diff --git a/.github/workflows/analyze.yml b/.github/workflows/analyze.yml
index b6f41da..4b98cc1 100644
--- a/.github/workflows/analyze.yml
+++ b/.github/workflows/analyze.yml
@@ -16,12 +16,12 @@ jobs:
       # You can specify other versions if desired, see documentation here:
       # https://github.com/dart-lang/setup-dart/blob/main/README.md
       - uses: dart-lang/setup-dart@v1
-        with: 
-          sdk: 3.2.2
+        with:
+          sdk: 3.5.2
 
       - name: Install dependencies
         run: dart pub get
-        
+
       - name: Analyze project source
         run: dart analyze --fatal-infos
 
diff --git a/bin/arcuo.dart b/bin/arcuo.dart
new file mode 100644
index 0000000..ae9f7d8
--- /dev/null
+++ b/bin/arcuo.dart
@@ -0,0 +1,16 @@
+import "package:autonomy/autonomy.dart";
+
+void main() async {
+  final rover = RoverAutonomy();
+	rover.drive = RoverDrive(collection: rover, useImu: false, useGps: false);
+  await rover.init();
+  //await rover.waitForValue();
+  final didSeeAruco = await rover.drive.spinForAruco();
+  if (didSeeAruco) {
+    rover.logger.info("Found aruco");
+    await rover.drive.approachAruco();
+  } else {
+    rover.logger.warning("COuld not find aruco");
+  }
+  rover.logger.info("Done");
+}
diff --git a/bin/aruco.dart b/bin/aruco.dart
new file mode 100644
index 0000000..5f9fdcb
--- /dev/null
+++ b/bin/aruco.dart
@@ -0,0 +1,15 @@
+import "package:autonomy/autonomy.dart";
+
+void main() async {
+  final rover = RoverAutonomy();
+  await rover.init();
+  await rover.waitForValue();
+  final didSeeAruco = await rover.drive.spinForAruco();
+  if (didSeeAruco) {
+    rover.logger.info("Found aruco");
+    await rover.drive.approachAruco();
+  } else {
+    rover.logger.warning("COuld not find aruco");
+  }
+  rover.logger.info("Done");
+}
diff --git a/bin/sensorless.dart b/bin/sensorless.dart
index 48de0c4..acc2569 100644
--- a/bin/sensorless.dart
+++ b/bin/sensorless.dart
@@ -1,6 +1,7 @@
 import "package:burt_network/logging.dart";
 import "package:burt_network/generated.dart";
 
+import "package:autonomy/interfaces.dart";
 import "package:autonomy/simulator.dart";
 import "package:autonomy/rover.dart";
 
diff --git a/bin/task.dart b/bin/task.dart
index 5246955..6366d32 100644
--- a/bin/task.dart
+++ b/bin/task.dart
@@ -12,13 +12,15 @@ final obstacles = <SimulatedObstacle>[
 // Enter in the Dashboard: Destination = (lat=7, long=0);
 
 void main() async {
-  Logger.level = LogLevel.all;
-  final simulator = AutonomySimulator();
-  final detector = DetectorSimulator(collection: simulator, obstacles: obstacles);
-  simulator.detector = detector;
+  Logger.level = LogLevel.debug;
+  final simulator = RoverAutonomy();
+  simulator.detector = DetectorSimulator(collection: simulator, obstacles: obstacles);
   simulator.pathfinder = RoverPathfinder(collection: simulator);
   simulator.orchestrator = RoverOrchestrator(collection: simulator);
-  simulator.drive = DriveSimulator(collection: simulator, shouldDelay: true);
+//  simulator.drive = SensorlessDrive(collection: simulator, useImu: true, useGps: true);
   await simulator.init();
-  await simulator.server.waitForConnection();
+	await simulator.waitForValue();
+	await simulator.drive.faceNorth();
+//	await simulator.drive.goForward();
+//  await simulator.server.waitForConnection();
 }
diff --git a/bin/test.dart b/bin/test.dart
new file mode 100644
index 0000000..44488b6
--- /dev/null
+++ b/bin/test.dart
@@ -0,0 +1,17 @@
+import "package:autonomy/autonomy.dart";
+import "package:burt_network/logging.dart";
+import "package:autonomy/src/rover/gps.dart";
+import "package:autonomy/src/rover/imu.dart";
+
+void main() async {
+  Logger.level = LogLevel.all;
+  final rover = RoverAutonomy();
+  rover.gps = RoverGps(collection: rover);
+  rover.imu = RoverImu(collection: rover);
+  rover.drive = RoverDrive(collection: rover, useGps: false, useImu: false);
+  
+  await rover.init();
+
+  // rover.logger.info("Done");
+  // await rover.dispose();
+}
diff --git a/lib/interfaces.dart b/lib/interfaces.dart
index 66d82f3..bd903f0 100644
--- a/lib/interfaces.dart
+++ b/lib/interfaces.dart
@@ -9,7 +9,7 @@ export "src/interfaces/imu.dart";
 export "src/interfaces/imu_utils.dart";
 export "src/interfaces/pathfinding.dart";
 export "src/interfaces/server.dart";
-export "src/interfaces/realsense.dart";
+export "src/interfaces/video.dart";
 export "src/interfaces/receiver.dart";
 export "src/interfaces/reporter.dart";
 export "src/interfaces/service.dart";
diff --git a/lib/rover.dart b/lib/rover.dart
index db42339..9f664d9 100644
--- a/lib/rover.dart
+++ b/lib/rover.dart
@@ -4,28 +4,34 @@ export "src/rover/orchestrator.dart";
 export "src/rover/sensorless.dart";
 
 import "package:autonomy/interfaces.dart";
-import "package:autonomy/simulator.dart";
-import "package:burt_network/logging.dart";
+import "package:burt_network/burt_network.dart";
 
 import "src/rover/pathfinding.dart";
-import "src/rover/server.dart";
 import "src/rover/drive.dart";
 import "src/rover/gps.dart";
 import "src/rover/imu.dart";
 import "src/rover/orchestrator.dart";
-import "src/rover/realsense.dart";
+import "src/rover/video.dart";
+import "src/rover/detector.dart";
 
 /// A collection of all the different services used by the autonomy program.
 class RoverAutonomy extends AutonomyInterface {
 	/// A server to communicate with the dashboard and receive data from the subsystems.
-	@override late final AutonomyServer server = AutonomyServer(collection: this);
+	// @override late final AutonomyServer server = AutonomyServer(collection: this);
+  @override late final server = RoverSocket(port: 8003, device: Device.AUTONOMY, collection: this);
 	/// A helper class to handle driving the rover.
 	@override late DriveInterface drive = RoverDrive(collection: this);
   @override late GpsInterface gps = RoverGps(collection: this);
   @override late ImuInterface imu = RoverImu(collection: this);
   @override late final logger = BurtLogger(socket: server);
-  @override late final pathfinder = RoverPathfinder(collection: this);
-  @override late final detector = DetectorSimulator(collection: this, obstacles: []);
-  @override late final realsense = RoverRealsense(collection: this);
-  @override late final orchestrator = RoverOrchestrator(collection: this); 
+  @override late PathfindingInterface pathfinder = RoverPathfinder(collection: this);
+  @override late DetectorInterface detector = RoverDetector(collection: this);
+  @override late VideoInterface video = RoverVideo(collection: this);
+  @override late OrchestratorInterface orchestrator = RoverOrchestrator(collection: this);
+
+  @override
+  Future<void> onDisconnect() async {
+    await super.onDisconnect();
+    await orchestrator.abort();
+  }
 }
diff --git a/lib/simulator.dart b/lib/simulator.dart
index 02ebaf6..908a8ae 100644
--- a/lib/simulator.dart
+++ b/lib/simulator.dart
@@ -3,11 +3,10 @@ export "src/simulator/drive.dart";
 export "src/simulator/gps.dart";
 export "src/simulator/imu.dart";
 export "src/simulator/realsense.dart";
-export "src/simulator/server.dart";
 
 import "package:autonomy/interfaces.dart";
 import "package:autonomy/src/simulator/orchestrator.dart";
-import "package:burt_network/logging.dart";
+import "package:burt_network/burt_network.dart";
 
 import "src/simulator/detector.dart";
 import "src/simulator/drive.dart";
@@ -15,24 +14,23 @@ import "src/simulator/gps.dart";
 import "src/simulator/imu.dart";
 import "src/simulator/pathfinding.dart";
 import "src/simulator/realsense.dart";
-import "src/simulator/server.dart";
 
 class AutonomySimulator extends AutonomyInterface {
   @override late final logger = BurtLogger(socket: server);
-  @override late ServerInterface server = SimulatorServer(collection: this);
+  @override late final server = RoverSocket(port: 8003, device: Device.AUTONOMY, collection: this);
   @override late GpsInterface gps = GpsSimulator(collection: this);
   @override late ImuInterface imu = ImuSimulator(collection: this);
   @override late DriveInterface drive = DriveSimulator(collection: this);
   @override late PathfindingInterface pathfinder = PathfindingSimulator(collection: this);
   @override late DetectorInterface detector = DetectorSimulator(collection: this, obstacles: []);
-  @override late RealSenseInterface realsense = RealSenseSimulator(collection: this);
+  @override late VideoInterface video = VideoSimulator(collection: this);
   @override late OrchestratorInterface orchestrator = OrchestratorSimulator(collection: this);
 
   bool isInitialized = false;
 
