version 2.0

2024-10-20 22:49:48 +03:00 · 2024-10-14 22:33:43 -05:00
commit 4110b70152
57 changed files with 649250 additions and 0 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1,7 @@
+build/
+dependencies.lock
+.idea/
+cmake-build-debug/
+sdkconfig.old
+sdkconfig
+venv/
--- a/README.md
+++ b/README.md
@@ -0,0 +1,100 @@
+# Micro Racer Car - StuckAtPrototype
+
+## Youtube Video
+A bit of a back-story of how this project came to be. 
+
+[![My Kickstarter failed, so I open sourced it](https://img.youtube.com/vi/6jzG-BMannc/0.jpg)](https://www.youtube.com/watch?v=6jzG-BMannc)
+
+Sub if you like what you see.
+
+*Some pictures of the project*
+
+![Picture of PCB car](project_pictures/242A0548.png)
+
+![Picture of PCB car](project_pictures/242A1274.png)
+
+## Hardware Remote for this car
+
+https://github.com/StuckAtPrototype/Thumbtroller
+
+## Project Structure
+The project consists of
+1. Firmware
+2. Hardware
+3. Mechanical 
+4. Scripts
+
+These are structured into their own files. I could have used submodules, but decided against it.  
+
+### 1. Firmware
+Code for the little car. This lives on the ESP32
+
+#### Requirements
+- ESP32 IDF version 5.3.1
+- USB to Serial dongle
+- Target set to ESP32-H2
+
+### 2. Hardware
+
+#### Schematic
+PDF schematic included for your viewing pleasure. 
+#### PCBs
+All the gerber files you'd need to send to a fab house. 
+#### Kicad
+All the files you'd need to expand and work on this further. If you'd like. 
+
+### 3. Mechanical
+
+#### Enclosure
+All the step files you need to make one of these. Extrusion printer works well for this part.  
+
+#### Wheels
+A bit of caution on this one.. you'll need an SLA printer. 
+
+### 4. Scripts
+Did anyone say neural networks? 
+
+This folder has all the python code you'd need to train up your own neural network for the car. It also consists scripts that let you drive it using a keyboard -- just in case you dont want to make a physical controller.  
+
+#### Requirements
+- Python 3
+- You'll need to install a bunch of pip modules 
+
+#### Training the neural network
+Training the neural network is as simple as running the training script with the data in the `color_data.txt` file. For data format see the sample data in the file. You need to stick to the formatting. 
+
+To train run `python trainer.py`
+
+#### Keyboard controller
+To run the script `python controller.py`
+
+Use `w` `s` `a` `d` for control. Modify the script for different speeds, etc
+
+*Protocol for motor control* 
+
+60,1,60,1,5 -- translates to:
+
+motor side A: speed 60, direction forward
+
+motor side B: speed 60, direction forward
+
+500 miliseconds run time
+
+See firmware file `motor.c` if you need more details
+
+## What the project could use
+1. Cleanup, but thats true for almost anything out there
+2. Some fun code that makes the little car drive using the color sensor -- think very fancy line follower
+3. LLM integration -- ChatGPT driving a physical little robot? anyone? :)
+
+## If you take it further
+Let me know if you ever make one of these, I'd love to see it. Seriously, that'd be exciting and inspiring to keep making my projects open source!
+
+---
+## License
+### Apache 2.0 -- i.e. use as you'd like
+http://www.apache.org/licenses/LICENSE-2.0
+
+--- 
+## Special Thanks
+Thanks to Michael Angerer for his open sourced `esp32_ble_ota` project. I used it to get BLE running in this project. His blog post and github repo are a great resource. Check it out. https://github.com/michael-angerer/esp32_ble_ota 
--- a/firmware/CMakeLists.txt
+++ b/firmware/CMakeLists.txt
@@ -0,0 +1,6 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(hello_world)
--- a/firmware/main/CMakeLists.txt
+++ b/firmware/main/CMakeLists.txt
@@ -0,0 +1,4 @@
+idf_component_register(SRCS "main.c" "gap.c" "gatt_svr.c" "motor.c"
+        "controller.c" "led.c" "battery.c" "gpio_interrupt.c" "i2c_config.c"
+        "opt4060.c" "color_predictor.c"
+        INCLUDE_DIRS ".")
--- a/firmware/main/battery.c
+++ b/firmware/main/battery.c
@@ -0,0 +1,52 @@
+#include "battery.h"
+#include "esp_adc/adc_oneshot.h"
+#include "esp_log.h"
+
+static const char *TAG = "BATTERY";
+
+#define ADC_UNIT ADC_UNIT_1
+#define ADC_CHANNEL ADC_CHANNEL_2  // GPIO2 is ADC1_CHANNEL_2
+#define ADC_ATTEN ADC_ATTEN_DB_12
+#define ADC_BITWIDTH ADC_BITWIDTH_DEFAULT
+
+static adc_oneshot_unit_handle_t adc1_handle;
+
+esp_err_t battery_init(void) {
+    adc_oneshot_unit_init_cfg_t init_config1 = {
+            .unit_id = ADC_UNIT,
+            .ulp_mode = ADC_ULP_MODE_DISABLE,
+    };
+    ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config1, &adc1_handle));
+
+    adc_oneshot_chan_cfg_t config = {
+            .atten = ADC_ATTEN,
+            .bitwidth = ADC_BITWIDTH,
+    };
+    ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, ADC_CHANNEL, &config));
+
+    return ESP_OK;
+}
+
+esp_err_t battery_read_voltage(float *voltage) {
+    int raw;
+    esp_err_t ret = adc_oneshot_read(adc1_handle, ADC_CHANNEL, &raw);
+    if (ret != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to read ADC value");
+        return ret;
+    }
+
+    // Convert raw ADC value to voltage
+//    *voltage = (float)raw / (float)(1 << ADC_BITWIDTH) * 3.3f; // Assuming 0-3.3V range
+    *voltage = (float)raw;
+
+    // 3300 == 2556
+    // 3700 == 2865
+    // 4000 == 3025
+
+    // correct the voltage readings
+    // this is due to us reading through a 10k resistor instead of direct
+    // this in turn creates a small voltage divider with the resistors inside the esp body
+    *voltage = (1.4925f * raw - 511.83f) / 1000.0f;
+
+    return ESP_OK;
+}
--- a/firmware/main/battery.h
+++ b/firmware/main/battery.h
@@ -0,0 +1,12 @@
+#ifndef BATTERY_H
+#define BATTERY_H
+
+#include "esp_err.h"
+
+// Initializes the ADC for battery voltage measurement
+esp_err_t battery_init(void);
+
+// Reads the battery voltage
+esp_err_t battery_read_voltage(float *voltage);
+
+#endif // BATTERY_H
--- a/firmware/main/color_predictor.c
+++ b/firmware/main/color_predictor.c
@@ -0,0 +1,169 @@
+#include <string.h>
+#include <math.h>
+#include "esp_log.h"
+#include "color_predictor.h"
+
+static const char *TAG = "ColorPredictor";
+
+static float relu(float x) {
+    return (x > 0) ? x : 0;
+}
+
+static void softmax(float* input, int size) {
+    float max = input[0];
+    for (int i = 1; i < size; i++) {
+        if (input[i] > max) {
+            max = input[i];
+        }
+    }
+
+    float sum = 0;
+    for (int i = 0; i < size; i++) {
+        input[i] = expf(input[i] - max);
+        sum += input[i];
+    }
+
+    for (int i = 0; i < size; i++) {
+        input[i] /= sum;
+    }
+}
+
+static void forward(NeuralNetwork* nn, float* input, float* output) {
+    float hidden1[HIDDEN_SIZE1];
+    float hidden2[HIDDEN_SIZE2];
+
+    // Input to first hidden layer
+    for (int i = 0; i < HIDDEN_SIZE1; i++) {
+        hidden1[i] = 0;
+        for (int j = 0; j < INPUT_SIZE; j++) {
+            hidden1[i] += input[j] * nn->input_weights[j][i];
+        }
+        hidden1[i] = relu(hidden1[i] + nn->hidden_bias1[i]);
+    }
+
+    // First hidden layer to second hidden layer
+    for (int i = 0; i < HIDDEN_SIZE2; i++) {
+        hidden2[i] = 0;
+        for (int j = 0; j < HIDDEN_SIZE1; j++) {
+            hidden2[i] += hidden1[j] * nn->hidden_weights1[j][i];
+        }
+        hidden2[i] = relu(hidden2[i] + nn->hidden_bias2[i]);
+    }
+
+    // Second hidden layer to output
+    for (int i = 0; i < OUTPUT_SIZE; i++) {
+        output[i] = 0;
+        for (int j = 0; j < HIDDEN_SIZE2; j++) {
+            output[i] += hidden2[j] * nn->hidden_weights2[j][i];
+        }
+        output[i] += nn->output_bias[i];
+    }
+
+    // Apply softmax to output
+    softmax(output, OUTPUT_SIZE);
+}
+
+uint32_t predict_color(NeuralNetwork* nn, float red, float green, float blue, float clear) {
+    float input[INPUT_SIZE] = {red / 2048.0f, green / 2048.0f, blue / 2048.0f, clear / 2048.0f};
+    float output[OUTPUT_SIZE];
+
+    forward(nn, input, output);
+
+             ESP_LOGD(TAG, "Predicted color probabilities:");
+            ESP_LOGD(TAG, "Red: %.2f", output[0]);
+            ESP_LOGD(TAG, "Black: %.2f", output[1]);
+            ESP_LOGD(TAG, "Green: %.2f", output[2]);
+            ESP_LOGD(TAG, "White: %.2f", output[3]);
+
+            const char* color_names[] = {"Red", "Black", "Green", "White"};
+            uint32_t max_index = 0;
+            for (int i = 1; i < OUTPUT_SIZE; i++) {
+                if (output[i] > output[max_index]) {
+                    max_index = i;
+                }
+            }
+            ESP_LOGW(TAG, "Predicted color: %s", color_names[max_index]);
+
+            return max_index;
+            }
+
+            void initialize_neural_network(NeuralNetwork* nn) {
+                // Replace these placeholder values with the actual values generated by the Python script
+                uint32_t input_weights[INPUT_SIZE][HIDDEN_SIZE1] = {
+                        {0x3dce7ff6, 0x401e01c2, 0x3f459587, 0x400acd7e, 0xbf93b293, 0x3f2cf3d9, 0x3dbe0fee, 0xbe966725, 0xbe3eca2c, 0xbfb2791a, 0xbd73893e, 0xc00ff0f9, 0x3e6a0ceb, 0x3f3c1ffe, 0x3f152aea, 0xbe1e4345},
+                        {0xbe871da1, 0xbfa83525, 0x3ff85ca0, 0x3ee6bebb, 0x3e3af972, 0xbe95efb6, 0x3f06985c, 0x3fd70757, 0xbf87f079, 0x3f106880, 0x3fa1f1f0, 0x3f40f90e, 0xbfc2e236, 0x3bf3808c, 0xc00b8537, 0xbfc3463b},
+                        {0x3e4727eb, 0x3fb70b61, 0x3f187bcc, 0x3f89ce30, 0xbf77adbf, 0x3fd85ae7, 0xbc9ef28e, 0x3f915603, 0xbedd5458, 0xbd7e8b58, 0xbf76fde8, 0xbf8105a0, 0xbfa62a86, 0xbd80ff74, 0xbfbf5b8a, 0xbf8c73c0},
+                        {0xbeb4bb83, 0x3e755932, 0xbda6a6a8, 0xbca989d1, 0xbdcd8bf7, 0x3e90b015, 0xbf4f5c9b, 0x3f2422c6, 0x3f038e7b, 0x3faccd13, 0x3e0d272d, 0x3ff347d2, 0xbf0afc03, 0xbf162bd6, 0x3f8f54f9, 0xbee48cae},
+                };
+
+
+                uint32_t hidden_weights1[HIDDEN_SIZE1][HIDDEN_SIZE2] = {
+                        {0xbeddbd91, 0x3f6c2506, 0xbd911552, 0xbe76f383, 0x3ed556cd, 0x3da8e90b, 0x3e49ea95, 0xbeb2d561},
+                        {0xbf1a278d, 0x3ca261d7, 0x3fedee4f, 0xbfb821c0, 0xbe097b23, 0xbe7e2793, 0x3fab0160, 0xbee746cd},
+            {0x3f8c4ec1, 0xbede6a3f, 0x3fc49ba2, 0x3e48b249, 0x3ebb0e0d, 0x3f37e7e8, 0xbf485926, 0x3e7d986a},
+            {0xbecc1e5e, 0x3cb84720, 0x3fd03b59, 0xbf795731, 0x3f3fdb72, 0x3edd316c, 0xbe94472d, 0xbe02ab59},
+            {0xbe5c034e, 0x3f404120, 0x3f1605c2, 0x3e5eb4f7, 0xbe289aa5, 0x3c2ddfd5, 0xbe87485e, 0xbf22705f},
+            {0xbed082a6, 0x3ec899c8, 0x3f5cc247, 0xbdefa97d, 0x3f34ec47, 0xbec36f74, 0xbed7b3cc, 0x3c916d35},
+            {0xbdf4806f, 0xbecec7c0, 0xbc73454b, 0x3dfdec3e, 0x3ead244d, 0x3dbaa0f1, 0x3f4ed45e, 0xbdfef530},
+            {0x3fd68018, 0xbcb75ceb, 0x3f8dee75, 0xbae6561d, 0xbd807fb9, 0x3df4d7c4, 0xbee11a0a, 0xbdaf9fda},
+            {0xbf336719, 0x3c49d37b, 0xbf2c21c1, 0x3e81ad0b, 0x3ddc0c19, 0xbec2aa5b, 0x3f29ba8d, 0xbda87acc},
+            {0x3f3f73a8, 0xbf4b89b5, 0xbd185663, 0x3f686f07, 0xbe27f74f, 0xbe28d1fd, 0x3cb4593c, 0x3e810361},
+            {0x3f3eef19, 0x3f34aac4, 0x3de40d11, 0xbd210d3d, 0x3c3d2d8a, 0x3e374f9b, 0xbe94b745, 0x3c7a17ab},
+            {0x3fc60b9a, 0xbe8e5dd0, 0xbf5e80ec, 0x3f803072, 0xbde40889, 0xbd405f1b, 0x3e839d7f, 0xbe986ca2},
+            {0x3e5a3297, 0xbeebd1e2, 0xbd293f51, 0x3e872d1e, 0x3f46442f, 0x3f5b6e08, 0x3f0ba50d, 0x3e823e3c},
+            {0x3ee984dd, 0x3db408e0, 0x3e809863, 0xbe9ccc61, 0xbea47da9, 0x3e63df62, 0x3f27a76d, 0xba9d4194},
+            {0xbfd16413, 0xbd3cc8e7, 0xbe818b79, 0xbe8174c0, 0xbe35a6aa, 0x3e5ae9db, 0x4006262e, 0xbdb2febc},
+            {0x3df66350, 0xbe836eca, 0xbe5d5139, 0xbd7b160e, 0xbbf3ebbc, 0xbf4f0ecc, 0x3e8ccde4, 0x3d26607e},
+    };
+
+    uint32_t hidden_weights2[HIDDEN_SIZE2][OUTPUT_SIZE] = {
+            {0xbec535c5, 0xc0175ba4, 0x400e5d6e, 0xbf832f19},
+            {0x3eda3cf3, 0xbd8a0d44, 0xbf0ae5c1, 0x3ef72346},
+            {0x3fa4f9a5, 0xc00bb0ce, 0xbfdd5d0a, 0x3ff993c4},
+            {0xbfb11a1a, 0x3e412ab1, 0x3fc9744c, 0xbe8ab1d8},
+            {0xbdfd7557, 0xbf07ad4e, 0xbf8cc4c5, 0x3f319475},
+            {0x3f255c30, 0xbf4fbc1d, 0x3ed62111, 0x3e0a3a56},
+            {0x3f405f36, 0x401f25bd, 0xbf9aabb0, 0xbf78920d},
+            {0x3ef9266c, 0xbf11d1bb, 0x3f25a439, 0xbe24bc17},
+    };
+
+
+    uint32_t hidden_bias1[HIDDEN_SIZE1] = {0x0, 0x3d26afd5, 0xbee89e2a, 0xbec19fae, 0x0, 0xbe98e479, 0x0, 0xbe172c28,
+                                           0x3ea6bccb, 0x3d61e7b9, 0xbdb4ef70, 0x3ebe1c6d, 0x0, 0xbd7032e0, 0x3f8e17ec, 0x0};
+
+    uint32_t hidden_bias2[HIDDEN_SIZE2] = {0x3e2b2fc8, 0x3c82fd64, 0x3f4c8c0c, 0xbf009713, 0xbd5baff6, 0x3dc2def8, 0x3f7d654f, 0x0};
+
+    uint32_t output_bias[OUTPUT_SIZE] = {0x3f1e3c58, 0xbd665b7d, 0x3def0633, 0xbf2db793};
+
+    // Copy the values to the neural network structure
+    for (int i = 0; i < INPUT_SIZE; i++) {
+        for (int j = 0; j < HIDDEN_SIZE1; j++) {
+            nn->input_weights[i][j] = *(float*)&input_weights[i][j];
+        }
+    }
+
+    for (int i = 0; i < HIDDEN_SIZE1; i++) {
+        for (int j = 0; j < HIDDEN_SIZE2; j++) {
+            nn->hidden_weights1[i][j] = *(float*)&hidden_weights1[i][j];
+        }
+    }
+
+    for (int i = 0; i < HIDDEN_SIZE2; i++) {
+        for (int j = 0; j < OUTPUT_SIZE; j++) {
+            nn->hidden_weights2[i][j] = *(float*)&hidden_weights2[i][j];
+        }
+    }
+
+    for (int i = 0; i < HIDDEN_SIZE1; i++) {
+        nn->hidden_bias1[i] = *(float*)&hidden_bias1[i];
+    }
+
+    for (int i = 0; i < HIDDEN_SIZE2; i++) {
+        nn->hidden_bias2[i] = *(float*)&hidden_bias2[i];
+    }
+
+    for (int i = 0; i < OUTPUT_SIZE; i++) {
+        nn->output_bias[i] = *(float*)&output_bias[i];
+    }
+}
+
--- a/firmware/main/color_predictor.h
+++ b/firmware/main/color_predictor.h
@@ -0,0 +1,23 @@
+#ifndef COLOR_PREDICTOR_H
+#define COLOR_PREDICTOR_H
+
+#include <stdint.h>
+
+#define INPUT_SIZE 4
+#define HIDDEN_SIZE1 16
+#define HIDDEN_SIZE2 8
+#define OUTPUT_SIZE 4
+
+typedef struct {
+    float input_weights[INPUT_SIZE][HIDDEN_SIZE1];
+    float hidden_weights1[HIDDEN_SIZE1][HIDDEN_SIZE2];
+    float hidden_weights2[HIDDEN_SIZE2][OUTPUT_SIZE];
+    float hidden_bias1[HIDDEN_SIZE1];
+    float hidden_bias2[HIDDEN_SIZE2];
+    float output_bias[OUTPUT_SIZE];
+} NeuralNetwork;
+
+uint32_t predict_color(NeuralNetwork* nn, float red, float green, float blue, float clear);
+void initialize_neural_network(NeuralNetwork* nn);
+
+#endif // COLOR_PREDICTOR_H
--- a/firmware/main/controller.c
+++ b/firmware/main/controller.c
@@ -0,0 +1,232 @@
+#include "controller.h"
+#include "motor.h"
+#include <stdio.h>
+#include "esp_log.h"
+
+static MotorCommand current_command;
+static SemaphoreHandle_t command_mutex;
+static TaskHandle_t controller_task_handle = NULL;
+static TimerHandle_t command_timer;
+static TimerHandle_t command_game_timer;
+
+// game state
+game_status state;
+
+// we need to make sure to give immunity for 10 seconds after we have a hit an obstacle
+static TickType_t cooldown_end = 0;
+
+void command_set_game_status(uint32_t status){
+
+
+    if(state == GAME_OFF){
+        // set the game state
+        state = status;
+        uint32_t period = 0;
+
+        TickType_t current_time = xTaskGetTickCount();
+
+        // set the timer period
+        switch (status) {
+            case GAME_GREEN:
+                if(current_time < cooldown_end){
+                    ESP_LOGW("controller", "Cooldown. Ignoring.");
+                    period = 0;
+                    // turn off the game effect
+                    state = GAME_OFF;
+
+                } else{
+                    ESP_LOGW("controller", "Set GREEN");
+                    led_set_flash_mode(LED_FLASH_ALL);
+                    period = 1000; // 1 second
+                    cooldown_end = current_time + pdMS_TO_TICKS(5000); // 5 second cool down
+                }
+                break;
+            case GAME_RED:
+                period = 1000; // 1 second
+                ESP_LOGW("controller", "Set RED");
+                break;
+            case GAME_WHITE:
+                period = 10000; // 10 seconds
+                ESP_LOGW("controller", "Set WHITE");
+                led_set_flash_mode(LED_FLASH_FRONT_ALTERNATE);
+                break;
+            case GAME_BLACK:
+                period = 10000; // 10 seconds
+                ESP_LOGW("controller", "Set BLACK");
+                led_set_flash_mode(LED_FLASH_BACK);
+                break;
+            case GAME_YELLOW:
+                period = 1000; // 1 second
+                ESP_LOGW("controller", "Set YELLOW");
+                break;
+            default:
+                period = 0;
+                break;
+        }
+
+        // start the timer
+        if (xTimerIsTimerActive(command_game_timer) == pdFALSE && period != 0) {
+            ESP_LOGW("controller", "Starting game timer");
+            xTimerChangePeriod(command_game_timer, pdMS_TO_TICKS(period), 0);
+            xTimerStart(command_game_timer, 0);
+
+        }
+    }
+}
+
+void command_timer_callback(TimerHandle_t xTimer)
+{
+    ESP_LOGI("controller", "Timer expired, stopping motors");
+
+    // Set motor speeds to 0 when the timer expires
+    MotorUpdate update_a = {0, 0, 0};
+    MotorUpdate update_b = {1, 0, 0};
+
+    BaseType_t xStatus;
+    xStatus = xQueueSend(motor_queue[0], &update_a, 0);
+    if (xStatus != pdPASS) {
+        ESP_LOGE("controller","Failed to send stop update for Motor A");
+    }
+    xStatus = xQueueSend(motor_queue[1], &update_b, 0);
+    if (xStatus != pdPASS) {
+        ESP_LOGE("controller","Failed to send stop update for Motor B");
+    }
+
+}
+
+void command_game_timer_callback(TimerHandle_t xTimer)
+{
+    ESP_LOGW("controller", "Game timer expired");
+    state = GAME_OFF;
+    led_set_flash_mode(LED_CONST);
+}
+
+#define SPEEDUP 10
+#define SLOWDOWN 10
+#define SPINOUT_SPEED 60
+
+void set_motor_command(MotorCommand command)
+{
+    // modify the command based on the game state
+    switch (state) {
+        case GAME_GREEN: // spin out for now
+            // trying to detect if we are moving forward or not
+            command.MotorASpeed = SPINOUT_SPEED;
+            command.MotorADirection = 1;
+            command.MotorBSpeed = SPINOUT_SPEED;
+            command.MotorBDirection = 0;
+            command.seconds = 10;
+            break;
+        case GAME_RED: // speed up
+            // trying to detect if we are moving forward or not
+            if(command.MotorASpeed < SPEEDUP && command.MotorBSpeed > SPEEDUP){
+                command.MotorASpeed += SPEEDUP;
+                command.MotorBSpeed += SPEEDUP;
+            }
+            break;
+        case GAME_WHITE: // speed up
+            // trying to detect if we are moving forward or not
+            if(command.MotorASpeed > SPEEDUP && command.MotorBSpeed > SPEEDUP){
+                ESP_LOGW("controller", "speeding up!");
+                command.MotorASpeed += SPEEDUP;
+                command.MotorBSpeed += SPEEDUP;
+            }
+
+            break;
+        case GAME_BLACK: // slow down
+            if(command.MotorASpeed > SLOWDOWN && command.MotorBSpeed > SLOWDOWN){
+                command.MotorASpeed -= SLOWDOWN;
+                command.MotorBSpeed -= SLOWDOWN;
+            }
+            break;
+        case GAME_YELLOW: // spin out
+            break;
+        default:
+            break;
+
+    }
+
+    if (xTimerIsTimerActive(command_timer) == pdFALSE) {
+        ESP_LOGI("controller", "Starting timer");
+        xTimerChangePeriod(command_timer, pdMS_TO_TICKS(command.seconds * 100), 0);
+        xTimerStart(command_timer, 0);
+
+    } else
+    {
+        ESP_LOGI("controller", "Resetting timer");
+        xTimerReset(command_timer, 0);
+        xTimerStart(command_timer, 0);
+    }
+
+
+    current_command = command;
+
+    if (controller_task_handle != NULL) {
+        // Notify the controller task to process the new command
+        xTaskNotifyGive(controller_task_handle);
+    }
+
