);
+  set ussDistance($core.double value) => $_setFloat(4, value);
   @$pb.TagNumber(7)
-  $core.bool hasUssDistance() => $_has(6);
+  $core.bool hasUssDistance() => $_has(4);
   @$pb.TagNumber(7)
   void clearUssDistance() => $_clearField(7);
 
   /// Gripper Commands
   @$pb.TagNumber(8)
-  $0.MotorData get lift => $_getN(7);
+  $0.MotorData get lift => $_getN(5);
   @$pb.TagNumber(8)
   set lift($0.MotorData value) => $_setField(8, value);
   @$pb.TagNumber(8)
-  $core.bool hasLift() => $_has(7);
+  $core.bool hasLift() => $_has(5);
   @$pb.TagNumber(8)
   void clearLift() => $_clearField(8);
   @$pb.TagNumber(8)
-  $0.MotorData ensureLift() => $_ensure(7);
+  $0.MotorData ensureLift() => $_ensure(5);
 
   @$pb.TagNumber(9)
-  $0.MotorData get rotate => $_getN(8);
+  $0.MotorData get rotate => $_getN(6);
   @$pb.TagNumber(9)
   set rotate($0.MotorData value) => $_setField(9, value);
   @$pb.TagNumber(9)
-  $core.bool hasRotate() => $_has(8);
+  $core.bool hasRotate() => $_has(6);
   @$pb.TagNumber(9)
   void clearRotate() => $_clearField(9);
   @$pb.TagNumber(9)
-  $0.MotorData ensureRotate() => $_ensure(8);
+  $0.MotorData ensureRotate() => $_ensure(6);
 
   @$pb.TagNumber(10)
-  $0.MotorData get pinch => $_getN(9);
+  $0.MotorData get pinch => $_getN(7);
   @$pb.TagNumber(10)
   set pinch($0.MotorData value) => $_setField(10, value);
   @$pb.TagNumber(10)
-  $core.bool hasPinch() => $_has(9);
+  $core.bool hasPinch() => $_has(7);
   @$pb.TagNumber(10)
   void clearPinch() => $_clearField(10);
   @$pb.TagNumber(10)
-  $0.MotorData ensurePinch() => $_ensure(9);
+  $0.MotorData ensurePinch() => $_ensure(7);
 
   @$pb.TagNumber(11)
-  $core.int get servoAngle => $_getIZ(10);
+  $core.int get servoAngle => $_getIZ(8);
   @$pb.TagNumber(11)
-  set servoAngle($core.int value) => $_setSignedInt32(10, value);
+  set servoAngle($core.int value) => $_setSignedInt32(8, value);
   @$pb.TagNumber(11)
-  $core.bool hasServoAngle() => $_has(10);
+  $core.bool hasServoAngle() => $_has(8);
   @$pb.TagNumber(11)
   void clearServoAngle() => $_clearField(11);
 
   @$pb.TagNumber(12)
-  $3.BoolState get laserState => $_getN(11);
+  $3.BoolState get laserState => $_getN(9);
   @$pb.TagNumber(12)
   set laserState($3.BoolState value) => $_setField(12, value);
   @$pb.TagNumber(12)
-  $core.bool hasLaserState() => $_has(11);
+  $core.bool hasLaserState() => $_has(9);
   @$pb.TagNumber(12)
   void clearLaserState() => $_clearField(12);
 
   @$pb.TagNumber(13)
-  $0.MotorData get roll => $_getN(12);
+  $0.MotorData get roll => $_getN(10);
   @$pb.TagNumber(13)
   set roll($0.MotorData value) => $_setField(13, value);
   @$pb.TagNumber(13)
-  $core.bool hasRoll() => $_has(12);
+  $core.bool hasRoll() => $_has(10);
   @$pb.TagNumber(13)
   void clearRoll() => $_clearField(13);
   @$pb.TagNumber(13)
-  $0.MotorData ensureRoll() => $_ensure(12);
+  $0.MotorData ensureRoll() => $_ensure(10);
 
   @$pb.TagNumber(14)
-  JointAngleData get jointAngles => $_getN(13);
+  JointAngleData get jointAngles => $_getN(11);
   @$pb.TagNumber(14)
   set jointAngles(JointAngleData value) => $_setField(14, value);
   @$pb.TagNumber(14)
-  $core.bool hasJointAngles() => $_has(13);
+  $core.bool hasJointAngles() => $_has(11);
   @$pb.TagNumber(14)
   void clearJointAngles() => $_clearField(14);
   @$pb.TagNumber(14)
-  JointAngleData ensureJointAngles() => $_ensure(13);
+  JointAngleData ensureJointAngles() => $_ensure(11);
 
   @$pb.TagNumber(15)
-  WristData get wrist => $_getN(14);
+  WristData get wrist => $_getN(12);
   @$pb.TagNumber(15)
   set wrist(WristData value) => $_setField(15, value);
   @$pb.TagNumber(15)
-  $core.bool hasWrist() => $_has(14);
+  $core.bool hasWrist() => $_has(12);
   @$pb.TagNumber(15)
   void clearWrist() => $_clearField(15);
   @$pb.TagNumber(15)
-  WristData ensureWrist() => $_ensure(14);
+  WristData ensureWrist() => $_ensure(12);
 
   @$pb.TagNumber(16)
-  $3.BoolState get usingIk => $_getN(15);
+  $3.BoolState get usingIk => $_getN(13);
   @$pb.TagNumber(16)
   set usingIk($3.BoolState value) => $_setField(16, value);
   @$pb.TagNumber(16)
-  $core.bool hasUsingIk() => $_has(15);
+  $core.bool hasUsingIk() => $_has(13);
   @$pb.TagNumber(16)
   void clearUsingIk() => $_clearField(16);
 
   @$pb.TagNumber(17)
-  $2.Orientation get currentOrientation => $_getN(16);
+  $2.Pose3d get currentPose => $_getN(14);
   @$pb.TagNumber(17)
-  set currentOrientation($2.Orientation value) => $_setField(17, value);
+  set currentPose($2.Pose3d value) => $_setField(17, value);
   @$pb.TagNumber(17)
-  $core.bool hasCurrentOrientation() => $_has(16);
+  $core.bool hasCurrentPose() => $_has(14);
   @$pb.TagNumber(17)
-  void clearCurrentOrientation() => $_clearField(17);
+  void clearCurrentPose() => $_clearField(17);
   @$pb.TagNumber(17)
-  $2.Orientation ensureCurrentOrientation() => $_ensure(16);
+  $2.Pose3d ensureCurrentPose() => $_ensure(14);
 
   @$pb.TagNumber(18)
-  $2.Orientation get targetOrientation => $_getN(17);
+  $2.Pose3d get targetPose => $_getN(15);
   @$pb.TagNumber(18)
-  set targetOrientation($2.Orientation value) => $_setField(18, value);
+  set targetPose($2.Pose3d value) => $_setField(18, value);
   @$pb.TagNumber(18)
-  $core.bool hasTargetOrientation() => $_has(17);
+  $core.bool hasTargetPose() => $_has(15);
   @$pb.TagNumber(18)
-  void clearTargetOrientation() => $_clearField(18);
+  void clearTargetPose() => $_clearField(18);
   @$pb.TagNumber(18)
-  $2.Orientation ensureTargetOrientation() => $_ensure(17);
+  $2.Pose3d ensureTargetPose() => $_ensure(15);
 }
 
 class WristCommand extends $pb.GeneratedMessage {
@@ -748,14 +716,9 @@ class ArmCommand extends $pb.GeneratedMessage {
     $0.MotorCommand? swivel,
     $0.MotorCommand? shoulder,
     $0.MotorCommand? elbow,
-    $0.MotorCommand? gripperLift,
-    $core.double? ikX,
-    $core.double? ikY,
-    $core.double? ikZ,
     $core.bool? jab,
     $1.Version? version,
     $3.BoolState? startUss,
-    $0.MotorCommand? lift,
     $0.MotorCommand? rotate,
     $0.MotorCommand? pinch,
     $core.bool? open,
@@ -766,9 +729,7 @@ class ArmCommand extends $pb.GeneratedMessage {
     $0.MotorCommand? roll,
     WristCommand? wrist,
     $3.BoolState? usingIk,
-    $core.double? ikPitch,
-    $core.double? ikYaw,
-    $2.Pose3d? pose,
+    $2.Pose3d? ikPose,
   }) {
     final result = create();
     if (stop != null) result.stop = stop;
@@ -776,14 +737,9 @@ class ArmCommand extends $pb.GeneratedMessage {
     if (swivel != null) result.swivel = swivel;
     if (shoulder != null) result.shoulder = shoulder;
     if (elbow != null) result.elbow = elbow;
-    if (gripperLift != null) result.gripperLift = gripperLift;
-    if (ikX != null) result.ikX = ikX;
-    if (ikY != null) result.ikY = ikY;
-    if (ikZ != null) result.ikZ = ikZ;
     if (jab != null) result.jab = jab;
     if (version != null) result.version = version;
     if (startUss != null) result.startUss = startUss;
-    if (lift != null) result.lift = lift;
     if (rotate != null) result.rotate = rotate;
     if (pinch != null) result.pinch = pinch;
     if (open != null) result.open = open;
@@ -794,9 +750,7 @@ class ArmCommand extends $pb.GeneratedMessage {
     if (roll != null) result.roll = roll;
     if (wrist != null) result.wrist = wrist;
     if (usingIk != null) result.usingIk = usingIk;
-    if (ikPitch != null) result.ikPitch = ikPitch;
-    if (ikYaw != null) result.ikYaw = ikYaw;
-    if (pose != null) result.pose = pose;
+    if (ikPose != null) result.ikPose = ikPose;
     return result;
   }
 
@@ -820,18 +774,11 @@ class ArmCommand extends $pb.GeneratedMessage {
         subBuilder: $0.MotorCommand.create)
     ..aOM<$0.MotorCommand>(5, _omitFieldNames ? '' : 'elbow',
         subBuilder: $0.MotorCommand.create)
-    ..aOM<$0.MotorCommand>(6, _omitFieldNames ? '' : 'gripperLift',
-        subBuilder: $0.MotorCommand.create)
-    ..aD(7, _omitFieldNames ? '' : 'ikX', fieldType: $pb.PbFieldType.OF)
-    ..aD(8, _omitFieldNames ? '' : 'ikY', fieldType: $pb.PbFieldType.OF)
-    ..aD(9, _omitFieldNames ? '' : 'ikZ', fieldType: $pb.PbFieldType.OF)
     ..aOB(10, _omitFieldNames ? '' : 'jab')
     ..aOM<$1.Version>(11, _omitFieldNames ? '' : 'version',
         subBuilder: $1.Version.create)
     ..aE<$3.BoolState>(12, _omitFieldNames ? '' : 'startUss',
         enumValues: $3.BoolState.values)
-    ..aOM<$0.MotorCommand>(13, _omitFieldNames ? '' : 'lift',
-        subBuilder: $0.MotorCommand.create)
     ..aOM<$0.MotorCommand>(14, _omitFieldNames ? '' : 'rotate',
         subBuilder: $0.MotorCommand.create)
     ..aOM<$0.MotorCommand>(15, _omitFieldNames ? '' : 'pinch',
@@ -848,9 +795,7 @@ class ArmCommand extends $pb.GeneratedMessage {
         subBuilder: WristCommand.create)
     ..aE<$3.BoolState>(23, _omitFieldNames ? '' : 'usingIk',
         enumValues: $3.BoolState.values)
-    ..aD(24, _omitFieldNames ? '' : 'ikPitch', fieldType: $pb.PbFieldType.OF)
-    ..aD(25, _omitFieldNames ? '' : 'ikYaw', fieldType: $pb.PbFieldType.OF)
-    ..aOM<$2.Pose3d>(26, _omitFieldNames ? '' : 'pose',
+    ..aOM<$2.Pose3d>(24, _omitFieldNames ? '' : 'ikPose',
         subBuilder: $2.Pose3d.create)
     ..hasRequiredFields = false;
 
@@ -925,215 +870,146 @@ class ArmCommand extends $pb.GeneratedMessage {
   @$pb.TagNumber(5)
   $0.MotorCommand ensureElbow() => $_ensure(4);
 
-  @$pb.TagNumber(6)
-  $0.MotorCommand get gripperLift => $_getN(5);
-  @$pb.TagNumber(6)
-  set gripperLift($0.MotorCommand value) => $_setField(6, value);
-  @$pb.TagNumber(6)
-  $core.bool hasGripperLift() => $_has(5);
-  @$pb.TagNumber(6)
-  void clearGripperLift() => $_clearField(6);
-  @$pb.TagNumber(6)
-  $0.MotorCommand ensureGripperLift() => $_ensure(5);
-
-  /// Can be removed in future versions
-  @$pb.TagNumber(7)
-  $core.double get ikX => $_getN(6);
-  @$pb.TagNumber(7)
-  set ikX($core.double value) => $_setFloat(6, value);
-  @$pb.TagNumber(7)
-  $core.bool hasIkX() => $_has(6);
-  @$pb.TagNumber(7)
-  void clearIkX() => $_clearField(7);
-
-  @$pb.TagNumber(8)
-  $core.double get ikY => $_getN(7);
-  @$pb.TagNumber(8)
-  set ikY($core.double value) => $_setFloat(7, value);
-  @$pb.TagNumber(8)
-  $core.bool hasIkY() => $_has(7);
-  @$pb.TagNumber(8)
-  void clearIkY() => $_clearField(8);
-
-  @$pb.TagNumber(9)
-  $core.double get ikZ => $_getN(8);
-  @$pb.TagNumber(9)
-  set ikZ($core.double value) => $_setFloat(8, value);
-  @$pb.TagNumber(9)
-  $core.bool hasIkZ() => $_has(8);
-  @$pb.TagNumber(9)
-  void clearIkZ() => $_clearField(9);
-
   /// Custom actions
   @$pb.TagNumber(10)
-  $core.bool get jab => $_getBF(9);
+  $core.bool get jab => $_getBF(5);
   @$pb.TagNumber(10)
-  set jab($core.bool value) => $_setBool(9, value);
+  set jab($core.bool value) => $_setBool(5, value);
   @$pb.TagNumber(10)
-  $core.bool hasJab() => $_has(9);
+  $core.bool hasJab() => $_has(5);
   @$pb.TagNumber(10)
   void clearJab() => $_clearField(10);
 
   @$pb.TagNumber(11)
-  $1.Version get version => $_getN(10);
+  $1.Version get version => $_getN(6);
   @$pb.TagNumber(11)
   set version($1.Version value) => $_setField(11, value);
   @$pb.TagNumber(11)
-  $core.bool hasVersion() => $_has(10);
+  $core.bool hasVersion() => $_has(6);
   @$pb.TagNumber(11)
   void clearVersion() => $_clearField(11);
   @$pb.TagNumber(11)
-  $1.Version ensureVersion() => $_ensure(10);
+  $1.Version ensureVersion() => $_ensure(6);
 
   /// USS commands
   @$pb.TagNumber(12)
-  $3.BoolState get startUss => $_getN(11);
+  $3.BoolState get startUss => $_getN(7);
   @$pb.TagNumber(12)
   set startUss($3.BoolState value) => $_setField(12, value);
   @$pb.TagNumber(12)
-  $core.bool hasStartUss() => $_has(11);
+  $core.bool hasStartUss() => $_has(7);
   @$pb.TagNumber(12)
   void clearStartUss() => $_clearField(12);
 
-  /// Move individual motors
-  @$pb.TagNumber(13)
-  $0.MotorCommand get lift => $_getN(12);
-  @$pb.TagNumber(13)
-  set lift($0.MotorCommand value) => $_setField(13, value);
-  @$pb.TagNumber(13)
-  $core.bool hasLift() => $_has(12);
-  @$pb.TagNumber(13)
-  void clearLift() => $_clearField(13);
-  @$pb.TagNumber(13)
-  $0.MotorCommand ensureLift() => $_ensure(12);
-
   @$pb.TagNumber(14)
-  $0.MotorCommand get rotate => $_getN(13);
+  $0.MotorCommand get rotate => $_getN(8);
   @$pb.TagNumber(14)
   set rotate($0.MotorCommand value) => $_setField(14, value);
   @$pb.TagNumber(14)
-  $core.bool hasRotate() => $_has(13);
+  $core.bool hasRotate() => $_has(8);
   @$pb.TagNumber(14)
   void clearRotate() => $_clearField(14);
   @$pb.TagNumber(14)
-  $0.MotorCommand ensureRotate() => $_ensure(13);
+  $0.MotorCommand ensureRotate() => $_ensure(8);
 
   @$pb.TagNumber(15)
-  $0.MotorCommand get pinch => $_getN(14);
+  $0.MotorCommand get pinch => $_getN(9);
   @$pb.TagNumber(15)
   set pinch($0.MotorCommand value) => $_setField(15, value);
   @$pb.TagNumber(15)
-  $core.bool hasPinch() => $_has(14);
+  $core.bool hasPinch() => $_has(9);
   @$pb.TagNumber(15)
   void clearPinch() => $_clearField(15);
   @$pb.TagNumber(15)
-  $0.MotorCommand ensurePinch() => $_ensure(14);
+  $0.MotorCommand ensurePinch() => $_ensure(9);
 
   /// Custom actions
   @$pb.TagNumber(16)
-  $core.bool get open => $_getBF(15);
+  $core.bool get open => $_getBF(10);
   @$pb.TagNumber(16)
-  set open($core.bool value) => $_setBool(15, value);
+  set open($core.bool value) => $_setBool(10, value);
   @$pb.TagNumber(16)
-  $core.bool hasOpen() => $_has(15);
+  $core.bool hasOpen() => $_has(10);
   @$pb.TagNumber(16)
   void clearOpen() => $_clearField(16);
 
   @$pb.TagNumber(17)
-  $core.bool get close => $_getBF(16);
+  $core.bool get close => $_getBF(11);
   @$pb.TagNumber(17)
-  set close($core.bool value) => $_setBool(16, value);
+  set close($core.bool value) => $_setBool(11, value);
   @$pb.TagNumber(17)
-  $core.bool hasClose() => $_has(16);
+  $core.bool hasClose() => $_has(11);
   @$pb.TagNumber(17)
   void clearClose() => $_clearField(17);
 
   @$pb.TagNumber(18)
-  $core.bool get spin => $_getBF(17);
+  $core.bool get spin => $_getBF(12);
   @$pb.TagNumber(18)
-  set spin($core.bool value) => $_setBool(17, value);
+  set spin($core.bool value) => $_setBool(12, value);
   @$pb.TagNumber(18)
-  $core.bool hasSpin() => $_has(17);
+  $core.bool hasSpin() => $_has(12);
   @$pb.TagNumber(18)
   void clearSpin() => $_clearField(18);
 
   @$pb.TagNumber(19)
-  $core.int get servoAngle => $_getIZ(18);
+  $core.int get servoAngle => $_getIZ(13);
   @$pb.TagNumber(19)
-  set servoAngle($core.int value) => $_setSignedInt32(18, value);
+  set servoAngle($core.int value) => $_setSignedInt32(13, value);
   @$pb.TagNumber(19)
-  $core.bool hasServoAngle() => $_has(18);
+  $core.bool hasServoAngle() => $_has(13);
   @$pb.TagNumber(19)
   void clearServoAngle() => $_clearField(19);
 
   @$pb.TagNumber(20)
-  $3.BoolState get laserState => $_getN(19);
+  $3.BoolState get laserState => $_getN(14);
   @$pb.TagNumber(20)
   set laserState($3.BoolState value) => $_setField(20, value);
   @$pb.TagNumber(20)
-  $core.bool hasLaserState() => $_has(19);
+  $core.bool hasLaserState() => $_has(14);
   @$pb.TagNumber(20)
   void clearLaserState() => $_clearField(20);
 
   @$pb.TagNumber(21)
-  $0.MotorCommand get roll => $_getN(20);
+  $0.MotorCommand get roll => $_getN(15);
   @$pb.TagNumber(21)
   set roll($0.MotorCommand value) => $_setField(21, value);
   @$pb.TagNumber(21)
-  $core.bool hasRoll() => $_has(20);
+  $core.bool hasRoll() => $_has(15);
   @$pb.TagNumber(21)
   void clearRoll() => $_clearField(21);
   @$pb.TagNumber(21)
-  $0.MotorCommand ensureRoll() => $_ensure(20);
+  $0.MotorCommand ensureRoll() => $_ensure(15);
 