   @override
   Future<bool> init() { isInitialized = true; return super.init(); }
-  
+
   @override
   Future<void> dispose() { isInitialized = false; return super.dispose(); }
 }
diff --git a/lib/src/interfaces/autonomy.dart b/lib/src/interfaces/autonomy.dart
index b704ef9..a1be9e0 100644
--- a/lib/src/interfaces/autonomy.dart
+++ b/lib/src/interfaces/autonomy.dart
@@ -1,4 +1,4 @@
-import "package:burt_network/logging.dart";
+import "package:burt_network/burt_network.dart";
 
 import "package:autonomy/interfaces.dart";
 
@@ -7,12 +7,12 @@ abstract class AutonomyInterface extends Service with Receiver {
   GpsInterface get gps;
   ImuInterface get imu;
   DriveInterface get drive;
-  ServerInterface get server;
+  RoverSocket get server;
   PathfindingInterface get pathfinder;
   DetectorInterface get detector;
-  RealSenseInterface get realsense;
+  VideoInterface get video;
   OrchestratorInterface get orchestrator;
-  
+
   @override
   Future<bool> init() async {
     var result = true;
@@ -22,42 +22,45 @@ abstract class AutonomyInterface extends Service with Receiver {
     result &= await server.init();
     result &= await pathfinder.init();
     result &= await detector.init();
-    result &= await realsense.init();
+    result &= await video.init();
     result &= await orchestrator.init();
     if (result) {
       logger.info("Autonomy initialized");
     } else {
       logger.warning("Autonomy could not initialize");
     }
+//    await waitForValue();
     return result;
+
   }
-  
+
   @override
   Future<void> dispose() async {
-    await server.dispose();
     await gps.dispose();
     await imu.dispose();
     await drive.dispose();
     await pathfinder.dispose();
     await detector.dispose();
-    await realsense.dispose();
+    await video.dispose();
     await orchestrator.dispose();
+    await server.dispose();
     logger.info("Autonomy disposed");
   }
-  
+
   Future<void> restart() async {
     await dispose();
     await init();
   }
-  
+
   @override
   Future<void> waitForValue() async {
     logger.info("Waiting for readings...");
     await gps.waitForValue();
     await imu.waitForValue();
-    await realsense.waitForValue();
+    await video.waitForValue();
+    logger.info("Received GPS and IMU values");
   }
 
   @override
-  bool get hasValue => gps.hasValue && imu.hasValue && realsense.hasValue;
+  bool get hasValue => gps.hasValue && imu.hasValue && video.hasValue;
 }
diff --git a/lib/src/interfaces/detector.dart b/lib/src/interfaces/detector.dart
index 98a7418..c42a694 100644
--- a/lib/src/interfaces/detector.dart
+++ b/lib/src/interfaces/detector.dart
@@ -1,6 +1,9 @@
-import "service.dart";
+import "package:autonomy/interfaces.dart";
 
 abstract class DetectorInterface extends Service {
+  AutonomyInterface collection;
+  DetectorInterface({required this.collection});
+
   bool findObstacles();
   bool canSeeAruco();
   bool isOnSlope();
diff --git a/lib/src/interfaces/drive.dart b/lib/src/interfaces/drive.dart
index b08471b..d7dd8b2 100644
--- a/lib/src/interfaces/drive.dart
+++ b/lib/src/interfaces/drive.dart
@@ -42,6 +42,7 @@ enum DriveOrientation {
 
 abstract class DriveInterface extends Service {
   AutonomyInterface collection;
+  DriveOrientation orientation = DriveOrientation.north;
   DriveInterface({required this.collection});
 
   Future<void> goDirection(DriveDirection direction) async => switch (direction) {
@@ -58,9 +59,21 @@ abstract class DriveInterface extends Service {
   Future<void> turnRight();
   Future<void> stop();
 
+  Future<void> faceDirection(DriveOrientation orientation) async {
+    this.orientation = orientation;
+  }
+
   Future<void> followPath(List<AutonomyAStarState> path) async {
     for (final state in path) {
       await goDirection(state.direction);
     }
   }
+
+  void setLedStrip(ProtoColor color, {bool blink = false}) {
+    final command = DriveCommand(color: color, blink: blink ? BoolState.YES : BoolState.NO);
+    collection.server.sendCommand(command);
+  }
+
+  Future<bool> spinForAruco() async => false;
+  Future<void> approachAruco() async { }
 }
diff --git a/lib/src/interfaces/gps_utils.dart b/lib/src/interfaces/gps_utils.dart
index 570d5c9..66ee5aa 100644
--- a/lib/src/interfaces/gps_utils.dart
+++ b/lib/src/interfaces/gps_utils.dart
@@ -49,7 +49,8 @@ extension GpsUtils on GpsCoordinates {
     longitude: longitude + other.longitude,
   );
 
-  String prettyPrint() => "(lat=${(latitude * GpsUtils.metersPerLatitude).toStringAsFixed(2)}, long=${(longitude * GpsUtils.metersPerLongitude).toStringAsFixed(2)})";
+//  String prettyPrint() => "(lat=${(latitude * GpsUtils.metersPerLatitude).toStringAsFixed(2)}, long=${(longitude * GpsUtils.metersPerLongitude).toStringAsFixed(2)})";
+  String prettyPrint() => toProto3Json().toString();
 
   GpsCoordinates goForward(DriveOrientation orientation) => this + switch(orientation) {
     DriveOrientation.north => GpsUtils.north,
diff --git a/lib/src/interfaces/imu.dart b/lib/src/interfaces/imu.dart
index f5af500..7454d2f 100644
--- a/lib/src/interfaces/imu.dart
+++ b/lib/src/interfaces/imu.dart
@@ -7,7 +7,10 @@ abstract class ImuInterface extends Service with Receiver {
 
   double get heading => raw.z;
   Orientation get raw;
-  DriveOrientation? get orientation => DriveOrientation.fromRaw(raw);
+  DriveOrientation? get orientation {
+	collection.logger.trace("Trying to find orientation at $heading");
+	return DriveOrientation.fromRaw(raw);
+  }
   void update(Orientation newValue);
   bool isNear(double angle) => raw.isNear(angle);
 }
diff --git a/lib/src/interfaces/imu_utils.dart b/lib/src/interfaces/imu_utils.dart
index 1fbf3c5..96d928e 100644
--- a/lib/src/interfaces/imu_utils.dart
+++ b/lib/src/interfaces/imu_utils.dart
@@ -1,7 +1,7 @@
 import "package:burt_network/generated.dart";
 
 extension OrientationUtils on Orientation {
-  static const double epsilon = 15;
+  static const double epsilon = 10;
   
   static final north = Orientation(z: 0);
   static final west = Orientation(z: 90);
diff --git a/lib/src/interfaces/orchestrator.dart b/lib/src/interfaces/orchestrator.dart
index 59a75ea..13ee8ed 100644
--- a/lib/src/interfaces/orchestrator.dart
+++ b/lib/src/interfaces/orchestrator.dart
@@ -1,7 +1,7 @@
 import "dart:io";
 
-import "package:burt_network/generated.dart";
 import "package:autonomy/interfaces.dart";
+import "package:burt_network/burt_network.dart";
 import "package:meta/meta.dart";
 
 abstract class OrchestratorInterface extends Service {
@@ -11,6 +11,13 @@ abstract class OrchestratorInterface extends Service {
   AutonomyCommand? currentCommand;
   AutonomyState currentState = AutonomyState.AUTONOMY_STATE_UNDEFINED;
   Future<void> onCommand(AutonomyCommand command) async {
+    collection.server.sendMessage(command);
+    if (command.abort) return abort();
+    if (currentCommand != null) {
+      collection.logger.error("Already executing a command", body: "Abort first if you want to switch tasks");
+      return;
+    }
+
     if (!collection.hasValue) {
       collection.logger.error("Sensors haven't gotten any readings yet!");
       currentState = AutonomyState.NO_SOLUTION;
@@ -21,11 +28,21 @@ abstract class OrchestratorInterface extends Service {
     switch (command.task) {
       case AutonomyTask.GPS_ONLY: await handleGpsTask(command);
       case AutonomyTask.VISUAL_MARKER: await handleArucoTask(command);
-      // TODO: Add more tasks 
+      // TODO: Add more tasks
       default: collection.logger.error("Unrecognized task: ${command.task}");  // ignore: no_default_cases
     }
   }
 