+    ESP_LOGI("controller"," set_motor_command: Timer set for %lu S", command.seconds);
+}
+
+
+
+void controller_task(void *pvParameters)
+{
+    while (1) {
+        // Wait for a notification to process the command
+        ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+
+        MotorCommand command = current_command;
+
+        // Send motor updates to the queue
+        MotorUpdate update_a = {0, command.MotorASpeed, command.MotorADirection};
+        MotorUpdate update_b = {1, command.MotorBSpeed, command.MotorBDirection};
+
+        BaseType_t xStatus;
+        xStatus = xQueueSend(motor_queue[0], &update_a, 0);
+        if (xStatus != pdPASS) {
+            ESP_LOGE("controller", "Failed to send update for Motor A");
+        }
+        xStatus = xQueueSend(motor_queue[1], &update_b, 0);
+        if (xStatus != pdPASS) {
+            ESP_LOGE("controller","Failed to send update for Motor B");
+        }
+
+        ESP_LOGI("controller","Motor 0 set to speed %d%%, direction %s", command.MotorASpeed,
+               command.MotorADirection == 0 ? "FORWARD" : "BACKWARD");
+        ESP_LOGI("controller","Motor 1 set to speed %d%% , direction %s", command.MotorBSpeed,
+               command.MotorBDirection == 0 ? "FORWARD" : "BACKWARD");
+
+        ESP_LOGI("controller","set motor speeds via controller");
+    }
+}
+
+void controller_init()
+{
+    command_mutex = xSemaphoreCreateMutex();
+    if (command_mutex == NULL) {
+        ESP_LOGE("controller","Failed to create command mutex");
+        return;
+    }
+
+    command_timer = xTimerCreate("CommandTimer", pdMS_TO_TICKS(1000), pdFALSE, (void *)0, command_timer_callback);
+    if (command_timer == NULL) {
+        ESP_LOGE("controller","Failed to create command timer");
+        return;
+    }
+
+
+    command_game_timer = xTimerCreate("CommandGameTimer", pdMS_TO_TICKS(1000),
+                                      pdFALSE, (void *)0, command_game_timer_callback);
+
+    if (command_game_timer == NULL) {
+        ESP_LOGE("controller","Failed to create command timer");
+        return;
+    }
+
+    xTaskCreate(controller_task, "controller_task", 2048, NULL, 5, &controller_task_handle);
+
+    // set the game state to GAME_OFF
+    state = GAME_OFF;
+}
--- a/firmware/main/controller.h
+++ b/firmware/main/controller.h
@@ -0,0 +1,36 @@
+// controller.h
+
+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+#include "freertos/task.h"
+#include "freertos/timers.h"
+
+#include "led.h"
+
+// Define the MotorCommand structure
+typedef struct {
+    int MotorASpeed;
+    int MotorADirection;
+    int MotorBSpeed;
+    int MotorBDirection;
+    uint32_t seconds;
+} MotorCommand;
+
+// game states
+typedef enum {
+    GAME_RED = 0,
+    GAME_BLACK,
+    GAME_GREEN,
+    GAME_WHITE,
+    GAME_YELLOW,
+    GAME_OFF
+} game_status;
+
+void command_set_game_status(uint32_t status);
+void set_motor_command(MotorCommand command);
+void controller_init(void);
+
+#endif // CONTROLLER_H
--- a/firmware/main/gap.c
+++ b/firmware/main/gap.c
@@ -0,0 +1,115 @@
+#include "gap.h"
+#include "led.h"
+
+uint8_t addr_type;
+
+int gap_event_handler(struct ble_gap_event *event, void *arg);
+
+void advertise() {
+  struct ble_gap_adv_params adv_params;
+  struct ble_hs_adv_fields fields;
+  int rc;
+
+  memset(&fields, 0, sizeof(fields));
+
+  // flags: discoverability + BLE only
+  fields.flags = BLE_HS_ADV_F_DISC_GEN | BLE_HS_ADV_F_BREDR_UNSUP;
+
+  // include power levels
+  fields.tx_pwr_lvl_is_present = 1;
+  fields.tx_pwr_lvl = BLE_HS_ADV_TX_PWR_LVL_AUTO;
+
+  // include device name
+  fields.name = (uint8_t *)device_name;
+  fields.name_len = strlen(device_name);
+  fields.name_is_complete = 1;
+
+  rc = ble_gap_adv_set_fields(&fields);
+  if (rc != 0) {
+    ESP_LOGE(LOG_TAG_GAP, "Error setting advertisement data: rc=%d", rc);
+    return;
+  }
+
+  // start advertising
+  memset(&adv_params, 0, sizeof(adv_params));
+  adv_params.conn_mode = BLE_GAP_CONN_MODE_UND;
+  adv_params.disc_mode = BLE_GAP_DISC_MODE_GEN;
+  rc = ble_gap_adv_start(addr_type, NULL, BLE_HS_FOREVER, &adv_params,
+                         gap_event_handler, NULL);
+  if (rc != 0) {
+    ESP_LOGE(LOG_TAG_GAP, "Error enabling advertisement data: rc=%d", rc);
+    return;
+  }
+}
+
+void reset_cb(int reason) {
+  ESP_LOGE(LOG_TAG_GAP, "BLE reset: reason = %d", reason);
+}
+
+void sync_cb(void) {
+  // determine best adress type
+  ble_hs_id_infer_auto(0, &addr_type);
+
+  // start avertising
+  advertise();
+}
+
+int gap_event_handler(struct ble_gap_event *event, void *arg) {
+  switch (event->type) {
+    case BLE_GAP_EVENT_CONNECT:
+      // A new connection was established or a connection attempt failed
+      ESP_LOGI(LOG_TAG_GAP, "GAP: Connection %s: status=%d",
+               event->connect.status == 0 ? "established" : "failed",
+               event->connect.status);
+
+      // turn on the front LEDS
+      set_led(3,true);
+      set_led(2,true);
+
+      break;
+
+    case BLE_GAP_EVENT_DISCONNECT:
+      ESP_LOGD(LOG_TAG_GAP, "GAP: Disconnect: reason=%d\n",
+               event->disconnect.reason);
+
+      // turn off the front LEDS
+      set_led(3,false);
+      set_led(2,false);
+      set_led(1,true);
+      set_led(0,true);
+
+      // Connection terminated; resume advertising
+      advertise();
+      break;
+
+    case BLE_GAP_EVENT_ADV_COMPLETE:
+        ESP_LOGI(LOG_TAG_GAP, "GAP: adv complete");
+      advertise();
+      break;
+
+    case BLE_GAP_EVENT_SUBSCRIBE:
+        ESP_LOGI(LOG_TAG_GAP, "GAP: Subscribe: conn_handle=%d",
+               event->connect.conn_handle);
+
+        // turn on the front headlines
+        set_led(0,true);
+        set_led(1,true);
+        set_led(2,true);
+        set_led(3,true);
+
+        break;
+
+    case BLE_GAP_EVENT_MTU:
+        ESP_LOGI(LOG_TAG_GAP, "GAP: MTU update: conn_handle=%d, mtu=%d",
+               event->mtu.conn_handle, event->mtu.value);
+      break;
+  }
+
+  return 0;
+}
+
+void host_task(void *param) {
+  // returns only when nimble_port_stop() is executed
+  nimble_port_run();
+  nimble_port_freertos_deinit();
+}
--- a/firmware/main/gap.h
+++ b/firmware/main/gap.h
@@ -0,0 +1,16 @@
+#pragma once
+
+#include "esp_log.h"
+#include "host/ble_hs.h"
+#include "nimble/ble.h"
+#include "nimble/nimble_port.h"
+#include "nimble/nimble_port_freertos.h"
+
+#define LOG_TAG_GAP "gap"
+
+static const char device_name[] = "Racer3";
+
+void advertise();
+void reset_cb(int reason);
+void sync_cb(void);
+void host_task(void *param);
--- a/firmware/main/gatt_svr.c
+++ b/firmware/main/gatt_svr.c
@@ -0,0 +1,260 @@
+#include "gatt_svr.h"
+#include "mbedtls/aes.h"
+#include <string.h>
+#include "controller.h"
+
+
+uint8_t gatt_svr_chr_ota_control_val;
+uint8_t gatt_svr_chr_ota_data_val[128];
+
+uint16_t ota_control_val_handle;
+uint16_t ota_data_val_handle;
+
+uint16_t num_pkgs_received = 0;
+uint16_t packet_size = 0;
+
+static const char *manuf_name = "DreamNight LLC";
+static const char *model_num = "Racer3";
+
+static int gatt_svr_chr_write(struct os_mbuf *om, uint16_t min_len,
+                              uint16_t max_len, void *dst, uint16_t *len);
+
+static int gatt_svr_chr_ota_control_cb(uint16_t conn_handle,
+                                       uint16_t attr_handle,
+                                       struct ble_gatt_access_ctxt *ctxt,
+                                       void *arg);
+
+static int gatt_svr_chr_ota_data_cb(uint16_t conn_handle, uint16_t attr_handle,
+                                    struct ble_gatt_access_ctxt *ctxt,
+                                    void *arg);
+
+static int gatt_svr_chr_access_device_info(uint16_t conn_handle,
+                                           uint16_t attr_handle,
+                                           struct ble_gatt_access_ctxt *ctxt,
+                                           void *arg);
+
+static const struct ble_gatt_svc_def gatt_svr_svcs[] = {
+        {// Service: Device Information
+                .type = BLE_GATT_SVC_TYPE_PRIMARY,
+                .uuid = BLE_UUID16_DECLARE(GATT_DEVICE_INFO_UUID),
+                .characteristics =
+                (struct ble_gatt_chr_def[]) {
+                        {
+                                // Characteristic: Manufacturer Name
+                                .uuid = BLE_UUID16_DECLARE(GATT_MANUFACTURER_NAME_UUID),
+                                .access_cb = gatt_svr_chr_access_device_info,
+                                .flags = BLE_GATT_CHR_F_READ,
+                        },
+                        {
+                                // Characteristic: Model Number
+                                .uuid = BLE_UUID16_DECLARE(GATT_MODEL_NUMBER_UUID),
+                                .access_cb = gatt_svr_chr_access_device_info,
+                                .flags = BLE_GATT_CHR_F_READ,
+                        },
+                        {
+                                0,
+                        },
+                }},
+
+        {
+                // service: OTA Service
+                .type = BLE_GATT_SVC_TYPE_PRIMARY,
+                .uuid = &gatt_svr_svc_ota_uuid.u,
+                .characteristics =
+                (struct ble_gatt_chr_def[]) {
+                        {
+                                // characteristic: OTA control
+                                .uuid = &gatt_svr_chr_ota_control_uuid.u,
+                                .access_cb = gatt_svr_chr_ota_control_cb,
+                                .flags = BLE_GATT_CHR_F_READ | BLE_GATT_CHR_F_WRITE |
+                                         BLE_GATT_CHR_F_NOTIFY,
+                                .val_handle = &ota_control_val_handle,
+                        },
+                        {
+                                // characteristic: OTA data
+                                .uuid = &gatt_svr_chr_ota_data_uuid.u,
+                                .access_cb = gatt_svr_chr_ota_data_cb,
+                                .flags = BLE_GATT_CHR_F_WRITE,
+                                .val_handle = &ota_data_val_handle,
+                        },
+                        {
+                                0,
+                        }},
+        },
+
+        {
+                0,
+        },
+};
+
+static int gatt_svr_chr_access_device_info(uint16_t conn_handle,
+                                           uint16_t attr_handle,
+                                           struct ble_gatt_access_ctxt *ctxt,
+                                           void *arg) {
+    uint16_t uuid;
+    int rc;
+
+    uuid = ble_uuid_u16(ctxt->chr->uuid);
+
+    if (uuid == GATT_MODEL_NUMBER_UUID) {
+        rc = os_mbuf_append(ctxt->om, model_num, strlen(model_num));
+        return rc == 0 ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
+    }
+
+    if (uuid == GATT_MANUFACTURER_NAME_UUID) {
+        rc = os_mbuf_append(ctxt->om, manuf_name, strlen(manuf_name));
+        return rc == 0 ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
+    }
+
+    assert(0);
+    return BLE_ATT_ERR_UNLIKELY;
+}
+
+static int gatt_svr_chr_write(struct os_mbuf *om, uint16_t min_len,
+                              uint16_t max_len, void *dst, uint16_t *len) {
+    uint16_t om_len;
+    int rc;
+
+    om_len = OS_MBUF_PKTLEN(om);
+    if (om_len < min_len || om_len > max_len) {
+        return BLE_ATT_ERR_INVALID_ATTR_VALUE_LEN;
+    }
+
+    rc = ble_hs_mbuf_to_flat(om, dst, max_len, len);
+    if (rc != 0) {
+        return BLE_ATT_ERR_UNLIKELY;
+    }
+
+    return 0;
+}
+
+static void update_ota_control(uint16_t conn_handle) {
+    struct os_mbuf *om;
+    esp_err_t err;
+
+    // check which value has been received
+    switch (gatt_svr_chr_ota_control_val) {
+        case SVR_CHR_OTA_CONTROL_REQUEST:
+            // OTA request
+            ESP_LOGD(LOG_TAG_GATT_SVR, "OTA has been requested via BLE.");
+
+            // is this only the initial request, or does this happen on every transaction?
+
+            // this is saying back to the other device that we are good to go
+            gatt_svr_chr_ota_control_val = SVR_CHR_OTA_CONTROL_REQUEST_ACK;
+
+            // this would say that we are not good to go
+//      gatt_svr_chr_ota_control_val = SVR_CHR_OTA_CONTROL_REQUEST_NAK;
+
+            // retrieve the packet size from OTA data
+            packet_size =
+                    (gatt_svr_chr_ota_data_val[1] << 8) + gatt_svr_chr_ota_data_val[0];
+            ESP_LOGI(LOG_TAG_GATT_SVR, "Packet size is: %d", packet_size);
+
+            // clear the var
+            num_pkgs_received = 0;
+
+            // notify the client via BLE that the OTA has been acknowledged (or not)
+            om = ble_hs_mbuf_from_flat(&gatt_svr_chr_ota_control_val,
+                                       sizeof(gatt_svr_chr_ota_control_val));
+            ble_gattc_notify_custom(conn_handle, ota_control_val_handle, om);
+            ESP_LOGD(LOG_TAG_GATT_SVR, "OTA request acknowledgement has been sent.");
+
+            break;
+
+            // this case is saying we are done with the comms and are closing the channel
+        case SVR_CHR_OTA_CONTROL_DONE:
+
+            // if needed, we can run checks of any kind here before telling the
+            // other device if we are ok to terminate the channel
+
+            // i.e. turn off all motors before closing connection
+            gatt_svr_chr_ota_control_val = SVR_CHR_OTA_CONTROL_DONE_ACK;
+
+            // or
+//        gatt_svr_chr_ota_control_val = SVR_CHR_OTA_CONTROL_DONE_NAK;
+
+
+            // notify the client via BLE that DONE has been acknowledged
+            om = ble_hs_mbuf_from_flat(&gatt_svr_chr_ota_control_val,
+                                       sizeof(gatt_svr_chr_ota_control_val));
+
+            ble_gattc_notify_custom(conn_handle, ota_control_val_handle, om);
+            ESP_LOGD(LOG_TAG_GATT_SVR, "OTA DONE acknowledgement has been sent.");
+
+            break;
+
+        default:
+            break;
+    }
+
+
+}
+
+static int gatt_svr_chr_ota_control_cb(uint16_t conn_handle,
+                                       uint16_t attr_handle,
+                                       struct ble_gatt_access_ctxt *ctxt,
+                                       void *arg) {
+    int rc;
+    uint8_t length = sizeof(gatt_svr_chr_ota_control_val);
+
+    switch (ctxt->op) {
+        case BLE_GATT_ACCESS_OP_READ_CHR:
+            // a client is reading the current value of ota control
+            rc = os_mbuf_append(ctxt->om, &gatt_svr_chr_ota_control_val, length);
+            return rc == 0 ? 0 : BLE_ATT_ERR_INSUFFICIENT_RES;
+            break;
+
+        case BLE_GATT_ACCESS_OP_WRITE_CHR:
+            // a client is writing a value to ota control
+            rc = gatt_svr_chr_write(ctxt->om, 1, length,
+                                    &gatt_svr_chr_ota_control_val, NULL);
+
+            // write the new value control:
+            update_ota_control(conn_handle);
+            return rc;
+            break;
+
+        default:
+            break;
+    }
+
+    // this shouldn't happen
+    assert(0);
+    return BLE_ATT_ERR_UNLIKELY;
+}
+
+
+// this is where we will recieve the actual data over characteristic OTA Data
+static int gatt_svr_chr_ota_data_cb(uint16_t conn_handle, uint16_t attr_handle,
+                                    struct ble_gatt_access_ctxt *ctxt,
+                                    void *arg) {
+    int rc;
+    esp_err_t err;
+
+    // store the received data into gatt_svr_chr_ota_data_val
+    rc = gatt_svr_chr_write(ctxt->om, 1, sizeof(gatt_svr_chr_ota_data_val),
+                            gatt_svr_chr_ota_data_val, NULL);
+
+    ESP_LOGI(LOG_TAG_GATT_SVR, "Received packet data:%i, %i, %i, %i, %i", gatt_svr_chr_ota_data_val[0],
+             gatt_svr_chr_ota_data_val[1], gatt_svr_chr_ota_data_val[2], gatt_svr_chr_ota_data_val[3],
+             gatt_svr_chr_ota_data_val[4]);
+
+    // Example command to set motor speeds and direction for 10 seconds
+    MotorCommand command = {gatt_svr_chr_ota_data_val[0], gatt_svr_chr_ota_data_val[1],
+                            gatt_svr_chr_ota_data_val[2], gatt_svr_chr_ota_data_val[3],
+                            gatt_svr_chr_ota_data_val[4]};
+    set_motor_command(command);
+
+    num_pkgs_received++;
+    ESP_LOGI(LOG_TAG_GATT_SVR, "Received packet %d", num_pkgs_received);
+
+    return rc;
+}
+
+void gatt_svr_init() {
+    ble_svc_gap_init();
+    ble_svc_gatt_init();
+    ble_gatts_count_cfg(gatt_svr_svcs);
+    ble_gatts_add_svcs(gatt_svr_svcs);
+}
--- a/firmware/main/gatt_svr.h
+++ b/firmware/main/gatt_svr.h
@@ -0,0 +1,46 @@
+#pragma once
+
+#include "esp_ota_ops.h"
+#include "host/ble_hs.h"
+#include "host/ble_uuid.h"
+#include "services/gap/ble_svc_gap.h"
+#include "services/gatt/ble_svc_gatt.h"
+
+#define LOG_TAG_GATT_SVR "gatt_svr"
+#define REBOOT_DEEP_SLEEP_TIMEOUT 500
+#define GATT_DEVICE_INFO_UUID 0x180A
+#define GATT_MANUFACTURER_NAME_UUID 0x2A29
+#define GATT_MODEL_NUMBER_UUID 0x2A24
+
+typedef enum {
+  SVR_CHR_OTA_CONTROL_NOP,
+  SVR_CHR_OTA_CONTROL_REQUEST,
+  SVR_CHR_OTA_CONTROL_REQUEST_ACK,
+  SVR_CHR_OTA_CONTROL_REQUEST_NAK,
+  SVR_CHR_OTA_CONTROL_DONE,
+  SVR_CHR_OTA_CONTROL_DONE_ACK,
+  SVR_CHR_OTA_CONTROL_DONE_NAK,
+} svr_chr_ota_control_val_t;
+
+
+// service: OTA Service
+// d6f1d96d-594c-4c53-b1c6-244a1dfde6d8
+static const ble_uuid128_t gatt_svr_svc_ota_uuid =
+        BLE_UUID128_INIT(0xd8, 0xe6, 0xfd, 0x1d, 0x4a, 024, 0xc6, 0xb1, 0x53, 0x4c,
+                         0x4c, 0x59, 0x6d, 0xd9, 0xf1, 0xd6);
+
+// characteristic: OTA Control
+// 7ad671aa-21c0-46a4-b722-270e3ae3d830
+static const ble_uuid128_t gatt_svr_chr_ota_control_uuid =
+        BLE_UUID128_INIT(0x30, 0xd8, 0xe3, 0x3a, 0x0e, 0x27, 0x22, 0xb7, 0xa4, 0x46,
+                         0xc0, 0x21, 0xaa, 0x71, 0xd6, 0x7a);
+
+// characteristic: OTA Data
+// 23408888-1f40-4cd8-9b89-ca8d45f8a5b0
+static const ble_uuid128_t gatt_svr_chr_ota_data_uuid =
+        BLE_UUID128_INIT(0xb0, 0xa5, 0xf8, 0x45, 0x8d, 0xca, 0x89, 0x9b, 0xd8, 0x4c,
+                         0x40, 0x1f, 0x88, 0x88, 0x40, 0x23);
+
+
+
+void gatt_svr_init();
--- a/firmware/main/gpio_interrupt.c
+++ b/firmware/main/gpio_interrupt.c
@@ -0,0 +1,54 @@
+#include "gpio_interrupt.h"
+#include <stdio.h>
+#include "freertos/task.h"
+#include "driver/gpio.h"
+
+#define GPIO_QUEUE_LENGTH 10
+#define GPIO_QUEUE_ITEM_SIZE sizeof(uint32_t)
+#define DEBOUNCE_TIME_MS 200
+
+QueueHandle_t gpio_evt_queue = NULL;
+
+QueueHandle_t gpio_interrupt_get_evt_queue(void){
+    return gpio_evt_queue;
+}
+
+static void IRAM_ATTR gpio_isr_handler(void* arg)
+{
+    static uint32_t last_interrupt_time = 0;
+    uint32_t interrupt_time = xTaskGetTickCountFromISR();
+    uint32_t gpio_num = (uint32_t) arg;
+
+    // Check if it's a falling edge
+    if (gpio_get_level(gpio_num) == 0) {
+        // Debounce mechanism
+        if (interrupt_time - last_interrupt_time > pdMS_TO_TICKS(DEBOUNCE_TIME_MS)) {
+            xQueueSendFromISR(gpio_evt_queue, &gpio_num, NULL);
+            last_interrupt_time = interrupt_time;
+        }
+    }
+}
+
+void configure_gpio_interrupt(void)
+{
+    // Create a queue to handle GPIO event from ISR
+    gpio_evt_queue = xQueueCreate(GPIO_QUEUE_LENGTH, GPIO_QUEUE_ITEM_SIZE);
+
+    // Configure the GPIO pin
+    gpio_config_t io_conf = {};
+    io_conf.intr_type = GPIO_INTR_NEGEDGE;  // Interrupt on falling edge only
+    io_conf.pin_bit_mask = (1ULL << INTERRUPT_PIN);  // Bit mask of the pin
+    io_conf.mode = GPIO_MODE_INPUT;  // Set as input
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;  // Enable pull-up resistor
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;  // Disable pull-down resistor
+    gpio_config(&io_conf);
+
+    // Install GPIO ISR service
+    gpio_install_isr_service(0);
+
+    // Attach the interrupt service routine
+    gpio_isr_handler_add(INTERRUPT_PIN, gpio_isr_handler, (void*) INTERRUPT_PIN);
+
+    printf("GPIO %d configured for interrupt on falling edge only with pull-up enabled and %d ms debounce\n", INTERRUPT_PIN, DEBOUNCE_TIME_MS);
+}
+