   @$pb.TagNumber(22)
-  WristCommand get wrist => $_getN(21);
+  WristCommand get wrist => $_getN(16);
   @$pb.TagNumber(22)
   set wrist(WristCommand value) => $_setField(22, value);
   @$pb.TagNumber(22)
-  $core.bool hasWrist() => $_has(21);
+  $core.bool hasWrist() => $_has(16);
   @$pb.TagNumber(22)
   void clearWrist() => $_clearField(22);
   @$pb.TagNumber(22)
-  WristCommand ensureWrist() => $_ensure(21);
+  WristCommand ensureWrist() => $_ensure(16);
 
   @$pb.TagNumber(23)
-  $3.BoolState get usingIk => $_getN(22);
+  $3.BoolState get usingIk => $_getN(17);
   @$pb.TagNumber(23)
   set usingIk($3.BoolState value) => $_setField(23, value);
   @$pb.TagNumber(23)
-  $core.bool hasUsingIk() => $_has(22);
+  $core.bool hasUsingIk() => $_has(17);
   @$pb.TagNumber(23)
   void clearUsingIk() => $_clearField(23);
 
   @$pb.TagNumber(24)
-  $core.double get ikPitch => $_getN(23);
+  $2.Pose3d get ikPose => $_getN(18);
+  @$pb.TagNumber(24)
+  set ikPose($2.Pose3d value) => $_setField(24, value);
   @$pb.TagNumber(24)
-  set ikPitch($core.double value) => $_setFloat(23, value);
+  $core.bool hasIkPose() => $_has(18);
   @$pb.TagNumber(24)
-  $core.bool hasIkPitch() => $_has(23);
+  void clearIkPose() => $_clearField(24);
   @$pb.TagNumber(24)
-  void clearIkPitch() => $_clearField(24);
-
-  @$pb.TagNumber(25)
-  $core.double get ikYaw => $_getN(24);
-  @$pb.TagNumber(25)
-  set ikYaw($core.double value) => $_setFloat(24, value);
-  @$pb.TagNumber(25)
-  $core.bool hasIkYaw() => $_has(24);
-  @$pb.TagNumber(25)
-  void clearIkYaw() => $_clearField(25);
-
-  @$pb.TagNumber(26)
-  $2.Pose3d get pose => $_getN(25);
-  @$pb.TagNumber(26)
-  set pose($2.Pose3d value) => $_setField(26, value);
-  @$pb.TagNumber(26)
-  $core.bool hasPose() => $_has(25);
-  @$pb.TagNumber(26)
-  void clearPose() => $_clearField(26);
-  @$pb.TagNumber(26)
-  $2.Pose3d ensurePose() => $_ensure(25);
+  $2.Pose3d ensureIkPose() => $_ensure(18);
 }
 
 const $core.bool _omitFieldNames =
diff --git a/burt_network/lib/src/generated/arm.pbjson.dart b/burt_network/lib/src/generated/arm.pbjson.dart
index 8429942f..bff9ba5e 100644
--- a/burt_network/lib/src/generated/arm.pbjson.dart
+++ b/burt_network/lib/src/generated/arm.pbjson.dart
@@ -96,36 +96,20 @@ const ArmData$json = {
   '1': 'ArmData',
   '2': [
     {
-      '1': 'current_position',
-      '3': 1,
-      '4': 1,
-      '5': 11,
-      '6': '.Coordinates',
-      '10': 'currentPosition'
-    },
-    {
-      '1': 'current_orientation',
+      '1': 'current_pose',
       '3': 17,
       '4': 1,
       '5': 11,
-      '6': '.Orientation',
-      '10': 'currentOrientation'
-    },
-    {
-      '1': 'target_position',
-      '3': 2,
-      '4': 1,
-      '5': 11,
-      '6': '.Coordinates',
-      '10': 'targetPosition'
+      '6': '.Pose3d',
+      '10': 'currentPose'
     },
     {
-      '1': 'target_orientation',
+      '1': 'target_pose',
       '3': 18,
       '4': 1,
       '5': 11,
-      '6': '.Orientation',
-      '10': 'targetOrientation'
+      '6': '.Pose3d',
+      '10': 'targetPose'
     },
     {'1': 'base', '3': 3, '4': 1, '5': 11, '6': '.MotorData', '10': 'base'},
     {
@@ -170,24 +154,26 @@ const ArmData$json = {
       '10': 'usingIk'
     },
   ],
+  '9': [
+    {'1': 1, '2': 2},
+    {'1': 2, '2': 3},
+  ],
 };
 
 /// Descriptor for `ArmData`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List armDataDescriptor = $convert.base64Decode(
-    'CgdBcm1EYXRhEjcKEGN1cnJlbnRfcG9zaXRpb24YASABKAsyDC5Db29yZGluYXRlc1IPY3Vycm'
-    'VudFBvc2l0aW9uEj0KE2N1cnJlbnRfb3JpZW50YXRpb24YESABKAsyDC5PcmllbnRhdGlvblIS'
-    'Y3VycmVudE9yaWVudGF0aW9uEjUKD3RhcmdldF9wb3NpdGlvbhgCIAEoCzIMLkNvb3JkaW5hdG'
-    'VzUg50YXJnZXRQb3NpdGlvbhI7ChJ0YXJnZXRfb3JpZW50YXRpb24YEiABKAsyDC5PcmllbnRh'
-    'dGlvblIRdGFyZ2V0T3JpZW50YXRpb24SHgoEYmFzZRgDIAEoCzIKLk1vdG9yRGF0YVIEYmFzZR'
-    'ImCghzaG91bGRlchgEIAEoCzIKLk1vdG9yRGF0YVIIc2hvdWxkZXISIAoFZWxib3cYBSABKAsy'
-    'Ci5Nb3RvckRhdGFSBWVsYm93Eh4KBHJvbGwYDSABKAsyCi5Nb3RvckRhdGFSBHJvbGwSIgoHdm'
-    'Vyc2lvbhgGIAEoCzIILlZlcnNpb25SB3ZlcnNpb24SIQoMdXNzX2Rpc3RhbmNlGAcgASgCUgt1'
-    'c3NEaXN0YW5jZRIeCgRsaWZ0GAggASgLMgouTW90b3JEYXRhUgRsaWZ0EiIKBnJvdGF0ZRgJIA'
-    'EoCzIKLk1vdG9yRGF0YVIGcm90YXRlEiAKBXdyaXN0GA8gASgLMgouV3Jpc3REYXRhUgV3cmlz'
-    'dBIgCgVwaW5jaBgKIAEoCzIKLk1vdG9yRGF0YVIFcGluY2gSHwoLc2Vydm9fYW5nbGUYCyABKA'
-    'VSCnNlcnZvQW5nbGUSKwoLbGFzZXJfc3RhdGUYDCABKA4yCi5Cb29sU3RhdGVSCmxhc2VyU3Rh'
-    'dGUSMgoMam9pbnRfYW5nbGVzGA4gASgLMg8uSm9pbnRBbmdsZURhdGFSC2pvaW50QW5nbGVzEi'
-    'UKCHVzaW5nX2lrGBAgASgOMgouQm9vbFN0YXRlUgd1c2luZ0lr');
+    'CgdBcm1EYXRhEioKDGN1cnJlbnRfcG9zZRgRIAEoCzIHLlBvc2UzZFILY3VycmVudFBvc2USKA'
+    'oLdGFyZ2V0X3Bvc2UYEiABKAsyBy5Qb3NlM2RSCnRhcmdldFBvc2USHgoEYmFzZRgDIAEoCzIK'
+    'Lk1vdG9yRGF0YVIEYmFzZRImCghzaG91bGRlchgEIAEoCzIKLk1vdG9yRGF0YVIIc2hvdWxkZX'
+    'ISIAoFZWxib3cYBSABKAsyCi5Nb3RvckRhdGFSBWVsYm93Eh4KBHJvbGwYDSABKAsyCi5Nb3Rv'
+    'ckRhdGFSBHJvbGwSIgoHdmVyc2lvbhgGIAEoCzIILlZlcnNpb25SB3ZlcnNpb24SIQoMdXNzX2'
+    'Rpc3RhbmNlGAcgASgCUgt1c3NEaXN0YW5jZRIeCgRsaWZ0GAggASgLMgouTW90b3JEYXRhUgRs'
+    'aWZ0EiIKBnJvdGF0ZRgJIAEoCzIKLk1vdG9yRGF0YVIGcm90YXRlEiAKBXdyaXN0GA8gASgLMg'
+    'ouV3Jpc3REYXRhUgV3cmlzdBIgCgVwaW5jaBgKIAEoCzIKLk1vdG9yRGF0YVIFcGluY2gSHwoL'
+    'c2Vydm9fYW5nbGUYCyABKAVSCnNlcnZvQW5nbGUSKwoLbGFzZXJfc3RhdGUYDCABKA4yCi5Cb2'
+    '9sU3RhdGVSCmxhc2VyU3RhdGUSMgoMam9pbnRfYW5nbGVzGA4gASgLMg8uSm9pbnRBbmdsZURh'
+    'dGFSC2pvaW50QW5nbGVzEiUKCHVzaW5nX2lrGBAgASgOMgouQm9vbFN0YXRlUgd1c2luZ0lrSg'
+    'QIARACSgQIAhAD');
 
 @$core.Deprecated('Use wristCommandDescriptor instead')
 const WristCommand$json = {
@@ -246,20 +232,7 @@ const ArmCommand$json = {
       '10': 'elbow'
     },
     {'1': 'roll', '3': 21, '4': 1, '5': 11, '6': '.MotorCommand', '10': 'roll'},
-    {
-      '1': 'gripper_lift',
-      '3': 6,
-      '4': 1,
-      '5': 11,
-      '6': '.MotorCommand',
-      '10': 'gripperLift'
-    },
-    {'1': 'ik_x', '3': 7, '4': 1, '5': 2, '10': 'ikX'},
-    {'1': 'ik_y', '3': 8, '4': 1, '5': 2, '10': 'ikY'},
-    {'1': 'ik_z', '3': 9, '4': 1, '5': 2, '10': 'ikZ'},
-    {'1': 'ik_pitch', '3': 24, '4': 1, '5': 2, '10': 'ikPitch'},
-    {'1': 'ik_yaw', '3': 25, '4': 1, '5': 2, '10': 'ikYaw'},
-    {'1': 'pose', '3': 26, '4': 1, '5': 11, '6': '.Pose3d', '10': 'pose'},
+    {'1': 'ik_pose', '3': 24, '4': 1, '5': 11, '6': '.Pose3d', '10': 'ikPose'},
     {'1': 'jab', '3': 10, '4': 1, '5': 8, '10': 'jab'},
     {
       '1': 'version',
@@ -277,7 +250,6 @@ const ArmCommand$json = {
       '6': '.BoolState',
       '10': 'startUss'
     },
-    {'1': 'lift', '3': 13, '4': 1, '5': 11, '6': '.MotorCommand', '10': 'lift'},
     {
       '1': 'rotate',
       '3': 14,
@@ -323,6 +295,10 @@ const ArmCommand$json = {
       '10': 'usingIk'
     },
   ],
+  '9': [
+    {'1': 6, '2': 10},
+    {'1': 13, '2': 14},
+  ],
 };
 
 /// Descriptor for `ArmCommand`. Decode as a `google.protobuf.DescriptorProto`.
@@ -330,15 +306,12 @@ final $typed_data.Uint8List armCommandDescriptor = $convert.base64Decode(
     'CgpBcm1Db21tYW5kEhIKBHN0b3AYASABKAhSBHN0b3ASHAoJY2FsaWJyYXRlGAIgASgIUgljYW'
     'xpYnJhdGUSJQoGc3dpdmVsGAMgASgLMg0uTW90b3JDb21tYW5kUgZzd2l2ZWwSKQoIc2hvdWxk'
     'ZXIYBCABKAsyDS5Nb3RvckNvbW1hbmRSCHNob3VsZGVyEiMKBWVsYm93GAUgASgLMg0uTW90b3'
-    'JDb21tYW5kUgVlbGJvdxIhCgRyb2xsGBUgASgLMg0uTW90b3JDb21tYW5kUgRyb2xsEjAKDGdy'
-    'aXBwZXJfbGlmdBgGIAEoCzINLk1vdG9yQ29tbWFuZFILZ3JpcHBlckxpZnQSEQoEaWtfeBgHIA'
-    'EoAlIDaWtYEhEKBGlrX3kYCCABKAJSA2lrWRIRCgRpa196GAkgASgCUgNpa1oSGQoIaWtfcGl0'
-    'Y2gYGCABKAJSB2lrUGl0Y2gSFQoGaWtfeWF3GBkgASgCUgVpa1lhdxIbCgRwb3NlGBogASgLMg'
-    'cuUG9zZTNkUgRwb3NlEhAKA2phYhgKIAEoCFIDamFiEiIKB3ZlcnNpb24YCyABKAsyCC5WZXJz'
-    'aW9uUgd2ZXJzaW9uEicKCXN0YXJ0X3VzcxgMIAEoDjIKLkJvb2xTdGF0ZVIIc3RhcnRVc3MSIQ'
-    'oEbGlmdBgNIAEoCzINLk1vdG9yQ29tbWFuZFIEbGlmdBIlCgZyb3RhdGUYDiABKAsyDS5Nb3Rv'
-    'ckNvbW1hbmRSBnJvdGF0ZRIjCgV3cmlzdBgWIAEoCzINLldyaXN0Q29tbWFuZFIFd3Jpc3QSIw'
-    'oFcGluY2gYDyABKAsyDS5Nb3RvckNvbW1hbmRSBXBpbmNoEhIKBG9wZW4YECABKAhSBG9wZW4S'
-    'FAoFY2xvc2UYESABKAhSBWNsb3NlEhIKBHNwaW4YEiABKAhSBHNwaW4SHwoLc2Vydm9fYW5nbG'
-    'UYEyABKAVSCnNlcnZvQW5nbGUSKwoLbGFzZXJfc3RhdGUYFCABKA4yCi5Cb29sU3RhdGVSCmxh'
-    'c2VyU3RhdGUSJQoIdXNpbmdfaWsYFyABKA4yCi5Cb29sU3RhdGVSB3VzaW5nSWs=');
+    'JDb21tYW5kUgVlbGJvdxIhCgRyb2xsGBUgASgLMg0uTW90b3JDb21tYW5kUgRyb2xsEiAKB2lr'
+    'X3Bvc2UYGCABKAsyBy5Qb3NlM2RSBmlrUG9zZRIQCgNqYWIYCiABKAhSA2phYhIiCgd2ZXJzaW'
+    '9uGAsgASgLMgguVmVyc2lvblIHdmVyc2lvbhInCglzdGFydF91c3MYDCABKA4yCi5Cb29sU3Rh'
+    'dGVSCHN0YXJ0VXNzEiUKBnJvdGF0ZRgOIAEoCzINLk1vdG9yQ29tbWFuZFIGcm90YXRlEiMKBX'
+    'dyaXN0GBYgASgLMg0uV3Jpc3RDb21tYW5kUgV3cmlzdBIjCgVwaW5jaBgPIAEoCzINLk1vdG9y'
+    'Q29tbWFuZFIFcGluY2gSEgoEb3BlbhgQIAEoCFIEb3BlbhIUCgVjbG9zZRgRIAEoCFIFY2xvc2'
+    'USEgoEc3BpbhgSIAEoCFIEc3BpbhIfCgtzZXJ2b19hbmdsZRgTIAEoBVIKc2Vydm9BbmdsZRIr'
+    'CgtsYXNlcl9zdGF0ZRgUIAEoDjIKLkJvb2xTdGF0ZVIKbGFzZXJTdGF0ZRIlCgh1c2luZ19pax'
+    'gXIAEoDjIKLkJvb2xTdGF0ZVIHdXNpbmdJa0oECAYQCkoECA0QDg==');
diff --git a/burt_network/lib/src/generated/drive.pb.dart b/burt_network/lib/src/generated/drive.pb.dart
index 21570bea..32d5d214 100644
--- a/burt_network/lib/src/generated/drive.pb.dart
+++ b/burt_network/lib/src/generated/drive.pb.dart
@@ -350,12 +350,6 @@ class DriveData extends $pb.GeneratedMessage {
     $core.double? batteryCurrent,
     $core.double? batteryTemperature,
     $0.Version? version,
-    $core.double? backLeft,
-    $core.double? middleLeft,
-    $core.double? frontLeft,
-    $core.double? backRight,
-    $core.double? middleRight,
-    $core.double? frontRight,
     ProtoColor? color,
     $1.RoverStatus? status,
     DriveMotorData? frontLeftMotor,
@@ -381,12 +375,6 @@ class DriveData extends $pb.GeneratedMessage {
     if (batteryTemperature != null)
       result.batteryTemperature = batteryTemperature;
     if (version != null) result.version = version;
-    if (backLeft != null) result.backLeft = backLeft;
-    if (middleLeft != null) result.middleLeft = middleLeft;
-    if (frontLeft != null) result.frontLeft = frontLeft;
-    if (backRight != null) result.backRight = backRight;
-    if (middleRight != null) result.middleRight = middleRight;
-    if (frontRight != null) result.frontRight = frontRight;
     if (color != null) result.color = color;
     if (status != null) result.status = status;
     if (frontLeftMotor != null) result.frontLeftMotor = frontLeftMotor;
@@ -428,13 +416,6 @@ class DriveData extends $pb.GeneratedMessage {
         fieldType: $pb.PbFieldType.OF)
     ..aOM<$0.Version>(14, _omitFieldNames ? '' : 'version',
         subBuilder: $0.Version.create)
-    ..aD(15, _omitFieldNames ? '' : 'backLeft', fieldType: $pb.PbFieldType.OF)
-    ..aD(16, _omitFieldNames ? '' : 'middleLeft', fieldType: $pb.PbFieldType.OF)
-    ..aD(17, _omitFieldNames ? '' : 'frontLeft', fieldType: $pb.PbFieldType.OF)
-    ..aD(18, _omitFieldNames ? '' : 'backRight', fieldType: $pb.PbFieldType.OF)
-    ..aD(19, _omitFieldNames ? '' : 'middleRight',
-        fieldType: $pb.PbFieldType.OF)
-    ..aD(20, _omitFieldNames ? '' : 'frontRight', fieldType: $pb.PbFieldType.OF)
     ..aE<ProtoColor>(21, _omitFieldNames ? '' : 'color',
         enumValues: ProtoColor.values)
     ..aE<$1.RoverStatus>(22, _omitFieldNames ? '' : 'status',
@@ -606,145 +587,90 @@ class DriveData extends $pb.GeneratedMessage {
   @$pb.TagNumber(14)
   $0.Version ensureVersion() => $_ensure(13);
 