+  @override
+  Future<bool> init() async {
+    collection.server.messages.onMessage(
+      name: AutonomyCommand().messageName,
+      constructor: AutonomyCommand.fromBuffer,
+      callback: onCommand,
+    );
+    return true;
+  }
+
   @mustCallSuper
   Future<void> abort() async {
     currentCommand = null;
@@ -35,7 +52,7 @@ abstract class OrchestratorInterface extends Service {
     await collection.dispose();
     exit(1);
   }
-  
+
   Future<void> handleGpsTask(AutonomyCommand command);
   Future<void> handleArucoTask(AutonomyCommand command);
   Future<void> handleHammerTask(AutonomyCommand command);
diff --git a/lib/src/interfaces/realsense.dart b/lib/src/interfaces/realsense.dart
deleted file mode 100644
index f15e25a..0000000
--- a/lib/src/interfaces/realsense.dart
+++ /dev/null
@@ -1,10 +0,0 @@
-import "dart:typed_data";
-
-import "package:autonomy/interfaces.dart";
-
-abstract class RealSenseInterface extends Service with Receiver {
-  final AutonomyInterface collection;
-  RealSenseInterface({required this.collection});
-
-  void updateFrame(Uint16List newFrame);
-}
diff --git a/lib/src/interfaces/server.dart b/lib/src/interfaces/server.dart
index 0d10183..cec6850 100644
--- a/lib/src/interfaces/server.dart
+++ b/lib/src/interfaces/server.dart
@@ -1,55 +1,25 @@
 import "dart:io";
 
-import "package:autonomy/interfaces.dart";
 import "package:burt_network/burt_network.dart";
-import "package:meta/meta.dart";
 
-abstract class ServerInterface extends RoverServer implements Service {
+extension ServerUtils on RoverSocket {
   static SocketInfo subsystemsDestination = SocketInfo(
     address: InternetAddress("192.168.1.20"),
     port: 8001,
   );
-  
-  final AutonomyInterface collection;
-  ServerInterface({required this.collection, super.quiet = false}) : super(device: Device.AUTONOMY, port: 8003);
 
-  void sendCommand(Message message) => sendMessage(message, destinationOverride: subsystemsDestination);
-
-  @override
-  Future<void> restart() => collection.restart();
-
-  @override
-  Future<void> onShutdown() => collection.dispose();
+  void sendCommand(Message message) => sendMessage(message, destination: subsystemsDestination);
 
   Future<void> waitForConnection() async {
-    collection.logger.info("Waiting for connection...");
+    logger.info("Waiting for connection...");
     while (!isConnected) {
       await Future<void>.delayed(const Duration(milliseconds: 100));
     }
     return;
   }
 
-  @override
-  @mustCallSuper
-  void onMessage(WrappedMessage wrapper) {
-    if (wrapper.name == AutonomyCommand().messageName) {
-      sendWrapper(wrapper);  // acknowledge receipt to the dashboard
-      final command = AutonomyCommand.fromBuffer(wrapper.data);
-      if (command.abort) {
-        collection.orchestrator.abort();
-        return;
-      }
-      if (collection.orchestrator.currentCommand != null) {
-        collection.logger.error("Already executing a command", body: "Abort first if you want to switch tasks");
-        return;
-      }
-      collection.orchestrator.onCommand(command);
-    }
-  }
-
-  @override
-  Future<void> onDisconnect() async {
-    await collection.orchestrator.abort();
-    super.onDisconnect();
+  void sendDone() {
+    final message = AutonomyData(state: AutonomyState.AT_DESTINATION, task: AutonomyTask.AUTONOMY_TASK_UNDEFINED);
+    sendMessage(message);
   }
 }
diff --git a/lib/src/interfaces/video.dart b/lib/src/interfaces/video.dart
new file mode 100644
index 0000000..e66dc3e
--- /dev/null
+++ b/lib/src/interfaces/video.dart
@@ -0,0 +1,17 @@
+import "package:autonomy/interfaces.dart";
+import "package:burt_network/generated.dart";
+
+/// Handles obstacle detection data and ArUco data from video
+abstract class VideoInterface extends Service with Receiver {
+bool flag = false;
+
+  final AutonomyInterface collection;
+  VideoInterface({required this.collection});
+
+  VideoData data = VideoData();
+
+  void updateFrame(VideoData newData);
+
+  double get arucoSize => data.arucoSize;
+  double get arucoPosition => data.arucoPosition;
+}
diff --git a/lib/src/rover/detector.dart b/lib/src/rover/detector.dart
new file mode 100644
index 0000000..f28c508
--- /dev/null
+++ b/lib/src/rover/detector.dart
@@ -0,0 +1,21 @@
+import "package:autonomy/interfaces.dart";
+
+class RoverDetector extends DetectorInterface {
+  RoverDetector({required super.collection});
+
+  @override
+  bool isOnSlope() => false;
+
+  @override
+  bool findObstacles() => false;
+
+  @override
+//  bool canSeeAruco() => collection.video.data.arucoDetected == BoolState.YES;
+	bool canSeeAruco() => collection.video.flag;
+
+  @override
+  Future<bool> init() async => true;
+
+  @override
+  Future<void> dispose() async { }
+}
diff --git a/lib/src/rover/drive.dart b/lib/src/rover/drive.dart
index 73739cd..7cef09e 100644
--- a/lib/src/rover/drive.dart
+++ b/lib/src/rover/drive.dart
@@ -4,25 +4,25 @@ import "package:autonomy/interfaces.dart";
 import "drive/timed.dart";
 import "drive/sensor.dart";
 
-/// A helper class to send drive commands to the rover with a simpler API. 
+/// A helper class to send drive commands to the rover with a simpler API.
 class RoverDrive extends DriveInterface {
   final bool useGps;
   final bool useImu;
-  
+
   final SensorDrive sensorDrive;
   final TimedDrive timedDrive;
-  
+
   // TODO: Calibrate these
-  RoverDrive({required super.collection, this.useGps = true, this.useImu = true}) : 
+  RoverDrive({required super.collection, this.useGps = true, this.useImu = true}) :
     sensorDrive = SensorDrive(collection: collection),
     timedDrive = TimedDrive(collection: collection);
 
 	/// Initializes the rover's drive subsystems.
-	@override 
+	@override
   Future<bool> init() async => true;
 
 	/// Stops the rover from driving.
-	@override 
+	@override
   Future<void> dispose() => stop();
 
 	/// Sets the angle of the front camera.
@@ -32,7 +32,7 @@ class RoverDrive extends DriveInterface {
 		collection.server.sendCommand(command);
 	}
 
-  @override 
+  @override
   Future<void> stop() async {
     await timedDrive.stop();
   }
@@ -40,7 +40,23 @@ class RoverDrive extends DriveInterface {
   @override
   Future<void> faceNorth() => useImu ? sensorDrive.faceNorth() : timedDrive.faceNorth();
 
-  @override 
+  @override
+  Future<bool> spinForAruco() => sensorDrive.spinForAruco();
+  @override
+  Future<void> approachAruco() => sensorDrive.approachAruco();
+
+
+  @override
+  Future<void> faceDirection(DriveOrientation orientation) async {
+    if (useImu) {
+      await sensorDrive.faceDirection(orientation);
+    } else {
+      await timedDrive.faceDirection(orientation);
+    }
+    await super.faceDirection(orientation);
+  }
+
+  @override
   Future<void> goForward() => useGps ? sensorDrive.goForward() : timedDrive.goForward();
 
   @override
diff --git a/lib/src/rover/drive/motors.dart b/lib/src/rover/drive/motors.dart
index 8772ea7..98710c2 100644
--- a/lib/src/rover/drive/motors.dart
+++ b/lib/src/rover/drive/motors.dart
@@ -18,6 +18,7 @@ mixin RoverMotors {
 	/// 
 	/// These values are percentages of the max speed allowed by the rover. See [setThrottle].
 	void setSpeeds({required double left, required double right}) {
+		right *= -1;
 		collection.logger.trace("Setting speeds to $left and $right");
 		collection.server.sendCommand(DriveCommand(left: left, setLeft: true));
 		collection.server.sendCommand(DriveCommand(right: right, setRight: true));
diff --git a/lib/src/rover/drive/sensor.dart b/lib/src/rover/drive/sensor.dart
index 67ebec6..2fadbb9 100644
--- a/lib/src/rover/drive/sensor.dart
+++ b/lib/src/rover/drive/sensor.dart
@@ -1,10 +1,14 @@
+import "package:autonomy/autonomy.dart";
 import "package:autonomy/interfaces.dart";
-import "package:autonomy/src/rover/drive/motors.dart";
+
+import "motors.dart";
 
 class SensorDrive extends DriveInterface with RoverMotors {
-  static const double maxThrottle = 0.2;
-  static const predicateDelay = Duration(milliseconds: 10);
-  
+  static const double maxThrottle = 0.1;
+  static const double turnThrottle = 0.1;
+  static const predicateDelay = Duration(milliseconds: 100);
+  static const turnDelay = Duration(milliseconds: 1500);
+
   SensorDrive({required super.collection});
 