--- a/firmware/main/gpio_interrupt.h
+++ b/firmware/main/gpio_interrupt.h
@@ -0,0 +1,19 @@
+#ifndef GPIO_INTERRUPT_H
+#define GPIO_INTERRUPT_H
+
+#include <stdint.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
+
+// Define the interrupt pin
+#define INTERRUPT_PIN 10
+
+// Function prototypes
+QueueHandle_t gpio_interrupt_get_evt_queue(void);
+void configure_gpio_interrupt(void);
+void start_gpio_interrupt_task(void);
+
+// Declare the queue handle as extern so it can be accessed from main.c
+extern QueueHandle_t gpio_evt_queue;
+
+#endif // GPIO_INTERRUPT_H
--- a/firmware/main/i2c_config.c
+++ b/firmware/main/i2c_config.c
@@ -0,0 +1,32 @@
+#include "i2c_config.h"
+#include "esp_log.h"
+
+static const char *TAG = "i2c_config";
+
+esp_err_t i2c_master_init(void)
+{
+    int i2c_master_port = I2C_MASTER_NUM;
+    i2c_config_t conf = {
+            .mode = I2C_MODE_MASTER,
+            .sda_io_num = I2C_MASTER_SDA_IO,
+            .sda_pullup_en = GPIO_PULLUP_ENABLE,
+            .scl_io_num = I2C_MASTER_SCL_IO,
+            .scl_pullup_en = GPIO_PULLUP_ENABLE,
+            .master.clk_speed = I2C_MASTER_FREQ_HZ,
+    };
+
+    esp_err_t err = i2c_param_config(i2c_master_port, &conf);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "I2C parameter configuration failed. Error: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    err = i2c_driver_install(i2c_master_port, conf.mode, I2C_MASTER_RX_BUF_DISABLE, I2C_MASTER_TX_BUF_DISABLE, 0);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "I2C driver installation failed. Error: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    ESP_LOGI(TAG, "I2C master initialized successfully");
+    return ESP_OK;
+}
--- a/firmware/main/i2c_config.h
+++ b/firmware/main/i2c_config.h
@@ -0,0 +1,17 @@
+#ifndef I2C_CONFIG_H
+#define I2C_CONFIG_H
+
+#include "driver/i2c.h"
+
+// I2C configuration
+#define I2C_MASTER_SCL_IO           0                  // GPIO number for I2C master clock (IO0)
+#define I2C_MASTER_SDA_IO           1                  // GPIO number for I2C master data (IO1)
+#define I2C_MASTER_NUM              0                  // I2C master i2c port number
+#define I2C_MASTER_FREQ_HZ          400000             // I2C master clock frequency (400 kHz)
+#define I2C_MASTER_TX_BUF_DISABLE   0                  // I2C master doesn't need buffer
+#define I2C_MASTER_RX_BUF_DISABLE   0                  // I2C master doesn't need buffer
+
+// Function prototypes
+esp_err_t i2c_master_init(void);
+
+#endif // I2C_CONFIG_H
--- a/firmware/main/led.c
+++ b/firmware/main/led.c
@@ -0,0 +1,142 @@
+// led.c
+
+#include "led.h"
+#include "driver/gpio.h"
+#include <stdio.h>
+
+// Shared configuration structure
+led_config_t led_config = {
+        .mode = LED_CONST,
+        .flash_period = pdMS_TO_TICKS(500), // Default 500ms
+        .led_state = {false, false, false, false}
+};
+
+static const int led_gpios[NUM_LEDS] = {LED_1_GPIO, LED_2_GPIO, LED_3_GPIO, LED_4_GPIO};
+
+static int get_gpio_num(int led_index)
+{
+    if (led_index >= 0 && led_index < NUM_LEDS) {
+        return led_gpios[led_index];
+    }
+    return -1;
+}
+
+static void led_task(void *pvParameters)
+{
+    TickType_t xLastWakeTime = xTaskGetTickCount();
+    bool toggle = false;
+
+    while (1) {
+        switch (led_config.mode) {
+            case LED_CONST:
+                // Apply current LED states
+                for (int i = 0; i < NUM_LEDS; i++) {
+                    gpio_set_level(led_gpios[i], led_config.led_state[i] ? 1 : 0);
+                }
+                vTaskDelay(led_config.flash_period);
+                break;
+            case LED_FLASH_ALL:
+                for (int i = 0; i < NUM_LEDS; i++) {
+                    gpio_set_level(led_gpios[i], toggle ? 1 : 0);
+                }
+                toggle = !toggle;
+                vTaskDelayUntil(&xLastWakeTime, led_config.flash_period);
+                break;
+            case LED_FLASH_BACK:
+                gpio_set_level(led_gpios[0], toggle ? 1 : 0);
+                gpio_set_level(led_gpios[1], toggle ? 1 : 0);
+                toggle = !toggle;
+                vTaskDelayUntil(&xLastWakeTime, led_config.flash_period);
+                break;
+            case LED_FLASH_FRONT:
+                gpio_set_level(led_gpios[2], toggle ? 1 : 0);
+                gpio_set_level(led_gpios[3], toggle ? 1 : 0);
+                toggle = !toggle;
+                vTaskDelayUntil(&xLastWakeTime, led_config.flash_period);
+                break;
+            case LED_FLASH_FRONT_ALTERNATE:
+                gpio_set_level(led_gpios[2], toggle ? 1 : 0);
+                gpio_set_level(led_gpios[3], toggle ? 0 : 1);
+                toggle = !toggle;
+                vTaskDelayUntil(&xLastWakeTime, led_config.flash_period);
+                break;
+        }
+    }
+}
+
+static void configure_led(int gpio)
+{
+    gpio_config_t io_conf = {
+            .intr_type = GPIO_INTR_DISABLE,
+            .mode = GPIO_MODE_OUTPUT,
+            .pin_bit_mask = (1ULL << gpio),
+            .pull_down_en = 0,
+            .pull_up_en = 0
+    };
+    gpio_config(&io_conf);
+}
+
+void led_init(void)
+{
+    for (int i = 0; i < NUM_LEDS; i++) {
+        configure_led(led_gpios[i]);
+    }
+
+    xTaskCreate(led_task, "led_task", 2048, NULL, 10, NULL);
+}
+
+void set_led(int led_index, bool state)
+{
+    if (led_index < 0 || led_index >= NUM_LEDS) {
+        printf("Invalid LED index\n");
+        return;
+    }
+
+    led_config.led_state[led_index] = state;
+    if (led_config.mode == LED_CONST) {
+        gpio_set_level(led_gpios[led_index], state ? 1 : 0);
+    }
+    printf("LED %d (GPIO %d) set to %s\n", led_index, led_gpios[led_index], state ? "ON" : "OFF");
+}
+
+void led_set_flash_mode(led_flash mode)
+{
+    led_config.mode = mode;
+    printf("LED flash mode set to %d\n", mode);
+}
+
+void led_set_flash_period(TickType_t period)
+{
+    led_config.flash_period = period;
+    printf("LED flash period set to %u ticks\n", (unsigned int)period);
+}
+
+void led_all_on(void)
+{
+    for (int i = 0; i < NUM_LEDS; i++) {
+        set_led(i, true);
+    }
+    led_set_flash_mode(LED_CONST);
+}
+
+void led_all_off(void)
+{
+    for (int i = 0; i < NUM_LEDS; i++) {
+        set_led(i, false);
+    }
+    led_set_flash_mode(LED_CONST);
+}
+
+void led_front_on(void)
+{
+    set_led(0, true);
+    set_led(1, true);
+    led_set_flash_mode(LED_CONST);
+}
+
+void led_back_on(void)
+{
+    set_led(2, true);
+    set_led(3, true);
+    led_set_flash_mode(LED_CONST);
+}
--- a/firmware/main/led.h
+++ b/firmware/main/led.h
@@ -0,0 +1,47 @@
+// led.h
+
+#ifndef LED_H
+#define LED_H
+
+#include <stdbool.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#define NUM_LEDS 4
+
+#define LED_1_GPIO 27
+#define LED_2_GPIO 26
+#define LED_3_GPIO 25
+#define LED_4_GPIO 22
+
+// LED states
+typedef enum {
+    LED_CONST = 0,
+    LED_FLASH_ALL,
+    LED_FLASH_BACK,
+    LED_FLASH_FRONT,
+    LED_FLASH_FRONT_ALTERNATE
+} led_flash;
+
+typedef struct {
+    led_flash mode;
+    TickType_t flash_period;
+    bool led_state[NUM_LEDS];
+} led_config_t;
+
+// Extern declaration of the shared configuration
+extern led_config_t led_config;
+
+// Original function prototypes
+void led_init(void);
+void set_led(int led_index, bool state);
+
+// New function prototypes
+void led_set_flash_mode(led_flash mode);
+void led_set_flash_period(TickType_t period);
+void led_all_on(void);
+void led_all_off(void);
+void led_front_on(void);
+void led_back_on(void);
+
+#endif // LED_H
--- a/firmware/main/main.c
+++ b/firmware/main/main.c
@@ -0,0 +1,176 @@
+// main.c
+
+#include <stdio.h>
+#include <inttypes.h>
+#include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "freertos/semphr.h"
+#include "esp_chip_info.h"
+#include "esp_flash.h"
+#include "esp_system.h"
+#include "esp_log.h"
+#include "driver/ledc.h"
+#include "driver/gpio.h"
+#include "motor.h"
+
+// BLE
+#include "gap.h"
+#include "gatt_svr.h"
+#include "nvs_flash.h"
+#include "esp_bt.h"
+
+#include "controller.h"
+#include "led.h"
+
+// battery
+#include "battery.h"
+
+// interrupt on gpio
+#include "gpio_interrupt.h"
+
+// i2c config for the color sensor
+#include "i2c_config.h"
+
+#include "opt4060.h"
+#include "color_predictor.h"
+
+
+#define LEDC_TIMER              LEDC_TIMER_0
+#define LEDC_MODE               LEDC_LOW_SPEED_MODE
+#define LEDC_DUTY_RES           LEDC_TIMER_10_BIT // Set duty resolution to 13 bits
+#define LEDC_FREQUENCY          (15000) // Frequency in Hertz. Set frequency at 15 kHz
+
+#define MOTOR_A_FWD_GPIO        13
+#define MOTOR_A_BWD_GPIO        14
+#define MOTOR_B_FWD_GPIO        4
+#define MOTOR_B_BWD_GPIO        5
+
+// Global variables
+static bool motor_direction[NUM_MOTORS] = {true, true}; // true for forward, false for backward
+
+QueueHandle_t gpio_intr_evt_queue = NULL;
+NeuralNetwork nn;
+
+void gpio_interrupt_task(void *pvParameters)
+{
+    uint32_t io_num;
+    for(;;) {
+        if(xQueueReceive(gpio_intr_evt_queue, &io_num, portMAX_DELAY)) {
+            printf("GPIO[%lu] interrupt occurred (falling edge)!\n", io_num);
+
+            uint16_t red, green, blue, clear;
+            opt4060_read_color(&red, &green, &blue, &clear);
+            ESP_LOGD("main", "Color values - Red: %d, Green: %d, Blue: %d, Clear: %d, Color: White", red, green, blue, clear);
+
+            if (gpio_get_level(INTERRUPT_PIN) == 0) {
+                uint32_t color = predict_color(&nn, red, green, blue, clear);
+                command_set_game_status(color);
+            }
+        }
+    }
+}
+
+void app_main(void)
+{
+    ledc_timer_config_t ledc_timer = {
+            .speed_mode       = LEDC_MODE,
+            .timer_num        = LEDC_TIMER,
+            .duty_resolution  = LEDC_DUTY_RES,
+            .freq_hz          = LEDC_FREQUENCY,
+            .clk_cfg          = LEDC_AUTO_CLK
+    };
+    esp_err_t err = ledc_timer_config(&ledc_timer);
+    if (err != ESP_OK) {
+        printf("LEDC Timer Config failed: %s\n", esp_err_to_name(err));
+        return;
+    }
+
+    // Initialize LEDs
+    led_init();
+
+    // set the blink rate to 100ms
+    led_set_flash_period(pdMS_TO_TICKS(100));
+
+    // Configure Motors
+    configure_motor_pwm(MOTOR_A_FWD_GPIO, LEDC_CHANNEL_0);
+    configure_motor_pwm(MOTOR_A_BWD_GPIO, LEDC_CHANNEL_1);
+    configure_motor_pwm(MOTOR_B_FWD_GPIO, LEDC_CHANNEL_2);
+    configure_motor_pwm(MOTOR_B_BWD_GPIO, LEDC_CHANNEL_3);
+
+    // Create motor queue
+    motor_queue[0] = xQueueCreate(MOTOR_QUEUE_SIZE, sizeof(MotorUpdate));
+    if (motor_queue[0] == NULL) {
+        printf("Failed to create motor queue\n");
+        return;
+    }
+    motor_queue[1] = xQueueCreate(MOTOR_QUEUE_SIZE, sizeof(MotorUpdate));
+    if (motor_queue[1] == NULL) {
+        printf("Failed to create motor queue\n");
+        return;
+    }
+
+    // Create semaphore for synchronizing motor start
+    motor_start_semaphore = xSemaphoreCreateCounting(4,0);
+    if (motor_start_semaphore == NULL) {
+        printf("Failed to create motor start semaphore\n");
+        return;
+    }
+
+    // Create motor tasks for Motor A and Motor B
+    xTaskCreate(motor_task, "motor_task_A", 2048, (void *)0, 1, NULL);
+    xTaskCreate(motor_task, "motor_task_B", 2048, (void *)1, 1, NULL);
+
+    // Turn on all LEDs
+    for (int i = 0; i < NUM_LEDS; i++) {
+        set_led(i, true);
+    }
+
+    set_led(3,false);
+    set_led(2,false);
+    set_led(1,true);
+    set_led(0,true);
+
+
+    // BLE Setup -------------------
+    nimble_port_init();
+    ble_hs_cfg.sync_cb = sync_cb;
+    ble_hs_cfg.reset_cb = reset_cb;
+    gatt_svr_init();
+    ble_svc_gap_device_name_set(device_name);
+    nimble_port_freertos_init(host_task);
+
+    // Initialize the motor controller
+    controller_init();
+
+    esp_err_t ret = battery_init();
+    if (ret != ESP_OK) {
+        ESP_LOGE("main", "Battery initialization failed");
+        return;
+    }
+
+
+    initialize_neural_network(&nn);
+
+    // initilize interrupt for HAL
+    configure_gpio_interrupt();
+    gpio_intr_evt_queue = gpio_interrupt_get_evt_queue();
+    xTaskCreate(gpio_interrupt_task, "gpio_interrupt_task", 2048, NULL, 10, NULL);
+
+    // color sensor
+    opt4060_init();
+
+
+    while (1) {
+
+//        // uncomment this for training data collection
+//        uint16_t red, green, blue, clear;
+//        opt4060_read_color(&red, &green, &blue, &clear);
+//        // NOTE "Color: White" is hardcoded -- rename this to the color you are training for
+//        ESP_LOGI("main", "Color values - Red: %d, Green: %d, Blue: %d, Clear: %d, Color: Black", red, green, blue, clear);
+
+        vTaskDelay(100 / portTICK_PERIOD_MS);  // Delay
+
+    }
+}
--- a/firmware/main/motor.c
+++ b/firmware/main/motor.c
@@ -0,0 +1,122 @@
+#include "motor.h"
+#include <stdio.h>
+#include "esp_log.h"
+
+
+QueueHandle_t motor_queue[2];
+SemaphoreHandle_t motor_start_semaphore;
+
+void configure_motor_pwm(int gpio, ledc_channel_t channel)
+{
+    ledc_channel_config_t ledc_channel = {
+            .speed_mode     = LEDC_LOW_SPEED_MODE,
+            .channel        = channel,
+            .timer_sel      = LEDC_TIMER_0,
+            .intr_type      = LEDC_INTR_DISABLE,
+            .gpio_num       = gpio,
+            .duty           = 0,
+            .hpoint         = 0
+    };
+    esp_err_t err = ledc_channel_config(&ledc_channel);
+    if (err != ESP_OK) {
+        ESP_LOGE("motor","LEDC Channel Config failed for GPIO %d: %s", gpio, esp_err_to_name(err));
+    }
+}
+
+void set_motor_speed(int motor_index, int speed_percent, bool direction)
+{
+    if (motor_index < 0 || motor_index >= NUM_MOTORS) {
+        ESP_LOGE("motor","Invalid motor index");
+        return;
+    }
+
+    // Ensure speed_percent is between MIN_SPEED_PERCENT and 100
+    speed_percent = (speed_percent < MIN_SPEED_PERCENT) ? 0 : (speed_percent > 100) ? 100 : speed_percent;
+
+    // Map MIN_SPEED_PERCENT-100 to MIN_DUTY-MAX_DUTY
+    int duty;
+    if (speed_percent == 0) {
+        duty = 0;
+    } else {
+        int min_duty = (MIN_SPEED_PERCENT * MAX_DUTY) / 100;
+        duty = min_duty + ((speed_percent - MIN_SPEED_PERCENT) * (MAX_DUTY - min_duty)) / (100 - MIN_SPEED_PERCENT);
+    }
+
+    ledc_channel_t fwd_channel = (ledc_channel_t)(motor_index * 2);
+    ledc_channel_t bwd_channel = (ledc_channel_t)(motor_index * 2 + 1);
+
+    ledc_set_duty(LEDC_LOW_SPEED_MODE, fwd_channel, direction ? duty : 0);
+    ledc_set_duty(LEDC_LOW_SPEED_MODE, bwd_channel, direction ? 0 : duty);
+    ledc_update_duty(LEDC_LOW_SPEED_MODE, fwd_channel);
+    ledc_update_duty(LEDC_LOW_SPEED_MODE, bwd_channel);
+
+    ESP_LOGD("motor","Motor %d set to speed %d%% (duty %d), direction %s",
+           motor_index, speed_percent, duty, direction ? "FORWARD" : "BACKWARD");
+}
+
+void soft_start_motor(int motor_index, int target_speed, bool target_direction)
+{
+    static int current_speed[NUM_MOTORS] = {0};
+    static bool current_direction[NUM_MOTORS] = {true, true};
+
+    int start_speed = current_speed[motor_index];
+    bool start_direction = current_direction[motor_index];
+
+    // If direction is changing, first slow down to 0
+    if (start_direction != target_direction && start_speed > 0) {
+        ESP_LOGD("motor","slow stopping motor %i", motor_index);
+        for (int speed = start_speed; speed >= MIN_SPEED_PERCENT; speed--) {
+            set_motor_speed(motor_index, speed, start_direction);
+            vTaskDelay(SOFT_START_DELAY_MS / portTICK_PERIOD_MS);
+        }
+        set_motor_speed(motor_index, 0, start_direction);
+        start_speed = 0;
+    }
+
+    // Now ramp up to target speed in the correct direction
+    if (target_speed > 0) {
+        ESP_LOGD("motor","ramping up motor %i", motor_index);
+        if (start_speed == 0) {
+            ESP_LOGD("motor","initial speed was 0 %i", motor_index);
+            set_motor_speed(motor_index, MIN_SPEED_PERCENT, target_direction);
+            vTaskDelay(SOFT_START_DELAY_MS * 2 / portTICK_PERIOD_MS);  // Longer delay for initial start
+            start_speed = MIN_SPEED_PERCENT;
+        }
+
+        int step = (target_speed > start_speed) ? 1 : -1;
+        for (int speed = start_speed; speed != target_speed; speed += step) {
+            set_motor_speed(motor_index, speed, target_direction);
+            vTaskDelay(SOFT_START_DELAY_MS / portTICK_PERIOD_MS);
+        }
+    } else {
+        ESP_LOGD("motor","direct set on motor %i", motor_index);
+        set_motor_speed(motor_index, 0, target_direction);
+    }
+
+    // Ensure we reach exactly the target speed
+    set_motor_speed(motor_index, target_speed, target_direction);
+
+    // Update current speed and direction
+    current_speed[motor_index] = target_speed;
+    current_direction[motor_index] = target_direction;
+    ESP_LOGD("motor","done with motor %i", motor_index);
+
+}
+
+void motor_task(void *pvParameters)
+{
+    int motor_index = (int)pvParameters;
+    MotorUpdate update;
+    while (1) {
+        if (xQueueReceive(motor_queue[0], &update, pdMS_TO_TICKS(10)) == pdTRUE) {
+            ESP_LOGI("Motor", "motor index %i speed %i direction %i", update.motor_index, update.speed_percent,
+                     update.direction);
+            set_motor_speed(update.motor_index, update.speed_percent, update.direction);
+        }
+        if (xQueueReceive(motor_queue[1], &update, pdMS_TO_TICKS(10)) == pdTRUE) {
+            ESP_LOGI("Motor", "motor index %i speed %i direction %i", update.motor_index, update.speed_percent,
+                     update.direction);
+            set_motor_speed(update.motor_index, update.speed_percent, update.direction);
+        }
+    }
+}
--- a/firmware/main/motor.h
+++ b/firmware/main/motor.h
@@ -0,0 +1,31 @@
+#ifndef MOTOR_H
+#define MOTOR_H
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "freertos/semphr.h"
+#include "driver/ledc.h"
+
+#define NUM_MOTORS              2
+#define MIN_SPEED_PERCENT       15  // Minimum speed percentage
+#define MAX_DUTY                ((1 << LEDC_TIMER_10_BIT) - 1)  // Max duty cycle for 10-bit resolution
+#define MOTOR_QUEUE_SIZE        10
+#define SOFT_START_DELAY_MS     30  // Adjust this value to change the softness of the start
+
+// Motor speed update structure
+typedef struct {
+    int motor_index;
+    int speed_percent;
+    bool direction;
+} MotorUpdate;
+
+void configure_motor_pwm(int gpio, ledc_channel_t channel);
+void set_motor_speed(int motor_index, int speed_percent, bool direction);
+void soft_start_motor(int motor_index, int target_speed, bool target_direction);
+void motor_task(void *pvParameters);
+
+extern QueueHandle_t motor_queue[2];
+extern SemaphoreHandle_t motor_start_semaphore;
+
+#endif // MOTOR_H
--- a/firmware/main/opt4060.c
+++ b/firmware/main/opt4060.c
@@ -0,0 +1,200 @@
+#include "opt4060.h"
+#include "driver/i2c.h"
+#include "esp_log.h"
+
+// math
+#include <stdio.h>
+#include <math.h>
+
+static const char *TAG = "OPT4060";
+
+static esp_err_t i2c_master_init(void)
+{
+    i2c_config_t conf = {
+            .mode = I2C_MODE_MASTER,
+            .sda_io_num = I2C_MASTER_SDA_IO,
+            .scl_io_num = I2C_MASTER_SCL_IO,
+            .sda_pullup_en = GPIO_PULLUP_ENABLE,
+            .scl_pullup_en = GPIO_PULLUP_ENABLE,
+            .master.clk_speed = I2C_MASTER_FREQ_HZ,
+    };
+
+    esp_err_t err = i2c_param_config(I2C_MASTER_NUM, &conf);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "I2C parameter configuration failed: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    err = i2c_driver_install(I2C_MASTER_NUM, conf.mode, 0, 0, 0);
+    if (err != ESP_OK) {
+        if (err == ESP_ERR_INVALID_STATE) {
+            ESP_LOGW(TAG, "I2C driver already installed, attempting to use existing installation");
+            return ESP_OK;
+        }
+        ESP_LOGE(TAG, "I2C driver installation failed: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    return ESP_OK;
+}
+
+esp_err_t opt4060_init(void)
+{
+    esp_err_t ret = i2c_master_init();