-  /// Information about each wheel in rpm
-  @$pb.TagNumber(15)
-  $core.double get backLeft => $_getN(14);
-  @$pb.TagNumber(15)
-  set backLeft($core.double value) => $_setFloat(14, value);
-  @$pb.TagNumber(15)
-  $core.bool hasBackLeft() => $_has(14);
-  @$pb.TagNumber(15)
-  void clearBackLeft() => $_clearField(15);
-
-  @$pb.TagNumber(16)
-  $core.double get middleLeft => $_getN(15);
-  @$pb.TagNumber(16)
-  set middleLeft($core.double value) => $_setFloat(15, value);
-  @$pb.TagNumber(16)
-  $core.bool hasMiddleLeft() => $_has(15);
-  @$pb.TagNumber(16)
-  void clearMiddleLeft() => $_clearField(16);
-
-  @$pb.TagNumber(17)
-  $core.double get frontLeft => $_getN(16);
-  @$pb.TagNumber(17)
-  set frontLeft($core.double value) => $_setFloat(16, value);
-  @$pb.TagNumber(17)
-  $core.bool hasFrontLeft() => $_has(16);
-  @$pb.TagNumber(17)
-  void clearFrontLeft() => $_clearField(17);
-
-  @$pb.TagNumber(18)
-  $core.double get backRight => $_getN(17);
-  @$pb.TagNumber(18)
-  set backRight($core.double value) => $_setFloat(17, value);
-  @$pb.TagNumber(18)
-  $core.bool hasBackRight() => $_has(17);
-  @$pb.TagNumber(18)
-  void clearBackRight() => $_clearField(18);
-
-  @$pb.TagNumber(19)
-  $core.double get middleRight => $_getN(18);
-  @$pb.TagNumber(19)
-  set middleRight($core.double value) => $_setFloat(18, value);
-  @$pb.TagNumber(19)
-  $core.bool hasMiddleRight() => $_has(18);
-  @$pb.TagNumber(19)
-  void clearMiddleRight() => $_clearField(19);
-
-  @$pb.TagNumber(20)
-  $core.double get frontRight => $_getN(19);
-  @$pb.TagNumber(20)
-  set frontRight($core.double value) => $_setFloat(19, value);
-  @$pb.TagNumber(20)
-  $core.bool hasFrontRight() => $_has(19);
-  @$pb.TagNumber(20)
-  void clearFrontRight() => $_clearField(20);
-
   @$pb.TagNumber(21)
-  ProtoColor get color => $_getN(20);
+  ProtoColor get color => $_getN(14);
   @$pb.TagNumber(21)
   set color(ProtoColor value) => $_setField(21, value);
   @$pb.TagNumber(21)
-  $core.bool hasColor() => $_has(20);
+  $core.bool hasColor() => $_has(14);
   @$pb.TagNumber(21)
   void clearColor() => $_clearField(21);
 
   @$pb.TagNumber(22)
-  $1.RoverStatus get status => $_getN(21);
+  $1.RoverStatus get status => $_getN(15);
   @$pb.TagNumber(22)
   set status($1.RoverStatus value) => $_setField(22, value);
   @$pb.TagNumber(22)
-  $core.bool hasStatus() => $_has(21);
+  $core.bool hasStatus() => $_has(15);
   @$pb.TagNumber(22)
   void clearStatus() => $_clearField(22);
 
   /// Contains the DriveMotorData for each corresponding motor
   @$pb.TagNumber(23)
-  DriveMotorData get frontLeftMotor => $_getN(22);
+  DriveMotorData get frontLeftMotor => $_getN(16);
   @$pb.TagNumber(23)
   set frontLeftMotor(DriveMotorData value) => $_setField(23, value);
   @$pb.TagNumber(23)
-  $core.bool hasFrontLeftMotor() => $_has(22);
+  $core.bool hasFrontLeftMotor() => $_has(16);
   @$pb.TagNumber(23)
   void clearFrontLeftMotor() => $_clearField(23);
   @$pb.TagNumber(23)
-  DriveMotorData ensureFrontLeftMotor() => $_ensure(22);
+  DriveMotorData ensureFrontLeftMotor() => $_ensure(16);
 
   @$pb.TagNumber(24)
-  DriveMotorData get middleLeftMotor => $_getN(23);
+  DriveMotorData get middleLeftMotor => $_getN(17);
   @$pb.TagNumber(24)
   set middleLeftMotor(DriveMotorData value) => $_setField(24, value);
   @$pb.TagNumber(24)
-  $core.bool hasMiddleLeftMotor() => $_has(23);
+  $core.bool hasMiddleLeftMotor() => $_has(17);
   @$pb.TagNumber(24)
   void clearMiddleLeftMotor() => $_clearField(24);
   @$pb.TagNumber(24)
-  DriveMotorData ensureMiddleLeftMotor() => $_ensure(23);
+  DriveMotorData ensureMiddleLeftMotor() => $_ensure(17);
 
   @$pb.TagNumber(25)
-  DriveMotorData get backLeftMotor => $_getN(24);
+  DriveMotorData get backLeftMotor => $_getN(18);
   @$pb.TagNumber(25)
   set backLeftMotor(DriveMotorData value) => $_setField(25, value);
   @$pb.TagNumber(25)
-  $core.bool hasBackLeftMotor() => $_has(24);
+  $core.bool hasBackLeftMotor() => $_has(18);
   @$pb.TagNumber(25)
   void clearBackLeftMotor() => $_clearField(25);
   @$pb.TagNumber(25)
-  DriveMotorData ensureBackLeftMotor() => $_ensure(24);
+  DriveMotorData ensureBackLeftMotor() => $_ensure(18);
 
   @$pb.TagNumber(26)
-  DriveMotorData get frontRightMotor => $_getN(25);
+  DriveMotorData get frontRightMotor => $_getN(19);
   @$pb.TagNumber(26)
   set frontRightMotor(DriveMotorData value) => $_setField(26, value);
   @$pb.TagNumber(26)
-  $core.bool hasFrontRightMotor() => $_has(25);
+  $core.bool hasFrontRightMotor() => $_has(19);
   @$pb.TagNumber(26)
   void clearFrontRightMotor() => $_clearField(26);
   @$pb.TagNumber(26)
-  DriveMotorData ensureFrontRightMotor() => $_ensure(25);
+  DriveMotorData ensureFrontRightMotor() => $_ensure(19);
 
   @$pb.TagNumber(27)
-  DriveMotorData get middleRightMotor => $_getN(26);
+  DriveMotorData get middleRightMotor => $_getN(20);
   @$pb.TagNumber(27)
   set middleRightMotor(DriveMotorData value) => $_setField(27, value);
   @$pb.TagNumber(27)
-  $core.bool hasMiddleRightMotor() => $_has(26);
+  $core.bool hasMiddleRightMotor() => $_has(20);
   @$pb.TagNumber(27)
   void clearMiddleRightMotor() => $_clearField(27);
   @$pb.TagNumber(27)
-  DriveMotorData ensureMiddleRightMotor() => $_ensure(26);
+  DriveMotorData ensureMiddleRightMotor() => $_ensure(20);
 
   @$pb.TagNumber(28)
-  DriveMotorData get backRightMotor => $_getN(27);
+  DriveMotorData get backRightMotor => $_getN(21);
   @$pb.TagNumber(28)
   set backRightMotor(DriveMotorData value) => $_setField(28, value);
   @$pb.TagNumber(28)
-  $core.bool hasBackRightMotor() => $_has(27);
+  $core.bool hasBackRightMotor() => $_has(21);
   @$pb.TagNumber(28)
   void clearBackRightMotor() => $_clearField(28);
   @$pb.TagNumber(28)
-  DriveMotorData ensureBackRightMotor() => $_ensure(27);
+  DriveMotorData ensureBackRightMotor() => $_ensure(21);
 }
 
 const $core.bool _omitFieldNames =
diff --git a/burt_network/lib/src/generated/drive.pbjson.dart b/burt_network/lib/src/generated/drive.pbjson.dart
index cd1cb614..e8e0f4cb 100644
--- a/burt_network/lib/src/generated/drive.pbjson.dart
+++ b/burt_network/lib/src/generated/drive.pbjson.dart
@@ -173,12 +173,6 @@ const DriveData$json = {
       '6': '.Version',
       '10': 'version'
     },
-    {'1': 'back_left', '3': 15, '4': 1, '5': 2, '10': 'backLeft'},
-    {'1': 'middle_left', '3': 16, '4': 1, '5': 2, '10': 'middleLeft'},
-    {'1': 'front_left', '3': 17, '4': 1, '5': 2, '10': 'frontLeft'},
-    {'1': 'back_right', '3': 18, '4': 1, '5': 2, '10': 'backRight'},
-    {'1': 'middle_right', '3': 19, '4': 1, '5': 2, '10': 'middleRight'},
-    {'1': 'front_right', '3': 20, '4': 1, '5': 2, '10': 'frontRight'},
     {'1': 'color', '3': 21, '4': 1, '5': 14, '6': '.ProtoColor', '10': 'color'},
     {
       '1': 'status',
@@ -237,6 +231,9 @@ const DriveData$json = {
       '10': 'backRightMotor'
     },
   ],
+  '9': [
+    {'1': 15, '2': 21},
+  ],
 };
 
 /// Descriptor for `DriveData`. Decode as a `google.protobuf.DescriptorProto`.
@@ -249,15 +246,12 @@ final $typed_data.Uint8List driveDataDescriptor = $convert.base64Decode(
     'FyX3RpbHQYCiABKAJSCHJlYXJUaWx0EicKD2JhdHRlcnlfdm9sdGFnZRgLIAEoAlIOYmF0dGVy'
     'eVZvbHRhZ2USJwoPYmF0dGVyeV9jdXJyZW50GAwgASgCUg5iYXR0ZXJ5Q3VycmVudBIvChNiYX'
     'R0ZXJ5X3RlbXBlcmF0dXJlGA0gASgCUhJiYXR0ZXJ5VGVtcGVyYXR1cmUSIgoHdmVyc2lvbhgO'
-    'IAEoCzIILlZlcnNpb25SB3ZlcnNpb24SGwoJYmFja19sZWZ0GA8gASgCUghiYWNrTGVmdBIfCg'
-    'ttaWRkbGVfbGVmdBgQIAEoAlIKbWlkZGxlTGVmdBIdCgpmcm9udF9sZWZ0GBEgASgCUglmcm9u'
-    'dExlZnQSHQoKYmFja19yaWdodBgSIAEoAlIJYmFja1JpZ2h0EiEKDG1pZGRsZV9yaWdodBgTIA'
-    'EoAlILbWlkZGxlUmlnaHQSHwoLZnJvbnRfcmlnaHQYFCABKAJSCmZyb250UmlnaHQSIQoFY29s'
-    'b3IYFSABKA4yCy5Qcm90b0NvbG9yUgVjb2xvchIkCgZzdGF0dXMYFiABKA4yDC5Sb3ZlclN0YX'
-    'R1c1IGc3RhdHVzEjkKEGZyb250X2xlZnRfbW90b3IYFyABKAsyDy5Ecml2ZU1vdG9yRGF0YVIO'
-    'ZnJvbnRMZWZ0TW90b3ISOwoRbWlkZGxlX2xlZnRfbW90b3IYGCABKAsyDy5Ecml2ZU1vdG9yRG'
-    'F0YVIPbWlkZGxlTGVmdE1vdG9yEjcKD2JhY2tfbGVmdF9tb3RvchgZIAEoCzIPLkRyaXZlTW90'
-    'b3JEYXRhUg1iYWNrTGVmdE1vdG9yEjsKEWZyb250X3JpZ2h0X21vdG9yGBogASgLMg8uRHJpdm'
-    'VNb3RvckRhdGFSD2Zyb250UmlnaHRNb3RvchI9ChJtaWRkbGVfcmlnaHRfbW90b3IYGyABKAsy'
-    'Dy5Ecml2ZU1vdG9yRGF0YVIQbWlkZGxlUmlnaHRNb3RvchI5ChBiYWNrX3JpZ2h0X21vdG9yGB'
-    'wgASgLMg8uRHJpdmVNb3RvckRhdGFSDmJhY2tSaWdodE1vdG9y');
+    'IAEoCzIILlZlcnNpb25SB3ZlcnNpb24SIQoFY29sb3IYFSABKA4yCy5Qcm90b0NvbG9yUgVjb2'
+    'xvchIkCgZzdGF0dXMYFiABKA4yDC5Sb3ZlclN0YXR1c1IGc3RhdHVzEjkKEGZyb250X2xlZnRf'
+    'bW90b3IYFyABKAsyDy5Ecml2ZU1vdG9yRGF0YVIOZnJvbnRMZWZ0TW90b3ISOwoRbWlkZGxlX2'
+    'xlZnRfbW90b3IYGCABKAsyDy5Ecml2ZU1vdG9yRGF0YVIPbWlkZGxlTGVmdE1vdG9yEjcKD2Jh'
+    'Y2tfbGVmdF9tb3RvchgZIAEoCzIPLkRyaXZlTW90b3JEYXRhUg1iYWNrTGVmdE1vdG9yEjsKEW'
+    'Zyb250X3JpZ2h0X21vdG9yGBogASgLMg8uRHJpdmVNb3RvckRhdGFSD2Zyb250UmlnaHRNb3Rv'
+    'chI9ChJtaWRkbGVfcmlnaHRfbW90b3IYGyABKAsyDy5Ecml2ZU1vdG9yRGF0YVIQbWlkZGxlUm'
+    'lnaHRNb3RvchI5ChBiYWNrX3JpZ2h0X21vdG9yGBwgASgLMg8uRHJpdmVNb3RvckRhdGFSDmJh'
+    'Y2tSaWdodE1vdG9ySgQIDxAV');

From 0813649e808bb65792756cd98320c34213083951 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Mon, 9 Feb 2026 13:22:17 -0500
Subject: [PATCH 09/29] Fix GPS and IMU not connecting

---
 subsystems/lib/src/devices/gps.dart          | 29 ++++++++++++--------
 subsystems/lib/src/devices/imu.dart          | 10 +++++--
 subsystems/lib/src/devices/serial_utils.dart |  8 +++---
 3 files changed, 29 insertions(+), 18 deletions(-)

diff --git a/subsystems/lib/src/devices/gps.dart b/subsystems/lib/src/devices/gps.dart
index b691fc2a..c7fb3843 100644
--- a/subsystems/lib/src/devices/gps.dart
+++ b/subsystems/lib/src/devices/gps.dart
@@ -11,7 +11,7 @@ const gpsPort = "/dev/rover_gps";
 
 /// The UDP socket on the Autonomy program.
 final autonomySocket = SocketInfo(
-  address: InternetAddress("192.168.1.30"),
+  address: InternetAddress("192.168.1.20"),
   port: 8003,
 );
 
@@ -81,10 +81,7 @@ class GpsReader extends Service {
       if (parts[4] == "W") {
         longitude *= -1;
       }
-      return GpsCoordinates(
-        latitude: latitude,
-        longitude: longitude,
-      );
+      return GpsCoordinates(latitude: latitude, longitude: longitude);
     } else {
       return null;
     }
@@ -121,17 +118,19 @@ class GpsReader extends Service {
   void _handleLine(String line) {
     final coordinates = parseNMEA(line);
     if (coordinates == null) return;
-    if (coordinates.latitude == 0
-      || coordinates.longitude == 0
-      || coordinates.altitude == 0
-    ) {
+    if (coordinates.latitude == 0 ||
+        coordinates.longitude == 0 ||
+        coordinates.altitude == 0) {
       // No fix
       return;
     }
     final roverPosition = RoverPosition(gps: coordinates);
     collection.server.sendMessage(roverPosition);
     collection.server.sendMessage(roverPosition, destination: autonomySocket);
-    collection.server.sendMessage(roverPosition, destination: baseStationSocket);
+    collection.server.sendMessage(
+      roverPosition,
+      destination: baseStationSocket,
+    );
   }
 
   /// Parses a packet into several NMEA sentences and handles them.
@@ -153,7 +152,10 @@ class GpsReader extends Service {
     }
 
     final rtkMessage = Uint8List.fromList(message.rtkMessage);
-    logger.trace("Writing RTK Message", body: "Writing a ${rtkMessage.lengthInBytes}-byte RTCM packet to serial");
+    logger.trace(
+      "Writing RTK Message",
+      body: "Writing a ${rtkMessage.lengthInBytes}-byte RTCM packet to serial",
+    );
     device.write(rtkMessage);
   }
 
@@ -174,7 +176,10 @@ class GpsReader extends Service {
       logger.info("Reading GPS over port $gpsPort");
       return true;
     } catch (error) {
-      logger.critical("Could not open GPS", body: "Port $gpsPort, Error=$error");
+      logger.critical(
+        "Could not open GPS",
+        body: "Port $gpsPort, Error=$error",
+      );
       return false;
     }
   }
diff --git a/subsystems/lib/src/devices/imu.dart b/subsystems/lib/src/devices/imu.dart
index b56e5fa9..17067146 100644
--- a/subsystems/lib/src/devices/imu.dart
+++ b/subsystems/lib/src/devices/imu.dart
@@ -67,7 +67,10 @@ class ImuReader extends Service {
           y: message.arguments[1] as double,
           z: message.arguments[2] as double,
         );
-        final position = RoverPosition(orientation: orientation, version: positionVersion);
+        final position = RoverPosition(
+          orientation: orientation,
+          version: positionVersion,
+        );
         collection.server.sendMessage(position);
         collection.server.sendMessage(position, destination: autonomySocket);
       }
@@ -91,7 +94,10 @@ class ImuReader extends Service {
       logger.info("Reading IMU on port $imuPort");
       return true;
     } catch (error) {
-      logger.critical("Could not open IMU", body: "Port $imuPort, Error: $error");
+      logger.critical(
+        "Could not open IMU",
+        body: "Port $imuPort, Error: $error",
+      );
       return false;
     }
   }
diff --git a/subsystems/lib/src/devices/serial_utils.dart b/subsystems/lib/src/devices/serial_utils.dart
index 9c63d709..66641529 100644
--- a/subsystems/lib/src/devices/serial_utils.dart
+++ b/subsystems/lib/src/devices/serial_utils.dart
@@ -7,15 +7,15 @@ import "package:subsystems/subsystems.dart";
 ///
 /// Relies on the `realpath` command line tool, and must be run on Linux.
 Future<String> getRealPath(String symlink) async =>
-  (await Process.run("realpath", [symlink])).stdout.trim();
+    (await Process.run("realpath", [symlink])).stdout.trim();
 
 /// Gets all the names of all the ports.
 Future<Iterable<String>> getPortNames() async {
   final allPorts = DelegateSerialPort.allPorts.toSet();
   if (!Platform.isLinux) return allPorts;
-  final imuPort = await getRealPath("/dev/rover-imu");
-  final gpsPort = await getRealPath("/dev/rover-gps");
-  final forbiddenPorts = {imuPort, gpsPort, "/dev/ttyAMA10"};
+  final imuPath = await getRealPath(imuPort);
+  final gpsPath = await getRealPath(gpsPort);
+  final forbiddenPorts = {imuPath, gpsPath, "/dev/ttyAMA10"};
   return allPorts.toSet().difference(forbiddenPorts);
 }
 

From 79ed3e4099643b533e89f5232ac70e9006d1f538 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Mon, 9 Feb 2026 13:24:34 -0500
Subject: [PATCH 10/29] Fix realsense sending with wrong name

---
 video/lib/src/isolates/parent.dart    | 2 +-
 video/lib/src/isolates/realsense.dart | 5 ++++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/video/lib/src/isolates/parent.dart b/video/lib/src/isolates/parent.dart
index 5fd7573b..b32b2013 100644
--- a/video/lib/src/isolates/parent.dart
+++ b/video/lib/src/isolates/parent.dart
@@ -8,7 +8,7 @@ import "package:video/video.dart";
 
 /// The socket to send autonomy data to.
 final autonomySocket = SocketInfo(
-  address: InternetAddress("192.168.1.30"),
+  address: InternetAddress("192.168.1.20"),
   port: 8003,
 );
 
diff --git a/video/lib/src/isolates/realsense.dart b/video/lib/src/isolates/realsense.dart
index a0f363d4..df4001d6 100644
--- a/video/lib/src/isolates/realsense.dart
+++ b/video/lib/src/isolates/realsense.dart
@@ -103,7 +103,10 @@ class RealSenseIsolate extends CameraIsolate {
     if (colorizedJpg == null) {
       sendLog(LogLevel.debug, "Could not encode colorized frame");
     } else {
-      sendFrame(colorizedJpg);
+      sendFrame(
+        colorizedJpg,
+        detailsOverride: details.deepCopy()..name = CameraName.AUTONOMY_DEPTH,
+      );
     }
 
     colorizedImage.dispose();

From 9becb50617ef5b3241d7a4f8c1a85652546bac49 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 11 Feb 2026 13:25:43 -0500
Subject: [PATCH 11/29] Fixes from testing: 1. Apply antenna center offset to
 GPS readings 2. Add try catch around control data parsing 3. Fix realsense
 issues in video