   @override
@@ -15,7 +19,17 @@ class SensorDrive extends DriveInterface with RoverMotors {
 
   Future<void> waitFor(bool Function() predicate) async {
     while (!predicate()) {
+//	collection.logger.debug("Next turning loop");
+//      collection.imu.hasValue = false;
+//      setThrottle(maxThrottle);
+//      setSpeeds(left: -1, right: 1);
       await Future<void>.delayed(predicateDelay);
+//	if (!collection.imu.hasValue) {
+//	collection.logger.trace("IMU has value: ${collection.imu.hasValue}");
+//	  await stop();
+//		collection.logger.warning("Checked for IMU value but didn't find it");
+//	}
+//      await collection.imu.waitForValue();
     }
   }
 
@@ -30,7 +44,7 @@ class SensorDrive extends DriveInterface with RoverMotors {
     final orientation = collection.imu.orientation;
     final currentCoordinates = collection.gps.coordinates;
     final destination = currentCoordinates.goForward(orientation!);
-    
+
     setThrottle(maxThrottle);
     setSpeeds(left: 1, right: 1);
     await waitFor(() => collection.gps.coordinates.isNear(destination));
@@ -39,30 +53,101 @@ class SensorDrive extends DriveInterface with RoverMotors {
 
   @override
   Future<void> faceNorth() async {
-    setThrottle(maxThrottle);
+    collection.logger.info("Turning to face north...");
+    setThrottle(turnThrottle);
+    setSpeeds(left: -1, right: 1);
+    await waitFor(() {
+      collection.logger.trace("Current heading: ${collection.imu.heading}");
+      return collection.imu.raw.isNear(0);
+    });
+    await stop();
+  }
+
+  @override
+  Future<void> faceDirection(DriveOrientation orientation) async {
+    collection.logger.info("Turning to face $orientation...");
+    setThrottle(turnThrottle);
     setSpeeds(left: -1, right: 1);
-    await waitFor(() => collection.imu.raw.isNear(0));
+    await waitFor(() {
+      collection.logger.trace("Current heading: ${collection.imu.heading}");
+      return collection.imu.raw.isNear(orientation.angle.toDouble());
+    });
     await stop();
+    await super.faceDirection(orientation);
   }
 
   @override
   Future<void> turnLeft() async {
-    final orientation = collection.imu.orientation!;
-    final destination = orientation.turnLeft();  // do NOT clamp!
+	if (collection.imu.orientation == null) {
+		await faceNorth();
+		await faceDirection(this.orientation);
+	}
+    final orientation = collection.imu.orientation;
+    final destination = orientation!.turnLeft();  // do NOT clamp!
     setThrottle(maxThrottle);
     setSpeeds(left: -1, right: 1);
-    await waitFor(() => collection.imu.orientation == destination); 
+    await waitFor(() => collection.imu.orientation == destination);
     await stop();
+	this.orientation = this.orientation.turnLeft();
+
   }
 
   @override
   Future<void> turnRight() async {
     // TODO: Allow corrective turns
+        if (collection.imu.orientation == null) {
+                await faceNorth();
+                await faceDirection(this.orientation);
+        }
     final orientation = collection.imu.orientation;
     final destination = orientation!.turnRight();  // do NOT clamp!
     setThrottle(maxThrottle);
-    setSpeeds(left: -1, right: 1);
-    await waitFor(() => collection.imu.orientation == destination); 
+    setSpeeds(left: 1, right: -1);
+    await waitFor(() => collection.imu.orientation == destination);
+    await stop();
+	this.orientation = this.orientation.turnRight();
+  }
+
+  @override
+  Future<bool> spinForAruco() async {
+    for (var i = 0; i < 16; i++) {
+      setThrottle(turnThrottle);
+      setSpeeds(left: -1, right: 1);
+      await Future<void>.delayed(turnDelay);
+      await stop();
+
+      for (var j = 0; j < 300; j++) {
+        await Future<void>.delayed(const Duration(milliseconds: 10));
+        collection.logger.trace("Can see aruco? ${collection.detector.canSeeAruco()}");
+
+        if (collection.detector.canSeeAruco()) {
+          // Spin a bit more to center it
+          // print("We found it!");
+          // setThrottle(0.1);
+          // setSpeeds(left: -1, right: 1);
+          // await waitFor(() {
+            // final pos = collection.video.arucoPosition;
+            // collection.logger.debug("aruco is at $pos");
+            // return pos > 0.2;
+          //	});
+          // await stop();
+        return true;
+      }}
+    }
+    return false;
+  }
+
+  @override
+  Future<void> approachAruco() async {
+    setThrottle(maxThrottle);
+    setSpeeds(left: 1, right: 1);
+    // const threshold = 0.2;
+    //  await waitFor(() {
+      //	final pos = collection.video.arucoSize;
+      //	collection.logger.debug("It is at $pos percent");
+      //	return (pos.abs() < 0.00001 && !collection.detector.canSeeAruco()) || pos >= threshold;
+    //	});
+    await Future<void>.delayed(const Duration(seconds: 10));
     await stop();
   }
 }
diff --git a/lib/src/rover/drive/timed.dart b/lib/src/rover/drive/timed.dart
index 768b4f4..babb113 100644
--- a/lib/src/rover/drive/timed.dart
+++ b/lib/src/rover/drive/timed.dart
@@ -3,10 +3,10 @@ import "package:autonomy/interfaces.dart";
 import "motors.dart";
 
 class TimedDrive extends DriveInterface with RoverMotors {
-  static const maxThrottle = 0.2;
+  static const maxThrottle = 0.1;
   static const turnThrottle = 0.1;
-  static const oneMeterDelay = Duration(seconds: 1);
-  static const turnDelay = Duration(seconds: 1);
+  static const oneMeterDelay = Duration(seconds: 6);
+  static const turnDelay = Duration(milliseconds: 5500);
 
   TimedDrive({required super.collection});
 
@@ -16,7 +16,7 @@ class TimedDrive extends DriveInterface with RoverMotors {
   @override
   Future<void> dispose() async { }
 
-  @override 
+  @override
   Future<void> stop() async {
     setThrottle(0);
     setSpeeds(left: 0, right: 0);
@@ -25,7 +25,7 @@ class TimedDrive extends DriveInterface with RoverMotors {
   @override
   Future<void> faceNorth() async { /* Assume already facing north */ }
 
-  @override 
+  @override
   Future<void> goForward() async {
     setThrottle(maxThrottle);
     setSpeeds(left: 1, right: 1);
diff --git a/lib/src/rover/gps.dart b/lib/src/rover/gps.dart
index 3de8b0a..8e566f8 100644
--- a/lib/src/rover/gps.dart
+++ b/lib/src/rover/gps.dart
@@ -1,15 +1,24 @@
-import "package:burt_network/generated.dart";
+import "package:burt_network/burt_network.dart";
 import "package:autonomy/interfaces.dart";
 
 import "corrector.dart";
 
 class RoverGps extends GpsInterface {
-  final _latitudeCorrector = ErrorCorrector(maxSamples: 5, maxDeviation: GpsInterface.gpsError * 10);
-  final _longitudeCorrector = ErrorCorrector(maxSamples: 5, maxDeviation: GpsInterface.gpsError * 10);
+  final _latitudeCorrector = ErrorCorrector(maxSamples: 1, maxDeviation: GpsInterface.gpsError * 10);
+  final _longitudeCorrector = ErrorCorrector(maxSamples: 1, maxDeviation: GpsInterface.gpsError * 10);
   RoverGps({required super.collection});
-    
+
   @override
-  Future<bool> init() async => true;
+  Future<bool> init() async {
+    collection.server.messages.onMessage(
+      name: RoverPosition().messageName,
+      constructor: RoverPosition.fromBuffer,
+      callback: (pos) {
+        if (pos.hasGps()) update(pos.gps);
+      },
+    );
+    return true;
+  }
 
   @override
   Future<void> dispose() async {
@@ -17,7 +26,7 @@ class RoverGps extends GpsInterface {
     _longitudeCorrector.clear();
   }
 
-  @override
+	@override
   void update(GpsCoordinates newValue) {
     _latitudeCorrector.addValue(newValue.latitude);
     _longitudeCorrector.addValue(newValue.longitude);
@@ -25,8 +34,8 @@ class RoverGps extends GpsInterface {
   }
 