+    if (ret != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to initialize I2C: %s", esp_err_to_name(ret));
+        return ret;
+    }
+
+    // set the chip to continuous conversion at 1ms
+    // 0x30, 0x78 - write to 0x0A
+    uint8_t write_data[3] = {0x0A, 0x30, 0x78};
+    ret = i2c_master_write_to_device(I2C_MASTER_NUM, OPT4060_SENSOR_ADDR, write_data,
+                               3, pdMS_TO_TICKS(1000));
+
+    if (ret == ESP_OK)
+        ESP_LOGI(TAG, "OPT4060 initialized successfully");
+    else
+        ESP_LOGE(TAG, "failed to init OPT4060");
+
+    return ESP_OK;
+}
+
+void determineColor(uint16_t red, uint16_t green, uint16_t blue, uint16_t clear) {
+//    // Normalize the values
+//    float r = (float)red / clear;
+//    float g = (float)green / clear;
+//    float b = (float)blue / clear;
+//
+//    // Define color thresholds
+//    float threshold = 0.2;
+//    float white_threshold = 0.9;
+//    float black_threshold = 0.1;
+//
+//    // Determine the color
+//    if (r < black_threshold && g < black_threshold && b < black_threshold) {
+//        printf("Black\n");
+//    } else if (r > white_threshold && g > white_threshold && b > white_threshold) {
+//        printf("White\n");
+//    } else if (r > threshold && r > g && r > b) {
+//        printf("Red\n");
+//    } else if (g > threshold && g > r && g > b) {
+//        printf("Green\n");
+//    } else if (b > threshold && b > r && b > g) {
+//        printf("Blue\n");
+//    } else if (r > threshold && g > threshold && r > b && g > b) {
+//        printf("Yellow\n");
+//    } else if (r > threshold && b > threshold && r > g && b > g) {
+//        printf("Magenta\n");
+//    } else if (g > threshold && b > threshold && g > r && b > r) {
+//        printf("Cyan\n");
+//    } else {
+//        printf("Unknown\n");
+//    }
+
+    // Define thresholds based on the provided examples
+    const uint16_t GREEN_THRESHOLD = 1000;
+    const uint16_t BLACK_THRESHOLD = 300;
+    const uint16_t WHITE_THRESHOLD = 1000;
+    const uint16_t CLEAR_THRESHOLD = 3000;
+
+    // Calculate ratios for more accurate color detection
+    float red_ratio = (float)red / (red + green + blue);
+    float green_ratio = (float)green / (red + green + blue);
+    float blue_ratio = (float)blue / (red + green + blue);
+
+    // Check for green
+    if (green > GREEN_THRESHOLD && green_ratio > 0.4) {
+        ESP_LOGW("opt4060", "Green");
+    }
+        // Check for black
+    else if (red < BLACK_THRESHOLD && green < BLACK_THRESHOLD && blue < BLACK_THRESHOLD) {
+        ESP_LOGW("opt4060", "Black");
+    }
+        // Check for white
+    else if (red > WHITE_THRESHOLD && green > WHITE_THRESHOLD && blue > WHITE_THRESHOLD && clear > CLEAR_THRESHOLD) {
+        ESP_LOGW("opt4060", "White");
+    }
+        // Check for red
+    else if (red_ratio > 0.35 && red > green && red > blue) {
+        ESP_LOGW("opt4060", "Red");
+    }
+        // Check for blue
+    else if (blue_ratio > 0.35 && blue > red && blue > green) {
+        ESP_LOGW("opt4060", "Blue");
+    }
+        // If no specific color is detected
+    else {
+        ESP_LOGW("opt4060", "Unknown");
+    }
+
+}
+
+void classify_color(double X, double Y, double Z, double LUX) {
+    // Convert XYZ to RGB
+    double R = 3.2404542 * X - 1.5371385 * Y - 0.4985314 * Z;
+    double G = -0.9692660 * X + 1.8760108 * Y + 0.0415560 * Z;
+    double B = 0.0556434 * X - 0.2040259 * Y + 1.0572252 * Z;
+
+    // Normalize RGB values
+    R = fmax(0, fmin(1, R));
+    G = fmax(0, fmin(1, G));
+    B = fmax(0, fmin(1, B));
+
+    // Define thresholds
+    const double COLOR_THRESHOLD = 0.5;
+    const double BLACK_THRESHOLD = 0.1;
+    const double WHITE_THRESHOLD = 0.9;
+
+    // Check for black and white first
+    if (LUX < BLACK_THRESHOLD) {
+        ESP_LOGW(TAG, "Classified color: Black");
+    } else if (LUX > WHITE_THRESHOLD && R > WHITE_THRESHOLD && G > WHITE_THRESHOLD && B > WHITE_THRESHOLD) {
+        ESP_LOGW(TAG, "Classified color: White");
+    }
+        // Classify based on dominant color
+    else if (R > COLOR_THRESHOLD && R > G && R > B) {
+        ESP_LOGW(TAG, "Classified color: Red");
+    } else if (G > COLOR_THRESHOLD && G > R && G > B) {
+        ESP_LOGW(TAG, "Classified color: Green");
+    } else if (B > COLOR_THRESHOLD && B > R && B > G) {
+        ESP_LOGW(TAG, "Classified color: Blue");
+    }
+        // Default case
+    else {
+        ESP_LOGW(TAG, "Classified color: Unclassified");
+    }
+}
+
+esp_err_t opt4060_read_color(uint16_t *red, uint16_t *green, uint16_t *blue, uint16_t *clear)
+{
+
+    uint8_t data[16];
+    esp_err_t ret;
+
+    uint8_t address[1] = {0};
+
+    ret = i2c_master_write_read_device(I2C_MASTER_NUM, OPT4060_SENSOR_ADDR, address, 1, data,
+                                 16, pdMS_TO_TICKS(1000));
+    if (ret != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to read color data: %s", esp_err_to_name(ret));
+        return ret;
+    }
+
+    // Convert the read data to color values
+//    *red = (data[1] << 8) | data[0];
+//    *green = (data[3] << 8) | data[2];
+//    *blue = (data[5] << 8) | data[4];
+//    *clear = (data[7] << 8) | data[6];
+
+    *red =  ((data[0] & 0xF) << 8) | data[1];
+    *green = ((data[4] & 0xF) << 8) | data[5];
+    *blue =  ((data[8] & 0xF) << 8) | data[9];
+    *clear =  ((data[12] & 0xF) << 8) | data[13];
+
+
+
+
+
+    return ESP_OK;
+}
--- a/firmware/main/opt4060.h
+++ b/firmware/main/opt4060.h
@@ -0,0 +1,20 @@
+#ifndef OPT4060_H
+#define OPT4060_H
+
+#include <stdint.h>
+#include "esp_err.h"
+
+#define I2C_MASTER_SCL_IO           0      // GPIO number for I2C master clock
+#define I2C_MASTER_SDA_IO           1      // GPIO number for I2C master data
+#define I2C_MASTER_NUM              0      // I2C master i2c port number
+#define I2C_MASTER_FREQ_HZ          100000 // I2C master clock frequency
+#define OPT4060_SENSOR_ADDR         0x44   // OPT4060 I2C address (1000100 in binary)
+
+#define OPT4060_REG_COLOR           0x00   // Register address for color data
+
+esp_err_t opt4060_init(void);
+void determineColor(uint16_t red, uint16_t green, uint16_t blue, uint16_t clear);
+void classify_color(double X, double Y, double Z, double LUX);
+esp_err_t opt4060_read_color(uint16_t *red, uint16_t *green, uint16_t *blue, uint16_t *clear);
+
+#endif // OPT4060_H
--- a/firmware/sdkconfig.ci
+++ b/firmware/sdkconfig.ci
--- a/hardware/racer-sensors/fp-info-cache
+++ b/hardware/racer-sensors/fp-info-cache
--- a/hardware/racer-sensors/racer-sensors-v0.1.zip
+++ b/hardware/racer-sensors/racer-sensors-v0.1.zip
--- a/hardware/racer-sensors/sensors.kicad_pcb
+++ b/hardware/racer-sensors/sensors.kicad_pcb
--- a/hardware/racer-sensors/sensors.kicad_prl
+++ b/hardware/racer-sensors/sensors.kicad_prl
@@ -0,0 +1,83 @@
+{
+  "board": {
+    "active_layer": 36,
+    "active_layer_preset": "",
+    "auto_track_width": true,
+    "hidden_netclasses": [],
+    "hidden_nets": [],
+    "high_contrast_mode": 0,
+    "net_color_mode": 1,
+    "opacity": {
+      "images": 0.6,
+      "pads": 1.0,
+      "tracks": 1.0,
+      "vias": 1.0,
+      "zones": 0.6
+    },
+    "selection_filter": {
+      "dimensions": true,
+      "footprints": true,
+      "graphics": true,
+      "keepouts": true,
+      "lockedItems": false,
+      "otherItems": true,
+      "pads": true,
+      "text": true,
+      "tracks": true,
+      "vias": true,
+      "zones": true
+    },
+    "visible_items": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      32,
+      33,
+      34,
+      35,
+      36,
+      39,
+      40
+    ],
+    "visible_layers": "ffcffff_ffffffff",
+    "zone_display_mode": 0
+  },
+  "git": {
+    "repo_password": "",
+    "repo_type": "",
+    "repo_username": "",
+    "ssh_key": ""
+  },
+  "meta": {
+    "filename": "sensors.kicad_prl",
+    "version": 3
+  },
+  "project": {
+    "files": []
+  }
+}
--- a/hardware/racer-sensors/sensors.kicad_pro
+++ b/hardware/racer-sensors/sensors.kicad_pro
@@ -0,0 +1,602 @@
+{
+  "board": {
+    "3dviewports": [],
+    "design_settings": {
+      "defaults": {
+        "apply_defaults_to_fp_fields": false,
+        "apply_defaults_to_fp_shapes": false,
+        "apply_defaults_to_fp_text": false,
+        "board_outline_line_width": 0.05,
+        "copper_line_width": 0.2,
+        "copper_text_italic": false,
+        "copper_text_size_h": 1.5,
+        "copper_text_size_v": 1.5,
+        "copper_text_thickness": 0.3,
+        "copper_text_upright": false,
+        "courtyard_line_width": 0.05,
+        "dimension_precision": 4,
+        "dimension_units": 3,
+        "dimensions": {
+          "arrow_length": 1270000,
+          "extension_offset": 500000,
+          "keep_text_aligned": true,
+          "suppress_zeroes": false,
+          "text_position": 0,
+          "units_format": 1
+        },
+        "fab_line_width": 0.1,
+        "fab_text_italic": false,
+        "fab_text_size_h": 1.0,
+        "fab_text_size_v": 1.0,
+        "fab_text_thickness": 0.15,
+        "fab_text_upright": false,
+        "other_line_width": 0.1,
+        "other_text_italic": false,
+        "other_text_size_h": 1.0,
+        "other_text_size_v": 1.0,
+        "other_text_thickness": 0.15,
+        "other_text_upright": false,
+        "pads": {
+          "drill": 0.762,
+          "height": 1.524,
+          "width": 1.524
+        },
+        "silk_line_width": 0.1,
+        "silk_text_italic": false,
+        "silk_text_size_h": 1.0,
+        "silk_text_size_v": 1.0,
+        "silk_text_thickness": 0.1,
+        "silk_text_upright": false,
+        "zones": {
+          "min_clearance": 0.2032
+        }
+      },
+      "diff_pair_dimensions": [
+        {
+          "gap": 0.0,
+          "via_gap": 0.0,
+          "width": 0.0
+        }
+      ],
+      "drc_exclusions": [],
+      "meta": {
+        "version": 2
+      },
+      "rule_severities": {
+        "annular_width": "error",
+        "clearance": "error",
+        "connection_width": "warning",
+        "copper_edge_clearance": "error",
+        "copper_sliver": "warning",
+        "courtyards_overlap": "error",
+        "diff_pair_gap_out_of_range": "error",
+        "diff_pair_uncoupled_length_too_long": "error",
+        "drill_out_of_range": "error",
+        "duplicate_footprints": "warning",
+        "extra_footprint": "warning",
+        "footprint": "error",
+        "footprint_symbol_mismatch": "warning",
+        "footprint_type_mismatch": "ignore",
+        "hole_clearance": "error",
+        "hole_near_hole": "error",
+        "invalid_outline": "error",
+        "isolated_copper": "warning",
+        "item_on_disabled_layer": "error",
+        "items_not_allowed": "error",
+        "length_out_of_range": "error",
+        "lib_footprint_issues": "warning",
+        "lib_footprint_mismatch": "warning",
+        "malformed_courtyard": "error",
+        "microvia_drill_out_of_range": "error",
+        "missing_courtyard": "ignore",
+        "missing_footprint": "warning",
+        "net_conflict": "warning",
+        "npth_inside_courtyard": "ignore",
+        "padstack": "warning",
+        "pth_inside_courtyard": "ignore",
+        "shorting_items": "error",
+        "silk_edge_clearance": "warning",
+        "silk_over_copper": "warning",
+        "silk_overlap": "warning",
+        "skew_out_of_range": "error",
+        "solder_mask_bridge": "error",
+        "starved_thermal": "error",
+        "text_height": "warning",
+        "text_thickness": "warning",
+        "through_hole_pad_without_hole": "error",
+        "too_many_vias": "error",
+        "track_dangling": "warning",
+        "track_width": "error",
+        "tracks_crossing": "error",
+        "unconnected_items": "error",
+        "unresolved_variable": "error",
+        "via_dangling": "warning",
+        "zones_intersect": "error"
+      },
+      "rules": {
+        "max_error": 0.005,
+        "min_clearance": 0.1524,
+        "min_connection": 0.0,
+        "min_copper_edge_clearance": 0.0,
+        "min_hole_clearance": 0.1524,
+        "min_hole_to_hole": 0.127,
+        "min_microvia_diameter": 0.2,
+        "min_microvia_drill": 0.1,
+        "min_resolved_spokes": 1,
+        "min_silk_clearance": 0.0,
+        "min_text_height": 0.508,
+        "min_text_thickness": 0.127,
+        "min_through_hole_diameter": 0.254,
+        "min_track_width": 0.1524,
+        "min_via_annular_width": 0.127,
+        "min_via_diameter": 0.508,
+        "solder_mask_to_copper_clearance": 0.0,
+        "use_height_for_length_calcs": true
+      },
+      "teardrop_options": [
+        {
+          "td_onpadsmd": true,
+          "td_onroundshapesonly": false,
+          "td_ontrackend": false,
+          "td_onviapad": true
+        }
+      ],
+      "teardrop_parameters": [
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_round_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_rect_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_track_end",
+          "td_width_to_size_filter_ratio": 0.9
+        }
+      ],
+      "track_widths": [
+        0.0,
+        0.1524,
+        0.2032,
+        0.3048
+      ],
+      "tuning_pattern_settings": {
+        "diff_pair_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 1.0
+        },
+        "diff_pair_skew_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 0.6
+        },
+        "single_track_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 0.6
+        }
+      },
+      "via_dimensions": [
+        {
+          "diameter": 0.0,
+          "drill": 0.0
+        },
+        {
+          "diameter": 0.508,
+          "drill": 0.254
+        }
+      ],
+      "zones_allow_external_fillets": false
+    },
+    "ipc2581": {
+      "dist": "",
+      "distpn": "",
+      "internal_id": "",
+      "mfg": "",
+      "mpn": ""
+    },
+    "layer_presets": [],
+    "viewports": []
+  },
+  "boards": [],
+  "cvpcb": {
+    "equivalence_files": []
+  },
+  "erc": {
+    "erc_exclusions": [],
+    "meta": {
+      "version": 0
+    },
+    "pin_map": [
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        2
+      ],
+      [
+        0,
+        2,
+        0,
+        1,
+        0,
+        0,
+        1,
+        0,
+        2,
+        2,
+        2,
+        2
+      ],
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        1,
+        0,
+        1,
+        2
+      ],
+      [
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        1,
+        1,
+        2,
+        1,
+        1,
+        2
+      ],
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        2
+      ],
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        2
+      ],
+      [
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        1,
+        1,
+        1,
+        1,
+        1,
+        2
+      ],
+      [
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        2
+      ],
+      [
+        0,
+        2,
+        1,
+        2,
+        0,
+        0,
+        1,
+        0,
+        2,
+        2,
+        2,
+        2
+      ],
+      [
+        0,
+        2,
+        0,
+        1,
+        0,
+        0,
+        1,
+        0,
+        2,
+        0,
+        0,
+        2
+      ],
+      [
+        0,
+        2,
+        1,
+        1,
+        0,
+        0,
+        1,
+        0,
+        2,
+        0,
+        0,
+        2
+      ],
+      [
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2
+      ]
+    ],
+    "rule_severities": {
+      "bus_definition_conflict": "error",
+      "bus_entry_needed": "error",
+      "bus_to_bus_conflict": "error",
+      "bus_to_net_conflict": "error",
+      "conflicting_netclasses": "error",
+      "different_unit_footprint": "error",
+      "different_unit_net": "error",
+      "duplicate_reference": "error",
+      "duplicate_sheet_names": "error",
+      "endpoint_off_grid": "warning",
+      "extra_units": "error",
+      "global_label_dangling": "warning",
+      "hier_label_mismatch": "error",
+      "label_dangling": "error",
+      "lib_symbol_issues": "warning",
+      "missing_bidi_pin": "warning",
+      "missing_input_pin": "warning",
+      "missing_power_pin": "error",
+      "missing_unit": "warning",
+      "multiple_net_names": "warning",
+      "net_not_bus_member": "warning",
+      "no_connect_connected": "warning",
+      "no_connect_dangling": "warning",
+      "pin_not_connected": "error",
+      "pin_not_driven": "error",
+      "pin_to_pin": "warning",
+      "power_pin_not_driven": "error",
+      "similar_labels": "warning",
+      "simulation_model_issue": "ignore",
+      "unannotated": "error",
+      "unit_value_mismatch": "error",
+      "unresolved_variable": "error",
+      "wire_dangling": "error"
+    }
+  },
+  "libraries": {
+    "pinned_footprint_libs": [],
+    "pinned_symbol_libs": []
+  },
+  "meta": {
+    "filename": "sensors.kicad_pro",
+    "version": 1
+  },
+  "net_settings": {
+    "classes": [
+      {
+        "bus_width": 12,
+        "clearance": 0.2,
+        "diff_pair_gap": 0.25,
+        "diff_pair_via_gap": 0.25,
+        "diff_pair_width": 0.2,
+        "line_style": 0,
+        "microvia_diameter": 0.3,
+        "microvia_drill": 0.1,
+        "name": "Default",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
+        "schematic_color": "rgba(0, 0, 0, 0.000)",
+        "track_width": 0.2,
+        "via_diameter": 0.6,
+        "via_drill": 0.3,
+        "wire_width": 6
+      }
+    ],
+    "meta": {
+      "version": 3
+    },
+    "net_colors": null,
+    "netclass_assignments": null,
+    "netclass_patterns": []
+  },
+  "pcbnew": {
+    "last_paths": {
+      "gencad": "",
+      "idf": "",
+      "netlist": "",
+      "plot": "gerbers/",
+      "pos_files": "",
+      "specctra_dsn": "",
+      "step": "",
+      "svg": "",
+      "vrml": ""
+    },
+    "page_layout_descr_file": ""
+  },
+  "schematic": {
+    "annotate_start_num": 0,
+    "bom_fmt_presets": [],
+    "bom_fmt_settings": {
+      "field_delimiter": ",",
+      "keep_line_breaks": false,
+      "keep_tabs": false,
+      "name": "CSV",
+      "ref_delimiter": ",",
+      "ref_range_delimiter": "",
+      "string_delimiter": "\""
+    },
+    "bom_presets": [],
+    "bom_settings": {
+      "exclude_dnp": false,
+      "fields_ordered": [
+        {
+          "group_by": false,
+          "label": "Reference",
+          "name": "Reference",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "Value",
+          "name": "Value",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Datasheet",
+          "name": "Datasheet",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Footprint",
+          "name": "Footprint",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Qty",
+          "name": "${QUANTITY}",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "DNP",
+          "name": "${DNP}",
+          "show": true
+        }
+      ],
+      "filter_string": "",
+      "group_symbols": true,
+      "name": "Grouped By Value",
+      "sort_asc": true,
+      "sort_field": "Reference"
+    },
+    "connection_grid_size": 50.0,
+    "drawing": {
+      "dashed_lines_dash_length_ratio": 12.0,
+      "dashed_lines_gap_length_ratio": 3.0,
+      "default_line_thickness": 6.0,
+      "default_text_size": 50.0,
+      "field_names": [],
+      "intersheets_ref_own_page": false,
+      "intersheets_ref_prefix": "",
+      "intersheets_ref_short": false,
+      "intersheets_ref_show": false,
+      "intersheets_ref_suffix": "",
+      "junction_size_choice": 3,
+      "label_size_ratio": 0.375,
+      "operating_point_overlay_i_precision": 3,
+      "operating_point_overlay_i_range": "~A",
+      "operating_point_overlay_v_precision": 3,
+      "operating_point_overlay_v_range": "~V",
+      "overbar_offset_ratio": 1.23,
+      "pin_symbol_size": 25.0,
+      "text_offset_ratio": 0.15
+    },
+    "legacy_lib_dir": "",
+    "legacy_lib_list": [],
+    "meta": {
+      "version": 1
+    },
+    "net_format_name": "",
+    "page_layout_descr_file": "",
+    "plot_directory": "",