---
 subsystems/lib/src/devices/firmware.dart | 17 ++++++++++-------
 subsystems/lib/src/devices/gps.dart      | 18 +++++++++++++++++-
 subsystems/pubspec.yaml                  |  1 +
 video/lib/src/isolates/parent.dart       |  2 +-
 video/lib/src/isolates/realsense.dart    |  2 +-
 5 files changed, 30 insertions(+), 10 deletions(-)

diff --git a/subsystems/lib/src/devices/firmware.dart b/subsystems/lib/src/devices/firmware.dart
index 4ca8528f..e1033f38 100644
--- a/subsystems/lib/src/devices/firmware.dart
+++ b/subsystems/lib/src/devices/firmware.dart
@@ -44,14 +44,17 @@ class FirmwareManager extends Service {
       if (!device.isReady) continue;
       final subscription = device.messages.listen((wrapper) {
         if (wrapper.name == ControlData().messageName) {
-          final controlData = ControlData.fromBuffer(wrapper.data);
-          if (controlData.hasDrive()) {
-            collection.server.sendMessage(controlData.drive);
-          }
+          try {
+            final controlData = ControlData.fromBuffer(wrapper.data);
+            if (controlData.hasDrive()) {
+              collection.server.sendMessage(controlData.drive);
+            }
+
+            if (controlData.hasRelays()) {
+              collection.server.sendMessage(controlData.relays);
+            }
+          } catch (_) {}
 
-          if (controlData.hasRelays()) {
-            collection.server.sendMessage(controlData.relays);
-          }
           return;
         }
         collection.server.sendWrapper(wrapper);
diff --git a/subsystems/lib/src/devices/gps.dart b/subsystems/lib/src/devices/gps.dart
index c7fb3843..334d7adc 100644
--- a/subsystems/lib/src/devices/gps.dart
+++ b/subsystems/lib/src/devices/gps.dart
@@ -4,6 +4,7 @@ import "dart:io";
 import "dart:typed_data";
 
 import "package:burt_network/burt_network.dart";
+import "package:coordinate_converter/coordinate_converter.dart";
 import "package:subsystems/subsystems.dart";
 
 /// The port/device file to listen to the GPS on.
@@ -21,6 +22,12 @@ final baseStationSocket = SocketInfo(
   port: 8005,
 );
 
+/// The offset of the GPS antenna's position on the rover
+final Coordinates antennaOffset = Coordinates(
+  x: -0.18415, // 7.25 in
+  y: -0.20955, // 8.25 in
+);
+
 /// Listens to the GPS and sends its output to the Dashboard.
 ///
 /// Call [init] to start listening and [dispose] to stop.
@@ -124,7 +131,16 @@ class GpsReader extends Service {
       // No fix
       return;
     }
-    final roverPosition = RoverPosition(gps: coordinates);
+
+    final utmPosition = coordinates.toUTM();
+    final offsetPosition = UTMCoordinates(
+      x: utmPosition.x + antennaOffset.x,
+      y: utmPosition.y + antennaOffset.y,
+      zoneNumber: utmPosition.zoneNumber,
+    );
+    final roverPosition = RoverPosition(
+      gps: offsetPosition.toGps()..altitude = coordinates.altitude,
+    );
     collection.server.sendMessage(roverPosition);
     collection.server.sendMessage(roverPosition, destination: autonomySocket);
     collection.server.sendMessage(
diff --git a/subsystems/pubspec.yaml b/subsystems/pubspec.yaml
index 463c202f..3b292336 100644
--- a/subsystems/pubspec.yaml
+++ b/subsystems/pubspec.yaml
@@ -12,6 +12,7 @@ dependencies:
   args: ^2.6.0
   burt_network: ^2.7.0
   collection: ^1.19.0
+  coordinate_converter: ^1.2.3
   csv: ^6.0.0
   ffi: ^2.1.3
   osc: ^1.0.0
diff --git a/video/lib/src/isolates/parent.dart b/video/lib/src/isolates/parent.dart
index b32b2013..955a5468 100644
--- a/video/lib/src/isolates/parent.dart
+++ b/video/lib/src/isolates/parent.dart
@@ -69,7 +69,7 @@ class CameraManager extends Service {
     stopAll();
 
     // Wait a bit after sending the stop command so the messages are received properly
-    await Future<void>.delayed(const Duration(milliseconds: 750));
+    await Future<void>.delayed(const Duration(milliseconds: 1500));
 
     await _commands?.cancel();
     await _vision?.cancel();
diff --git a/video/lib/src/isolates/realsense.dart b/video/lib/src/isolates/realsense.dart
index df4001d6..1811f583 100644
--- a/video/lib/src/isolates/realsense.dart
+++ b/video/lib/src/isolates/realsense.dart
@@ -64,7 +64,7 @@ class RealSenseIsolate extends CameraIsolate {
     frameProperties = FrameProperties.fromFrameDetails(
       captureWidth: camera.rgbResolution.width,
       captureHeight: camera.rgbResolution.height,
-      details: details,
+      details: details.deepCopy()..name = CameraName.ROVER_FRONT,
     );
     sendLog(LogLevel.debug, "Started streaming from RealSense");
   }

From 99558158341ba560e83a0ce0d57e8edf868b2a1a Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 11 Feb 2026 13:50:42 -0500
Subject: [PATCH 12/29] Use IMU to calculate GPS offset based on rotation

---
 subsystems/lib/src/devices/gps.dart | 11 +++++++++--
 subsystems/lib/src/devices/imu.dart |  5 +++++
 2 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/subsystems/lib/src/devices/gps.dart b/subsystems/lib/src/devices/gps.dart
index 334d7adc..3663dbd3 100644
--- a/subsystems/lib/src/devices/gps.dart
+++ b/subsystems/lib/src/devices/gps.dart
@@ -1,6 +1,7 @@
 import "dart:async";
 import "dart:convert";
 import "dart:io";
+import "dart:math";
 import "dart:typed_data";
 
 import "package:burt_network/burt_network.dart";
@@ -132,10 +133,16 @@ class GpsReader extends Service {
       return;
     }
 
+    final imuAngle = (collection.imu.lastValue.z + 90) * pi / 180;
+    final xOffset =
+        antennaOffset.x * cos(imuAngle) - antennaOffset.y * sin(imuAngle);
+    final yOffset =
+        antennaOffset.x * sin(imuAngle) + antennaOffset.y * cos(imuAngle);
+
     final utmPosition = coordinates.toUTM();
     final offsetPosition = UTMCoordinates(
-      x: utmPosition.x + antennaOffset.x,
-      y: utmPosition.y + antennaOffset.y,
+      x: utmPosition.x + xOffset,
+      y: utmPosition.y + yOffset,
       zoneNumber: utmPosition.zoneNumber,
     );
     final roverPosition = RoverPosition(
diff --git a/subsystems/lib/src/devices/imu.dart b/subsystems/lib/src/devices/imu.dart
index 17067146..7da69346 100644
--- a/subsystems/lib/src/devices/imu.dart
+++ b/subsystems/lib/src/devices/imu.dart
@@ -30,6 +30,9 @@ class ImuReader extends Service {
   /// Whether or not the IMU is connected
   bool get isConnected => serial.isOpen;
 
+  /// The last received reading from the IMU
+  Orientation lastValue = Orientation();
+
   /// The subscription that will be notified when a new serial packet arrives.
   StreamSubscription<List<int>>? subscription;
   StreamSubscription<SubsystemsCommand>? _commandSubscription;
@@ -67,6 +70,7 @@ class ImuReader extends Service {
           y: message.arguments[1] as double,
           z: message.arguments[2] as double,
         );
+        lastValue = orientation;
         final position = RoverPosition(
           orientation: orientation,
           version: positionVersion,
@@ -107,5 +111,6 @@ class ImuReader extends Service {
     await subscription?.cancel();
     await _commandSubscription?.cancel();
     await serial.dispose();
+    lastValue = Orientation();
   }
 }

From bcca57ef8deebe542240bc7be1a633f79df0b538 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Tue, 17 Feb 2026 12:25:22 -0500
Subject: [PATCH 13/29] Regen protobuf

---
 burt_network/Protobuf                         |   2 +-
 burt_network/lib/src/generated/relays.pb.dart | 104 +++++++-----------
 .../lib/src/generated/relays.pbjson.dart      |  50 +++++----
 .../lib/src/generated/vision.pbenum.dart      |   5 +-
 .../lib/src/generated/vision.pbjson.dart      |   3 +-
 5 files changed, 70 insertions(+), 94 deletions(-)

diff --git a/burt_network/Protobuf b/burt_network/Protobuf
index ab8ebd21..7712146d 160000
--- a/burt_network/Protobuf
+++ b/burt_network/Protobuf
@@ -1 +1 @@
-Subproject commit ab8ebd21ac0da710d1f9e5c26d1857e27bd7ba3c
+Subproject commit 7712146d0300d3b7a12e1fe5723475c2e01e91ad
diff --git a/burt_network/lib/src/generated/relays.pb.dart b/burt_network/lib/src/generated/relays.pb.dart
index 753d4071..997117d1 100644
--- a/burt_network/lib/src/generated/relays.pb.dart
+++ b/burt_network/lib/src/generated/relays.pb.dart
@@ -26,11 +26,10 @@ class RelaysCommand extends $pb.GeneratedMessage {
     $1.BoolState? backRightMotor,
     $1.BoolState? frontLeftMotor,
     $1.BoolState? frontRightMotor,
-    $1.BoolState? leftDampeningMotor,
-    $1.BoolState? rightDampeningMotor,
+    $1.BoolState? middleLeftMotor,
+    $1.BoolState? middleRightMotor,
     $1.BoolState? arm,
     $1.BoolState? science,
-    $1.BoolState? drive,
     $1.BoolState? bypass,
   }) {
     final result = create();
@@ -39,13 +38,10 @@ class RelaysCommand extends $pb.GeneratedMessage {
     if (backRightMotor != null) result.backRightMotor = backRightMotor;
     if (frontLeftMotor != null) result.frontLeftMotor = frontLeftMotor;
     if (frontRightMotor != null) result.frontRightMotor = frontRightMotor;
-    if (leftDampeningMotor != null)
-      result.leftDampeningMotor = leftDampeningMotor;
-    if (rightDampeningMotor != null)
-      result.rightDampeningMotor = rightDampeningMotor;
+    if (middleLeftMotor != null) result.middleLeftMotor = middleLeftMotor;
+    if (middleRightMotor != null) result.middleRightMotor = middleRightMotor;
     if (arm != null) result.arm = arm;
     if (science != null) result.science = science;
-    if (drive != null) result.drive = drive;
     if (bypass != null) result.bypass = bypass;
     return result;
   }
@@ -72,16 +68,14 @@ class RelaysCommand extends $pb.GeneratedMessage {
         enumValues: $1.BoolState.values)
     ..aE<$1.BoolState>(5, _omitFieldNames ? '' : 'frontRightMotor',
         enumValues: $1.BoolState.values)
-    ..aE<$1.BoolState>(6, _omitFieldNames ? '' : 'leftDampeningMotor',
+    ..aE<$1.BoolState>(6, _omitFieldNames ? '' : 'middleLeftMotor',
         enumValues: $1.BoolState.values)
-    ..aE<$1.BoolState>(7, _omitFieldNames ? '' : 'rightDampeningMotor',
+    ..aE<$1.BoolState>(7, _omitFieldNames ? '' : 'middleRightMotor',
         enumValues: $1.BoolState.values)
     ..aE<$1.BoolState>(8, _omitFieldNames ? '' : 'arm',
         enumValues: $1.BoolState.values)
     ..aE<$1.BoolState>(9, _omitFieldNames ? '' : 'science',
         enumValues: $1.BoolState.values)
-    ..aE<$1.BoolState>(10, _omitFieldNames ? '' : 'drive',
-        enumValues: $1.BoolState.values)
     ..aE<$1.BoolState>(11, _omitFieldNames ? '' : 'bypass',
         enumValues: $1.BoolState.values)
     ..hasRequiredFields = false;
@@ -154,22 +148,22 @@ class RelaysCommand extends $pb.GeneratedMessage {
   void clearFrontRightMotor() => $_clearField(5);
 
   @$pb.TagNumber(6)
-  $1.BoolState get leftDampeningMotor => $_getN(5);
+  $1.BoolState get middleLeftMotor => $_getN(5);
   @$pb.TagNumber(6)
-  set leftDampeningMotor($1.BoolState value) => $_setField(6, value);
+  set middleLeftMotor($1.BoolState value) => $_setField(6, value);
   @$pb.TagNumber(6)
-  $core.bool hasLeftDampeningMotor() => $_has(5);
+  $core.bool hasMiddleLeftMotor() => $_has(5);
   @$pb.TagNumber(6)
-  void clearLeftDampeningMotor() => $_clearField(6);
+  void clearMiddleLeftMotor() => $_clearField(6);
 
   @$pb.TagNumber(7)
-  $1.BoolState get rightDampeningMotor => $_getN(6);
+  $1.BoolState get middleRightMotor => $_getN(6);
   @$pb.TagNumber(7)
-  set rightDampeningMotor($1.BoolState value) => $_setField(7, value);
+  set middleRightMotor($1.BoolState value) => $_setField(7, value);
   @$pb.TagNumber(7)
-  $core.bool hasRightDampeningMotor() => $_has(6);
+  $core.bool hasMiddleRightMotor() => $_has(6);
   @$pb.TagNumber(7)
-  void clearRightDampeningMotor() => $_clearField(7);
+  void clearMiddleRightMotor() => $_clearField(7);
 
   @$pb.TagNumber(8)
   $1.BoolState get arm => $_getN(7);
@@ -189,22 +183,13 @@ class RelaysCommand extends $pb.GeneratedMessage {
   @$pb.TagNumber(9)
   void clearScience() => $_clearField(9);
 
-  @$pb.TagNumber(10)
-  $1.BoolState get drive => $_getN(9);
-  @$pb.TagNumber(10)
-  set drive($1.BoolState value) => $_setField(10, value);
-  @$pb.TagNumber(10)
-  $core.bool hasDrive() => $_has(9);
-  @$pb.TagNumber(10)
-  void clearDrive() => $_clearField(10);
-
   /// Special commands
   @$pb.TagNumber(11)
-  $1.BoolState get bypass => $_getN(10);
+  $1.BoolState get bypass => $_getN(9);
   @$pb.TagNumber(11)
   set bypass($1.BoolState value) => $_setField(11, value);
   @$pb.TagNumber(11)
-  $core.bool hasBypass() => $_has(10);
+  $core.bool hasBypass() => $_has(9);
   @$pb.TagNumber(11)
   void clearBypass() => $_clearField(11);
 }
@@ -216,11 +201,10 @@ class RelaysData extends $pb.GeneratedMessage {
     $1.BoolState? backRightMotor,
     $1.BoolState? frontLeftMotor,
     $1.BoolState? frontRightMotor,
-    $1.BoolState? leftDampeningMotor,
-    $1.BoolState? rightDampeningMotor,
+    $1.BoolState? middleLeftMotor,
+    $1.BoolState? middleRightMotor,
     $1.BoolState? arm,
     $1.BoolState? science,
-    $1.BoolState? drive,
     $1.BoolState? bypass,
     $1.BoolState? mechanicalOverride,
     $core.double? batteryVoltage,
@@ -231,13 +215,10 @@ class RelaysData extends $pb.GeneratedMessage {
     if (backRightMotor != null) result.backRightMotor = backRightMotor;
     if (frontLeftMotor != null) result.frontLeftMotor = frontLeftMotor;
     if (frontRightMotor != null) result.frontRightMotor = frontRightMotor;
-    if (leftDampeningMotor != null)
-      result.leftDampeningMotor = leftDampeningMotor;
-    if (rightDampeningMotor != null)
-      result.rightDampeningMotor = rightDampeningMotor;
+    if (middleLeftMotor != null) result.middleLeftMotor = middleLeftMotor;
+    if (middleRightMotor != null) result.middleRightMotor = middleRightMotor;
     if (arm != null) result.arm = arm;
     if (science != null) result.science = science;
-    if (drive != null) result.drive = drive;
     if (bypass != null) result.bypass = bypass;
     if (mechanicalOverride != null)
       result.mechanicalOverride = mechanicalOverride;
@@ -267,16 +248,14 @@ class RelaysData extends $pb.GeneratedMessage {
         enumValues: $1.BoolState.values)
     ..aE<$1.BoolState>(5, _omitFieldNames ? '' : 'frontRightMotor',
         enumValues: $1.BoolState.values)
-    ..aE<$1.BoolState>(6, _omitFieldNames ? '' : 'leftDampeningMotor',
+    ..aE<$1.BoolState>(6, _omitFieldNames ? '' : 'middleLeftMotor',
         enumValues: $1.BoolState.values)
-    ..aE<$1.BoolState>(7, _omitFieldNames ? '' : 'rightDampeningMotor',
+    ..aE<$1.BoolState>(7, _omitFieldNames ? '' : 'middleRightMotor',
         enumValues: $1.BoolState.values)
     ..aE<$1.BoolState>(8, _omitFieldNames ? '' : 'arm',
         enumValues: $1.BoolState.values)
     ..aE<$1.BoolState>(9, _omitFieldNames ? '' : 'science',
         enumValues: $1.BoolState.values)
-    ..aE<$1.BoolState>(10, _omitFieldNames ? '' : 'drive',
-        enumValues: $1.BoolState.values)
     ..aE<$1.BoolState>(11, _omitFieldNames ? '' : 'bypass',
         enumValues: $1.BoolState.values)
     ..aE<$1.BoolState>(12, _omitFieldNames ? '' : 'mechanicalOverride',
@@ -352,22 +331,22 @@ class RelaysData extends $pb.GeneratedMessage {
   void clearFrontRightMotor() => $_clearField(5);
 
   @$pb.TagNumber(6)
-  $1.BoolState get leftDampeningMotor => $_getN(5);
+  $1.BoolState get middleLeftMotor => $_getN(5);
   @$pb.TagNumber(6)
-  set leftDampeningMotor($1.BoolState value) => $_setField(6, value);
+  set middleLeftMotor($1.BoolState value) => $_setField(6, value);
   @$pb.TagNumber(6)
-  $core.bool hasLeftDampeningMotor() => $_has(5);
+  $core.bool hasMiddleLeftMotor() => $_has(5);
   @$pb.TagNumber(6)
-  void clearLeftDampeningMotor() => $_clearField(6);
+  void clearMiddleLeftMotor() => $_clearField(6);
 
   @$pb.TagNumber(7)
-  $1.BoolState get rightDampeningMotor => $_getN(6);
+  $1.BoolState get middleRightMotor => $_getN(6);
   @$pb.TagNumber(7)
-  set rightDampeningMotor($1.BoolState value) => $_setField(7, value);
+  set middleRightMotor($1.BoolState value) => $_setField(7, value);
   @$pb.TagNumber(7)
-  $core.bool hasRightDampeningMotor() => $_has(6);
+  $core.bool hasMiddleRightMotor() => $_has(6);
   @$pb.TagNumber(7)
-  void clearRightDampeningMotor() => $_clearField(7);
+  void clearMiddleRightMotor() => $_clearField(7);
 
   @$pb.TagNumber(8)
   $1.BoolState get arm => $_getN(7);
@@ -387,40 +366,31 @@ class RelaysData extends $pb.GeneratedMessage {
   @$pb.TagNumber(9)
   void clearScience() => $_clearField(9);
 
-  @$pb.TagNumber(10)
-  $1.BoolState get drive => $_getN(9);
-  @$pb.TagNumber(10)
-  set drive($1.BoolState value) => $_setField(10, value);
-  @$pb.TagNumber(10)
-  $core.bool hasDrive() => $_has(9);
-  @$pb.TagNumber(10)
-  void clearDrive() => $_clearField(10);
-
   @$pb.TagNumber(11)
-  $1.BoolState get bypass => $_getN(10);
+  $1.BoolState get bypass => $_getN(9);
   @$pb.TagNumber(11)
   set bypass($1.BoolState value) => $_setField(11, value);
   @$pb.TagNumber(11)
-  $core.bool hasBypass() => $_has(10);
+  $core.bool hasBypass() => $_has(9);
   @$pb.TagNumber(11)
   void clearBypass() => $_clearField(11);
 