   @override
-  GpsCoordinates get coordinates => GpsCoordinates(
-    latitude: _latitudeCorrector.calibratedValue,
-    longitude: _longitudeCorrector.calibratedValue,
-  );
+ GpsCoordinates get coordinates => GpsCoordinates(
+   latitude: _latitudeCorrector.calibratedValue,
+   longitude: _longitudeCorrector.calibratedValue,
+ );
 }
diff --git a/lib/src/rover/imu.dart b/lib/src/rover/imu.dart
index b4315ba..df63f74 100644
--- a/lib/src/rover/imu.dart
+++ b/lib/src/rover/imu.dart
@@ -1,4 +1,4 @@
-import "package:burt_network/generated.dart";
+import "package:burt_network/burt_network.dart";
 import "package:autonomy/interfaces.dart";
 
 import "corrector.dart";
@@ -7,8 +7,19 @@ class RoverImu extends ImuInterface {
   final _zCorrector = ErrorCorrector(maxSamples: 10, maxDeviation: 15);
   RoverImu({required super.collection});
 
+	Orientation value = Orientation();
+
   @override
-  Future<bool> init() async => true;
+  Future<bool> init() async {
+    collection.server.messages.onMessage(
+      name: RoverPosition().messageName,
+      constructor: RoverPosition.fromBuffer,
+      callback: (pos) {
+        if (pos.hasOrientation()) update(pos.orientation);
+      },
+    );
+    return true;
+  }
 
   @override
   Future<void> dispose() async {
@@ -17,14 +28,17 @@ class RoverImu extends ImuInterface {
 
   @override
   void update(Orientation newValue) {
-    _zCorrector.addValue(newValue.heading);
+    //  _zCorrector.addValue(newValue.heading);
+    //	collection.logger.trace("Got IMU value");
+    //	print("Got imu");
     hasValue = true;
-  }
+    value = newValue;
+	}
 
   @override
   Orientation get raw => Orientation(
-    x: 0, 
+    x: 0,
     y: 0,
-    z: _zCorrector.calibratedValue,
+    z: value.z,
   ).clampHeading();
 }
diff --git a/lib/src/rover/orchestrator.dart b/lib/src/rover/orchestrator.dart
index 8a7a8fd..16d6b12 100644
--- a/lib/src/rover/orchestrator.dart
+++ b/lib/src/rover/orchestrator.dart
@@ -1,5 +1,6 @@
 import "package:autonomy/interfaces.dart";
 import "package:burt_network/generated.dart";
+import "dart:async";
 
 class RoverOrchestrator extends OrchestratorInterface with ValueReporter {
   final List<GpsCoordinates> traversed = [];
@@ -14,7 +15,7 @@ class RoverOrchestrator extends OrchestratorInterface with ValueReporter {
     traversed.clear();
     await super.dispose();
   }
-  
+
   @override
   AutonomyData get statusMessage => AutonomyData(
     destination: currentCommand?.destination,
@@ -31,15 +32,18 @@ class RoverOrchestrator extends OrchestratorInterface with ValueReporter {
 
   @override
   Message getMessage() => statusMessage;
-  
+
   @override
   Future<void> handleGpsTask(AutonomyCommand command) async {
     final destination = command.destination;
     collection.logger.info("Got GPS Task: Go to ${destination.prettyPrint()}");
+    collection.logger.debug("Currently at ${collection.gps.coordinates.prettyPrint()}");
+    collection.drive.setLedStrip(ProtoColor.RED);
     while (!collection.gps.coordinates.isNear(destination)) {
       // Calculate a path
       collection.logger.debug("Finding a path");
       currentState = AutonomyState.PATHING;
+      await collection.drive.faceNorth();
       final path = collection.pathfinder.getPath(destination);
       currentPath = path;  // also use local variable path for promotion
       if (path == null) {
@@ -51,27 +55,50 @@ class RoverOrchestrator extends OrchestratorInterface with ValueReporter {
       }
       // Try to take that path
       final current = collection.gps.coordinates;
-      collection.logger.trace("Found a path from ${current.prettyPrint()} to ${destination.prettyPrint()}: ${path.length} steps");
+      collection.logger.info("Found a path from ${current.prettyPrint()} to ${destination.prettyPrint()}: ${path.length} steps");
+      collection.logger.debug("Here is a summary of the path");
+      for (final step in path) {
+        collection.logger.debug(step.toString());
+      }
       currentState = AutonomyState.DRIVING;
+      var count = 0;
       for (final state in path) {
+        collection.logger.debug(state.toString());
         await collection.drive.goDirection(state.direction);
         traversed.add(state.position);
         if (state.direction != DriveDirection.forward) continue;
+        if (count++ == 5) break;
         final foundObstacle = collection.detector.findObstacles();
         if (foundObstacle) {
-          collection.logger.debug("Found an obstacle. Recalculating path..."); 
+          collection.logger.debug("Found an obstacle. Recalculating path...");
           break;  // calculate a new path
         }
       }
     }
     collection.logger.info("Task complete");
+    collection.drive.setLedStrip(ProtoColor.GREEN, blink: true);
     currentState = AutonomyState.AT_DESTINATION;
     currentCommand = null;
   }
 
   @override
   Future<void> handleArucoTask(AutonomyCommand command) async {
+collection.drive.setLedStrip(ProtoColor.RED);
 
+    // Go to GPS coordinates
+    // await handleGpsTask(command);
+    collection.logger.info("Got ArUco Task");
+
+    currentState = AutonomyState.SEARCHING;
+    collection.logger.info("Searching for ArUco tag");
+final didSeeAruco = await collection.drive.spinForAruco();
+  if (didSeeAruco) {
+    collection.logger.info("Found aruco");
+	currentState = AutonomyState.APPROACHING;
+    await collection.drive.approachAruco();
+	collection.drive.setLedStrip(ProtoColor.GREEN, blink: true);
+	currentState = AutonomyState.AT_DESTINATION;
+  }
   }
 
   @override
diff --git a/lib/src/rover/realsense.dart b/lib/src/rover/realsense.dart
deleted file mode 100644
index caa8ed6..0000000
--- a/lib/src/rover/realsense.dart
+++ /dev/null
@@ -1,19 +0,0 @@
-import "dart:typed_data";
-
-import "package:autonomy/interfaces.dart";
-
-class RoverRealsense extends RealSenseInterface {  
-  RoverRealsense({required super.collection});
-  
-  @override
-  Future<bool> init() async => true;
-
-  @override
-  Future<void> dispose() async { }
-  
-  @override
-  void updateFrame(Uint16List newFrame) {
-    hasValue = true;
-    // TODO: Parse depth data
-  }
-}
diff --git a/lib/src/rover/sensorless.dart b/lib/src/rover/sensorless.dart
index 6123cf5..2beab09 100644
--- a/lib/src/rover/sensorless.dart
+++ b/lib/src/rover/sensorless.dart
@@ -42,6 +42,14 @@ class SensorlessDrive extends DriveInterface {
     await realDrive.faceNorth();
   }
 
+
+  @override
+  Future<void> faceDirection(DriveOrientation orientation) async {
+    await simulatedDrive.faceDirection(orientation);
+    await realDrive.faceDirection(orientation);
+    await super.faceDirection(orientation);
+  }
+
   @override
   Future<void> turnLeft() async {
     await simulatedDrive.turnLeft();
diff --git a/lib/src/rover/server.dart b/lib/src/rover/server.dart
deleted file mode 100644
index 3ffac16..0000000
--- a/lib/src/rover/server.dart
+++ /dev/null
@@ -1,32 +0,0 @@
-import "dart:typed_data";
-
-import "package:burt_network/burt_network.dart";
-import "package:autonomy/interfaces.dart";
-
-/// A server to handle incoming [AutonomyCommand]s and send [AutonomyData]s.
-class AutonomyServer extends ServerInterface {
-  /// Creates an autonomy server at the given port.
-  AutonomyServer({required super.collection});
-
-  @override
-  void onMessage(WrappedMessage wrapper) {
-    if (wrapper.name == RoverPosition().messageName) {
-      final message = RoverPosition.fromBuffer(wrapper.data);
-      if (message.hasGps()) collection.gps.update(message.gps);
-      if (message.hasOrientation()) collection.imu.update(message.orientation);
-    } else if (wrapper.name == VideoData().messageName) {
-      final message = VideoData.fromBuffer(wrapper.data);
-      if (!message.hasFrame()) return;
-      final buffer = Uint16List.fromList(message.frame);
-      collection.realsense.updateFrame(buffer);
-    }
-    super.onMessage(wrapper);
-  }
-
-  @override
-  Future<bool> init() async {
-    await super.init();
-    collection.logger.info("Initialized server");
-    return true;
-  }
-}
diff --git a/lib/src/rover/video.dart b/lib/src/rover/video.dart
new file mode 100644
index 0000000..db8bec0
--- /dev/null
+++ b/lib/src/rover/video.dart
@@ -0,0 +1,32 @@
+import "dart:async";
+
+import "package:autonomy/interfaces.dart";
+import "package:burt_network/burt_network.dart";
+
+class RoverVideo extends VideoInterface {
+  RoverVideo({required super.collection});
+
+  @override
+  Future<bool> init() async {
+    collection.server.messages.onMessage(
+      name: VideoData().messageName,
+      constructor: VideoData.fromBuffer,
+      callback: updateFrame,
+    );
+    return true;
+  }
+
+  @override
+  Future<void> dispose() async { }
+
+  @override
+  void updateFrame(VideoData newData) {
+    data = newData;
+    if (data.arucoDetected == BoolState.YES) {
+      flag = true;
+      Timer(const Duration(seconds: 3), () => flag = false);
+    }
+    collection.logger.info("Is ArUco detected: ${data.arucoDetected}");
+    hasValue  = true;
+  }
+}
diff --git a/lib/src/simulator/detector.dart b/lib/src/simulator/detector.dart
index 9fe0852..d1103f7 100644
--- a/lib/src/simulator/detector.dart
+++ b/lib/src/simulator/detector.dart
@@ -16,8 +16,7 @@ class DetectorSimulator extends DetectorInterface {
 
   final List<SimulatedObstacle> obstacles;
 