+    "spice_current_sheet_as_root": false,
+    "spice_external_command": "spice \"%I\"",
+    "spice_model_current_sheet_as_root": true,
+    "spice_save_all_currents": false,
+    "spice_save_all_dissipations": false,
+    "spice_save_all_voltages": false,
+    "subpart_first_id": 65,
+    "subpart_id_separator": 0
+  },
+  "sheets": [
+    [
+      "ec97f746-e716-4c2a-b33e-ac66d59ccd45",
+      "Root"
+    ]
+  ],
+  "text_variables": {}
+}
--- a/hardware/racer-sensors/sensors.kicad_sch
+++ b/hardware/racer-sensors/sensors.kicad_sch
--- a/hardware/racer/fp-info-cache
+++ b/hardware/racer/fp-info-cache
--- a/hardware/racer/racer-v0.2.zip
+++ b/hardware/racer/racer-v0.2.zip
--- a/hardware/racer/racer.kicad_pcb
+++ b/hardware/racer/racer.kicad_pcb
--- a/hardware/racer/racer.kicad_prl
+++ b/hardware/racer/racer.kicad_prl
@@ -0,0 +1,83 @@
+{
+  "board": {
+    "active_layer": 40,
+    "active_layer_preset": "",
+    "auto_track_width": true,
+    "hidden_netclasses": [],
+    "hidden_nets": [],
+    "high_contrast_mode": 0,
+    "net_color_mode": 1,
+    "opacity": {
+      "images": 0.6,
+      "pads": 1.0,
+      "tracks": 1.0,
+      "vias": 1.0,
+      "zones": 0.6
+    },
+    "selection_filter": {
+      "dimensions": true,
+      "footprints": true,
+      "graphics": true,
+      "keepouts": true,
+      "lockedItems": false,
+      "otherItems": true,
+      "pads": true,
+      "text": true,
+      "tracks": true,
+      "vias": true,
+      "zones": true
+    },
+    "visible_items": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      32,
+      33,
+      34,
+      35,
+      36,
+      39,
+      40
+    ],
+    "visible_layers": "ff4ffff_ffffffff",
+    "zone_display_mode": 0
+  },
+  "git": {
+    "repo_password": "",
+    "repo_type": "",
+    "repo_username": "",
+    "ssh_key": ""
+  },
+  "meta": {
+    "filename": "tank.kicad_prl",
+    "version": 3
+  },
+  "project": {
+    "files": []
+  }
+}
--- a/hardware/racer/racer.kicad_pro
+++ b/hardware/racer/racer.kicad_pro
@@ -0,0 +1,635 @@
+{
+  "board": {
+    "3dviewports": [],
+    "design_settings": {
+      "defaults": {
+        "apply_defaults_to_fp_fields": false,
+        "apply_defaults_to_fp_shapes": false,
+        "apply_defaults_to_fp_text": false,
+        "board_outline_line_width": 0.1,
+        "copper_line_width": 0.1016,
+        "copper_text_italic": false,
+        "copper_text_size_h": 0.508,
+        "copper_text_size_v": 0.508,
+        "copper_text_thickness": 0.1016,
+        "copper_text_upright": false,
+        "courtyard_line_width": 0.05,
+        "dimension_precision": 4,
+        "dimension_units": 3,
+        "dimensions": {
+          "arrow_length": 1270000,
+          "extension_offset": 500000,
+          "keep_text_aligned": true,
+          "suppress_zeroes": false,
+          "text_position": 0,
+          "units_format": 1
+        },
+        "fab_line_width": 0.1016,
+        "fab_text_italic": false,
+        "fab_text_size_h": 0.508,
+        "fab_text_size_v": 0.508,
+        "fab_text_thickness": 0.1016,
+        "fab_text_upright": false,
+        "other_line_width": 0.1016,
+        "other_text_italic": false,
+        "other_text_size_h": 0.508,
+        "other_text_size_v": 0.508,
+        "other_text_thickness": 0.1016,
+        "other_text_upright": false,
+        "pads": {
+          "drill": 0.762,
+          "height": 1.524,
+          "width": 1.524
+        },
+        "silk_line_width": 0.1016,
+        "silk_text_italic": false,
+        "silk_text_size_h": 0.508,
+        "silk_text_size_v": 0.508,
+        "silk_text_thickness": 0.1016,
+        "silk_text_upright": false,
+        "zones": {
+          "min_clearance": 0.5
+        }
+      },
+      "diff_pair_dimensions": [
+        {
+          "gap": 0.0,
+          "via_gap": 0.0,
+          "width": 0.0
+        }
+      ],
+      "drc_exclusions": [
+        "footprint_type_mismatch|175732800|109995000|a0accbaf-4c88-4d9b-a33b-483c8d6cf345|00000000-0000-0000-0000-000000000000",
+        "footprint_type_mismatch|176670200|131877200|b4d11d8a-6823-4555-afb5-e281dbb73ef6|00000000-0000-0000-0000-000000000000",
+        "footprint_type_mismatch|177258000|92155200|893b6f4d-ca29-4cfc-8e28-ec17db2b8cb3|00000000-0000-0000-0000-000000000000",
+        "footprint_type_mismatch|184912000|124750600|85739941-68b4-452d-b206-1e220b27ffbb|00000000-0000-0000-0000-000000000000",
+        "footprint_type_mismatch|192337400|92063000|901525e1-5d10-4132-adb7-46ad328f0aa2|00000000-0000-0000-0000-000000000000",
+        "footprint_type_mismatch|193090800|131914200|6309729c-b0eb-45b6-9068-ab82c3edf66f|00000000-0000-0000-0000-000000000000",
+        "footprint_type_mismatch|198720200|102158800|3b30881e-2389-484b-b281-97faee83cbc6|00000000-0000-0000-0000-000000000000",
+        "lib_footprint_mismatch|184886600|133985000|d29dc366-5f2a-4c5e-ae46-a25d45e2eb0e|00000000-0000-0000-0000-000000000000",
+        "lib_footprint_mismatch|184886600|89382600|3494d978-8306-4ce5-b4ee-dea6fb601383|00000000-0000-0000-0000-000000000000"
+      ],
+      "meta": {
+        "version": 2
+      },
+      "rule_severities": {
+        "annular_width": "error",
+        "clearance": "error",
+        "connection_width": "warning",
+        "copper_edge_clearance": "error",
+        "copper_sliver": "warning",
+        "courtyards_overlap": "ignore",
+        "diff_pair_gap_out_of_range": "error",
+        "diff_pair_uncoupled_length_too_long": "error",
+        "drill_out_of_range": "error",
+        "duplicate_footprints": "warning",
+        "extra_footprint": "warning",
+        "footprint": "error",
+        "footprint_symbol_mismatch": "warning",
+        "footprint_type_mismatch": "error",
+        "hole_clearance": "error",
+        "hole_near_hole": "error",
+        "invalid_outline": "error",
+        "isolated_copper": "warning",
+        "item_on_disabled_layer": "error",
+        "items_not_allowed": "error",
+        "length_out_of_range": "error",
+        "lib_footprint_issues": "warning",
+        "lib_footprint_mismatch": "warning",
+        "malformed_courtyard": "error",
+        "microvia_drill_out_of_range": "error",
+        "missing_courtyard": "ignore",
+        "missing_footprint": "warning",
+        "net_conflict": "warning",
+        "npth_inside_courtyard": "ignore",
+        "padstack": "error",
+        "pth_inside_courtyard": "ignore",
+        "shorting_items": "error",
+        "silk_edge_clearance": "warning",
+        "silk_over_copper": "warning",
+        "silk_overlap": "warning",
+        "skew_out_of_range": "error",
+        "solder_mask_bridge": "error",
+        "starved_thermal": "error",
+        "text_height": "warning",
+        "text_thickness": "warning",
+        "through_hole_pad_without_hole": "error",
+        "too_many_vias": "error",
+        "track_dangling": "warning",
+        "track_width": "error",
+        "tracks_crossing": "error",
+        "unconnected_items": "error",
+        "unresolved_variable": "error",
+        "via_dangling": "warning",
+        "zones_intersect": "error"
+      },
+      "rules": {
+        "max_error": 0.005,
+        "min_clearance": 0.14986,
+        "min_connection": 0.0,
+        "min_copper_edge_clearance": 0.0,
+        "min_hole_clearance": 0.1524,
+        "min_hole_to_hole": 0.127,
+        "min_microvia_diameter": 0.2,
+        "min_microvia_drill": 0.1,
+        "min_resolved_spokes": 1,
+        "min_silk_clearance": 0.0,
+        "min_text_height": 0.508,
+        "min_text_thickness": 0.0762,
+        "min_through_hole_diameter": 0.254,
+        "min_track_width": 0.1524,
+        "min_via_annular_width": 0.127,
+        "min_via_diameter": 0.4572,
+        "solder_mask_to_copper_clearance": 0.0,
+        "use_height_for_length_calcs": true
+      },
+      "teardrop_options": [
+        {
+          "td_onpadsmd": true,
+          "td_onroundshapesonly": false,
+          "td_ontrackend": false,
+          "td_onviapad": true
+        }
+      ],
+      "teardrop_parameters": [
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_round_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_rect_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_track_end",
+          "td_width_to_size_filter_ratio": 0.9
+        }
+      ],
+      "track_widths": [
+        0.0,
+        0.1524,
+        0.2032,
+        0.254,
+        0.3048,
+        0.4572,
+        0.762,
+        1.016,
+        1.27
+      ],
+      "tuning_pattern_settings": {
+        "diff_pair_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 1.0
+        },
+        "diff_pair_skew_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 0.6
+        },
+        "single_track_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 0.6
+        }
+      },
+      "via_dimensions": [
+        {
+          "diameter": 0.0,
+          "drill": 0.0
+        },
+        {
+          "diameter": 0.508,
+          "drill": 0.254
+        }
+      ],
+      "zones_allow_external_fillets": false
+    },
+    "ipc2581": {
+      "dist": "",
+      "distpn": "",
+      "internal_id": "",
+      "mfg": "",
+      "mpn": ""
+    },
+    "layer_presets": [],
+    "viewports": []
+  },
+  "boards": [],
+  "cvpcb": {
+    "equivalence_files": []
+  },
+  "erc": {
+    "erc_exclusions": [],
+    "meta": {
+      "version": 0
+    },
+    "pin_map": [
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        2
+      ],
+      [
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+        0,
+        1,
+        0,
+        0,
+        1,
+        0,
+        2,
+        2,
+        2,
+        2
+      ],
+      [
+        0,
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+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        1,
+        0,
+        1,
+        2
+      ],
+      [
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+        0,
+        0,
+        0,
+        0,
+        1,
+        1,
+        2,
+        1,
+        1,
+        2
+      ],
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        2
+      ],
+      [
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+        0,
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+        0,
+        0,
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+      ],
+      [
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+        1,
+        1,
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+        1,
+        1,
+        1,
+        1,
+        1,
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+      ],
+      [
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+      ],
+      [
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+        1,
+        2,
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+        1,
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+        2,
+        2,
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+      ],
+      [
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+      ],
+      [
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+      ],
+      [
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+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2
+      ]
+    ],
+    "rule_severities": {
+      "bus_definition_conflict": "error",
+      "bus_entry_needed": "error",
+      "bus_to_bus_conflict": "error",
+      "bus_to_net_conflict": "error",
+      "conflicting_netclasses": "error",
+      "different_unit_footprint": "error",
+      "different_unit_net": "error",
+      "duplicate_reference": "error",
+      "duplicate_sheet_names": "error",
+      "endpoint_off_grid": "warning",
+      "extra_units": "error",
+      "global_label_dangling": "warning",
+      "hier_label_mismatch": "error",
+      "label_dangling": "error",
+      "lib_symbol_issues": "warning",
+      "missing_bidi_pin": "warning",
+      "missing_input_pin": "warning",
+      "missing_power_pin": "error",
+      "missing_unit": "warning",
+      "multiple_net_names": "warning",
+      "net_not_bus_member": "warning",
+      "no_connect_connected": "warning",
+      "no_connect_dangling": "warning",
+      "pin_not_connected": "error",
+      "pin_not_driven": "error",
+      "pin_to_pin": "warning",
+      "power_pin_not_driven": "error",
+      "similar_labels": "warning",
+      "simulation_model_issue": "ignore",
+      "unannotated": "error",
+      "unit_value_mismatch": "error",
+      "unresolved_variable": "error",
+      "wire_dangling": "error"
+    }
+  },
+  "libraries": {
+    "pinned_footprint_libs": [],
+    "pinned_symbol_libs": []
+  },
+  "meta": {
+    "filename": "tank.kicad_pro",
+    "version": 1
+  },
+  "net_settings": {
+    "classes": [
+      {
+        "bus_width": 12,
+        "clearance": 0.1524,
+        "diff_pair_gap": 0.25,
+        "diff_pair_via_gap": 0.25,
+        "diff_pair_width": 0.2,
+        "line_style": 0,
+        "microvia_diameter": 0.3,
+        "microvia_drill": 0.1,
+        "name": "Default",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
+        "schematic_color": "rgba(0, 0, 0, 0.000)",
+        "track_width": 0.2032,
+        "via_diameter": 0.508,
+        "via_drill": 0.254,
+        "wire_width": 6
+      }
+    ],
+    "meta": {
+      "version": 3
+    },
+    "net_colors": null,
+    "netclass_assignments": null,
+    "netclass_patterns": []
+  },
+  "pcbnew": {
+    "last_paths": {
+      "gencad": "",
+      "idf": "",
+      "netlist": "",
+      "plot": "gerbers",
+      "pos_files": "./",
+      "specctra_dsn": "",
+      "step": "tank.step",
+      "svg": "",
+      "vrml": ""
+    },
+    "page_layout_descr_file": ""
+  },
+  "schematic": {
+    "annotate_start_num": 0,
+    "bom_fmt_presets": [],
+    "bom_fmt_settings": {
+      "field_delimiter": ",",
+      "keep_line_breaks": false,
+      "keep_tabs": false,
+      "name": "CSV",
+      "ref_delimiter": ",",
+      "ref_range_delimiter": "",
+      "string_delimiter": "\""
+    },
+    "bom_presets": [],
+    "bom_settings": {
+      "exclude_dnp": false,
+      "fields_ordered": [
+        {
+          "group_by": false,
+          "label": "Reference",
+          "name": "Reference",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "Value",
+          "name": "Value",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Datasheet",
+          "name": "Datasheet",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Footprint",
+          "name": "Footprint",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Qty",
+          "name": "${QUANTITY}",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "DNP",
+          "name": "${DNP}",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "#",
+          "name": "${ITEM_NUMBER}",
+          "show": false
+        },
+        {
+          "group_by": false,
+          "label": "MANUFACTURER",
+          "name": "MANUFACTURER",
+          "show": false
+        },
+        {
+          "group_by": false,
+          "label": "Description",
+          "name": "Description",
+          "show": false
+        }
+      ],
+      "filter_string": "",
+      "group_symbols": true,
+      "name": "",
+      "sort_asc": true,
+      "sort_field": "Reference"
+    },
+    "connection_grid_size": 50.0,
+    "drawing": {
+      "dashed_lines_dash_length_ratio": 12.0,
+      "dashed_lines_gap_length_ratio": 3.0,
+      "default_line_thickness": 6.0,
+      "default_text_size": 50.0,
+      "field_names": [],
+      "intersheets_ref_own_page": false,
+      "intersheets_ref_prefix": "",
+      "intersheets_ref_short": false,
+      "intersheets_ref_show": false,
+      "intersheets_ref_suffix": "",
+      "junction_size_choice": 3,
+      "label_size_ratio": 0.375,
+      "operating_point_overlay_i_precision": 3,
+      "operating_point_overlay_i_range": "~A",
+      "operating_point_overlay_v_precision": 3,
+      "operating_point_overlay_v_range": "~V",
+      "overbar_offset_ratio": 1.23,
+      "pin_symbol_size": 25.0,
+      "text_offset_ratio": 0.15
+    },
+    "legacy_lib_dir": "",
+    "legacy_lib_list": [],
+    "meta": {
+      "version": 1
+    },
+    "net_format_name": "",
+    "page_layout_descr_file": "",
+    "plot_directory": "",
+    "spice_current_sheet_as_root": false,
+    "spice_external_command": "spice \"%I\"",
+    "spice_model_current_sheet_as_root": true,
+    "spice_save_all_currents": false,
+    "spice_save_all_dissipations": false,
+    "spice_save_all_voltages": false,
+    "subpart_first_id": 65,
+    "subpart_id_separator": 0
+  },
+  "sheets": [
+    [
+      "11c7bd96-786c-4c10-b71b-7b198cc052d5",
+      "Root"
+    ]
+  ],
+  "text_variables": {}
+}
--- a/hardware/racer/racer.kicad_sch
+++ b/hardware/racer/racer.kicad_sch
--- a/hardware/thumbtroller/controller-bottom-pos.csv
+++ b/hardware/thumbtroller/controller-bottom-pos.csv
@@ -0,0 +1,8 @@
+Ref,Val,Package,PosX,PosY,Rot,Side
+"D1","LED","C_0603_1608Metric",4.267200,42.062400,180.000000,bottom
+"D2","LED","C_0603_1608Metric",4.267200,38.252400,180.000000,bottom
+"D3","LED","C_0603_1608Metric",4.267200,34.442400,180.000000,bottom
+"S2","TL4100AF240QG_","SW_PTS810_SJM_250_SMTR_LFS",15.029000,20.421600,180.000000,bottom
+"S3","TL4100AF240QG_","SW_PTS810_SJM_250_SMTR_LFS",15.036800,10.718800,180.000000,bottom
+"S5","TL4100AF240QG_","SW_PTS810_SJM_250_SMTR_LFS",20.599400,15.560900,-90.000000,bottom
+"S6","TL4100AF240QG_","SW_PTS810_SJM_250_SMTR_LFS",9.440600,15.552600,90.000000,bottom
--- a/hardware/thumbtroller/controller-top-pos.csv
+++ b/hardware/thumbtroller/controller-top-pos.csv
@@ -0,0 +1,36 @@
+Ref,Val,Package,PosX,PosY,Rot,Side,
+C1,1uF 25V,C_0603_1608Metric,2.93,37.62,180,top,270
+C2,1uF 25V,C_0603_1608Metric,2.93,36.07,180,top,270
+C3,1uF 25V,C_0603_1608Metric,2.96,32.97,180,top,270
+C4,1uF 25V,C_0603_1608Metric,2.96,29.87,180,top,270
+C10,1uF 25V,C_0603_1608Metric,3.00,48.67,180,top,270
+C11,0.1uF,C_0603_1608Metric,19.99,46.89,0,top,90
+C12,0.1uF,C_0603_1608Metric,6.33,48.62,0,top,90
+C13,0.1uF,C_0603_1608Metric,9.96,41.71,90,top,180
+C14,2.2uF,C_0603_1608Metric,19.29,16.02,0,top,90
+C15,10uF,C_0603_1608Metric,19.54,22.52,0,top,90
+C16,10uF,C_0603_1608Metric,3.54,16.02,180,top,270
+C17,22uF,C_0603_1608Metric,3.43,7.95,-90,top,0
+R1,200,R_0603_1608Metric,2.74,42.57,0,top,90
+R2,10k,R_0603_1608Metric,6.06,37.62,0,top,90
+R3,100k,R_0603_1608Metric,2.93,39.18,180,top,270
+R4,10k,R_0603_1608Metric,6.07,34.52,0,top,90
+R5,100k,R_0603_1608Metric,2.96,34.52,180,top,270
+R6,10k,R_0603_1608Metric,6.03,31.42,0,top,90
+R7,100k,R_0603_1608Metric,2.95,31.42,180,top,270
+R8,10k,R_0603_1608Metric,6.07,28.32,0,top,90
+R9,10k,R_0603_1608Metric,6.30,46.89,180,top,270
+R10,10k,R_0603_1608Metric,4.52,26.06,180,top,270
+R11,10k,R_0603_1608Metric,9.80,35.00,180,top,270
+R12,200,R_0603_1608Metric,2.74,46.13,0,top,90
+R13,200,R_0603_1608Metric,2.74,44.35,0,top,90
+R14,100k,R_0603_1608Metric,2.98,28.32,180,top,270
+R16,1M,R_0603_1608Metric,16.71,10.03,90,top,180
+R17,5k1,R_0603_1608Metric,25.58,12.19,90,top,180
+R18,5k1,R_0603_1608Metric,23.93,12.19,90,top,180
+R20,470,R_0603_1608Metric,11.68,17.55,180,top,270
+R21,470,R_0603_1608Metric,11.66,15.42,180,top,270
+R22,1.43K,R_0603_1608Metric,1.73,7.95,-90,top,0
+R23,1.43K,R_0603_1608Metric,8.54,9.52,180,top,270
+R24,75K,R_0603_1608Metric,11.54,11.02,180,top,270
+R25,200,R_0603_1608Metric,15.57,5.49,90,top,180
--- a/hardware/thumbtroller/controller.kicad_pcb
+++ b/hardware/thumbtroller/controller.kicad_pcb
--- a/hardware/thumbtroller/controller.kicad_prl
+++ b/hardware/thumbtroller/controller.kicad_prl
@@ -0,0 +1,83 @@
+{
+  "board": {
+    "active_layer": 0,
+    "active_layer_preset": "",
+    "auto_track_width": true,
+    "hidden_netclasses": [],
+    "hidden_nets": [],
+    "high_contrast_mode": 0,
+    "net_color_mode": 1,
+    "opacity": {
+      "images": 0.6,
+      "pads": 1.0,
+      "tracks": 1.0,
+      "vias": 1.0,
+      "zones": 0.6
+    },
+    "selection_filter": {
+      "dimensions": true,
+      "footprints": true,
+      "graphics": true,
+      "keepouts": true,