   @$pb.TagNumber(12)
-  $1.BoolState get mechanicalOverride => $_getN(11);
+  $1.BoolState get mechanicalOverride => $_getN(10);
   @$pb.TagNumber(12)
   set mechanicalOverride($1.BoolState value) => $_setField(12, value);
   @$pb.TagNumber(12)
-  $core.bool hasMechanicalOverride() => $_has(11);
+  $core.bool hasMechanicalOverride() => $_has(10);
   @$pb.TagNumber(12)
   void clearMechanicalOverride() => $_clearField(12);
 
   /// Special data
   @$pb.TagNumber(13)
-  $core.double get batteryVoltage => $_getN(12);
+  $core.double get batteryVoltage => $_getN(11);
   @$pb.TagNumber(13)
-  set batteryVoltage($core.double value) => $_setFloat(12, value);
+  set batteryVoltage($core.double value) => $_setFloat(11, value);
   @$pb.TagNumber(13)
-  $core.bool hasBatteryVoltage() => $_has(12);
+  $core.bool hasBatteryVoltage() => $_has(11);
   @$pb.TagNumber(13)
   void clearBatteryVoltage() => $_clearField(13);
 }
diff --git a/burt_network/lib/src/generated/relays.pbjson.dart b/burt_network/lib/src/generated/relays.pbjson.dart
index 9cf4a800..7b3575b4 100644
--- a/burt_network/lib/src/generated/relays.pbjson.dart
+++ b/burt_network/lib/src/generated/relays.pbjson.dart
@@ -53,20 +53,20 @@ const RelaysCommand$json = {
       '10': 'frontRightMotor'
     },
     {
-      '1': 'left_dampening_motor',
+      '1': 'middle_left_motor',
       '3': 6,
       '4': 1,
       '5': 14,
       '6': '.BoolState',
-      '10': 'leftDampeningMotor'
+      '10': 'middleLeftMotor'
     },
     {
-      '1': 'right_dampening_motor',
+      '1': 'middle_right_motor',
       '3': 7,
       '4': 1,
       '5': 14,
       '6': '.BoolState',
-      '10': 'rightDampeningMotor'
+      '10': 'middleRightMotor'
     },
     {'1': 'arm', '3': 8, '4': 1, '5': 14, '6': '.BoolState', '10': 'arm'},
     {
@@ -77,7 +77,6 @@ const RelaysCommand$json = {
       '6': '.BoolState',
       '10': 'science'
     },
-    {'1': 'drive', '3': 10, '4': 1, '5': 14, '6': '.BoolState', '10': 'drive'},
     {
       '1': 'bypass',
       '3': 11,
@@ -87,6 +86,9 @@ const RelaysCommand$json = {
       '10': 'bypass'
     },
   ],
+  '9': [
+    {'1': 10, '2': 11},
+  ],
 };
 
 /// Descriptor for `RelaysCommand`. Decode as a `google.protobuf.DescriptorProto`.
@@ -95,12 +97,11 @@ final $typed_data.Uint8List relaysCommandDescriptor = $convert.base64Decode(
     'JhY2tfbGVmdF9tb3RvchgCIAEoDjIKLkJvb2xTdGF0ZVINYmFja0xlZnRNb3RvchI0ChBiYWNr'
     'X3JpZ2h0X21vdG9yGAMgASgOMgouQm9vbFN0YXRlUg5iYWNrUmlnaHRNb3RvchI0ChBmcm9udF'
     '9sZWZ0X21vdG9yGAQgASgOMgouQm9vbFN0YXRlUg5mcm9udExlZnRNb3RvchI2ChFmcm9udF9y'
-    'aWdodF9tb3RvchgFIAEoDjIKLkJvb2xTdGF0ZVIPZnJvbnRSaWdodE1vdG9yEjwKFGxlZnRfZG'
-    'FtcGVuaW5nX21vdG9yGAYgASgOMgouQm9vbFN0YXRlUhJsZWZ0RGFtcGVuaW5nTW90b3ISPgoV'
-    'cmlnaHRfZGFtcGVuaW5nX21vdG9yGAcgASgOMgouQm9vbFN0YXRlUhNyaWdodERhbXBlbmluZ0'
-    '1vdG9yEhwKA2FybRgIIAEoDjIKLkJvb2xTdGF0ZVIDYXJtEiQKB3NjaWVuY2UYCSABKA4yCi5C'
-    'b29sU3RhdGVSB3NjaWVuY2USIAoFZHJpdmUYCiABKA4yCi5Cb29sU3RhdGVSBWRyaXZlEiIKBm'
-    'J5cGFzcxgLIAEoDjIKLkJvb2xTdGF0ZVIGYnlwYXNz');
+    'aWdodF9tb3RvchgFIAEoDjIKLkJvb2xTdGF0ZVIPZnJvbnRSaWdodE1vdG9yEjYKEW1pZGRsZV'
+    '9sZWZ0X21vdG9yGAYgASgOMgouQm9vbFN0YXRlUg9taWRkbGVMZWZ0TW90b3ISOAoSbWlkZGxl'
+    'X3JpZ2h0X21vdG9yGAcgASgOMgouQm9vbFN0YXRlUhBtaWRkbGVSaWdodE1vdG9yEhwKA2FybR'
+    'gIIAEoDjIKLkJvb2xTdGF0ZVIDYXJtEiQKB3NjaWVuY2UYCSABKA4yCi5Cb29sU3RhdGVSB3Nj'
+    'aWVuY2USIgoGYnlwYXNzGAsgASgOMgouQm9vbFN0YXRlUgZieXBhc3NKBAgKEAs=');
 
 @$core.Deprecated('Use relaysDataDescriptor instead')
 const RelaysData$json = {
@@ -140,20 +141,20 @@ const RelaysData$json = {
       '10': 'frontRightMotor'
     },
     {
-      '1': 'left_dampening_motor',
+      '1': 'middle_left_motor',
       '3': 6,
       '4': 1,
       '5': 14,
       '6': '.BoolState',
-      '10': 'leftDampeningMotor'
+      '10': 'middleLeftMotor'
     },
     {
-      '1': 'right_dampening_motor',
+      '1': 'middle_right_motor',
       '3': 7,
       '4': 1,
       '5': 14,
       '6': '.BoolState',
-      '10': 'rightDampeningMotor'
+      '10': 'middleRightMotor'
     },
     {'1': 'arm', '3': 8, '4': 1, '5': 14, '6': '.BoolState', '10': 'arm'},
     {
@@ -164,7 +165,6 @@ const RelaysData$json = {
       '6': '.BoolState',
       '10': 'science'
     },
-    {'1': 'drive', '3': 10, '4': 1, '5': 14, '6': '.BoolState', '10': 'drive'},
     {'1': 'battery_voltage', '3': 13, '4': 1, '5': 2, '10': 'batteryVoltage'},
     {
       '1': 'bypass',
@@ -183,6 +183,9 @@ const RelaysData$json = {
       '10': 'mechanicalOverride'
     },
   ],
+  '9': [
+    {'1': 10, '2': 11},
+  ],
 };
 
 /// Descriptor for `RelaysData`. Decode as a `google.protobuf.DescriptorProto`.
@@ -191,11 +194,10 @@ final $typed_data.Uint8List relaysDataDescriptor = $convert.base64Decode(
     'tfbGVmdF9tb3RvchgCIAEoDjIKLkJvb2xTdGF0ZVINYmFja0xlZnRNb3RvchI0ChBiYWNrX3Jp'
     'Z2h0X21vdG9yGAMgASgOMgouQm9vbFN0YXRlUg5iYWNrUmlnaHRNb3RvchI0ChBmcm9udF9sZW'
     'Z0X21vdG9yGAQgASgOMgouQm9vbFN0YXRlUg5mcm9udExlZnRNb3RvchI2ChFmcm9udF9yaWdo'
-    'dF9tb3RvchgFIAEoDjIKLkJvb2xTdGF0ZVIPZnJvbnRSaWdodE1vdG9yEjwKFGxlZnRfZGFtcG'
-    'VuaW5nX21vdG9yGAYgASgOMgouQm9vbFN0YXRlUhJsZWZ0RGFtcGVuaW5nTW90b3ISPgoVcmln'
-    'aHRfZGFtcGVuaW5nX21vdG9yGAcgASgOMgouQm9vbFN0YXRlUhNyaWdodERhbXBlbmluZ01vdG'
-    '9yEhwKA2FybRgIIAEoDjIKLkJvb2xTdGF0ZVIDYXJtEiQKB3NjaWVuY2UYCSABKA4yCi5Cb29s'
-    'U3RhdGVSB3NjaWVuY2USIAoFZHJpdmUYCiABKA4yCi5Cb29sU3RhdGVSBWRyaXZlEicKD2JhdH'
-    'Rlcnlfdm9sdGFnZRgNIAEoAlIOYmF0dGVyeVZvbHRhZ2USIgoGYnlwYXNzGAsgASgOMgouQm9v'
-    'bFN0YXRlUgZieXBhc3MSOwoTbWVjaGFuaWNhbF9vdmVycmlkZRgMIAEoDjIKLkJvb2xTdGF0ZV'
-    'ISbWVjaGFuaWNhbE92ZXJyaWRl');
+    'dF9tb3RvchgFIAEoDjIKLkJvb2xTdGF0ZVIPZnJvbnRSaWdodE1vdG9yEjYKEW1pZGRsZV9sZW'
+    'Z0X21vdG9yGAYgASgOMgouQm9vbFN0YXRlUg9taWRkbGVMZWZ0TW90b3ISOAoSbWlkZGxlX3Jp'
+    'Z2h0X21vdG9yGAcgASgOMgouQm9vbFN0YXRlUhBtaWRkbGVSaWdodE1vdG9yEhwKA2FybRgIIA'
+    'EoDjIKLkJvb2xTdGF0ZVIDYXJtEiQKB3NjaWVuY2UYCSABKA4yCi5Cb29sU3RhdGVSB3NjaWVu'
+    'Y2USJwoPYmF0dGVyeV92b2x0YWdlGA0gASgCUg5iYXR0ZXJ5Vm9sdGFnZRIiCgZieXBhc3MYCy'
+    'ABKA4yCi5Cb29sU3RhdGVSBmJ5cGFzcxI7ChNtZWNoYW5pY2FsX292ZXJyaWRlGAwgASgOMgou'
+    'Qm9vbFN0YXRlUhJtZWNoYW5pY2FsT3ZlcnJpZGVKBAgKEAs=');
diff --git a/burt_network/lib/src/generated/vision.pbenum.dart b/burt_network/lib/src/generated/vision.pbenum.dart
index 4e27f90f..1a50687c 100644
--- a/burt_network/lib/src/generated/vision.pbenum.dart
+++ b/burt_network/lib/src/generated/vision.pbenum.dart
@@ -23,16 +23,19 @@ class DetectedObjectType extends $pb.ProtobufEnum {
       DetectedObjectType._(2, _omitEnumNames ? '' : 'HAMMER');
   static const DetectedObjectType BOTTLE =
       DetectedObjectType._(3, _omitEnumNames ? '' : 'BOTTLE');
+  static const DetectedObjectType ROCK_HAMMER =
+      DetectedObjectType._(4, _omitEnumNames ? '' : 'ROCK_HAMMER');
 
   static const $core.List<DetectedObjectType> values = <DetectedObjectType>[
     DETECTION_TYPE_UNDEFINED,
     ARUCO,
     HAMMER,
     BOTTLE,
+    ROCK_HAMMER,
   ];
 
   static final $core.List<DetectedObjectType?> _byValue =
-      $pb.ProtobufEnum.$_initByValueList(values, 3);
+      $pb.ProtobufEnum.$_initByValueList(values, 4);
   static DetectedObjectType? valueOf($core.int value) =>
       value < 0 || value >= _byValue.length ? null : _byValue[value];
 
diff --git a/burt_network/lib/src/generated/vision.pbjson.dart b/burt_network/lib/src/generated/vision.pbjson.dart
index 62b88933..1d2ca60c 100644
--- a/burt_network/lib/src/generated/vision.pbjson.dart
+++ b/burt_network/lib/src/generated/vision.pbjson.dart
@@ -23,13 +23,14 @@ const DetectedObjectType$json = {
     {'1': 'ARUCO', '2': 1},
     {'1': 'HAMMER', '2': 2},
     {'1': 'BOTTLE', '2': 3},
+    {'1': 'ROCK_HAMMER', '2': 4},
   ],
 };
 
 /// Descriptor for `DetectedObjectType`. Decode as a `google.protobuf.EnumDescriptorProto`.
 final $typed_data.Uint8List detectedObjectTypeDescriptor = $convert.base64Decode(
     'ChJEZXRlY3RlZE9iamVjdFR5cGUSHAoYREVURUNUSU9OX1RZUEVfVU5ERUZJTkVEEAASCQoFQV'
-    'JVQ08QARIKCgZIQU1NRVIQAhIKCgZCT1RUTEUQAw==');
+    'JVQ08QARIKCgZIQU1NRVIQAhIKCgZCT1RUTEUQAxIPCgtST0NLX0hBTU1FUhAE');
 
 @$core.Deprecated('Use pnpResultDescriptor instead')
 const PnpResult$json = {

From 60c69aeac58be2dcc1f0db8d1e512bc27ed24ddb Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 18 Feb 2026 12:48:25 -0500
Subject: [PATCH 14/29] Add arm auxillary subsystems program

---
 subsystems/bin/arm_auxillary.dart | 20 +++++++++++++
 subsystems/bin/subsystems.dart    | 47 ++++++++++++++++++++++++++++++-
 subsystems/lib/subsystems.dart    | 41 ++++++++++++++++++++++-----
 3 files changed, 100 insertions(+), 8 deletions(-)
 create mode 100644 subsystems/bin/arm_auxillary.dart

diff --git a/subsystems/bin/arm_auxillary.dart b/subsystems/bin/arm_auxillary.dart
new file mode 100644
index 00000000..17d77990
--- /dev/null
+++ b/subsystems/bin/arm_auxillary.dart
@@ -0,0 +1,20 @@
+import "dart:io";
+
+import "package:burt_network/udp.dart";
+import "package:subsystems/subsystems.dart";
+import "package:burt_network/logging.dart";
+
+void main() async {
+  Logger.level = LogLevel.trace;
+  if (!await collection.init(
+    port: 8010,
+    useGps: false,
+    useImu: false,
+    destination: SocketInfo(
+      address: InternetAddress("192.168.1.20"),
+      port: 8001,
+    ),
+  )) {
+    await collection.dispose();
+  }
+}
diff --git a/subsystems/bin/subsystems.dart b/subsystems/bin/subsystems.dart
index 0ca44d56..edb47c8d 100644
--- a/subsystems/bin/subsystems.dart
+++ b/subsystems/bin/subsystems.dart
@@ -1,7 +1,52 @@
+import "dart:async";
+import "dart:io";
+
+import "package:burt_network/burt_network.dart";
 import "package:subsystems/subsystems.dart";
-import "package:burt_network/logging.dart";
+
+/// Extra service to forward science data and commands to/from the auxillary board
+class ScienceForwardService extends Service {
+  StreamSubscription<ScienceCommand>? _commandSubscription;
+  StreamSubscription<ScienceData>? _dataSubscription;
+
+  @override
+  Future<bool> init() async {
+    _commandSubscription = collection.server.messages.onMessage(
+      name: ScienceCommand().messageName,
+      constructor: ScienceCommand.fromBuffer,
+      callback: (command) => collection.server.sendMessage(
+        command,
+        destination: SocketInfo(
+          address: InternetAddress("192.168.1.60"),
+          port: 8010,
+        ),
+      ),
+    );
+    _dataSubscription = collection.server.messages.onMessage(
+      name: ScienceData().messageName,
+      constructor: (data) {
+        try {
+          return ScienceData.fromBuffer(data);
+        } catch (_) {
+          return ScienceData();
+        }
+      },
+      callback: (data) => collection.server.sendMessage(data),
+    );
+    return true;
+  }
+
+  @override
+  Future<void> dispose() async {
+    await _commandSubscription?.cancel();
+    await _dataSubscription?.cancel();
+    _commandSubscription = null;
+    _dataSubscription = null;
+  }
+}
 
 void main() async {
   Logger.level = LogLevel.trace;
+  collection.extraServices.add(ScienceForwardService());
   if (!await collection.init()) await collection.dispose();
 }
diff --git a/subsystems/lib/subsystems.dart b/subsystems/lib/subsystems.dart
index ce023b35..aae0a98a 100644
--- a/subsystems/lib/subsystems.dart
+++ b/subsystems/lib/subsystems.dart
@@ -25,7 +25,7 @@ class SubsystemsCollection extends Service {
   final firmware = FirmwareManager();
 
   /// The UDP server.
-  late final server = RoverSocket(port: 8001, collection: this, device: Device.SUBSYSTEMS);
+  late final RoverSocket server;
 
   /// The GPS reader.
   final gps = GpsReader();
@@ -33,11 +33,26 @@ class SubsystemsCollection extends Service {
   /// The IMU reader.
   final imu = ImuReader();
 
+  /// Extra services added on to the program, runtime specific
+  final List<Service> extraServices = [];
+
   /// Timer for sending the subsystems status
   Timer? dataSendTimer;
 
   @override
-  Future<bool> init() async {
+  Future<bool> init({
+    int port = 8001,
+    bool useGps = true,
+    bool useImu = true,
+    SocketInfo? destination,
+  }) async {
+    server = RoverSocket(
+      port: port,
+      collection: this,
+      device: Device.SUBSYSTEMS,
+      destination: destination,
+      keepDestination: destination != null,
+    );
     await server.init();
     logger.socket = server;
     var result = true;
@@ -47,17 +62,23 @@ class SubsystemsCollection extends Service {
     );
     try {
       result &= await firmware.init();
-      result &= await gps.init();
-      result &= await imu.init();
+      if (useGps) result &= await gps.init();
+      if (useImu) result &= await imu.init();
+      for (final service in extraServices) {
+        result &= await service.init();
+      }
       if (result) {
         logger.info("Subsystems initialized");
       } else {
         logger.warning("The subsystems did not start properly");
       }
       isReady = true;
-      return true;  // The subsystems should keep running even when something goes wrong.
+      return true; // The subsystems should keep running even when something goes wrong.
     } catch (error) {
-      logger.critical("Unexpected error when initializing Subsystems", body: error.toString());
+      logger.critical(
+        "Unexpected error when initializing Subsystems",
+        body: error.toString(),
+      );
       return false;
     }
   }
@@ -70,6 +91,9 @@ class SubsystemsCollection extends Service {
     await firmware.dispose();
     await imu.dispose();
     await gps.dispose();
+    for (final service in extraServices) {
+      await service.dispose();
+    }
     await server.dispose();
     dataSendTimer?.cancel();
     logger.socket = null;
@@ -79,6 +103,9 @@ class SubsystemsCollection extends Service {
   @override
   Future<void> onDisconnect() async {
     await super.onDisconnect();
+    for (final service in extraServices) {
+      await service.onDisconnect();
+    }
     logger.info("Stopping all hardware");
     final stopDrive = DriveCommand(throttle: 0, setThrottle: true);
     final stopArm = ArmCommand(stop: true);
@@ -87,7 +114,7 @@ class SubsystemsCollection extends Service {
     firmware.sendMessage(stopArm);
     firmware.sendMessage(stopScience);
   }
-  
+
   /// Sends a [SubsystemsData] message over the network reporting the current status of subsystems
   void sendStatus([_]) {
     server.sendMessage(

From 99ae15f431936f0ab1bdfe9b14d8dab232b01ea7 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 18 Feb 2026 12:59:13 -0500
Subject: [PATCH 15/29] Fix crash when restarting