-  final AutonomyInterface collection;
-  DetectorSimulator({required this.collection, required this.obstacles});
+  DetectorSimulator({required super.collection, required this.obstacles});
 
   @override
   Future<bool> init() async => true;
diff --git a/lib/src/simulator/orchestrator.dart b/lib/src/simulator/orchestrator.dart
index 4179002..6df6e49 100644
--- a/lib/src/simulator/orchestrator.dart
+++ b/lib/src/simulator/orchestrator.dart
@@ -4,9 +4,6 @@ import "package:burt_network/generated.dart";
 class OrchestratorSimulator extends OrchestratorInterface {
   OrchestratorSimulator({required super.collection});
 
-  @override
-  Future<bool> init() async => true;
-
   @override
   Future<void> dispose() async { }
 
diff --git a/lib/src/simulator/realsense.dart b/lib/src/simulator/realsense.dart
index 1d2549d..0e20191 100644
--- a/lib/src/simulator/realsense.dart
+++ b/lib/src/simulator/realsense.dart
@@ -1,9 +1,10 @@
 import "dart:typed_data";
 
 import "package:autonomy/interfaces.dart";
+import "package:burt_network/generated.dart";
 
-class RealSenseSimulator extends RealSenseInterface {
-  RealSenseSimulator({required super.collection});
+class VideoSimulator extends VideoInterface {
+  VideoSimulator({required super.collection});
   
   @override
   Future<bool> init() async {
@@ -17,5 +18,5 @@ class RealSenseSimulator extends RealSenseInterface {
   Uint16List depthFrame = Uint16List.fromList([]);
 