+      "lockedItems": false,
+      "otherItems": true,
+      "pads": true,
+      "text": true,
+      "tracks": true,
+      "vias": true,
+      "zones": true
+    },
+    "visible_items": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      32,
+      33,
+      34,
+      35,
+      36,
+      39,
+      40
+    ],
+    "visible_layers": "ff4ffff_ffffffff",
+    "zone_display_mode": 0
+  },
+  "git": {
+    "repo_password": "",
+    "repo_type": "",
+    "repo_username": "",
+    "ssh_key": ""
+  },
+  "meta": {
+    "filename": "controller.kicad_prl",
+    "version": 3
+  },
+  "project": {
+    "files": []
+  }
+}
--- a/hardware/thumbtroller/controller.kicad_pro
+++ b/hardware/thumbtroller/controller.kicad_pro
@@ -0,0 +1,625 @@
+{
+  "board": {
+    "3dviewports": [],
+    "design_settings": {
+      "defaults": {
+        "apply_defaults_to_fp_fields": false,
+        "apply_defaults_to_fp_shapes": false,
+        "apply_defaults_to_fp_text": false,
+        "board_outline_line_width": 0.1,
+        "copper_line_width": 0.1016,
+        "copper_text_italic": false,
+        "copper_text_size_h": 0.508,
+        "copper_text_size_v": 0.508,
+        "copper_text_thickness": 0.1016,
+        "copper_text_upright": false,
+        "courtyard_line_width": 0.05,
+        "dimension_precision": 4,
+        "dimension_units": 3,
+        "dimensions": {
+          "arrow_length": 1270000,
+          "extension_offset": 500000,
+          "keep_text_aligned": true,
+          "suppress_zeroes": false,
+          "text_position": 0,
+          "units_format": 1
+        },
+        "fab_line_width": 0.1016,
+        "fab_text_italic": false,
+        "fab_text_size_h": 0.508,
+        "fab_text_size_v": 0.508,
+        "fab_text_thickness": 0.1016,
+        "fab_text_upright": false,
+        "other_line_width": 0.1016,
+        "other_text_italic": false,
+        "other_text_size_h": 0.508,
+        "other_text_size_v": 0.508,
+        "other_text_thickness": 0.1016,
+        "other_text_upright": false,
+        "pads": {
+          "drill": 0.762,
+          "height": 1.524,
+          "width": 1.524
+        },
+        "silk_line_width": 0.1016,
+        "silk_text_italic": false,
+        "silk_text_size_h": 0.508,
+        "silk_text_size_v": 0.508,
+        "silk_text_thickness": 0.1016,
+        "silk_text_upright": false,
+        "zones": {
+          "min_clearance": 0.0
+        }
+      },
+      "diff_pair_dimensions": [
+        {
+          "gap": 0.0,
+          "via_gap": 0.0,
+          "width": 0.0
+        }
+      ],
+      "drc_exclusions": [],
+      "meta": {
+        "version": 2
+      },
+      "rule_severities": {
+        "annular_width": "error",
+        "clearance": "error",
+        "connection_width": "warning",
+        "copper_edge_clearance": "error",
+        "copper_sliver": "warning",
+        "courtyards_overlap": "ignore",
+        "diff_pair_gap_out_of_range": "error",
+        "diff_pair_uncoupled_length_too_long": "error",
+        "drill_out_of_range": "error",
+        "duplicate_footprints": "warning",
+        "extra_footprint": "warning",
+        "footprint": "error",
+        "footprint_symbol_mismatch": "warning",
+        "footprint_type_mismatch": "warning",
+        "hole_clearance": "error",
+        "hole_near_hole": "error",
+        "invalid_outline": "error",
+        "isolated_copper": "warning",
+        "item_on_disabled_layer": "error",
+        "items_not_allowed": "error",
+        "length_out_of_range": "error",
+        "lib_footprint_issues": "warning",
+        "lib_footprint_mismatch": "warning",
+        "malformed_courtyard": "error",
+        "microvia_drill_out_of_range": "error",
+        "missing_courtyard": "ignore",
+        "missing_footprint": "warning",
+        "net_conflict": "warning",
+        "npth_inside_courtyard": "ignore",
+        "padstack": "error",
+        "pth_inside_courtyard": "ignore",
+        "shorting_items": "error",
+        "silk_edge_clearance": "warning",
+        "silk_over_copper": "warning",
+        "silk_overlap": "warning",
+        "skew_out_of_range": "error",
+        "solder_mask_bridge": "error",
+        "starved_thermal": "error",
+        "text_height": "warning",
+        "text_thickness": "warning",
+        "through_hole_pad_without_hole": "error",
+        "too_many_vias": "error",
+        "track_dangling": "warning",
+        "track_width": "error",
+        "tracks_crossing": "error",
+        "unconnected_items": "error",
+        "unresolved_variable": "error",
+        "via_dangling": "warning",
+        "zones_intersect": "error"
+      },
+      "rules": {
+        "max_error": 0.005,
+        "min_clearance": 0.14986,
+        "min_connection": 0.0,
+        "min_copper_edge_clearance": 0.0,
+        "min_hole_clearance": 0.1524,
+        "min_hole_to_hole": 0.127,
+        "min_microvia_diameter": 0.2,
+        "min_microvia_drill": 0.1,
+        "min_resolved_spokes": 1,
+        "min_silk_clearance": 0.0,
+        "min_text_height": 0.508,
+        "min_text_thickness": 0.127,
+        "min_through_hole_diameter": 0.254,
+        "min_track_width": 0.1524,
+        "min_via_annular_width": 0.127,
+        "min_via_diameter": 0.4572,
+        "solder_mask_to_copper_clearance": 0.0,
+        "use_height_for_length_calcs": true
+      },
+      "teardrop_options": [
+        {
+          "td_onpadsmd": true,
+          "td_onroundshapesonly": false,
+          "td_ontrackend": false,
+          "td_onviapad": true
+        }
+      ],
+      "teardrop_parameters": [
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_round_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_rect_shape",
+          "td_width_to_size_filter_ratio": 0.9
+        },
+        {
+          "td_allow_use_two_tracks": true,
+          "td_curve_segcount": 0,
+          "td_height_ratio": 1.0,
+          "td_length_ratio": 0.5,
+          "td_maxheight": 2.0,
+          "td_maxlen": 1.0,
+          "td_on_pad_in_zone": false,
+          "td_target_name": "td_track_end",
+          "td_width_to_size_filter_ratio": 0.9
+        }
+      ],
+      "track_widths": [
+        0.0,
+        0.1524,
+        0.2032,
+        0.254,
+        0.3048,
+        0.4572,
+        0.762,
+        1.016,
+        1.27
+      ],
+      "tuning_pattern_settings": {
+        "diff_pair_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 1.0
+        },
+        "diff_pair_skew_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 0.6
+        },
+        "single_track_defaults": {
+          "corner_radius_percentage": 80,
+          "corner_style": 1,
+          "max_amplitude": 1.0,
+          "min_amplitude": 0.2,
+          "single_sided": false,
+          "spacing": 0.6
+        }
+      },
+      "via_dimensions": [
+        {
+          "diameter": 0.0,
+          "drill": 0.0
+        },
+        {
+          "diameter": 0.508,
+          "drill": 0.254
+        }
+      ],
+      "zones_allow_external_fillets": false
+    },
+    "ipc2581": {
+      "dist": "",
+      "distpn": "",
+      "internal_id": "",
+      "mfg": "",
+      "mpn": ""
+    },
+    "layer_presets": [],
+    "viewports": []
+  },
+  "boards": [],
+  "cvpcb": {
+    "equivalence_files": []
+  },
+  "erc": {
+    "erc_exclusions": [],
+    "meta": {
+      "version": 0
+    },
+    "pin_map": [
+      [
+        0,
+        0,
+        0,
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+        0,
+        1,
+        0,
+        2,
+        0,
+        0,
+        2
+      ],
+      [
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2
+      ]
+    ],
+    "rule_severities": {
+      "bus_definition_conflict": "error",
+      "bus_entry_needed": "error",
+      "bus_to_bus_conflict": "error",
+      "bus_to_net_conflict": "error",
+      "conflicting_netclasses": "error",
+      "different_unit_footprint": "error",
+      "different_unit_net": "error",
+      "duplicate_reference": "error",
+      "duplicate_sheet_names": "error",
+      "endpoint_off_grid": "warning",
+      "extra_units": "error",
+      "global_label_dangling": "warning",
+      "hier_label_mismatch": "error",
+      "label_dangling": "error",
+      "lib_symbol_issues": "warning",
+      "missing_bidi_pin": "warning",
+      "missing_input_pin": "warning",
+      "missing_power_pin": "error",
+      "missing_unit": "warning",
+      "multiple_net_names": "warning",
+      "net_not_bus_member": "warning",
+      "no_connect_connected": "warning",
+      "no_connect_dangling": "warning",
+      "pin_not_connected": "error",
+      "pin_not_driven": "error",
+      "pin_to_pin": "warning",
+      "power_pin_not_driven": "error",
+      "similar_labels": "warning",
+      "simulation_model_issue": "ignore",
+      "unannotated": "error",
+      "unit_value_mismatch": "error",
+      "unresolved_variable": "error",
+      "wire_dangling": "error"
+    }
+  },
+  "libraries": {
+    "pinned_footprint_libs": [],
+    "pinned_symbol_libs": []
+  },
+  "meta": {
+    "filename": "controller.kicad_pro",
+    "version": 1
+  },
+  "net_settings": {
+    "classes": [
+      {
+        "bus_width": 12,
+        "clearance": 0.1524,
+        "diff_pair_gap": 0.25,
+        "diff_pair_via_gap": 0.25,
+        "diff_pair_width": 0.2,
+        "line_style": 0,
+        "microvia_diameter": 0.3,
+        "microvia_drill": 0.1,
+        "name": "Default",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
+        "schematic_color": "rgba(0, 0, 0, 0.000)",
+        "track_width": 0.2032,
+        "via_diameter": 0.508,
+        "via_drill": 0.254,
+        "wire_width": 6
+      }
+    ],
+    "meta": {
+      "version": 3
+    },
+    "net_colors": null,
+    "netclass_assignments": null,
+    "netclass_patterns": []
+  },
+  "pcbnew": {
+    "last_paths": {
+      "gencad": "",
+      "idf": "",
+      "netlist": "",
+      "plot": "gerbers/",
+      "pos_files": "./",
+      "specctra_dsn": "",
+      "step": "controller-pcb.step",
+      "svg": "",
+      "vrml": ""
+    },
+    "page_layout_descr_file": ""
+  },
+  "schematic": {
+    "annotate_start_num": 0,
+    "bom_fmt_presets": [],
+    "bom_fmt_settings": {
+      "field_delimiter": ",",
+      "keep_line_breaks": false,
+      "keep_tabs": false,
+      "name": "CSV",
+      "ref_delimiter": ",",
+      "ref_range_delimiter": "",
+      "string_delimiter": "\""
+    },
+    "bom_presets": [],
+    "bom_settings": {
+      "exclude_dnp": false,
+      "fields_ordered": [
+        {
+          "group_by": false,
+          "label": "Reference",
+          "name": "Reference",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "Value",
+          "name": "Value",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Datasheet",
+          "name": "Datasheet",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Footprint",
+          "name": "Footprint",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "Qty",
+          "name": "${QUANTITY}",
+          "show": true
+        },
+        {
+          "group_by": true,
+          "label": "DNP",
+          "name": "${DNP}",
+          "show": true
+        },
+        {
+          "group_by": false,
+          "label": "#",
+          "name": "${ITEM_NUMBER}",
+          "show": false
+        },
+        {
+          "group_by": false,
+          "label": "MANUFACTURER",
+          "name": "MANUFACTURER",
+          "show": false
+        },
+        {
+          "group_by": false,
+          "label": "Description",
+          "name": "Description",
+          "show": false
+        }
+      ],
+      "filter_string": "",
+      "group_symbols": true,
+      "name": "",
+      "sort_asc": true,
+      "sort_field": "Reference"
+    },
+    "connection_grid_size": 50.0,
+    "drawing": {
+      "dashed_lines_dash_length_ratio": 12.0,
+      "dashed_lines_gap_length_ratio": 3.0,
+      "default_line_thickness": 6.0,
+      "default_text_size": 50.0,
+      "field_names": [],
+      "intersheets_ref_own_page": false,
+      "intersheets_ref_prefix": "",
+      "intersheets_ref_short": false,
+      "intersheets_ref_show": false,
+      "intersheets_ref_suffix": "",
+      "junction_size_choice": 3,
+      "label_size_ratio": 0.375,
+      "operating_point_overlay_i_precision": 3,
+      "operating_point_overlay_i_range": "~A",
+      "operating_point_overlay_v_precision": 3,
+      "operating_point_overlay_v_range": "~V",
+      "overbar_offset_ratio": 1.23,
+      "pin_symbol_size": 25.0,
+      "text_offset_ratio": 0.15
+    },
+    "legacy_lib_dir": "",
+    "legacy_lib_list": [],
+    "meta": {
+      "version": 1
+    },
+    "net_format_name": "",
+    "page_layout_descr_file": "",
+    "plot_directory": "",
+    "spice_current_sheet_as_root": false,
+    "spice_external_command": "spice \"%I\"",
+    "spice_model_current_sheet_as_root": true,
+    "spice_save_all_currents": false,
+    "spice_save_all_dissipations": false,
+    "spice_save_all_voltages": false,
+    "subpart_first_id": 65,
+    "subpart_id_separator": 0
+  },
+  "sheets": [
+    [
+      "11c7bd96-786c-4c10-b71b-7b198cc052d5",
+      "Root"
+    ]
+  ],
+  "text_variables": {}
+}
--- a/hardware/thumbtroller/controller.kicad_sch
+++ b/hardware/thumbtroller/controller.kicad_sch
--- a/hardware/thumbtroller/thumbtroller-v0.2.zip
+++ b/hardware/thumbtroller/thumbtroller-v0.2.zip
--- a/mechanical/Racer-entire-car.step
+++ b/mechanical/Racer-entire-car.step
--- a/mechanical/main-enclosure.step
+++ b/mechanical/main-enclosure.step
--- a/mechanical/top-enclosure.step
+++ b/mechanical/top-enclosure.step
--- a/mechanical/wheel.step
+++ b/mechanical/wheel.step
--- a/project_pictures/242A0548.png
+++ b/project_pictures/242A0548.png
--- a/project_pictures/242A1274.png
+++ b/project_pictures/242A1274.png
--- a/scripts/README.md
+++ b/scripts/README.md
@@ -0,0 +1,25 @@
+## trainer.py
+
+#### to run, simply call `python trainer.py`
+
+trainer.py is the training algorithm for the neural network embedded within the Racer. 
+
+To use, `trainer.py` ensure you have classified data in `color_data.txt`
+
+Here is the format:
+
+```
+W (17447) main: Color values - Red: 1822, Green: 2184, Blue: 1762, Clear: 2008, Color: White
+W (9847) main: Color values - Red: 220, Green: 472, Blue: 124, Clear: 1780, Color: Black
+W (16447) main: Color values - Red: 488, Green: 748, Blue: 196, Clear: 1620, Color: Red
+W (19947) main: Color values - Red: 428, Green: 1368, Blue: 336, Clear: 2148, Color: Green
+```
+
+it requires all colors to be present to train. 200 samples of each color seems to be ok.
+
+
+## controller.py
+
+controller.py is a simple BLE script that accepts keyboard input and relays it to the Racer. Its great for debugging.
+
+#### to run, simply call `python controller.py`
--- a/scripts/ble_device_config.json
+++ b/scripts/ble_device_config.json
@@ -0,0 +1 @@
+{"ble_address": "74:4D:BD:61:A7:B3"}
--- a/scripts/color_data.txt
+++ b/scripts/color_data.txt
@@ -0,0 +1,615 @@
+W (647) main: Color values - Red: 440, Green: 1378, Blue: 328, Clear: 1060, Color: Green
+W (747) main: Color values - Red: 428, Green: 1376, Blue: 324, Clear: 1060, Color: Green
+W (847) main: Color values - Red: 432, Green: 1384, Blue: 332, Clear: 1064, Color: Green
+W (947) main: Color values - Red: 436, Green: 1380, Blue: 336, Clear: 1060, Color: Green
+W (1047) main: Color values - Red: 432, Green: 1380, Blue: 336, Clear: 1060, Color: Green
+W (1147) main: Color values - Red: 432, Green: 1380, Blue: 336, Clear: 1064, Color: Green
+W (1247) main: Color values - Red: 428, Green: 1376, Blue: 332, Clear: 1064, Color: Green
+W (1347) main: Color values - Red: 436, Green: 1376, Blue: 328, Clear: 1068, Color: Green
+W (1447) main: Color values - Red: 436, Green: 1376, Blue: 332, Clear: 2156, Color: Green
+W (1547) main: Color values - Red: 440, Green: 1388, Blue: 328, Clear: 2156, Color: Green
+W (1647) main: Color values - Red: 436, Green: 1384, Blue: 328, Clear: 2144, Color: Green
+W (1747) main: Color values - Red: 440, Green: 1360, Blue: 332, Clear: 2144, Color: Green
+W (1847) main: Color values - Red: 436, Green: 1380, Blue: 330, Clear: 2152, Color: Green
+W (1947) main: Color values - Red: 436, Green: 1372, Blue: 332, Clear: 2160, Color: Green
+W (2047) main: Color values - Red: 432, Green: 1368, Blue: 332, Clear: 2156, Color: Green
+W (2147) main: Color values - Red: 428, Green: 1368, Blue: 320, Clear: 2144, Color: Green
+W (2247) main: Color values - Red: 428, Green: 1364, Blue: 320, Clear: 2136, Color: Green
+W (2347) main: Color values - Red: 436, Green: 1356, Blue: 324, Clear: 2132, Color: Green
+W (2447) main: Color values - Red: 432, Green: 1352, Blue: 316, Clear: 2160, Color: Green
+W (2547) main: Color values - Red: 432, Green: 1352, Blue: 328, Clear: 2140, Color: Green
+W (2647) main: Color values - Red: 440, Green: 1384, Blue: 336, Clear: 2180, Color: Green
+W (2747) main: Color values - Red: 440, Green: 1404, Blue: 348, Clear: 2216, Color: Green
+W (2847) main: Color values - Red: 440, Green: 1384, Blue: 328, Clear: 2156, Color: Green
+W (2947) main: Color values - Red: 440, Green: 1400, Blue: 282, Clear: 2192, Color: Green
+W (3047) main: Color values - Red: 436, Green: 1408, Blue: 332, Clear: 2180, Color: Green
+W (3147) main: Color values - Red: 440, Green: 1376, Blue: 328, Clear: 2184, Color: Green
+W (3247) main: Color values - Red: 448, Green: 1408, Blue: 344, Clear: 2212, Color: Green
+W (3347) main: Color values - Red: 440, Green: 1404, Blue: 336, Clear: 2180, Color: Green
+W (3447) main: Color values - Red: 440, Green: 1396, Blue: 332, Clear: 2152, Color: Green
+W (3547) main: Color values - Red: 444, Green: 1404, Blue: 336, Clear: 2172, Color: Green
+W (3647) main: Color values - Red: 444, Green: 1404, Blue: 332, Clear: 2184, Color: Green
+W (3747) main: Color values - Red: 448, Green: 1378, Blue: 328, Clear: 2188, Color: Green
+W (3847) main: Color values - Red: 428, Green: 1368, Blue: 328, Clear: 2140, Color: Green
+W (3947) main: Color values - Red: 428, Green: 1368, Blue: 320, Clear: 2132, Color: Green
+W (4047) main: Color values - Red: 398, Green: 1264, Blue: 320, Clear: 2112, Color: Green
+W (4147) main: Color values - Red: 432, Green: 1380, Blue: 328, Clear: 2128, Color: Green
+W (4247) main: Color values - Red: 428, Green: 1368, Blue: 320, Clear: 2136, Color: Green
+W (4347) main: Color values - Red: 440, Green: 1352, Blue: 324, Clear: 2152, Color: Green
+W (4447) main: Color values - Red: 424, Green: 1372, Blue: 324, Clear: 2156, Color: Green
+W (4547) main: Color values - Red: 432, Green: 1376, Blue: 328, Clear: 2152, Color: Green
+W (4647) main: Color values - Red: 432, Green: 1384, Blue: 320, Clear: 2100, Color: Green
+W (4747) main: Color values - Red: 440, Green: 1388, Blue: 328, Clear: 2164, Color: Green
+W (4847) main: Color values - Red: 436, Green: 1388, Blue: 324, Clear: 2164, Color: Green
+W (4947) main: Color values - Red: 436, Green: 1368, Blue: 328, Clear: 2172, Color: Green
+W (5047) main: Color values - Red: 448, Green: 1412, Blue: 336, Clear: 2216, Color: Green
+W (5147) main: Color values - Red: 448, Green: 1392, Blue: 336, Clear: 2176, Color: Green
+W (5247) main: Color values - Red: 448, Green: 1420, Blue: 340, Clear: 2192, Color: Green
+W (5347) main: Color values - Red: 440, Green: 1384, Blue: 326, Clear: 2184, Color: Green
+W (5447) main: Color values - Red: 432, Green: 1380, Blue: 340, Clear: 2180, Color: Green
+W (5547) main: Color values - Red: 444, Green: 1396, Blue: 334, Clear: 2192, Color: Green
+W (5647) main: Color values - Red: 440, Green: 1388, Blue: 340, Clear: 2184, Color: Green
+W (5747) main: Color values - Red: 432, Green: 1380, Blue: 332, Clear: 2144, Color: Green
+W (5847) main: Color values - Red: 436, Green: 1364, Blue: 324, Clear: 2128, Color: Green
+W (5947) main: Color values - Red: 424, Green: 1352, Blue: 260, Clear: 2132, Color: Green
+W (6047) main: Color values - Red: 428, Green: 1360, Blue: 336, Clear: 2144, Color: Green
+W (6147) main: Color values - Red: 440, Green: 1388, Blue: 328, Clear: 2164, Color: Green