---
 subsystems/bin/arm_auxillary.dart | 14 +++++----
 subsystems/lib/subsystems.dart    | 52 +++++++++++++++++++++++--------
 2 files changed, 47 insertions(+), 19 deletions(-)

diff --git a/subsystems/bin/arm_auxillary.dart b/subsystems/bin/arm_auxillary.dart
index 17d77990..6338678e 100644
--- a/subsystems/bin/arm_auxillary.dart
+++ b/subsystems/bin/arm_auxillary.dart
@@ -7,12 +7,14 @@ import "package:burt_network/logging.dart";
 void main() async {
   Logger.level = LogLevel.trace;
   if (!await collection.init(
-    port: 8010,
-    useGps: false,
-    useImu: false,
-    destination: SocketInfo(
-      address: InternetAddress("192.168.1.20"),
-      port: 8001,
+    config: SubsystemsConfig(
+      port: 8010,
+      useGps: false,
+      useImu: false,
+      destination: SocketInfo(
+        address: InternetAddress("192.168.1.20"),
+        port: 8001,
+      ),
     ),
   )) {
     await collection.dispose();
diff --git a/subsystems/lib/subsystems.dart b/subsystems/lib/subsystems.dart
index aae0a98a..43d17d21 100644
--- a/subsystems/lib/subsystems.dart
+++ b/subsystems/lib/subsystems.dart
@@ -16,6 +16,29 @@ export "src/can/socket_ffi.dart";
 export "src/can/socket_interface.dart";
 export "src/can/socket_stub.dart";
 
+/// Configuration for the subsystems program
+class SubsystemsConfig {
+  /// The port to host the socket on
+  final int port;
+
+  /// Whether or not to use the GPS
+  final bool useGps;
+
+  /// Whether or not to use the IMU
+  final bool useImu;
+
+  /// The default destination for the server
+  final SocketInfo? destination;
+
+  /// Const constructor for [SubsystemsConfig]
+  const SubsystemsConfig({
+    this.port = 8001,
+    this.useGps = true,
+    this.useImu = true,
+    this.destination,
+  });
+}
+
 /// Contains all the resources needed by the subsystems program.
 class SubsystemsCollection extends Service {
   /// Whether the subsystems is fully initialized.
@@ -36,23 +59,26 @@ class SubsystemsCollection extends Service {
   /// Extra services added on to the program, runtime specific
   final List<Service> extraServices = [];
 
+  /// Internal configuration (the one used when init was first called)
+  SubsystemsConfig? _config;
+
   /// Timer for sending the subsystems status
   Timer? dataSendTimer;
 
   @override
   Future<bool> init({
-    int port = 8001,
-    bool useGps = true,
-    bool useImu = true,
-    SocketInfo? destination,
+    SubsystemsConfig config = const SubsystemsConfig(),
   }) async {
-    server = RoverSocket(
-      port: port,
-      collection: this,
-      device: Device.SUBSYSTEMS,
-      destination: destination,
-      keepDestination: destination != null,
-    );
+    if (_config == null) {
+      _config = config;
+      server = RoverSocket(
+        port: _config!.port,
+        collection: this,
+        device: Device.SUBSYSTEMS,
+        destination: _config!.destination,
+        keepDestination: _config!.destination != null,
+      );
+    }
     await server.init();
     logger.socket = server;
     var result = true;
@@ -62,8 +88,8 @@ class SubsystemsCollection extends Service {
     );
     try {
       result &= await firmware.init();
-      if (useGps) result &= await gps.init();
-      if (useImu) result &= await imu.init();
+      if (_config!.useGps) result &= await gps.init();
+      if (_config!.useImu) result &= await imu.init();
       for (final service in extraServices) {
         result &= await service.init();
       }

From 06b910241f4ee177eb07dcdb646be1d358512eb5 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Wed, 18 Feb 2026 13:24:56 -0500
Subject: [PATCH 16/29] Filter out all rover paths in getPortNames()

---
 subsystems/lib/src/devices/serial_utils.dart | 24 +++++++++++++++++---
 1 file changed, 21 insertions(+), 3 deletions(-)

diff --git a/subsystems/lib/src/devices/serial_utils.dart b/subsystems/lib/src/devices/serial_utils.dart
index 66641529..9fc08b8b 100644
--- a/subsystems/lib/src/devices/serial_utils.dart
+++ b/subsystems/lib/src/devices/serial_utils.dart
@@ -9,13 +9,31 @@ import "package:subsystems/subsystems.dart";
 Future<String> getRealPath(String symlink) async =>
     (await Process.run("realpath", [symlink])).stdout.trim();
 
+/// Gets a list of all /dev/rover_ paths
+Future<List<String>> getRoverPaths() async {
+  final devDir = Directory("/dev");
+  const prefix = "/dev/rover_";
+
+  final output = <String>[];
+
+  await for (final entity in devDir.list()) {
+    if (entity.path.startsWith(prefix)) {
+      output.add(entity.path);
+    }
+  }
+  return output;
+}
+
 /// Gets all the names of all the ports.
 Future<Iterable<String>> getPortNames() async {
   final allPorts = DelegateSerialPort.allPorts.toSet();
   if (!Platform.isLinux) return allPorts;
-  final imuPath = await getRealPath(imuPort);
-  final gpsPath = await getRealPath(gpsPort);
-  final forbiddenPorts = {imuPath, gpsPath, "/dev/ttyAMA10"};
+
+  final forbiddenPorts = {"/dev/ttyAMA10"};
+  final roverPaths = await getRoverPaths();
+  for (final path in roverPaths) {
+    forbiddenPorts.add(await getRealPath(path));
+  }
   return allPorts.toSet().difference(forbiddenPorts);
 }
 

From 7bcda7a939691cd1f3fefbfb52d6e0e926e31d67 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 19 Feb 2026 13:05:42 -0500
Subject: [PATCH 17/29] Don't remove destination if keepDestination is true

---
 burt_network/lib/src/udp/burt_socket.dart | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/burt_network/lib/src/udp/burt_socket.dart b/burt_network/lib/src/udp/burt_socket.dart
index 3520a008..4ca8cbda 100644
--- a/burt_network/lib/src/udp/burt_socket.dart
+++ b/burt_network/lib/src/udp/burt_socket.dart
@@ -166,7 +166,9 @@ abstract class BurtSocket extends UdpSocket {
   Future<void> onDisconnect() async {
     logger.info("Port $port is disconnected from $destination");
     sendMessage(Disconnect(sender: device));
-    destination = null;
+    if (!keepDestination) {
+      destination = null;
+    }
     await collection?.onDisconnect();
     await super.onDisconnect();
   }

From 49fc13efe4a90610ae851c6f5abd4238a379857f Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 19 Feb 2026 13:13:22 -0500
Subject: [PATCH 18/29] Don't assume connected if keepDestination is true

---
 burt_network/lib/src/udp/rover_heartbeats.dart | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/burt_network/lib/src/udp/rover_heartbeats.dart b/burt_network/lib/src/udp/rover_heartbeats.dart
index 63fdcda9..46bb9bb4 100644
--- a/burt_network/lib/src/udp/rover_heartbeats.dart
+++ b/burt_network/lib/src/udp/rover_heartbeats.dart
@@ -10,7 +10,7 @@ mixin RoverHeartbeats on BurtSocket {
   bool didReceivedHeartbeat = false;
 
   @override
-  bool get isConnected => destination != null;
+  bool get isConnected => destination != null && !keepDestination;
 
   @override
   Duration get heartbeatInterval => const Duration(seconds: 2);

From 88dc12a4c972593056cdd076443566743aa39781 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 19 Feb 2026 14:08:16 -0500
Subject: [PATCH 19/29] Added arm auxillary video program

---
 video/bin/arm_auxillary.dart  | 19 ++++++++++++
 video/bin/video.dart          | 36 ++++++++++++++++++++++
 video/lib/src/collection.dart | 57 +++++++++++++++++++++++++++++------
 3 files changed, 102 insertions(+), 10 deletions(-)
 create mode 100644 video/bin/arm_auxillary.dart

diff --git a/video/bin/arm_auxillary.dart b/video/bin/arm_auxillary.dart
new file mode 100644
index 00000000..66ad8f7f
--- /dev/null
+++ b/video/bin/arm_auxillary.dart
@@ -0,0 +1,19 @@
+import "dart:io";
+
+import "package:burt_network/burt_network.dart";
+import "package:video/src/collection.dart";
+
+void main() async {
+  if (!await collection.init(
+    config: VideoConfig(
+      port: 8011,
+      useLidar: false,
+      destination: SocketInfo(
+        address: InternetAddress("192.168.1.20"),
+        port: 8002,
+      ),
+    ),
+  )) {
+    await collection.dispose();
+  }
+}
diff --git a/video/bin/video.dart b/video/bin/video.dart
index fea859ae..ed7ba3c2 100644
--- a/video/bin/video.dart
+++ b/video/bin/video.dart
@@ -1,7 +1,43 @@
+import "dart:async";
+import "dart:io";
+
+import "package:burt_network/burt_network.dart";
 import "package:burt_network/logging.dart";
+import "package:burt_network/protobuf.dart";
+import "package:burt_network/service.dart";
 import "package:video/video.dart";
 
+class CommandForwarder extends Service {
+  StreamSubscription<VideoCommand>? _commandSubscription;
+
+  @override
+  Future<bool> init() async {
+    _commandSubscription = collection.videoServer.messages.onMessage(
+      name: VideoCommand().messageName,
+      constructor: VideoCommand.fromBuffer,
+      callback: (data) {
+        collection.videoServer.sendMessage(
+          data,
+          destination: SocketInfo(
+            address: InternetAddress("192.168.1.60"),
+            port: 8011,
+          ),
+        );
+      },
+    );
+
+    return true;
+  }
+
+  @override
+  Future<void> dispose() async {
+    await _commandSubscription?.cancel();
+    _commandSubscription = null;
+  }
+}
+
 void main() async {
   Logger.level = LogLevel.all;
+  collection.extraServices.add(CommandForwarder());
   await collection.init();
 }
diff --git a/video/lib/src/collection.dart b/video/lib/src/collection.dart
index a28cd75f..aafd3157 100644
--- a/video/lib/src/collection.dart
+++ b/video/lib/src/collection.dart
@@ -5,14 +5,25 @@ import "package:video/src/lidar.dart";
 
 import "package:video/video.dart";
 
+/// Configuration class for the video program
+class VideoConfig {
+  /// The port to host the server on
+  final int port;
+
+  /// Whether or not to enable the lidar
+  final bool useLidar;
+
+  /// The explicit destination for the rover's server
+  final SocketInfo? destination;
+
+  /// Const constructor for VideoConfig
+  const VideoConfig({this.port = 8002, this.useLidar = true, this.destination});
+}
+
 /// Class to contain all video devices
-class Collection extends Service {
+class VideoCollection extends Service {
   /// The [RoverSocket] to send messages through
-  late final videoServer = RoverSocket(
-    port: 8002,
-    device: Device.VIDEO,
-    collection: this,
-  );
+  late final RoverSocket videoServer;
 
   /// Main parent isolate
   final cameras = CameraManager();
@@ -20,14 +31,35 @@ class Collection extends Service {
   /// The lidar manager
   final lidar = LidarManager();
 
+  /// Extra services added on to the program, runtime specific
+  final List<Service> extraServices = [];
+
+  VideoConfig? _config;
+
   /// Function to initialize cameras
   @override
-  Future<bool> init() async {
+  Future<bool> init({VideoConfig config = const VideoConfig()}) async {
+    if (_config == null) {
+      _config = config;
+
+      videoServer = RoverSocket(
+        port: _config!.port,
+        device: Device.VIDEO,
+        collection: this,
+        destination: _config!.destination,
+        keepDestination: _config!.destination != null,
+      );
+    }
     logger
       ..trace("Running in trace mode")
       ..debug("Running in debug mode");
     await cameras.init();
-    await lidar.init();
+    if (_config!.useLidar) {
+      await lidar.init();
+    }
+    for (final service in extraServices) {
+      await service.init();
+    }
     await videoServer.init();
     logger.info("Video program initialized");
     return true;
@@ -37,13 +69,18 @@ class Collection extends Service {
   @override
   Future<void> dispose() async {
     await cameras.dispose();
-    await lidar.dispose();
+    if (_config!.useLidar) {
+      await lidar.dispose();
+    }
+    for (final service in extraServices) {
+      await service.dispose();
+    }
     await videoServer.dispose();
   }
 }
 
 /// Holds all the devices connected
-final collection = Collection();
+final collection = VideoCollection();
 
 /// Displays logs in the terminal and sends them to the Dashboard
 final logger = BurtLogger(socket: collection.videoServer);

From 0076a90aead9246e86deeddef3859bd4a9ddf6a1 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 19 Feb 2026 14:27:09 -0500
Subject: [PATCH 20/29] Fix late initialization issue

---
 video/lib/src/collection.dart | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/video/lib/src/collection.dart b/video/lib/src/collection.dart
index aafd3157..0e2d6f7f 100644
--- a/video/lib/src/collection.dart
+++ b/video/lib/src/collection.dart
@@ -50,6 +50,7 @@ class VideoCollection extends Service {
         keepDestination: _config!.destination != null,
       );
     }
+    logger.socket = videoServer;
     logger
       ..trace("Running in trace mode")
       ..debug("Running in debug mode");
@@ -83,4 +84,4 @@ class VideoCollection extends Service {
 final collection = VideoCollection();
 
 /// Displays logs in the terminal and sends them to the Dashboard
-final logger = BurtLogger(socket: collection.videoServer);
+final logger = BurtLogger();

From ffb752b00fff0d348dd9b564737fa31837c9d9a9 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 19 Feb 2026 14:28:32 -0500
Subject: [PATCH 21/29] Initialize video server first

---
 video/lib/src/collection.dart | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/video/lib/src/collection.dart b/video/lib/src/collection.dart
index 0e2d6f7f..37006cce 100644
--- a/video/lib/src/collection.dart
+++ b/video/lib/src/collection.dart
@@ -51,6 +51,7 @@ class VideoCollection extends Service {
       );
     }
     logger.socket = videoServer;
+    await videoServer.init();
     logger
       ..trace("Running in trace mode")
       ..debug("Running in debug mode");
@@ -61,7 +62,6 @@ class VideoCollection extends Service {
     for (final service in extraServices) {
       await service.init();
     }
-    await videoServer.init();
     logger.info("Video program initialized");
     return true;
   }

From 8026d827456af1ade3e9051f6112e3ba5d906b99 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 19 Feb 2026 14:50:58 -0500
Subject: [PATCH 22/29] Add configuration for which cameras video will use

---
 video/bin/arm_auxillary.dart       |  1 +
 video/bin/video.dart               |  9 ++++++++-
 video/lib/src/collection.dart      | 12 ++++++++++--
 video/lib/src/isolates/parent.dart | 11 ++++++++---
 4 files changed, 27 insertions(+), 6 deletions(-)

diff --git a/video/bin/arm_auxillary.dart b/video/bin/arm_auxillary.dart
index 66ad8f7f..a18e32d2 100644
--- a/video/bin/arm_auxillary.dart
+++ b/video/bin/arm_auxillary.dart
@@ -12,6 +12,7 @@ void main() async {
         address: InternetAddress("192.168.1.20"),
         port: 8002,
       ),
+      supportedCameras: [CameraName.BOTTOM_LEFT, CameraName.BOTTOM_RIGHT],
     ),
   )) {
     await collection.dispose();
diff --git a/video/bin/video.dart b/video/bin/video.dart
index ed7ba3c2..3e6ce043 100644
--- a/video/bin/video.dart
+++ b/video/bin/video.dart
@@ -39,5 +39,12 @@ class CommandForwarder extends Service {
 void main() async {
   Logger.level = LogLevel.all;
   collection.extraServices.add(CommandForwarder());
-  await collection.init();
+  await collection.init(
+    config: VideoConfig(
+      supportedCameras: CameraName.values.toSet().difference({
+        CameraName.BOTTOM_LEFT,
+        CameraName.BOTTOM_RIGHT,
+      }).toList(),
+    ),
+  );
 }
diff --git a/video/lib/src/collection.dart b/video/lib/src/collection.dart
index 37006cce..8e88a9ed 100644
--- a/video/lib/src/collection.dart
+++ b/video/lib/src/collection.dart
@@ -16,8 +16,16 @@ class VideoConfig {
   /// The explicit destination for the rover's server
   final SocketInfo? destination;
 
+  /// The cameras controlled by the program
+  final List<CameraName> supportedCameras;
+
   /// Const constructor for VideoConfig
-  const VideoConfig({this.port = 8002, this.useLidar = true, this.destination});
+  const VideoConfig({
+    this.port = 8002,
+    this.useLidar = true,
+    this.destination,
+    this.supportedCameras = CameraName.values,
+  });
 }
 
 /// Class to contain all video devices
@@ -55,7 +63,7 @@ class VideoCollection extends Service {
     logger
       ..trace("Running in trace mode")
       ..debug("Running in debug mode");
-    await cameras.init();
+    await cameras.init(supportedCameras: _config!.supportedCameras);
     if (_config!.useLidar) {
       await lidar.init();
     }
diff --git a/video/lib/src/isolates/parent.dart b/video/lib/src/isolates/parent.dart
index 955a5468..c216094d 100644
--- a/video/lib/src/isolates/parent.dart
+++ b/video/lib/src/isolates/parent.dart
@@ -30,8 +30,13 @@ class CameraManager extends Service {
   StreamSubscription<VideoData>? _vision;
   StreamSubscription<IsolatePayload>? _data;
 
+  List<CameraName>? _supportedCameras;
+
   @override
-  Future<bool> init() async {
+  Future<bool> init({
+    List<CameraName> supportedCameras = CameraName.values,
+  }) async {
+    _supportedCameras ??= supportedCameras;
     _commands = collection.videoServer.messages.onMessage<VideoCommand>(
       name: VideoCommand().messageName,
       constructor: VideoCommand.fromBuffer,
@@ -45,7 +50,7 @@ class CameraManager extends Service {
     parent.init();
     _data = parent.stream.listen(onData);
 
-    for (final name in CameraName.values) {
+    for (final name in _supportedCameras!) {
       switch (name) {
         case CameraName.CAMERA_NAME_UNDEFINED:
         case CameraName.ROVER_FRONT:
@@ -187,7 +192,7 @@ class CameraManager extends Service {
     final command = VideoCommand(
       details: CameraDetails(status: CameraStatus.CAMERA_DISABLED),
     );
-    for (final name in CameraName.values) {
+    for (final name in _supportedCameras!) {
       if (name == CameraName.CAMERA_NAME_UNDEFINED ||
           name == CameraName.ROVER_FRONT) {
         continue;

From eecad103268aedbca82d624b1ca07334a27b78a9 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 19 Feb 2026 14:56:13 -0500
Subject: [PATCH 23/29] Don't send command to unsupported cameras

---
 video/lib/src/isolates/parent.dart | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/video/lib/src/isolates/parent.dart b/video/lib/src/isolates/parent.dart
index c216094d..6b6e0a56 100644
--- a/video/lib/src/isolates/parent.dart
+++ b/video/lib/src/isolates/parent.dart
@@ -174,6 +174,9 @@ class CameraManager extends Service {
     if (cameraName == CameraName.ROVER_FRONT) {
       cameraName = CameraName.AUTONOMY_DEPTH;
     }
+    if (!_supportedCameras!.contains(cameraName)) {
+      return;
+    }
     parent.sendToChild(data: command, id: cameraName);
   }
 

From 4c18b1820b00db618163371cb712f0acc2a367a2 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 19 Feb 2026 15:15:42 -0500
Subject: [PATCH 24/29] Fix infinite echo-ing

---
 video/bin/video.dart               | 3 +++
 video/lib/src/isolates/parent.dart | 1 -
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/video/bin/video.dart b/video/bin/video.dart
index 3e6ce043..76790cc2 100644
--- a/video/bin/video.dart
+++ b/video/bin/video.dart
@@ -16,6 +16,9 @@ class CommandForwarder extends Service {
       name: VideoCommand().messageName,
       constructor: VideoCommand.fromBuffer,
       callback: (data) {
+        // echo the command back to the dashboard
+        collection.videoServer.sendMessage(data);
+        // forward to auxillary program
         collection.videoServer.sendMessage(
           data,
           destination: SocketInfo(
diff --git a/video/lib/src/isolates/parent.dart b/video/lib/src/isolates/parent.dart
index 6b6e0a56..b12a8ddc 100644
--- a/video/lib/src/isolates/parent.dart
+++ b/video/lib/src/isolates/parent.dart
@@ -169,7 +169,6 @@ class CameraManager extends Service {
 