   @override
-  void updateFrame(Uint16List newFrame) => depthFrame = newFrame;
+  void updateFrame(VideoData newData) { }
 }
diff --git a/lib/src/simulator/server.dart b/lib/src/simulator/server.dart
deleted file mode 100644
index 89d5455..0000000
--- a/lib/src/simulator/server.dart
+++ /dev/null
@@ -1,21 +0,0 @@
-import "package:burt_network/burt_network.dart";
-import "package:autonomy/interfaces.dart";
-
-final driveName = DriveCommand().messageName;
-
-class SimulatorServer extends ServerInterface {
-  SimulatorServer({
-    required super.collection,
-  }) : super(quiet: true);
-
-  @override
-  Future<bool> init() async {
-    await super.init();
-    return true;
-  }
-
-  void sendDone() {
-    final message = AutonomyData(state: AutonomyState.AT_DESTINATION, task: AutonomyTask.AUTONOMY_TASK_UNDEFINED);
-    sendMessage(message);
-  }
-}
diff --git a/pubspec.lock b/pubspec.lock
new file mode 100644
index 0000000..bab4467
--- /dev/null
+++ b/pubspec.lock
@@ -0,0 +1,482 @@
+# Generated by pub
+# See https://dart.dev/tools/pub/glossary#lockfile
+packages:
+  _fe_analyzer_shared:
+    dependency: transitive
+    description:
+      name: _fe_analyzer_shared
+      sha256: "45cfa8471b89fb6643fe9bf51bd7931a76b8f5ec2d65de4fb176dba8d4f22c77"
+      url: "https://pub.dev"
+    source: hosted
+    version: "73.0.0"
+  _macros:
+    dependency: transitive
+    description: dart
+    source: sdk
+    version: "0.3.2"
+  a_star:
+    dependency: "direct main"
+    description:
+      name: a_star
+      sha256: e76e163888a193c0f8fe79d05396839fa663f1afa6aed8e58609c0b4799767a0
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.0.0"
+  analyzer:
+    dependency: transitive
+    description:
+      name: analyzer
+      sha256: "4959fec185fe70cce007c57e9ab6983101dbe593d2bf8bbfb4453aaec0cf470a"
+      url: "https://pub.dev"
+    source: hosted
+    version: "6.8.0"
+  args:
+    dependency: transitive
+    description:
+      name: args
+      sha256: "7cf60b9f0cc88203c5a190b4cd62a99feea42759a7fa695010eb5de1c0b2252a"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.5.0"
+  async:
+    dependency: transitive
+    description:
+      name: async
+      sha256: "947bfcf187f74dbc5e146c9eb9c0f10c9f8b30743e341481c1e2ed3ecc18c20c"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.11.0"
+  boolean_selector:
+    dependency: transitive
+    description:
+      name: boolean_selector
+      sha256: "6cfb5af12253eaf2b368f07bacc5a80d1301a071c73360d746b7f2e32d762c66"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.1"
+  burt_network:
+    dependency: "direct main"
+    description:
+      path: "../../burt_network"
+      relative: true
+    source: path
+    version: "2.0.0"
+  collection:
+    dependency: transitive
+    description:
+      name: collection
+      sha256: a1ace0a119f20aabc852d165077c036cd864315bd99b7eaa10a60100341941bf
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.19.0"
+  convert:
+    dependency: transitive
+    description:
+      name: convert
+      sha256: "0f08b14755d163f6e2134cb58222dd25ea2a2ee8a195e53983d57c075324d592"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.1.1"
+  coverage:
+    dependency: transitive
+    description:
+      name: coverage
+      sha256: c1fb2dce3c0085f39dc72668e85f8e0210ec7de05345821ff58530567df345a5
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.9.2"
+  crypto:
+    dependency: transitive
+    description:
+      name: crypto
+      sha256: ec30d999af904f33454ba22ed9a86162b35e52b44ac4807d1d93c288041d7d27
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.0.5"
+  dylib:
+    dependency: transitive
+    description:
+      name: dylib
+      sha256: bf609b3eb6492a3309b3d1dbe8f83a4031de5535dd7686be33487051cc760bb0
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.3.3"
+  ffi:
+    dependency: transitive
+    description:
+      name: ffi
+      sha256: "16ed7b077ef01ad6170a3d0c57caa4a112a38d7a2ed5602e0aca9ca6f3d98da6"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.3"
+  file:
+    dependency: transitive
+    description:
+      name: file
+      sha256: "5fc22d7c25582e38ad9a8515372cd9a93834027aacf1801cf01164dac0ffa08c"
+      url: "https://pub.dev"
+    source: hosted
+    version: "7.0.0"
+  fixnum:
+    dependency: transitive
+    description:
+      name: fixnum
+      sha256: "25517a4deb0c03aa0f32fd12db525856438902d9c16536311e76cdc57b31d7d1"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.1.0"
+  frontend_server_client:
+    dependency: transitive
+    description:
+      name: frontend_server_client
+      sha256: f64a0333a82f30b0cca061bc3d143813a486dc086b574bfb233b7c1372427694
+      url: "https://pub.dev"
+    source: hosted
+    version: "4.0.0"
+  glob:
+    dependency: transitive
+    description:
+      name: glob
+      sha256: "0e7014b3b7d4dac1ca4d6114f82bf1782ee86745b9b42a92c9289c23d8a0ab63"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.2"
+  http_multi_server:
+    dependency: transitive
+    description:
+      name: http_multi_server
+      sha256: "97486f20f9c2f7be8f514851703d0119c3596d14ea63227af6f7a481ef2b2f8b"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.2.1"
+  http_parser:
+    dependency: transitive
+    description:
+      name: http_parser
+      sha256: "40f592dd352890c3b60fec1b68e786cefb9603e05ff303dbc4dda49b304ecdf4"
+      url: "https://pub.dev"
+    source: hosted
+    version: "4.1.0"
+  io:
+    dependency: transitive
+    description:
+      name: io
+      sha256: "2ec25704aba361659e10e3e5f5d672068d332fc8ac516421d483a11e5cbd061e"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.0.4"
+  js:
+    dependency: transitive
+    description:
+      name: js
+      sha256: c1b2e9b5ea78c45e1a0788d29606ba27dc5f71f019f32ca5140f61ef071838cf
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.7.1"
+  libserialport:
+    dependency: transitive
+    description:
+      name: libserialport
+      sha256: "392e1592def65282429832ec66fa25e9e163d3b37716b97691482e2406720727"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.3.0+1"
+  logger:
+    dependency: transitive
+    description:
+      name: logger
+      sha256: "697d067c60c20999686a0add96cf6aba723b3aa1f83ecf806a8097231529ec32"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.4.0"
+  logging:
+    dependency: transitive
+    description:
+      name: logging
+      sha256: "623a88c9594aa774443aa3eb2d41807a48486b5613e67599fb4c41c0ad47c340"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.2.0"
+  macros:
+    dependency: transitive
+    description:
+      name: macros
+      sha256: "0acaed5d6b7eab89f63350bccd82119e6c602df0f391260d0e32b5e23db79536"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.1.2-main.4"
+  matcher:
+    dependency: transitive
+    description:
+      name: matcher
+      sha256: d2323aa2060500f906aa31a895b4030b6da3ebdcc5619d14ce1aada65cd161cb
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.12.16+1"
+  meta:
+    dependency: "direct main"
+    description:
+      name: meta
+      sha256: bdb68674043280c3428e9ec998512fb681678676b3c54e773629ffe74419f8c7
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.15.0"
+  mime:
+    dependency: transitive
+    description:
+      name: mime
+      sha256: "801fd0b26f14a4a58ccb09d5892c3fbdeff209594300a542492cf13fba9d247a"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.0.6"
+  node_preamble:
+    dependency: transitive
+    description:
+      name: node_preamble
+      sha256: "6e7eac89047ab8a8d26cf16127b5ed26de65209847630400f9aefd7cd5c730db"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.0.2"
+  opencv_ffi:
+    dependency: "direct main"
+    description:
+      path: "."
+      ref: HEAD
+      resolved-ref: fb721ce518faa62b470c73ae58edfe825a5f9052
+      url: "https://github.com/BinghamtonRover/OpenCV-FFI.git"
+    source: git
+    version: "1.2.0"
+  package_config:
+    dependency: transitive
+    description:
+      name: package_config
+      sha256: "1c5b77ccc91e4823a5af61ee74e6b972db1ef98c2ff5a18d3161c982a55448bd"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.0"
+  path:
+    dependency: transitive
+    description:
+      name: path
+      sha256: "087ce49c3f0dc39180befefc60fdb4acd8f8620e5682fe2476afd0b3688bb4af"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.9.0"
+  platform:
+    dependency: transitive
+    description:
+      name: platform
+      sha256: "9b71283fc13df574056616011fb138fd3b793ea47cc509c189a6c3fa5f8a1a65"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.1.5"
+  pool:
+    dependency: transitive
+    description:
+      name: pool
+      sha256: "20fe868b6314b322ea036ba325e6fc0711a22948856475e2c2b6306e8ab39c2a"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.5.1"
+  protobuf:
+    dependency: transitive
+    description:
+      name: protobuf
+      sha256: "68645b24e0716782e58948f8467fd42a880f255096a821f9e7d0ec625b00c84d"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.1.0"
+  pub_semver:
+    dependency: transitive
+    description:
+      name: pub_semver
+      sha256: "40d3ab1bbd474c4c2328c91e3a7df8c6dd629b79ece4c4bd04bee496a224fb0c"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.4"
+  shelf:
+    dependency: transitive
+    description:
+      name: shelf
+      sha256: e7dd780a7ffb623c57850b33f43309312fc863fb6aa3d276a754bb299839ef12
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.4.2"
+  shelf_packages_handler:
+    dependency: transitive
+    description:
+      name: shelf_packages_handler
+      sha256: "89f967eca29607c933ba9571d838be31d67f53f6e4ee15147d5dc2934fee1b1e"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.0.2"
+  shelf_static:
+    dependency: transitive
+    description:
+      name: shelf_static
+      sha256: c87c3875f91262785dade62d135760c2c69cb217ac759485334c5857ad89f6e3
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.1.3"
+  shelf_web_socket:
+    dependency: transitive
+    description:
+      name: shelf_web_socket
+      sha256: "073c147238594ecd0d193f3456a5fe91c4b0abbcc68bf5cd95b36c4e194ac611"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.0.0"
+  source_map_stack_trace:
+    dependency: transitive
+    description:
+      name: source_map_stack_trace
+      sha256: c0713a43e323c3302c2abe2a1cc89aa057a387101ebd280371d6a6c9fa68516b
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.2"
+  source_maps:
+    dependency: transitive
+    description:
+      name: source_maps
+      sha256: "708b3f6b97248e5781f493b765c3337db11c5d2c81c3094f10904bfa8004c703"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.10.12"
+  source_span:
+    dependency: transitive
+    description:
+      name: source_span
+      sha256: "53e943d4206a5e30df338fd4c6e7a077e02254531b138a15aec3bd143c1a8b3c"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.10.0"
+  stack_trace:
+    dependency: transitive
+    description:
+      name: stack_trace
+      sha256: "73713990125a6d93122541237550ee3352a2d84baad52d375a4cad2eb9b7ce0b"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.11.1"
+  stream_channel:
+    dependency: transitive
+    description:
+      name: stream_channel
+      sha256: ba2aa5d8cc609d96bbb2899c28934f9e1af5cddbd60a827822ea467161eb54e7
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.2"
+  string_scanner:
+    dependency: transitive
+    description:
+      name: string_scanner
+      sha256: "688af5ed3402a4bde5b3a6c15fd768dbf2621a614950b17f04626c431ab3c4c3"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.3.0"
+  term_glyph:
+    dependency: transitive
+    description:
+      name: term_glyph
+      sha256: a29248a84fbb7c79282b40b8c72a1209db169a2e0542bce341da992fe1bc7e84
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.2.1"
+  test:
+    dependency: "direct dev"
+    description:
+      name: test
+      sha256: "713a8789d62f3233c46b4a90b174737b2c04cb6ae4500f2aa8b1be8f03f5e67f"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.25.8"
+  test_api:
+    dependency: transitive
+    description:
+      name: test_api
+      sha256: "664d3a9a64782fcdeb83ce9c6b39e78fd2971d4e37827b9b06c3aa1edc5e760c"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.7.3"
+  test_core:
+    dependency: transitive
+    description:
+      name: test_core
+      sha256: "12391302411737c176b0b5d6491f466b0dd56d4763e347b6714efbaa74d7953d"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.6.5"
+  typed_data:
+    dependency: transitive
+    description:
+      name: typed_data
+      sha256: facc8d6582f16042dd49f2463ff1bd6e2c9ef9f3d5da3d9b087e244a7b564b3c
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.3.2"
+  very_good_analysis:
+    dependency: "direct dev"
+    description:
+      name: very_good_analysis
+      sha256: "1fb637c0022034b1f19ea2acb42a3603cbd8314a470646a59a2fb01f5f3a8629"
+      url: "https://pub.dev"
+    source: hosted
+    version: "6.0.0"
+  vm_service:
+    dependency: transitive
+    description:
+      name: vm_service
+      sha256: "5c5f338a667b4c644744b661f309fb8080bb94b18a7e91ef1dbd343bed00ed6d"
+      url: "https://pub.dev"
+    source: hosted
+    version: "14.2.5"
+  watcher:
+    dependency: transitive
+    description:
+      name: watcher
+      sha256: "3d2ad6751b3c16cf07c7fca317a1413b3f26530319181b37e3b9039b84fc01d8"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.1.0"
+  web:
+    dependency: transitive
+    description:
+      name: web
+      sha256: d43c1d6b787bf0afad444700ae7f4db8827f701bc61c255ac8d328c6f4d52062
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.0.0"
+  web_socket:
+    dependency: transitive
+    description:
+      name: web_socket
+      sha256: "3c12d96c0c9a4eec095246debcea7b86c0324f22df69893d538fcc6f1b8cce83"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.1.6"
+  web_socket_channel:
+    dependency: transitive
+    description:
+      name: web_socket_channel
+      sha256: "9f187088ed104edd8662ca07af4b124465893caf063ba29758f97af57e61da8f"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.0.1"
+  webkit_inspection_protocol:
+    dependency: transitive
+    description:
+      name: webkit_inspection_protocol
+      sha256: "87d3f2333bb240704cd3f1c6b5b7acd8a10e7f0bc28c28dcf14e782014f4a572"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.2.1"
+  yaml:
+    dependency: transitive
+    description:
+      name: yaml
+      sha256: "75769501ea3489fca56601ff33454fe45507ea3bfb014161abc3b43ae25989d5"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.1.2"
+sdks:
+  dart: ">=3.5.0 <4.0.0"
diff --git a/pubspec.yaml b/pubspec.yaml
index 0b4ab1d..c117b53 100644
--- a/pubspec.yaml
+++ b/pubspec.yaml
@@ -4,17 +4,17 @@ version: 1.0.0
 publish_to: none
 
 environment:
-  sdk: 3.2.2
+  sdk: ^3.5.0
 
-# Add regular dependencies here.
+# Try not to edit this section by hand. Use `dart pub add my_package`
 dependencies:
-  opencv_ffi: 
+  opencv_ffi:
     git: https://github.com/BinghamtonRover/OpenCV-FFI.git
-  burt_network: 
+  burt_network:
     git: https://github.com/BinghamtonRover/Dart-Networking.git
   a_star: ^3.0.0
   meta: ^1.11.0
 
 dev_dependencies:
   test: ^1.21.0
-  very_good_analysis: ^5.0.0+1
+  very_good_analysis: ^6.0.0
diff --git a/test/network_test.dart b/test/network_test.dart
index 64ac6ec..8e482df 100644
--- a/test/network_test.dart
+++ b/test/network_test.dart
@@ -4,53 +4,49 @@ import "package:autonomy/autonomy.dart";
 import "package:burt_network/burt_network.dart";
 import "package:test/test.dart";
 