+W (6247) main: Color values - Red: 432, Green: 1368, Blue: 328, Clear: 2152, Color: Green
+W (6347) main: Color values - Red: 436, Green: 1382, Blue: 328, Clear: 2152, Color: Green
+W (6447) main: Color values - Red: 448, Green: 1384, Blue: 332, Clear: 2156, Color: Green
+W (6547) main: Color values - Red: 432, Green: 1380, Blue: 324, Clear: 2160, Color: Green
+W (6647) main: Color values - Red: 432, Green: 1360, Blue: 324, Clear: 2140, Color: Green
+W (6747) main: Color values - Red: 436, Green: 1376, Blue: 324, Clear: 2152, Color: Green
+W (6847) main: Color values - Red: 436, Green: 1376, Blue: 328, Clear: 2156, Color: Green
+W (6947) main: Color values - Red: 432, Green: 1368, Blue: 324, Clear: 2124, Color: Green
+W (7047) main: Color values - Red: 436, Green: 1364, Blue: 332, Clear: 1898, Color: Green
+W (7147) main: Color values - Red: 348, Green: 1100, Blue: 260, Clear: 1740, Color: Green
+W (7247) main: Color values - Red: 396, Green: 1240, Blue: 308, Clear: 1968, Color: Green
+W (7347) main: Color values - Red: 344, Green: 1064, Blue: 260, Clear: 1700, Color: Green
+W (7447) main: Color values - Red: 304, Green: 916, Blue: 224, Clear: 1464, Color: Green
+W (7547) main: Color values - Red: 256, Green: 760, Blue: 184, Clear: 1236, Color: Green
+W (7647) main: Color values - Red: 232, Green: 652, Blue: 148, Clear: 1072, Color: Green
+W (7747) main: Color values - Red: 220, Green: 556, Blue: 132, Clear: 1952, Color: Green
+W (7847) main: Color values - Red: 264, Green: 776, Blue: 188, Clear: 2560, Color: Green
+W (7947) main: Color values - Red: 332, Green: 1048, Blue: 256, Clear: 1664, Color: Green
+W (8047) main: Color values - Red: 408, Green: 1280, Blue: 312, Clear: 2020, Color: Green
+W (8147) main: Color values - Red: 440, Green: 1384, Blue: 324, Clear: 2164, Color: Green
+W (8247) main: Color values - Red: 436, Green: 1368, Blue: 336, Clear: 2164, Color: Green
+W (8347) main: Color values - Red: 440, Green: 1380, Blue: 332, Clear: 2164, Color: Green
+W (8447) main: Color values - Red: 432, Green: 1364, Blue: 332, Clear: 2152, Color: Green
+W (8547) main: Color values - Red: 436, Green: 1372, Blue: 328, Clear: 2140, Color: Green
+W (8647) main: Color values - Red: 432, Green: 1364, Blue: 336, Clear: 2140, Color: Green
+W (8747) main: Color values - Red: 432, Green: 1388, Blue: 332, Clear: 2176, Color: Green
+W (8847) main: Color values - Red: 436, Green: 1390, Blue: 340, Clear: 2168, Color: Green
+W (8947) main: Color values - Red: 444, Green: 1376, Blue: 310, Clear: 2044, Color: Green
+W (9047) main: Color values - Red: 428, Green: 1368, Blue: 328, Clear: 2140, Color: Green
+W (9147) main: Color values - Red: 432, Green: 1348, Blue: 320, Clear: 2120, Color: Green
+W (9247) main: Color values - Red: 432, Green: 1376, Blue: 324, Clear: 2156, Color: Green
+W (9347) main: Color values - Red: 388, Green: 1232, Blue: 288, Clear: 1916, Color: Green
+W (9447) main: Color values - Red: 432, Green: 1380, Blue: 332, Clear: 2156, Color: Green
+W (9547) main: Color values - Red: 436, Green: 1360, Blue: 328, Clear: 2140, Color: Green
+W (9647) main: Color values - Red: 360, Green: 1252, Blue: 300, Clear: 1908, Color: Green
+W (9747) main: Color values - Red: 432, Green: 1396, Blue: 332, Clear: 2168, Color: Green
+W (9847) main: Color values - Red: 432, Green: 1376, Blue: 332, Clear: 2144, Color: Green
+W (9947) main: Color values - Red: 432, Green: 1384, Blue: 324, Clear: 2168, Color: Green
+W (10047) main: Color values - Red: 432, Green: 1364, Blue: 320, Clear: 2136, Color: Green
+W (10147) main: Color values - Red: 436, Green: 1376, Blue: 336, Clear: 2160, Color: Green
+W (10247) main: Color values - Red: 432, Green: 1372, Blue: 328, Clear: 2136, Color: Green
+W (10347) main: Color values - Red: 384, Green: 1216, Blue: 278, Clear: 1788, Color: Green
+W (10447) main: Color values - Red: 428, Green: 1348, Blue: 324, Clear: 2088, Color: Green
+W (10547) main: Color values - Red: 428, Green: 1364, Blue: 318, Clear: 1956, Color: Green
+W (10647) main: Color values - Red: 424, Green: 1352, Blue: 328, Clear: 2132, Color: Green
+W (10747) main: Color values - Red: 440, Green: 1462, Blue: 344, Clear: 2188, Color: Green
+W (10847) main: Color values - Red: 428, Green: 1376, Blue: 320, Clear: 2168, Color: Green
+W (10947) main: Color values - Red: 436, Green: 1228, Blue: 324, Clear: 2156, Color: Green
+W (11047) main: Color values - Red: 440, Green: 1376, Blue: 324, Clear: 2116, Color: Green
+W (11147) main: Color values - Red: 424, Green: 1372, Blue: 318, Clear: 2148, Color: Green
+W (11247) main: Color values - Red: 424, Green: 1364, Blue: 312, Clear: 2148, Color: Green
+W (11347) main: Color values - Red: 428, Green: 1352, Blue: 324, Clear: 2156, Color: Green
+W (11447) main: Color values - Red: 436, Green: 1376, Blue: 332, Clear: 2172, Color: Green
+W (11547) main: Color values - Red: 440, Green: 1380, Blue: 332, Clear: 2188, Color: Green
+W (11647) main: Color values - Red: 448, Green: 1410, Blue: 344, Clear: 2196, Color: Green
+W (11747) main: Color values - Red: 456, Green: 1432, Blue: 336, Clear: 2220, Color: Green
+W (11847) main: Color values - Red: 444, Green: 1392, Blue: 332, Clear: 2212, Color: Green
+W (11947) main: Color values - Red: 456, Green: 1420, Blue: 340, Clear: 2236, Color: Green
+W (12047) main: Color values - Red: 448, Green: 1432, Blue: 344, Clear: 2232, Color: Green
+W (12147) main: Color values - Red: 456, Green: 1448, Blue: 348, Clear: 2236, Color: Green
+W (12247) main: Color values - Red: 460, Green: 1460, Blue: 344, Clear: 2264, Color: Green
+W (12347) main: Color values - Red: 452, Green: 1424, Blue: 340, Clear: 2244, Color: Green
+W (12447) main: Color values - Red: 448, Green: 1424, Blue: 340, Clear: 2196, Color: Green
+W (12547) main: Color values - Red: 436, Green: 1372, Blue: 328, Clear: 2140, Color: Green
+W (12647) main: Color values - Red: 372, Green: 1132, Blue: 264, Clear: 1716, Color: Green
+W (12747) main: Color values - Red: 392, Green: 1188, Blue: 292, Clear: 1836, Color: Green
+W (12847) main: Color values - Red: 420, Green: 1304, Blue: 320, Clear: 2028, Color: Green
+W (12947) main: Color values - Red: 428, Green: 1368, Blue: 332, Clear: 2140, Color: Green
+W (13047) main: Color values - Red: 436, Green: 1364, Blue: 328, Clear: 2152, Color: Green
+W (13147) main: Color values - Red: 428, Green: 1376, Blue: 332, Clear: 2144, Color: Green
+W (13247) main: Color values - Red: 440, Green: 1392, Blue: 328, Clear: 2156, Color: Green
+W (13347) main: Color values - Red: 436, Green: 1376, Blue: 340, Clear: 2168, Color: Green
+W (13447) main: Color values - Red: 432, Green: 1368, Blue: 320, Clear: 2160, Color: Green
+W (13547) main: Color values - Red: 428, Green: 1360, Blue: 324, Clear: 2140, Color: Green
+W (13647) main: Color values - Red: 432, Green: 1368, Blue: 328, Clear: 2132, Color: Green
+W (13747) main: Color values - Red: 428, Green: 1376, Blue: 320, Clear: 2132, Color: Green
+W (13847) main: Color values - Red: 440, Green: 1400, Blue: 336, Clear: 2184, Color: Green
+W (13947) main: Color values - Red: 440, Green: 1388, Blue: 340, Clear: 2204, Color: Green
+W (14047) main: Color values - Red: 440, Green: 1400, Blue: 332, Clear: 2188, Color: Green
+W (14147) main: Color values - Red: 444, Green: 1408, Blue: 336, Clear: 2208, Color: Green
+W (14247) main: Color values - Red: 452, Green: 1420, Blue: 336, Clear: 2228, Color: Green
+W (14347) main: Color values - Red: 456, Green: 1436, Blue: 340, Clear: 2240, Color: Green
+W (14447) main: Color values - Red: 448, Green: 1404, Blue: 340, Clear: 2184, Color: Green
+W (14547) main: Color values - Red: 432, Green: 1360, Blue: 324, Clear: 2124, Color: Green
+W (14647) main: Color values - Red: 344, Green: 1020, Blue: 240, Clear: 1604, Color: Green
+W (14747) main: Color values - Red: 336, Green: 912, Blue: 208, Clear: 1424, Color: Green
+W (14847) main: Color values - Red: 328, Green: 880, Blue: 216, Clear: 1440, Color: Green
+W (14947) main: Color values - Red: 328, Green: 864, Blue: 196, Clear: 1352, Color: Green
+W (15047) main: Color values - Red: 342, Green: 1000, Blue: 236, Clear: 1548, Color: Green
+W (15147) main: Color values - Red: 440, Green: 1372, Blue: 328, Clear: 2148, Color: Green
+W (15247) main: Color values - Red: 444, Green: 1416, Blue: 340, Clear: 2200, Color: Green
+W (15347) main: Color values - Red: 448, Green: 1410, Blue: 344, Clear: 2192, Color: Green
+W (15447) main: Color values - Red: 368, Green: 1152, Blue: 280, Clear: 1864, Color: Green
+W (15547) main: Color values - Red: 336, Green: 1036, Blue: 244, Clear: 1644, Color: Green
+W (15647) main: Color values - Red: 360, Green: 1140, Blue: 272, Clear: 1764, Color: Green
+W (15747) main: Color values - Red: 440, Green: 1384, Blue: 320, Clear: 2164, Color: Green
+W (15847) main: Color values - Red: 448, Green: 1416, Blue: 340, Clear: 2204, Color: Green
+W (15947) main: Color values - Red: 440, Green: 1396, Blue: 332, Clear: 2204, Color: Green
+W (16047) main: Color values - Red: 444, Green: 1392, Blue: 336, Clear: 2192, Color: Green
+W (16147) main: Color values - Red: 440, Green: 1384, Blue: 324, Clear: 2168, Color: Green
+W (16247) main: Color values - Red: 444, Green: 1376, Blue: 332, Clear: 2164, Color: Green
+W (16347) main: Color values - Red: 436, Green: 1376, Blue: 324, Clear: 2160, Color: Green
+W (16447) main: Color values - Red: 428, Green: 1364, Blue: 324, Clear: 2120, Color: Green
+W (16547) main: Color values - Red: 436, Green: 1372, Blue: 336, Clear: 2156, Color: Green
+W (16647) main: Color values - Red: 436, Green: 1376, Blue: 324, Clear: 2144, Color: Green
+W (16747) main: Color values - Red: 432, Green: 1352, Blue: 320, Clear: 2140, Color: Green
+W (16847) main: Color values - Red: 424, Green: 1356, Blue: 322, Clear: 2104, Color: Green
+W (16947) main: Color values - Red: 432, Green: 1368, Blue: 278, Clear: 2188, Color: Green
+W (17047) main: Color values - Red: 424, Green: 1344, Blue: 316, Clear: 2084, Color: Green
+W (17147) main: Color values - Red: 432, Green: 1372, Blue: 328, Clear: 2104, Color: Green
+W (17247) main: Color values - Red: 424, Green: 1340, Blue: 316, Clear: 2100, Color: Green
+W (17347) main: Color values - Red: 432, Green: 1372, Blue: 328, Clear: 2180, Color: Green
+W (17447) main: Color values - Red: 436, Green: 1312, Blue: 324, Clear: 2160, Color: Green
+W (17547) main: Color values - Red: 416, Green: 1340, Blue: 316, Clear: 2096, Color: Green
+W (17647) main: Color values - Red: 416, Green: 1316, Blue: 304, Clear: 2060, Color: Green
+W (17747) main: Color values - Red: 428, Green: 1368, Blue: 328, Clear: 2072, Color: Green
+W (17847) main: Color values - Red: 412, Green: 1320, Blue: 312, Clear: 2076, Color: Green
+W (17947) main: Color values - Red: 416, Green: 1316, Blue: 302, Clear: 2068, Color: Green
+W (18047) main: Color values - Red: 424, Green: 1352, Blue: 284, Clear: 2120, Color: Green
+W (18147) main: Color values - Red: 416, Green: 1336, Blue: 320, Clear: 2088, Color: Green
+W (18247) main: Color values - Red: 404, Green: 1316, Blue: 312, Clear: 1772, Color: Green
+W (18347) main: Color values - Red: 416, Green: 1320, Blue: 320, Clear: 2072, Color: Green
+W (18447) main: Color values - Red: 436, Green: 1380, Blue: 328, Clear: 2136, Color: Green
+W (18547) main: Color values - Red: 432, Green: 1372, Blue: 322, Clear: 2152, Color: Green
+W (18647) main: Color values - Red: 440, Green: 1372, Blue: 328, Clear: 2152, Color: Green
+W (18747) main: Color values - Red: 436, Green: 1364, Blue: 332, Clear: 2152, Color: Green
+W (18847) main: Color values - Red: 432, Green: 1376, Blue: 328, Clear: 2148, Color: Green
+W (18947) main: Color values - Red: 432, Green: 1372, Blue: 332, Clear: 2144, Color: Green
+W (19047) main: Color values - Red: 432, Green: 1372, Blue: 336, Clear: 2148, Color: Green
+W (19147) main: Color values - Red: 436, Green: 1332, Blue: 324, Clear: 2148, Color: Green
+W (19247) main: Color values - Red: 428, Green: 1368, Blue: 332, Clear: 2140, Color: Green
+W (19347) main: Color values - Red: 436, Green: 1364, Blue: 328, Clear: 2148, Color: Green
+W (19447) main: Color values - Red: 432, Green: 1372, Blue: 332, Clear: 2148, Color: Green
+W (19547) main: Color values - Red: 428, Green: 1376, Blue: 332, Clear: 2132, Color: Green
+W (19647) main: Color values - Red: 432, Green: 1372, Blue: 324, Clear: 2148, Color: Green
+W (19747) main: Color values - Red: 440, Green: 1368, Blue: 332, Clear: 2140, Color: Green
+W (19847) main: Color values - Red: 432, Green: 1372, Blue: 324, Clear: 2156, Color: Green
+W (19947) main: Color values - Red: 428, Green: 1368, Blue: 336, Clear: 2148, Color: Green
+W (647) main: Color values - Red: 484, Green: 720, Blue: 188, Clear: 1596, Color: Red
+W (747) main: Color values - Red: 480, Green: 716, Blue: 192, Clear: 1600, Color: Red
+W (847) main: Color values - Red: 488, Green: 728, Blue: 192, Clear: 1604, Color: Red
+W (947) main: Color values - Red: 484, Green: 716, Blue: 188, Clear: 1608, Color: Red
+W (1047) main: Color values - Red: 488, Green: 724, Blue: 184, Clear: 1608, Color: Red
+W (1147) main: Color values - Red: 488, Green: 728, Blue: 188, Clear: 1600, Color: Red
+W (1247) main: Color values - Red: 488, Green: 732, Blue: 188, Clear: 1604, Color: Red
+W (1347) main: Color values - Red: 488, Green: 720, Blue: 192, Clear: 1608, Color: Red
+W (1447) main: Color values - Red: 488, Green: 724, Blue: 192, Clear: 1604, Color: Red
+W (1547) main: Color values - Red: 488, Green: 724, Blue: 184, Clear: 1600, Color: Red
+W (1647) main: Color values - Red: 484, Green: 716, Blue: 188, Clear: 1604, Color: Red
+W (1747) main: Color values - Red: 480, Green: 728, Blue: 182, Clear: 1596, Color: Red
+W (1847) main: Color values - Red: 484, Green: 732, Blue: 188, Clear: 1608, Color: Red
+W (1947) main: Color values - Red: 480, Green: 728, Blue: 184, Clear: 1596, Color: Red
+W (2047) main: Color values - Red: 488, Green: 724, Blue: 184, Clear: 1596, Color: Red
+W (2147) main: Color values - Red: 488, Green: 724, Blue: 192, Clear: 1600, Color: Red
+W (2247) main: Color values - Red: 484, Green: 720, Blue: 188, Clear: 1604, Color: Red
+W (2347) main: Color values - Red: 484, Green: 724, Blue: 188, Clear: 1600, Color: Red
+W (2447) main: Color values - Red: 480, Green: 724, Blue: 196, Clear: 1608, Color: Red
+W (2547) main: Color values - Red: 484, Green: 716, Blue: 188, Clear: 1600, Color: Red
+W (2647) main: Color values - Red: 488, Green: 724, Blue: 188, Clear: 1604, Color: Red
+W (2747) main: Color values - Red: 488, Green: 720, Blue: 192, Clear: 1596, Color: Red
+W (2847) main: Color values - Red: 488, Green: 720, Blue: 188, Clear: 1600, Color: Red
+W (2947) main: Color values - Red: 488, Green: 716, Blue: 188, Clear: 1604, Color: Red
+W (3047) main: Color values - Red: 488, Green: 716, Blue: 192, Clear: 1600, Color: Red
+W (3147) main: Color values - Red: 488, Green: 724, Blue: 184, Clear: 1604, Color: Red
+W (3247) main: Color values - Red: 484, Green: 724, Blue: 188, Clear: 1600, Color: Red
+W (3347) main: Color values - Red: 488, Green: 724, Blue: 184, Clear: 1604, Color: Red
+W (3447) main: Color values - Red: 488, Green: 724, Blue: 184, Clear: 1608, Color: Red
+W (3547) main: Color values - Red: 484, Green: 724, Blue: 196, Clear: 1612, Color: Red
+W (3647) main: Color values - Red: 488, Green: 712, Blue: 192, Clear: 1596, Color: Red
+W (3747) main: Color values - Red: 480, Green: 716, Blue: 192, Clear: 1604, Color: Red
+W (3847) main: Color values - Red: 480, Green: 716, Blue: 188, Clear: 1604, Color: Red
+W (3947) main: Color values - Red: 484, Green: 720, Blue: 184, Clear: 1600, Color: Red
+W (4047) main: Color values - Red: 490, Green: 728, Blue: 192, Clear: 1592, Color: Red
+W (4147) main: Color values - Red: 492, Green: 724, Blue: 192, Clear: 1604, Color: Red
+W (4247) main: Color values - Red: 484, Green: 720, Blue: 188, Clear: 1600, Color: Red
+W (4347) main: Color values - Red: 480, Green: 720, Blue: 188, Clear: 1596, Color: Red
+W (4447) main: Color values - Red: 480, Green: 720, Blue: 192, Clear: 1604, Color: Red
+W (4547) main: Color values - Red: 488, Green: 728, Blue: 188, Clear: 1604, Color: Red
+W (4647) main: Color values - Red: 488, Green: 724, Blue: 180, Clear: 1600, Color: Red
+W (4747) main: Color values - Red: 484, Green: 720, Blue: 184, Clear: 1600, Color: Red
+W (4847) main: Color values - Red: 488, Green: 720, Blue: 188, Clear: 1604, Color: Red
+W (4947) main: Color values - Red: 488, Green: 724, Blue: 182, Clear: 1604, Color: Red
+W (5047) main: Color values - Red: 480, Green: 720, Blue: 180, Clear: 1580, Color: Red
+W (5147) main: Color values - Red: 492, Green: 764, Blue: 200, Clear: 1616, Color: Red
+W (5247) main: Color values - Red: 452, Green: 684, Blue: 168, Clear: 1432, Color: Red
+W (5347) main: Color values - Red: 480, Green: 724, Blue: 180, Clear: 1592, Color: Red
+W (5447) main: Color values - Red: 476, Green: 708, Blue: 188, Clear: 1548, Color: Red
+W (5547) main: Color values - Red: 472, Green: 716, Blue: 192, Clear: 1576, Color: Red
+W (5647) main: Color values - Red: 476, Green: 716, Blue: 184, Clear: 1580, Color: Red
+W (5747) main: Color values - Red: 480, Green: 716, Blue: 184, Clear: 1564, Color: Red
+W (5847) main: Color values - Red: 488, Green: 728, Blue: 188, Clear: 1612, Color: Red
+W (5947) main: Color values - Red: 488, Green: 740, Blue: 192, Clear: 1604, Color: Red
+W (6047) main: Color values - Red: 492, Green: 732, Blue: 196, Clear: 1632, Color: Red
+W (6147) main: Color values - Red: 484, Green: 740, Blue: 188, Clear: 1588, Color: Red
+W (6247) main: Color values - Red: 488, Green: 736, Blue: 192, Clear: 1628, Color: Red
+W (6347) main: Color values - Red: 496, Green: 732, Blue: 192, Clear: 1592, Color: Red
+W (6447) main: Color values - Red: 488, Green: 732, Blue: 196, Clear: 1604, Color: Red
+W (6547) main: Color values - Red: 460, Green: 688, Blue: 180, Clear: 1516, Color: Red
+W (6647) main: Color values - Red: 484, Green: 716, Blue: 200, Clear: 1596, Color: Red
+W (6747) main: Color values - Red: 452, Green: 668, Blue: 180, Clear: 1472, Color: Red
+W (6847) main: Color values - Red: 484, Green: 724, Blue: 188, Clear: 1584, Color: Red
+W (6947) main: Color values - Red: 476, Green: 712, Blue: 180, Clear: 1588, Color: Red
+W (7047) main: Color values - Red: 492, Green: 732, Blue: 188, Clear: 1588, Color: Red
+W (7147) main: Color values - Red: 488, Green: 728, Blue: 188, Clear: 1600, Color: Red
+W (7247) main: Color values - Red: 488, Green: 728, Blue: 188, Clear: 1596, Color: Red
+W (7347) main: Color values - Red: 488, Green: 740, Blue: 188, Clear: 1612, Color: Red
+W (7447) main: Color values - Red: 480, Green: 724, Blue: 184, Clear: 1604, Color: Red
+W (7547) main: Color values - Red: 484, Green: 736, Blue: 192, Clear: 1612, Color: Red
+W (7647) main: Color values - Red: 488, Green: 728, Blue: 184, Clear: 1612, Color: Red
+W (7747) main: Color values - Red: 484, Green: 724, Blue: 188, Clear: 1612, Color: Red
+W (7847) main: Color values - Red: 480, Green: 716, Blue: 184, Clear: 1556, Color: Red
+W (7947) main: Color values - Red: 464, Green: 696, Blue: 180, Clear: 1508, Color: Red
+W (8047) main: Color values - Red: 460, Green: 668, Blue: 164, Clear: 1516, Color: Red
+W (8147) main: Color values - Red: 488, Green: 726, Blue: 188, Clear: 1620, Color: Red
+W (8247) main: Color values - Red: 484, Green: 732, Blue: 188, Clear: 1600, Color: Red
+W (8347) main: Color values - Red: 480, Green: 728, Blue: 184, Clear: 1604, Color: Red
+W (8447) main: Color values - Red: 488, Green: 736, Blue: 188, Clear: 1612, Color: Red
+W (8547) main: Color values - Red: 476, Green: 728, Blue: 200, Clear: 1576, Color: Red
+W (8647) main: Color values - Red: 480, Green: 732, Blue: 196, Clear: 1584, Color: Red
+W (8747) main: Color values - Red: 480, Green: 736, Blue: 200, Clear: 1604, Color: Red
+W (8847) main: Color values - Red: 488, Green: 736, Blue: 200, Clear: 1624, Color: Red
+W (8947) main: Color values - Red: 488, Green: 728, Blue: 188, Clear: 1600, Color: Red