   /// Forwards the command to the appropriate camera.
   void _handleCommand(VideoCommand command) {
-    collection.videoServer.sendMessage(command); // echo the request
     var cameraName = command.details.name;
     if (cameraName == CameraName.ROVER_FRONT) {
       cameraName = CameraName.AUTONOMY_DEPTH;

From a658dd55bbf7330dd963533af37db43f3094dd72 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 19 Feb 2026 21:47:29 -0500
Subject: [PATCH 25/29] Regenerate protobuf

---
 burt_network/Protobuf                         |   2 +-
 .../lib/src/generated/base_station.pb.dart    |  30 ++
 .../src/generated/base_station.pbjson.dart    |  17 +-
 .../lib/src/generated/science.pb.dart         | 264 +++++++++++++++---
 .../lib/src/generated/science.pbjson.dart     | 113 +++++++-
 5 files changed, 372 insertions(+), 54 deletions(-)

diff --git a/burt_network/Protobuf b/burt_network/Protobuf
index 7712146d..9e74c092 160000
--- a/burt_network/Protobuf
+++ b/burt_network/Protobuf
@@ -1 +1 @@
-Subproject commit 7712146d0300d3b7a12e1fe5723475c2e01e91ad
+Subproject commit 9e74c092879fbb89d483899bb044123831f1f169
diff --git a/burt_network/lib/src/generated/base_station.pb.dart b/burt_network/lib/src/generated/base_station.pb.dart
index daf09d3e..3572bd26 100644
--- a/burt_network/lib/src/generated/base_station.pb.dart
+++ b/burt_network/lib/src/generated/base_station.pb.dart
@@ -30,12 +30,14 @@ class AntennaFirmwareCommand extends $pb.GeneratedMessage {
     $1.MotorCommand? swivel,
     $core.bool? stop,
     $core.bool? calibrate,
+    $1.MotorCommand? pitch,
   }) {
     final result = create();
     if (version != null) result.version = version;
     if (swivel != null) result.swivel = swivel;
     if (stop != null) result.stop = stop;
     if (calibrate != null) result.calibrate = calibrate;
+    if (pitch != null) result.pitch = pitch;
     return result;
   }
 
@@ -57,6 +59,8 @@ class AntennaFirmwareCommand extends $pb.GeneratedMessage {
         subBuilder: $1.MotorCommand.create)
     ..aOB(3, _omitFieldNames ? '' : 'stop')
     ..aOB(4, _omitFieldNames ? '' : 'calibrate')
+    ..aOM<$1.MotorCommand>(5, _omitFieldNames ? '' : 'pitch',
+        subBuilder: $1.MotorCommand.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -118,16 +122,29 @@ class AntennaFirmwareCommand extends $pb.GeneratedMessage {
   $core.bool hasCalibrate() => $_has(3);
   @$pb.TagNumber(4)
   void clearCalibrate() => $_clearField(4);
+
+  @$pb.TagNumber(5)
+  $1.MotorCommand get pitch => $_getN(4);
+  @$pb.TagNumber(5)
+  set pitch($1.MotorCommand value) => $_setField(5, value);
+  @$pb.TagNumber(5)
+  $core.bool hasPitch() => $_has(4);
+  @$pb.TagNumber(5)
+  void clearPitch() => $_clearField(5);
+  @$pb.TagNumber(5)
+  $1.MotorCommand ensurePitch() => $_ensure(4);
 }
 
 class AntennaFirmwareData extends $pb.GeneratedMessage {
   factory AntennaFirmwareData({
     $0.Version? version,
     $1.MotorData? swivel,
+    $1.MotorData? pitch,
   }) {
     final result = create();
     if (version != null) result.version = version;
     if (swivel != null) result.swivel = swivel;
+    if (pitch != null) result.pitch = pitch;
     return result;
   }
 
@@ -147,6 +164,8 @@ class AntennaFirmwareData extends $pb.GeneratedMessage {
         subBuilder: $0.Version.create)
     ..aOM<$1.MotorData>(2, _omitFieldNames ? '' : 'swivel',
         subBuilder: $1.MotorData.create)
+    ..aOM<$1.MotorData>(3, _omitFieldNames ? '' : 'pitch',
+        subBuilder: $1.MotorData.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -189,6 +208,17 @@ class AntennaFirmwareData extends $pb.GeneratedMessage {
   void clearSwivel() => $_clearField(2);
   @$pb.TagNumber(2)
   $1.MotorData ensureSwivel() => $_ensure(1);
+
+  @$pb.TagNumber(3)
+  $1.MotorData get pitch => $_getN(2);
+  @$pb.TagNumber(3)
+  set pitch($1.MotorData value) => $_setField(3, value);
+  @$pb.TagNumber(3)
+  $core.bool hasPitch() => $_has(2);
+  @$pb.TagNumber(3)
+  void clearPitch() => $_clearField(3);
+  @$pb.TagNumber(3)
+  $1.MotorData ensurePitch() => $_ensure(2);
 }
 
 /// / Command to control the movement of the MARS antenna.
diff --git a/burt_network/lib/src/generated/base_station.pbjson.dart b/burt_network/lib/src/generated/base_station.pbjson.dart
index d6780087..e6e29886 100644
--- a/burt_network/lib/src/generated/base_station.pbjson.dart
+++ b/burt_network/lib/src/generated/base_station.pbjson.dart
@@ -43,6 +43,14 @@ const AntennaFirmwareCommand$json = {
       '6': '.MotorCommand',
       '10': 'swivel'
     },
+    {
+      '1': 'pitch',
+      '3': 5,
+      '4': 1,
+      '5': 11,
+      '6': '.MotorCommand',
+      '10': 'pitch'
+    },
     {'1': 'stop', '3': 3, '4': 1, '5': 8, '10': 'stop'},
     {'1': 'calibrate', '3': 4, '4': 1, '5': 8, '10': 'calibrate'},
   ],
@@ -51,8 +59,9 @@ const AntennaFirmwareCommand$json = {
 /// Descriptor for `AntennaFirmwareCommand`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List antennaFirmwareCommandDescriptor = $convert.base64Decode(
     'ChZBbnRlbm5hRmlybXdhcmVDb21tYW5kEiIKB3ZlcnNpb24YASABKAsyCC5WZXJzaW9uUgd2ZX'
-    'JzaW9uEiUKBnN3aXZlbBgCIAEoCzINLk1vdG9yQ29tbWFuZFIGc3dpdmVsEhIKBHN0b3AYAyAB'
-    'KAhSBHN0b3ASHAoJY2FsaWJyYXRlGAQgASgIUgljYWxpYnJhdGU=');
+    'JzaW9uEiUKBnN3aXZlbBgCIAEoCzINLk1vdG9yQ29tbWFuZFIGc3dpdmVsEiMKBXBpdGNoGAUg'
+    'ASgLMg0uTW90b3JDb21tYW5kUgVwaXRjaBISCgRzdG9wGAMgASgIUgRzdG9wEhwKCWNhbGlicm'
+    'F0ZRgEIAEoCFIJY2FsaWJyYXRl');
 
 @$core.Deprecated('Use antennaFirmwareDataDescriptor instead')
 const AntennaFirmwareData$json = {
@@ -60,13 +69,15 @@ const AntennaFirmwareData$json = {
   '2': [
     {'1': 'version', '3': 1, '4': 1, '5': 11, '6': '.Version', '10': 'version'},
     {'1': 'swivel', '3': 2, '4': 1, '5': 11, '6': '.MotorData', '10': 'swivel'},
+    {'1': 'pitch', '3': 3, '4': 1, '5': 11, '6': '.MotorData', '10': 'pitch'},
   ],
 };
 
 /// Descriptor for `AntennaFirmwareData`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List antennaFirmwareDataDescriptor = $convert.base64Decode(
     'ChNBbnRlbm5hRmlybXdhcmVEYXRhEiIKB3ZlcnNpb24YASABKAsyCC5WZXJzaW9uUgd2ZXJzaW'
-    '9uEiIKBnN3aXZlbBgCIAEoCzIKLk1vdG9yRGF0YVIGc3dpdmVs');
+    '9uEiIKBnN3aXZlbBgCIAEoCzIKLk1vdG9yRGF0YVIGc3dpdmVsEiAKBXBpdGNoGAMgASgLMgou'
+    'TW90b3JEYXRhUgVwaXRjaA==');
 
 @$core.Deprecated('Use baseStationCommandDescriptor instead')
 const BaseStationCommand$json = {
diff --git a/burt_network/lib/src/generated/science.pb.dart b/burt_network/lib/src/generated/science.pb.dart
index b3e8bf31..10e9dae4 100644
--- a/burt_network/lib/src/generated/science.pb.dart
+++ b/burt_network/lib/src/generated/science.pb.dart
@@ -21,31 +21,206 @@ export 'package:protobuf/protobuf.dart' show GeneratedMessageGenericExtensions;
 
 export 'science.pbenum.dart';
 
+/// / Command to control the auger
+class AugerCommand extends $pb.GeneratedMessage {
+  factory AugerCommand({
+    $core.double? speedRpm,
+    ServoState? upperServo,
+    ServoState? lowerServo,
+  }) {
+    final result = create();
+    if (speedRpm != null) result.speedRpm = speedRpm;
+    if (upperServo != null) result.upperServo = upperServo;
+    if (lowerServo != null) result.lowerServo = lowerServo;
+    return result;
+  }
+
+  AugerCommand._();
+
+  factory AugerCommand.fromBuffer($core.List<$core.int> data,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromBuffer(data, registry);
+  factory AugerCommand.fromJson($core.String json,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromJson(json, registry);
+
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(
+      _omitMessageNames ? '' : 'AugerCommand',
+      createEmptyInstance: create)
+    ..aD(1, _omitFieldNames ? '' : 'speedRpm', fieldType: $pb.PbFieldType.OF)
+    ..aE<ServoState>(2, _omitFieldNames ? '' : 'upperServo',
+        enumValues: ServoState.values)
+    ..aE<ServoState>(3, _omitFieldNames ? '' : 'lowerServo',
+        enumValues: ServoState.values)
+    ..hasRequiredFields = false;
+
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  AugerCommand clone() => deepCopy();
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  AugerCommand copyWith(void Function(AugerCommand) updates) =>
+      super.copyWith((message) => updates(message as AugerCommand))
+          as AugerCommand;
+
+  @$core.override
+  $pb.BuilderInfo get info_ => _i;
+
+  @$core.pragma('dart2js:noInline')
+  static AugerCommand create() => AugerCommand._();
+  @$core.override
+  AugerCommand createEmptyInstance() => create();
+  @$core.pragma('dart2js:noInline')
+  static AugerCommand getDefault() => _defaultInstance ??=
+      $pb.GeneratedMessage.$_defaultFor<AugerCommand>(create);
+  static AugerCommand? _defaultInstance;
+
+  /// Speed of the auger in RPM, between 0.0 - 0.4
+  @$pb.TagNumber(1)
+  $core.double get speedRpm => $_getN(0);
+  @$pb.TagNumber(1)
+  set speedRpm($core.double value) => $_setFloat(0, value);
+  @$pb.TagNumber(1)
+  $core.bool hasSpeedRpm() => $_has(0);
+  @$pb.TagNumber(1)
+  void clearSpeedRpm() => $_clearField(1);
+
+  @$pb.TagNumber(2)
+  ServoState get upperServo => $_getN(1);
+  @$pb.TagNumber(2)
+  set upperServo(ServoState value) => $_setField(2, value);
+  @$pb.TagNumber(2)
+  $core.bool hasUpperServo() => $_has(1);
+  @$pb.TagNumber(2)
+  void clearUpperServo() => $_clearField(2);
+
+  @$pb.TagNumber(3)
+  ServoState get lowerServo => $_getN(2);
+  @$pb.TagNumber(3)
+  set lowerServo(ServoState value) => $_setField(3, value);
+  @$pb.TagNumber(3)
+  $core.bool hasLowerServo() => $_has(2);
+  @$pb.TagNumber(3)
+  void clearLowerServo() => $_clearField(3);
+}
+
+/// / Data from the auger
+class AugerData extends $pb.GeneratedMessage {
+  factory AugerData({
+    ServoState? lowerServo,
+    ServoState? upperServo,
+    $core.double? distanceToGroundCm,
+    $core.double? current,
+  }) {
+    final result = create();
+    if (lowerServo != null) result.lowerServo = lowerServo;
+    if (upperServo != null) result.upperServo = upperServo;
+    if (distanceToGroundCm != null)
+      result.distanceToGroundCm = distanceToGroundCm;
+    if (current != null) result.current = current;
+    return result;
+  }
+
+  AugerData._();
+
+  factory AugerData.fromBuffer($core.List<$core.int> data,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromBuffer(data, registry);
+  factory AugerData.fromJson($core.String json,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromJson(json, registry);
+
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(
+      _omitMessageNames ? '' : 'AugerData',
+      createEmptyInstance: create)
+    ..aE<ServoState>(1, _omitFieldNames ? '' : 'lowerServo',
+        enumValues: ServoState.values)
+    ..aE<ServoState>(2, _omitFieldNames ? '' : 'upperServo',
+        enumValues: ServoState.values)
+    ..aD(3, _omitFieldNames ? '' : 'distanceToGroundCm',
+        fieldType: $pb.PbFieldType.OF)
+    ..aD(4, _omitFieldNames ? '' : 'current', fieldType: $pb.PbFieldType.OF)
+    ..hasRequiredFields = false;
+
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  AugerData clone() => deepCopy();
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  AugerData copyWith(void Function(AugerData) updates) =>
+      super.copyWith((message) => updates(message as AugerData)) as AugerData;
+
+  @$core.override
+  $pb.BuilderInfo get info_ => _i;
+
+  @$core.pragma('dart2js:noInline')
+  static AugerData create() => AugerData._();
+  @$core.override
+  AugerData createEmptyInstance() => create();
+  @$core.pragma('dart2js:noInline')
+  static AugerData getDefault() =>
+      _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<AugerData>(create);
+  static AugerData? _defaultInstance;
+
+  @$pb.TagNumber(1)
+  ServoState get lowerServo => $_getN(0);
+  @$pb.TagNumber(1)
+  set lowerServo(ServoState value) => $_setField(1, value);
+  @$pb.TagNumber(1)
+  $core.bool hasLowerServo() => $_has(0);
+  @$pb.TagNumber(1)
+  void clearLowerServo() => $_clearField(1);
+
+  @$pb.TagNumber(2)
+  ServoState get upperServo => $_getN(1);
+  @$pb.TagNumber(2)
+  set upperServo(ServoState value) => $_setField(2, value);
+  @$pb.TagNumber(2)
+  $core.bool hasUpperServo() => $_has(1);
+  @$pb.TagNumber(2)
+  void clearUpperServo() => $_clearField(2);
+
+  /// Distance to ground, in centimeters
+  @$pb.TagNumber(3)
+  $core.double get distanceToGroundCm => $_getN(2);
+  @$pb.TagNumber(3)
+  set distanceToGroundCm($core.double value) => $_setFloat(2, value);
+  @$pb.TagNumber(3)
+  $core.bool hasDistanceToGroundCm() => $_has(2);
+  @$pb.TagNumber(3)
+  void clearDistanceToGroundCm() => $_clearField(3);
+
+  @$pb.TagNumber(4)
+  $core.double get current => $_getN(3);
+  @$pb.TagNumber(4)
+  set current($core.double value) => $_setFloat(3, value);
+  @$pb.TagNumber(4)
+  $core.bool hasCurrent() => $_has(3);
+  @$pb.TagNumber(4)
+  void clearCurrent() => $_clearField(4);
+}
+
 /// / A command to the science subsystem.
 class ScienceCommand extends $pb.GeneratedMessage {
   factory ScienceCommand({
     $core.double? carouselMotor,
-    $core.double? subsurfaceMotor,
+    $core.double? linearSlider,
     PumpState? pumps,
-    ServoState? funnel,
     CarouselCommand? carousel,
     $core.bool? calibrate,
     $core.bool? stop,
     $core.int? sample,
     ScienceState? state,
     $0.Version? version,
+    AugerCommand? auger,
   }) {
     final result = create();
     if (carouselMotor != null) result.carouselMotor = carouselMotor;
-    if (subsurfaceMotor != null) result.subsurfaceMotor = subsurfaceMotor;
+    if (linearSlider != null) result.linearSlider = linearSlider;
     if (pumps != null) result.pumps = pumps;
-    if (funnel != null) result.funnel = funnel;
     if (carousel != null) result.carousel = carousel;
     if (calibrate != null) result.calibrate = calibrate;
     if (stop != null) result.stop = stop;
     if (sample != null) result.sample = sample;
     if (state != null) result.state = state;
     if (version != null) result.version = version;
+    if (auger != null) result.auger = auger;
     return result;
   }
 
@@ -63,12 +238,10 @@ class ScienceCommand extends $pb.GeneratedMessage {
       createEmptyInstance: create)
     ..aD(1, _omitFieldNames ? '' : 'carouselMotor',
         fieldType: $pb.PbFieldType.OF)
-    ..aD(3, _omitFieldNames ? '' : 'subsurfaceMotor',
+    ..aD(3, _omitFieldNames ? '' : 'linearSlider',
         fieldType: $pb.PbFieldType.OF)
     ..aE<PumpState>(4, _omitFieldNames ? '' : 'pumps',
         enumValues: PumpState.values)
-    ..aE<ServoState>(5, _omitFieldNames ? '' : 'funnel',
-        enumValues: ServoState.values)
     ..aE<CarouselCommand>(7, _omitFieldNames ? '' : 'carousel',
         enumValues: CarouselCommand.values)
     ..aOB(8, _omitFieldNames ? '' : 'calibrate')
@@ -78,6 +251,8 @@ class ScienceCommand extends $pb.GeneratedMessage {
         enumValues: ScienceState.values)
     ..aOM<$0.Version>(12, _omitFieldNames ? '' : 'version',
         subBuilder: $0.Version.create)
+    ..aOM<AugerCommand>(13, _omitFieldNames ? '' : 'auger',
+        subBuilder: AugerCommand.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -110,13 +285,13 @@ class ScienceCommand extends $pb.GeneratedMessage {
   void clearCarouselMotor() => $_clearField(1);
 
   @$pb.TagNumber(3)
-  $core.double get subsurfaceMotor => $_getN(1);
+  $core.double get linearSlider => $_getN(1);
   @$pb.TagNumber(3)
-  set subsurfaceMotor($core.double value) => $_setFloat(1, value);
+  set linearSlider($core.double value) => $_setFloat(1, value);
   @$pb.TagNumber(3)
-  $core.bool hasSubsurfaceMotor() => $_has(1);
+  $core.bool hasLinearSlider() => $_has(1);
   @$pb.TagNumber(3)
-  void clearSubsurfaceMotor() => $_clearField(3);
+  void clearLinearSlider() => $_clearField(3);
 
   /// Control over other hardware
   @$pb.TagNumber(4)
@@ -128,71 +303,73 @@ class ScienceCommand extends $pb.GeneratedMessage {
   @$pb.TagNumber(4)
   void clearPumps() => $_clearField(4);
 
-  @$pb.TagNumber(5)
-  ServoState get funnel => $_getN(3);
-  @$pb.TagNumber(5)
-  set funnel(ServoState value) => $_setField(5, value);
-  @$pb.TagNumber(5)
-  $core.bool hasFunnel() => $_has(3);
-  @$pb.TagNumber(5)
-  void clearFunnel() => $_clearField(5);
-
   @$pb.TagNumber(7)
-  CarouselCommand get carousel => $_getN(4);
+  CarouselCommand get carousel => $_getN(3);
   @$pb.TagNumber(7)
   set carousel(CarouselCommand value) => $_setField(7, value);
   @$pb.TagNumber(7)
-  $core.bool hasCarousel() => $_has(4);
+  $core.bool hasCarousel() => $_has(3);
   @$pb.TagNumber(7)
   void clearCarousel() => $_clearField(7);
 
   /// High level commands
   @$pb.TagNumber(8)
-  $core.bool get calibrate => $_getBF(5);
+  $core.bool get calibrate => $_getBF(4);
   @$pb.TagNumber(8)
-  set calibrate($core.bool value) => $_setBool(5, value);
+  set calibrate($core.bool value) => $_setBool(4, value);
   @$pb.TagNumber(8)
-  $core.bool hasCalibrate() => $_has(5);
+  $core.bool hasCalibrate() => $_has(4);
   @$pb.TagNumber(8)
   void clearCalibrate() => $_clearField(8);
 