-class MockSubsystems extends RoverServer {
+class MockSubsystems extends Service {
+  final socket = RoverSocket(
+    device: Device.AUTONOMY,
+    port: 8001,
+    destination: SocketInfo(address: InternetAddress.loopbackIPv4, port: 8003),
+    quiet: true,
+  );
+
   double throttle = 0;
   double left = 0;
   double right = 0;
-
+  bool throttleFlag = false;
   bool enabled = false;
 
-  bool throttleFlag = false;
-  
-  MockSubsystems({required super.port}) : 
-    super(device: Device.SUBSYSTEMS, quiet: true);
-  
   @override
-  Future<void> init() async {
-    destination = SocketInfo(address: InternetAddress.loopbackIPv4, port: 8003);
-    await super.init();
+  Future<bool> init() async {
+    await socket.init();
+    socket.messages.onMessage(
+      name: DriveCommand().messageName,
+      constructor: DriveCommand.fromBuffer,
+      callback: onDriveCommand,
+    );
+    return true;
   }
-  
-  @override
-  void onMessage(WrappedMessage wrapper) {
+
+  void onDriveCommand(DriveCommand command) {
     if (!enabled) return;
-    if (wrapper.name != DriveCommand().messageName) return;
-    final command = DriveCommand.fromBuffer(wrapper.data);
     if (command.setLeft) left = command.left;
     if (command.setRight) right = command.right;
     if (command.setThrottle) throttle = command.throttle;
     if (throttle > 0) throttleFlag = true;
   }
 
-  @override
-  Future<void> onShutdown() async {  }
-
-  @override
-  Future<void> restart() async {  }
-
   @override
   Future<void> dispose() async {
-    left = 0;
-    right = 0;
-    throttle = 0;
-    throttleFlag = false;
-    await super.dispose();
+    left = 0; right = 0;
+    throttle = 0; throttleFlag = false;
+    await socket.dispose();
   }
 }
 
 void main() => group("[Network]", tags: ["network"], () {
-  final subsystems = MockSubsystems(port: 8001);
+  final subsystems = MockSubsystems();
   final rover = RoverAutonomy();
   rover.drive = SensorlessDrive(collection: rover, useGps: false, useImu: false);
 
@@ -74,33 +70,33 @@ void main() => group("[Network]", tags: ["network"], () {
     expect(rover.hasValue, isFalse);
     expect(rover.gps.hasValue, isFalse);
     expect(rover.imu.hasValue, isFalse);
-    expect(rover.realsense.hasValue, isFalse);
+    expect(rover.video.hasValue, isFalse);
 
-    subsystems.sendMessage(posGps);
+    subsystems.socket.sendMessage(posGps);
     await Future<void>.delayed(networkDelay);
     expect(rover.hasValue, isFalse);
     expect(rover.gps.hasValue, isTrue);
     expect(rover.imu.hasValue, isFalse);
-    expect(rover.realsense.hasValue, isFalse);
+    expect(rover.video.hasValue, isFalse);
 
-    subsystems.sendMessage(posImu);
+    subsystems.socket.sendMessage(posImu);
     await Future<void>.delayed(networkDelay);
     expect(rover.hasValue, isFalse);
     expect(rover.gps.hasValue, isTrue);
     expect(rover.imu.hasValue, isTrue);
-    expect(rover.realsense.hasValue, isFalse);
+    expect(rover.video.hasValue, isFalse);
 
-    subsystems.sendMessage(depth);
+    subsystems.socket.sendMessage(depth);
     await Future<void>.delayed(networkDelay);
     expect(rover.gps.hasValue, isTrue);
     expect(rover.imu.hasValue, isTrue);
-    expect(rover.realsense.hasValue, isTrue);
+    expect(rover.video.hasValue, isTrue);
     expect(rover.hasValue, isTrue);
   });
 
   test("Rover can drive", () async {
     subsystems.enabled = true;
-    ServerInterface.subsystemsDestination = SocketInfo(
+    ServerUtils.subsystemsDestination = SocketInfo(
       address: InternetAddress.loopbackIPv4,
       port: 8001,
     );
@@ -112,7 +108,7 @@ void main() => group("[Network]", tags: ["network"], () {
 
     await simulator.drive.faceNorth();
     expect(simulator.imu.orientation, DriveOrientation.north);
-    
+
     final origin = GpsCoordinates(latitude: 0, longitude: 0);
     final oneMeter = (1, 0).toGps();
     expect(subsystems.throttle, 0);
diff --git a/test/orchestrator_test.dart b/test/orchestrator_test.dart
index fa32919..27549f5 100644
--- a/test/orchestrator_test.dart
+++ b/test/orchestrator_test.dart
@@ -1,3 +1,4 @@
+import "package:autonomy/src/rover/gps.dart";
 import "package:test/test.dart";
 import "package:autonomy/autonomy.dart";
 import "package:burt_network/burt_network.dart";
@@ -9,10 +10,11 @@ void main() => group("[Orchestrator]", tags: ["orchestrator"], () {
   test("Fails for invalid destinations", () async {
     Logger.level = LogLevel.off;  // this test can log critical messages
     final simulator = AutonomySimulator();
+    await simulator.init();
     simulator.pathfinder = RoverPathfinder(collection: simulator);
     simulator.orchestrator = RoverOrchestrator(collection: simulator);
     simulator.pathfinder.recordObstacle((2, 0).toGps());
-    // Test blocked command: 
+    // Test blocked command:
     final command = AutonomyCommand(destination: (2, 0).toGps(), task: AutonomyTask.GPS_ONLY);
     expect(simulator.gps.latitude, 0);
     expect(simulator.gps.longitude, 0);
@@ -40,7 +42,7 @@ void main() => group("[Orchestrator]", tags: ["orchestrator"], () {
       (4, 1).toGps(),
     ]);
     await simulator.init();
-    // Test normal command: 
+    // Test normal command:
     final destination = (4, 0).toGps();
     final command = AutonomyCommand(destination: destination, task: AutonomyTask.GPS_ONLY);
     expect(simulator.gps.latitude, 0);
@@ -92,9 +94,13 @@ void main() => group("[Orchestrator]", tags: ["orchestrator"], () {
     final command = AutonomyCommand(destination: destination, task: AutonomyTask.GPS_ONLY);
     simulator.orchestrator = RoverOrchestrator(collection: simulator);
     simulator.pathfinder = RoverPathfinder(collection: simulator);
-    
+    simulator.gps = RoverGps(collection: simulator);
+    await simulator.init();
+
+    expect(simulator.gps.hasValue, isFalse);
+
     await simulator.orchestrator.onCommand(command);
-    expect(simulator.hasValue, isFalse);
+    expect(simulator.gps.hasValue, isFalse);
     expect(GpsInterface.currentLatitude, 0);
     expect(simulator.orchestrator.statusMessage.state, AutonomyState.NO_SOLUTION);
 
diff --git a/test/rover_test.dart b/test/rover_test.dart
index 97c9323..2f40af5 100644
--- a/test/rover_test.dart
+++ b/test/rover_test.dart
@@ -1,5 +1,3 @@
-import "dart:typed_data";
-
 import "package:test/test.dart";
 
 import "package:burt_network/generated.dart";
@@ -33,7 +31,7 @@ void main() => group("[Rover]", tags: ["rover"], () {
     final rover = RoverAutonomy();
     final position = (5, 5).toGps();
     final orientation = Orientation();
-    final frame = Uint16List.fromList([]);
+    final data = VideoData();
 
     await rover.init();
 
@@ -50,9 +48,9 @@ void main() => group("[Rover]", tags: ["rover"], () {
     expect(rover.hasValue, isFalse);
 
     expect(rover.hasValue, isFalse);
-    expect(rover.realsense.hasValue, isFalse);
-    rover.realsense.updateFrame(frame);
-    expect(rover.realsense.hasValue, isTrue);
+    expect(rover.video.hasValue, isFalse);
+    rover.video.updateFrame(data);
+    expect(rover.video.hasValue, isTrue);
     expect(rover.hasValue, isTrue);
 
     await rover.dispose();