+W (9047) main: Color values - Red: 488, Green: 736, Blue: 188, Clear: 1608, Color: Red
+W (9147) main: Color values - Red: 488, Green: 732, Blue: 184, Clear: 1596, Color: Red
+W (9247) main: Color values - Red: 480, Green: 732, Blue: 188, Clear: 1604, Color: Red
+W (9347) main: Color values - Red: 484, Green: 724, Blue: 196, Clear: 1612, Color: Red
+W (9447) main: Color values - Red: 484, Green: 732, Blue: 192, Clear: 1600, Color: Red
+W (9547) main: Color values - Red: 492, Green: 732, Blue: 192, Clear: 1604, Color: Red
+W (9647) main: Color values - Red: 486, Green: 740, Blue: 188, Clear: 1628, Color: Red
+W (9747) main: Color values - Red: 488, Green: 732, Blue: 188, Clear: 1616, Color: Red
+W (9847) main: Color values - Red: 492, Green: 732, Blue: 188, Clear: 1620, Color: Red
+W (9947) main: Color values - Red: 488, Green: 732, Blue: 192, Clear: 1620, Color: Red
+W (10047) main: Color values - Red: 480, Green: 732, Blue: 192, Clear: 1608, Color: Red
+W (10147) main: Color values - Red: 488, Green: 728, Blue: 192, Clear: 1612, Color: Red
+W (10247) main: Color values - Red: 492, Green: 728, Blue: 188, Clear: 1616, Color: Red
+W (10347) main: Color values - Red: 488, Green: 724, Blue: 192, Clear: 1616, Color: Red
+W (10447) main: Color values - Red: 488, Green: 732, Blue: 188, Clear: 1616, Color: Red
+W (10547) main: Color values - Red: 484, Green: 728, Blue: 192, Clear: 1608, Color: Red
+W (10647) main: Color values - Red: 476, Green: 716, Blue: 188, Clear: 1600, Color: Red
+W (10747) main: Color values - Red: 432, Green: 636, Blue: 168, Clear: 1404, Color: Red
+W (10847) main: Color values - Red: 476, Green: 708, Blue: 180, Clear: 1540, Color: Red
+W (10947) main: Color values - Red: 484, Green: 720, Blue: 188, Clear: 1584, Color: Red
+W (11047) main: Color values - Red: 488, Green: 724, Blue: 180, Clear: 1596, Color: Red
+W (11147) main: Color values - Red: 456, Green: 688, Blue: 184, Clear: 1484, Color: Red
+W (11247) main: Color values - Red: 480, Green: 712, Blue: 184, Clear: 1572, Color: Red
+W (11347) main: Color values - Red: 480, Green: 724, Blue: 188, Clear: 1596, Color: Red
+W (11447) main: Color values - Red: 484, Green: 728, Blue: 196, Clear: 1608, Color: Red
+W (11547) main: Color values - Red: 484, Green: 720, Blue: 196, Clear: 1588, Color: Red
+W (11647) main: Color values - Red: 484, Green: 716, Blue: 180, Clear: 1564, Color: Red
+W (11747) main: Color values - Red: 484, Green: 736, Blue: 196, Clear: 1604, Color: Red
+W (11847) main: Color values - Red: 488, Green: 744, Blue: 196, Clear: 1616, Color: Red
+W (11947) main: Color values - Red: 484, Green: 720, Blue: 188, Clear: 1600, Color: Red
+W (12047) main: Color values - Red: 492, Green: 730, Blue: 192, Clear: 1620, Color: Red
+W (12147) main: Color values - Red: 496, Green: 728, Blue: 196, Clear: 1608, Color: Red
+W (12247) main: Color values - Red: 484, Green: 740, Blue: 200, Clear: 1612, Color: Red
+W (12347) main: Color values - Red: 484, Green: 736, Blue: 192, Clear: 1608, Color: Red
+W (12447) main: Color values - Red: 488, Green: 728, Blue: 192, Clear: 1612, Color: Red
+W (12547) main: Color values - Red: 480, Green: 728, Blue: 200, Clear: 1584, Color: Red
+W (12647) main: Color values - Red: 472, Green: 712, Blue: 188, Clear: 1548, Color: Red
+W (12747) main: Color values - Red: 476, Green: 716, Blue: 192, Clear: 1572, Color: Red
+W (12847) main: Color values - Red: 488, Green: 690, Blue: 160, Clear: 1592, Color: Red
+W (12947) main: Color values - Red: 500, Green: 748, Blue: 212, Clear: 1704, Color: Red
+W (13047) main: Color values - Red: 472, Green: 656, Blue: 156, Clear: 1536, Color: Red
+W (13147) main: Color values - Red: 464, Green: 696, Blue: 172, Clear: 1544, Color: Red
+W (13247) main: Color values - Red: 472, Green: 692, Blue: 184, Clear: 1552, Color: Red
+W (13347) main: Color values - Red: 464, Green: 692, Blue: 176, Clear: 1520, Color: Red
+W (13447) main: Color values - Red: 480, Green: 720, Blue: 184, Clear: 1564, Color: Red
+W (13547) main: Color values - Red: 484, Green: 736, Blue: 196, Clear: 1612, Color: Red
+W (13647) main: Color values - Red: 486, Green: 732, Blue: 192, Clear: 1616, Color: Red
+W (13747) main: Color values - Red: 488, Green: 736, Blue: 188, Clear: 1628, Color: Red
+W (13847) main: Color values - Red: 492, Green: 732, Blue: 196, Clear: 1632, Color: Red
+W (13947) main: Color values - Red: 492, Green: 736, Blue: 188, Clear: 1624, Color: Red
+W (14047) main: Color values - Red: 496, Green: 740, Blue: 192, Clear: 1620, Color: Red
+W (14147) main: Color values - Red: 492, Green: 740, Blue: 200, Clear: 1628, Color: Red
+W (14247) main: Color values - Red: 496, Green: 740, Blue: 196, Clear: 1620, Color: Red
+W (14347) main: Color values - Red: 488, Green: 740, Blue: 196, Clear: 1624, Color: Red
+W (14447) main: Color values - Red: 496, Green: 740, Blue: 180, Clear: 1628, Color: Red
+W (14547) main: Color values - Red: 492, Green: 744, Blue: 196, Clear: 1628, Color: Red
+W (14647) main: Color values - Red: 492, Green: 740, Blue: 192, Clear: 1628, Color: Red
+W (14747) main: Color values - Red: 496, Green: 740, Blue: 192, Clear: 1632, Color: Red
+W (14847) main: Color values - Red: 492, Green: 744, Blue: 192, Clear: 1624, Color: Red
+W (14947) main: Color values - Red: 496, Green: 736, Blue: 188, Clear: 1620, Color: Red
+W (15047) main: Color values - Red: 492, Green: 740, Blue: 188, Clear: 1620, Color: Red
+W (15147) main: Color values - Red: 492, Green: 740, Blue: 200, Clear: 1620, Color: Red
+W (15247) main: Color values - Red: 484, Green: 744, Blue: 196, Clear: 1616, Color: Red
+W (15347) main: Color values - Red: 496, Green: 744, Blue: 192, Clear: 1620, Color: Red
+W (15447) main: Color values - Red: 484, Green: 744, Blue: 200, Clear: 1628, Color: Red
+W (15547) main: Color values - Red: 496, Green: 736, Blue: 192, Clear: 1620, Color: Red
+W (15647) main: Color values - Red: 492, Green: 744, Blue: 192, Clear: 1624, Color: Red
+W (15747) main: Color values - Red: 488, Green: 732, Blue: 196, Clear: 1632, Color: Red
+W (15847) main: Color values - Red: 492, Green: 740, Blue: 188, Clear: 1628, Color: Red
+W (15947) main: Color values - Red: 500, Green: 732, Blue: 192, Clear: 1620, Color: Red
+W (16047) main: Color values - Red: 496, Green: 736, Blue: 192, Clear: 1632, Color: Red
+W (16147) main: Color values - Red: 492, Green: 740, Blue: 192, Clear: 1632, Color: Red
+W (16247) main: Color values - Red: 500, Green: 744, Blue: 188, Clear: 1624, Color: Red
+W (16347) main: Color values - Red: 488, Green: 744, Blue: 196, Clear: 1624, Color: Red
+W (16447) main: Color values - Red: 488, Green: 748, Blue: 196, Clear: 1620, Color: Red
+W (647) main: Color values - Red: 224, Green: 448, Blue: 132, Clear: 1780, Color: Black
+W (747) main: Color values - Red: 224, Green: 456, Blue: 132, Clear: 1780, Color: Black
+W (847) main: Color values - Red: 220, Green: 456, Blue: 124, Clear: 1772, Color: Black
+W (947) main: Color values - Red: 216, Green: 460, Blue: 120, Clear: 1788, Color: Black
+W (1047) main: Color values - Red: 212, Green: 456, Blue: 128, Clear: 1748, Color: Black
+W (1147) main: Color values - Red: 220, Green: 450, Blue: 120, Clear: 1784, Color: Black
+W (1247) main: Color values - Red: 216, Green: 456, Blue: 132, Clear: 1772, Color: Black
+W (1347) main: Color values - Red: 216, Green: 452, Blue: 132, Clear: 1776, Color: Black
+W (1447) main: Color values - Red: 224, Green: 456, Blue: 128, Clear: 1780, Color: Black
+W (1547) main: Color values - Red: 216, Green: 460, Blue: 128, Clear: 1772, Color: Black
+W (1647) main: Color values - Red: 224, Green: 456, Blue: 136, Clear: 1780, Color: Black
+W (1747) main: Color values - Red: 212, Green: 456, Blue: 128, Clear: 1776, Color: Black
+W (1847) main: Color values - Red: 224, Green: 456, Blue: 124, Clear: 1760, Color: Black
+W (1947) main: Color values - Red: 224, Green: 460, Blue: 124, Clear: 1764, Color: Black
+W (2047) main: Color values - Red: 216, Green: 452, Blue: 128, Clear: 1780, Color: Black
+W (2147) main: Color values - Red: 220, Green: 456, Blue: 132, Clear: 1772, Color: Black
+W (2247) main: Color values - Red: 216, Green: 456, Blue: 124, Clear: 1772, Color: Black
+W (2347) main: Color values - Red: 220, Green: 456, Blue: 124, Clear: 1764, Color: Black
+W (2447) main: Color values - Red: 224, Green: 464, Blue: 124, Clear: 1766, Color: Black
+W (2547) main: Color values - Red: 220, Green: 460, Blue: 132, Clear: 1776, Color: Black
+W (2647) main: Color values - Red: 216, Green: 456, Blue: 136, Clear: 1760, Color: Black
+W (2747) main: Color values - Red: 224, Green: 464, Blue: 128, Clear: 1780, Color: Black
+W (2847) main: Color values - Red: 224, Green: 464, Blue: 132, Clear: 1784, Color: Black
+W (2947) main: Color values - Red: 224, Green: 456, Blue: 128, Clear: 1752, Color: Black
+W (3047) main: Color values - Red: 220, Green: 460, Blue: 128, Clear: 1796, Color: Black
+W (3147) main: Color values - Red: 216, Green: 464, Blue: 136, Clear: 1776, Color: Black
+W (3247) main: Color values - Red: 220, Green: 472, Blue: 132, Clear: 1828, Color: Black
+W (3347) main: Color values - Red: 224, Green: 460, Blue: 128, Clear: 1784, Color: Black
+W (3447) main: Color values - Red: 220, Green: 464, Blue: 124, Clear: 1776, Color: Black
+W (3547) main: Color values - Red: 220, Green: 456, Blue: 130, Clear: 1762, Color: Black
+W (3647) main: Color values - Red: 216, Green: 456, Blue: 124, Clear: 1768, Color: Black
+W (3747) main: Color values - Red: 216, Green: 460, Blue: 120, Clear: 1752, Color: Black
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--- a/scripts/controller.py
+++ b/scripts/controller.py
@@ -0,0 +1,99 @@
+import asyncio
+import os
+import json
+from bleak import BleakClient, BleakScanner
+import keyboard
+
+CONFIG_FILE = "ble_device_config.json"
+CHARACTERISTIC_UUID = "23408888-1f40-4cd8-9b89-ca8d45f8a5b0"  # Replace with your characteristic UUID
+
+
+async def send_command(client, speedA, speedB, directionA, directionB, duration):
+    command = bytearray([speedA, speedB, directionA, directionB, duration])
+    await client.write_gatt_char(CHARACTERISTIC_UUID, command)
+
+async def select_device():
+    devices = await BleakScanner.discover()
+    if not devices:
+        print("No BLE devices found.")
+        return None
+
+    print("Available BLE devices:")
+    for i, device in enumerate(devices):
+        print(f"{i}: {device.name} - {device.address}")
+
+    while True:
+        try:
+            selection = int(input("Select device by number: "))
+            if 0 <= selection < len(devices):
+                return devices[selection].address
+            else:
+                print("Invalid selection. Please try again.")
+        except ValueError:
+            print("Please enter a valid number.")
+
+def load_config():
+    if os.path.exists(CONFIG_FILE):
+        with open(CONFIG_FILE, "r") as f:
+            return json.load(f)
+    return {}
+
+def save_config(config):
+    with open(CONFIG_FILE, "w") as f:
+        json.dump(config, f)
+
+async def get_ble_address():
+    config = load_config()
+    saved_address = config.get("ble_address")
+
+    if saved_address:
+        print(f"Previously connected to device with address: {saved_address}")
+        choice = input("Do you want to connect to the same device? (y/n): ").lower()
+        if choice == 'y':
+            return saved_address
+
+    new_address = await select_device()
+    if new_address:
+        config["ble_address"] = new_address
+        save_config(config)
+    return new_address
+
+async def handle_key_press(client):
+
+    # motor A speed, motor A dir, motor B speed, motor B dir, time 50 == 5.0 seconds
+    if keyboard.is_pressed('w'):
+        await send_command(client, 60,1,60,1,5)
+        print(f"Forward")
+    elif keyboard.is_pressed('s'):
+        await send_command(client, 50,0,50,0,5)
+        print(f"Backwards")
+    elif keyboard.is_pressed('d'):
+        await send_command(client, 40,1,40,0,3)
+        print(f"Right")
+    elif keyboard.is_pressed('a'):
+        await send_command(client, 40,0,40,1,3)
+        print(f"Left")
+
+
+
+async def main():
+    global motor_speed
+
+    ble_address = await get_ble_address()
+    if not ble_address:
+        print("No device selected. Exiting.")
+        return
+
+    print(f"Connecting to device: {ble_address}")
+    async with BleakClient(ble_address) as client:
+        print(f"Connected: {await client.is_connected()}")
+        print("Press 'w' to speed up, 's' to slow down, or 'q' to quit.")
+
+        while True:
+            await handle_key_press(client)
+            if keyboard.is_pressed('q'):
+                print("Quitting...")
+                break
+
+if __name__ == "__main__":
+    asyncio.run(main())
--- a/scripts/nn_model.bin
+++ b/scripts/nn_model.bin
--- a/scripts/trainer.py
+++ b/scripts/trainer.py
@@ -0,0 +1,162 @@
+import numpy as np
+import re
+import struct
+from sklearn.utils import shuffle
+from sklearn.model_selection import train_test_split
+
+class NeuralNetwork:
+    def __init__(self, input_size, hidden_size1, hidden_size2, output_size):
+        self.input_size = input_size
+        self.hidden_size1 = hidden_size1
+        self.hidden_size2 = hidden_size2
+        self.output_size = output_size
+
+        self.input_weights = np.random.randn(input_size, hidden_size1).astype(np.float32) * np.sqrt(2.0/input_size)
+        self.hidden_weights1 = np.random.randn(hidden_size1, hidden_size2).astype(np.float32) * np.sqrt(2.0/hidden_size1)
+        self.hidden_weights2 = np.random.randn(hidden_size2, output_size).astype(np.float32) * np.sqrt(2.0/hidden_size2)
+        self.hidden_bias1 = np.zeros((1, hidden_size1), dtype=np.float32)
+        self.hidden_bias2 = np.zeros((1, hidden_size2), dtype=np.float32)
+        self.output_bias = np.zeros((1, output_size), dtype=np.float32)
+
+    def relu(self, x):
+        return np.maximum(0, x)
+
+    def relu_derivative(self, x):
+        return np.where(x > 0, 1, 0)
+
+    def softmax(self, x):
+        exp_x = np.exp(x - np.max(x, axis=1, keepdims=True))
+        return exp_x / np.sum(exp_x, axis=1, keepdims=True)
+
+    def forward(self, X):
+        self.hidden1 = self.relu(np.dot(X, self.input_weights) + self.hidden_bias1)
+        self.hidden2 = self.relu(np.dot(self.hidden1, self.hidden_weights1) + self.hidden_bias2)
+        self.output = self.softmax(np.dot(self.hidden2, self.hidden_weights2) + self.output_bias)
+        return self.output
+
+    def backward(self, X, y, output, learning_rate):
+        output_error = y - output
+        hidden2_error = np.dot(output_error, self.hidden_weights2.T)
+        hidden1_error = np.dot(hidden2_error, self.hidden_weights1.T)
+
+        hidden2_delta = hidden2_error * self.relu_derivative(self.hidden2)
+        hidden1_delta = hidden1_error * self.relu_derivative(self.hidden1)
+
+        self.hidden_weights2 += learning_rate * np.dot(self.hidden2.T, output_error)
+        self.hidden_weights1 += learning_rate * np.dot(self.hidden1.T, hidden2_delta)
+        self.input_weights += learning_rate * np.dot(X.T, hidden1_delta)
+
+        self.output_bias += learning_rate * np.sum(output_error, axis=0, keepdims=True)
+        self.hidden_bias2 += learning_rate * np.sum(hidden2_delta, axis=0, keepdims=True)
+        self.hidden_bias1 += learning_rate * np.sum(hidden1_delta, axis=0, keepdims=True)
+
+    def train(self, X, y, X_val, y_val, epochs, learning_rate, batch_size=32, patience=50):
+        best_val_loss = float('inf')
+        patience_counter = 0
+        for epoch in range(epochs):
+            epoch_loss = 0
+            for i in range(0, len(X), batch_size):
+                batch_X = X[i:i+batch_size]
+                batch_y = y[i:i+batch_size]
+                output = self.forward(batch_X)
+                self.backward(batch_X, batch_y, output, learning_rate)
+                epoch_loss += np.mean(np.square(batch_y - output))
+
+            val_output = self.forward(X_val)
+            val_loss = np.mean(np.square(y_val - val_output))
+
+            if epoch % 100 == 0:
+                print(f"Epoch {epoch}, Loss: {epoch_loss/len(X)}, Val Loss: {val_loss}")
+
+            if val_loss < best_val_loss:
+                best_val_loss = val_loss
+                patience_counter = 0
+            else:
+                patience_counter += 1
+                if patience_counter >= patience:
+                    print(f"Early stopping at epoch {epoch}")
+                    break
+
+def parse_input(file_path):
+    data = []
+    labels = []
+    with open(file_path, 'r') as file:
+        for line in file:
+            match = re.search(r'Red: (\d+), Green: (\d+), Blue: (\d+), Clear: (\d+), Color: (\w+)', line)
+            if match:
+                r, g, b, c, color = match.groups()
+                data.append([int(r), int(g), int(b), int(c)])
+                labels.append(color)
+    return np.array(data), np.array(labels)
+
+def normalize_data(data):
+    return data / np.array([2048, 2048, 2048, 2048])
+
+def one_hot_encode(labels):
+    unique_labels = np.array(['Red', 'Black', 'Green', 'White'])
+    label_dict = {label: i for i, label in enumerate(unique_labels)}
+    encoded = np.zeros((len(labels), len(unique_labels)))
+    for i, label in enumerate(labels):
+        encoded[i, label_dict[label]] = 1
+    return encoded, unique_labels
+
+def float_to_hex(f):
+    return hex(struct.unpack('<I', struct.pack('<f', f))[0])
+
+# Prepare training data
+input_data, labels = parse_input('color_data.txt')
+X = normalize_data(input_data)
+y, unique_labels = one_hot_encode(labels)
+
+# Split data into train and validation sets
+X_train, X_val, y_train, y_val = train_test_split(X, y, test_size=0.2, random_state=42)
+
+# Create and train the neural network
+nn = NeuralNetwork(input_size=4, hidden_size1=16, hidden_size2=8, output_size=4)
+nn.train(X_train, y_train, X_val, y_val, epochs=10000, learning_rate=0.001, batch_size=32, patience=50)
+
+# Print C-compatible array initializers
+print("\nC-compatible array initializers:")
+print("uint32_t input_weights[INPUT_SIZE][HIDDEN_SIZE1] = {")
+for row in nn.input_weights:
+    print("    {" + ", ".join(float_to_hex(x) for x in row) + "},")
+print("};")
+
+print("\nuint32_t hidden_weights1[HIDDEN_SIZE1][HIDDEN_SIZE2] = {")
+for row in nn.hidden_weights1:
+    print("    {" + ", ".join(float_to_hex(x) for x in row) + "},")
+print("};")
+
+print("\nuint32_t hidden_weights2[HIDDEN_SIZE2][OUTPUT_SIZE] = {")
+for row in nn.hidden_weights2:
+    print("    {" + ", ".join(float_to_hex(x) for x in row) + "},")
+print("};")
+
+print("\nuint32_t hidden_bias1[HIDDEN_SIZE1] = {" + ", ".join(float_to_hex(x) for x in nn.hidden_bias1.flatten()) + "};")
+print("\nuint32_t hidden_bias2[HIDDEN_SIZE2] = {" + ", ".join(float_to_hex(x) for x in nn.hidden_bias2.flatten()) + "};")
+print("\nuint32_t output_bias[OUTPUT_SIZE] = {" + ", ".join(float_to_hex(x) for x in nn.output_bias.flatten()) + "};")
+
+# Debug information
+print("\nSample predictions from Python:")
+for i in range(min(5, len(X))):  # Print predictions for up to 5 samples
+    sample_output = nn.forward(X[i:i+1])
+    print(f"Input: {input_data[i]}, True label: {labels[i]}")
+    print(f"Output: {sample_output[0]}")
+    print(f"Predicted: {unique_labels[np.argmax(sample_output)]}\n")
+
+print("Sample weight values:")
+print("Input weights (first few):", nn.input_weights[:2, :2])
+print("Hidden weights1 (first few):", nn.hidden_weights1[:2, :2])
+print("Hidden weights2 (first few):", nn.hidden_weights2[:2, :2])
+print("Hidden bias1 (first few):", nn.hidden_bias1[0, :2])
+print("Hidden bias2 (first few):", nn.hidden_bias2[0, :2])
+print("Output bias (all):", nn.output_bias[0])
+
+# Test with a specific input
+test_input = np.array([[1794, 2164, 1742, 1996]])  # Example for white
+test_input_normalized = normalize_data(test_input)
+test_output = nn.forward(test_input_normalized)
+print("\nTest prediction:")
+print("Input:", test_input[0])
+print("Output:", test_output[0])
+print("Predicted color:", unique_labels[np.argmax(test_output)])