   @$pb.TagNumber(9)
-  $core.bool get stop => $_getBF(6);
+  $core.bool get stop => $_getBF(5);
   @$pb.TagNumber(9)
-  set stop($core.bool value) => $_setBool(6, value);
+  set stop($core.bool value) => $_setBool(5, value);
   @$pb.TagNumber(9)
-  $core.bool hasStop() => $_has(6);
+  $core.bool hasStop() => $_has(5);
   @$pb.TagNumber(9)
   void clearStop() => $_clearField(9);
 
   @$pb.TagNumber(10)
-  $core.int get sample => $_getIZ(7);
+  $core.int get sample => $_getIZ(6);
   @$pb.TagNumber(10)
-  set sample($core.int value) => $_setSignedInt32(7, value);
+  set sample($core.int value) => $_setSignedInt32(6, value);
   @$pb.TagNumber(10)
-  $core.bool hasSample() => $_has(7);
+  $core.bool hasSample() => $_has(6);
   @$pb.TagNumber(10)
   void clearSample() => $_clearField(10);
 
   @$pb.TagNumber(11)
-  ScienceState get state => $_getN(8);
+  ScienceState get state => $_getN(7);
   @$pb.TagNumber(11)
   set state(ScienceState value) => $_setField(11, value);
   @$pb.TagNumber(11)
-  $core.bool hasState() => $_has(8);
+  $core.bool hasState() => $_has(7);
   @$pb.TagNumber(11)
   void clearState() => $_clearField(11);
 
   @$pb.TagNumber(12)
-  $0.Version get version => $_getN(9);
+  $0.Version get version => $_getN(8);
   @$pb.TagNumber(12)
   set version($0.Version value) => $_setField(12, value);
   @$pb.TagNumber(12)
-  $core.bool hasVersion() => $_has(9);
+  $core.bool hasVersion() => $_has(8);
   @$pb.TagNumber(12)
   void clearVersion() => $_clearField(12);
   @$pb.TagNumber(12)
-  $0.Version ensureVersion() => $_ensure(9);
+  $0.Version ensureVersion() => $_ensure(8);
+
+  @$pb.TagNumber(13)
+  AugerCommand get auger => $_getN(9);
+  @$pb.TagNumber(13)
+  set auger(AugerCommand value) => $_setField(13, value);
+  @$pb.TagNumber(13)
+  $core.bool hasAuger() => $_has(9);
+  @$pb.TagNumber(13)
+  void clearAuger() => $_clearField(13);
+  @$pb.TagNumber(13)
+  AugerCommand ensureAuger() => $_ensure(9);
 }
 
 /// / Data coming from the science subsystem.
@@ -204,6 +381,7 @@ class ScienceData extends $pb.GeneratedMessage {
     $core.double? humidity,
     $core.double? temperature,
     $0.Version? version,
+    AugerData? auger,
   }) {
     final result = create();
     if (sample != null) result.sample = sample;
@@ -212,6 +390,7 @@ class ScienceData extends $pb.GeneratedMessage {
     if (humidity != null) result.humidity = humidity;
     if (temperature != null) result.temperature = temperature;
     if (version != null) result.version = version;
+    if (auger != null) result.auger = auger;
     return result;
   }
 
@@ -235,6 +414,8 @@ class ScienceData extends $pb.GeneratedMessage {
     ..aD(5, _omitFieldNames ? '' : 'temperature', fieldType: $pb.PbFieldType.OF)
     ..aOM<$0.Version>(6, _omitFieldNames ? '' : 'version',
         subBuilder: $0.Version.create)
+    ..aOM<AugerData>(7, _omitFieldNames ? '' : 'auger',
+        subBuilder: AugerData.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -313,6 +494,17 @@ class ScienceData extends $pb.GeneratedMessage {
   void clearVersion() => $_clearField(6);
   @$pb.TagNumber(6)
   $0.Version ensureVersion() => $_ensure(5);
+
+  @$pb.TagNumber(7)
+  AugerData get auger => $_getN(6);
+  @$pb.TagNumber(7)
+  set auger(AugerData value) => $_setField(7, value);
+  @$pb.TagNumber(7)
+  $core.bool hasAuger() => $_has(6);
+  @$pb.TagNumber(7)
+  void clearAuger() => $_clearField(7);
+  @$pb.TagNumber(7)
+  AugerData ensureAuger() => $_ensure(6);
 }
 
 const $core.bool _omitFieldNames =
diff --git a/burt_network/lib/src/generated/science.pbjson.dart b/burt_network/lib/src/generated/science.pbjson.dart
index fa360709..309ac8ec 100644
--- a/burt_network/lib/src/generated/science.pbjson.dart
+++ b/burt_network/lib/src/generated/science.pbjson.dart
@@ -81,21 +81,100 @@ final $typed_data.Uint8List carouselCommandDescriptor = $convert.base64Decode(
     'hUX1RVQkUQARINCglQUkVWX1RVQkUQAhIQCgxORVhUX1NFQ1RJT04QAxIQCgxQUkVWX1NFQ1RJ'
     'T04QBBINCglGSUxMX1RVQkUQBRIQCgxGSUxMX1NFQ1RJT04QBg==');
 
+@$core.Deprecated('Use augerCommandDescriptor instead')
+const AugerCommand$json = {
+  '1': 'AugerCommand',
+  '2': [
+    {
+      '1': 'speed_rpm',
+      '3': 1,
+      '4': 1,
+      '5': 2,
+      '9': 0,
+      '10': 'speedRpm',
+      '17': true
+    },
+    {
+      '1': 'upper_servo',
+      '3': 2,
+      '4': 1,
+      '5': 14,
+      '6': '.ServoState',
+      '10': 'upperServo'
+    },
+    {
+      '1': 'lower_servo',
+      '3': 3,
+      '4': 1,
+      '5': 14,
+      '6': '.ServoState',
+      '10': 'lowerServo'
+    },
+  ],
+  '8': [
+    {'1': '_speed_rpm'},
+  ],
+};
+
+/// Descriptor for `AugerCommand`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List augerCommandDescriptor = $convert.base64Decode(
+    'CgxBdWdlckNvbW1hbmQSIAoJc3BlZWRfcnBtGAEgASgCSABSCHNwZWVkUnBtiAEBEiwKC3VwcG'
+    'VyX3NlcnZvGAIgASgOMgsuU2Vydm9TdGF0ZVIKdXBwZXJTZXJ2bxIsCgtsb3dlcl9zZXJ2bxgD'
+    'IAEoDjILLlNlcnZvU3RhdGVSCmxvd2VyU2Vydm9CDAoKX3NwZWVkX3JwbQ==');
+
+@$core.Deprecated('Use augerDataDescriptor instead')
+const AugerData$json = {
+  '1': 'AugerData',
+  '2': [
+    {
+      '1': 'lower_servo',
+      '3': 1,
+      '4': 1,
+      '5': 14,
+      '6': '.ServoState',
+      '10': 'lowerServo'
+    },
+    {
+      '1': 'upper_servo',
+      '3': 2,
+      '4': 1,
+      '5': 14,
+      '6': '.ServoState',
+      '10': 'upperServo'
+    },
+    {
+      '1': 'distance_to_ground_cm',
+      '3': 3,
+      '4': 1,
+      '5': 2,
+      '10': 'distanceToGroundCm'
+    },
+    {'1': 'current', '3': 4, '4': 1, '5': 2, '10': 'current'},
+  ],
+};
+
+/// Descriptor for `AugerData`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List augerDataDescriptor = $convert.base64Decode(
+    'CglBdWdlckRhdGESLAoLbG93ZXJfc2Vydm8YASABKA4yCy5TZXJ2b1N0YXRlUgpsb3dlclNlcn'
+    'ZvEiwKC3VwcGVyX3NlcnZvGAIgASgOMgsuU2Vydm9TdGF0ZVIKdXBwZXJTZXJ2bxIxChVkaXN0'
+    'YW5jZV90b19ncm91bmRfY20YAyABKAJSEmRpc3RhbmNlVG9Hcm91bmRDbRIYCgdjdXJyZW50GA'
+    'QgASgCUgdjdXJyZW50');
+
 @$core.Deprecated('Use scienceCommandDescriptor instead')
 const ScienceCommand$json = {
   '1': 'ScienceCommand',
   '2': [
     {'1': 'carousel_motor', '3': 1, '4': 1, '5': 2, '10': 'carouselMotor'},
-    {'1': 'subsurface_motor', '3': 3, '4': 1, '5': 2, '10': 'subsurfaceMotor'},
-    {'1': 'pumps', '3': 4, '4': 1, '5': 14, '6': '.PumpState', '10': 'pumps'},
+    {'1': 'linear_slider', '3': 3, '4': 1, '5': 2, '10': 'linearSlider'},
     {
-      '1': 'funnel',
-      '3': 5,
+      '1': 'auger',
+      '3': 13,
       '4': 1,
-      '5': 14,
-      '6': '.ServoState',
-      '10': 'funnel'
+      '5': 11,
+      '6': '.AugerCommand',
+      '10': 'auger'
     },
+    {'1': 'pumps', '3': 4, '4': 1, '5': 14, '6': '.PumpState', '10': 'pumps'},
     {
       '1': 'carousel',
       '3': 7,
@@ -124,17 +203,21 @@ const ScienceCommand$json = {
       '10': 'version'
     },
   ],
+  '9': [
+    {'1': 2, '2': 3},
+    {'1': 5, '2': 7},
+  ],
 };
 
 /// Descriptor for `ScienceCommand`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List scienceCommandDescriptor = $convert.base64Decode(
     'Cg5TY2llbmNlQ29tbWFuZBIlCg5jYXJvdXNlbF9tb3RvchgBIAEoAlINY2Fyb3VzZWxNb3Rvch'
-    'IpChBzdWJzdXJmYWNlX21vdG9yGAMgASgCUg9zdWJzdXJmYWNlTW90b3ISIAoFcHVtcHMYBCAB'
-    'KA4yCi5QdW1wU3RhdGVSBXB1bXBzEiMKBmZ1bm5lbBgFIAEoDjILLlNlcnZvU3RhdGVSBmZ1bm'
-    '5lbBIsCghjYXJvdXNlbBgHIAEoDjIQLkNhcm91c2VsQ29tbWFuZFIIY2Fyb3VzZWwSHAoJY2Fs'
-    'aWJyYXRlGAggASgIUgljYWxpYnJhdGUSEgoEc3RvcBgJIAEoCFIEc3RvcBIWCgZzYW1wbGUYCi'
-    'ABKAVSBnNhbXBsZRIjCgVzdGF0ZRgLIAEoDjINLlNjaWVuY2VTdGF0ZVIFc3RhdGUSIgoHdmVy'
-    'c2lvbhgMIAEoCzIILlZlcnNpb25SB3ZlcnNpb24=');
+    'IjCg1saW5lYXJfc2xpZGVyGAMgASgCUgxsaW5lYXJTbGlkZXISIwoFYXVnZXIYDSABKAsyDS5B'
+    'dWdlckNvbW1hbmRSBWF1Z2VyEiAKBXB1bXBzGAQgASgOMgouUHVtcFN0YXRlUgVwdW1wcxIsCg'
+    'hjYXJvdXNlbBgHIAEoDjIQLkNhcm91c2VsQ29tbWFuZFIIY2Fyb3VzZWwSHAoJY2FsaWJyYXRl'
+    'GAggASgIUgljYWxpYnJhdGUSEgoEc3RvcBgJIAEoCFIEc3RvcBIWCgZzYW1wbGUYCiABKAVSBn'
+    'NhbXBsZRIjCgVzdGF0ZRgLIAEoDjINLlNjaWVuY2VTdGF0ZVIFc3RhdGUSIgoHdmVyc2lvbhgM'
+    'IAEoCzIILlZlcnNpb25SB3ZlcnNpb25KBAgCEANKBAgFEAc=');
 
 @$core.Deprecated('Use scienceDataDescriptor instead')
 const ScienceData$json = {
@@ -153,6 +236,7 @@ const ScienceData$json = {
     {'1': 'humidity', '3': 4, '4': 1, '5': 2, '10': 'humidity'},
     {'1': 'temperature', '3': 5, '4': 1, '5': 2, '10': 'temperature'},
     {'1': 'version', '3': 6, '4': 1, '5': 11, '6': '.Version', '10': 'version'},
+    {'1': 'auger', '3': 7, '4': 1, '5': 11, '6': '.AugerData', '10': 'auger'},
   ],
 };
 
@@ -161,4 +245,5 @@ final $typed_data.Uint8List scienceDataDescriptor = $convert.base64Decode(
     'CgtTY2llbmNlRGF0YRIWCgZzYW1wbGUYASABKAVSBnNhbXBsZRIjCgVzdGF0ZRgCIAEoDjINLl'
     'NjaWVuY2VTdGF0ZVIFc3RhdGUSEAoDY28yGAMgASgCUgNjbzISGgoIaHVtaWRpdHkYBCABKAJS'
     'CGh1bWlkaXR5EiAKC3RlbXBlcmF0dXJlGAUgASgCUgt0ZW1wZXJhdHVyZRIiCgd2ZXJzaW9uGA'
-    'YgASgLMgguVmVyc2lvblIHdmVyc2lvbg==');
+    'YgASgLMgguVmVyc2lvblIHdmVyc2lvbhIgCgVhdWdlchgHIAEoCzIKLkF1Z2VyRGF0YVIFYXVn'
+    'ZXI=');

From c3cf074f29c6500bbef0a8bb7ed7daa1918efbef Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 19 Feb 2026 21:55:44 -0500
Subject: [PATCH 26/29] Fix lints

---
 video/bin/video.dart | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/video/bin/video.dart b/video/bin/video.dart
index 76790cc2..4e61fded 100644
--- a/video/bin/video.dart
+++ b/video/bin/video.dart
@@ -2,9 +2,6 @@ import "dart:async";
 import "dart:io";
 
 import "package:burt_network/burt_network.dart";
-import "package:burt_network/logging.dart";
-import "package:burt_network/protobuf.dart";
-import "package:burt_network/service.dart";
 import "package:video/video.dart";
 
 class CommandForwarder extends Service {

From ca59e65f20dc8feb9bc0cd2a113dd2ed0b0a2b15 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Fri, 20 Feb 2026 11:18:26 -0500
Subject: [PATCH 27/29] Forward arm and science commands to aux board

---
 subsystems/bin/subsystems.dart | 52 +++++++++++++++++-----------------
 1 file changed, 26 insertions(+), 26 deletions(-)

diff --git a/subsystems/bin/subsystems.dart b/subsystems/bin/subsystems.dart
index edb47c8d..8ae6655a 100644
--- a/subsystems/bin/subsystems.dart
+++ b/subsystems/bin/subsystems.dart
@@ -5,34 +5,34 @@ import "package:burt_network/burt_network.dart";
 import "package:subsystems/subsystems.dart";
 
 /// Extra service to forward science data and commands to/from the auxillary board
-class ScienceForwardService extends Service {
-  StreamSubscription<ScienceCommand>? _commandSubscription;
-  StreamSubscription<ScienceData>? _dataSubscription;
+class AuxillaryForwarder extends Service {
+  StreamSubscription<WrappedMessage>? _commandSubscription;
+  StreamSubscription<WrappedMessage>? _dataSubscription;
 
   @override
   Future<bool> init() async {
-    _commandSubscription = collection.server.messages.onMessage(
-      name: ScienceCommand().messageName,
-      constructor: ScienceCommand.fromBuffer,
-      callback: (command) => collection.server.sendMessage(
-        command,
-        destination: SocketInfo(
-          address: InternetAddress("192.168.1.60"),
-          port: 8010,
-        ),
-      ),
-    );
-    _dataSubscription = collection.server.messages.onMessage(
-      name: ScienceData().messageName,
-      constructor: (data) {
-        try {
-          return ScienceData.fromBuffer(data);
-        } catch (_) {
-          return ScienceData();
-        }
-      },
-      callback: (data) => collection.server.sendMessage(data),
-    );
+    _commandSubscription = collection.server.messages
+        .where(
+          (e) =>
+              e.name == ArmCommand().messageName ||
+              e.name == ScienceCommand().messageName,
+        )
+        .listen(
+          (wrapper) => collection.server.sendWrapper(
+            wrapper,
+            destination: SocketInfo(
+              address: InternetAddress("192.168.1.60"),
+              port: 8010,
+            ),
+          ),
+        );
+    _dataSubscription = collection.server.messages
+        .where(
+          (e) =>
+              e.name == ArmData().messageName ||
+              e.name == ScienceData().messageName,
+        )
+        .listen(collection.server.sendWrapper);
     return true;
   }
 
@@ -47,6 +47,6 @@ class ScienceForwardService extends Service {
 
 void main() async {
   Logger.level = LogLevel.trace;
-  collection.extraServices.add(ScienceForwardService());
+  collection.extraServices.add(AuxillaryForwarder());
   if (!await collection.init()) await collection.dispose();
 }

From 694132c8e455ca26dca12c31840e0e449d1829a5 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 26 Feb 2026 14:28:02 -0500
Subject: [PATCH 28/29] Updated udev ports

---
 lib/all_devices.dart | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/lib/all_devices.dart b/lib/all_devices.dart
index d9a7ba14..26e05eff 100644
--- a/lib/all_devices.dart
+++ b/lib/all_devices.dart
@@ -16,21 +16,21 @@ const devices = <Device>[
     humanName: "Rear Camera",
     alias: "rover_cam_rear",
     type: DeviceType.camera,
-    port: "1-2.4:1.0",
+    port: "1-1.1:1.0",
     index: 0,
   ),
   Device(
     humanName: "Bottom Left Camera",
     alias: "rover_cam_bottom_left",
     type: DeviceType.camera,
-    port: "1-2.3:1.0",
+    port: "3-2.3:1.0",
     index: 0,
   ),
   Device(
     humanName: "Bottom Right Camera",
     alias: "rover_cam_bottom_right",
     type: DeviceType.camera,
-    port: "1-2.2:1.0",
+    port: "3-2.2:1.0",
     index: 0,
   ),
   // ==================== Subsystems Cameras ====================
@@ -38,21 +38,21 @@ const devices = <Device>[
     humanName: "Subsystems Camera 1",
     alias: "rover_cam_subsystem_1",
     type: DeviceType.camera,
-    port: "3-1.2:1.0",
+    port: "1-2.2.3:1.0",
     index: 0,
   ),
   Device(
     humanName: "Subsystems Camera 2",
     alias: "rover_cam_subsystem_2",
     type: DeviceType.camera,
-    port: "3-1.3:1.0",
+    port: "1-2.4:1.0",
     index: 0,
   ),
   Device(
     humanName: "Subsystems Camera 3",
     alias: "rover_cam_subsystem_3",
     type: DeviceType.camera,
-    port: "3-1.4:1.0",
+    port: "1-2.3:1.0",
     index: 0,
   ),
   // ==================== Sensors ====================

From 37b9b5c4ab798052be6f5d729883148158e5a847 Mon Sep 17 00:00:00 2001
From: Gold87 <91761103+Gold872@users.noreply.github.com>
Date: Thu, 26 Feb 2026 14:34:18 -0500
Subject: [PATCH 29/29] Send vision data to autonomy

---
 video/lib/src/isolates/parent.dart | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/video/lib/src/isolates/parent.dart b/video/lib/src/isolates/parent.dart
index b12a8ddc..356e92ce 100644
--- a/video/lib/src/isolates/parent.dart
+++ b/video/lib/src/isolates/parent.dart
@@ -187,6 +187,9 @@ class CameraManager extends Service {
     // we're extremely short on time, it leaves analysis as an implementation detail of Video, and
     // it doesn't add much latency (from 24 FPS on the camera to 23 FPS on the Dashboard).
     collection.videoServer.sendMessage(data);
+    if (data.frame.isEmpty) {
+      collection.videoServer.sendMessage(data, destination: autonomySocket);
+    }
   }
 
   /// Stops all the cameras managed by this class.