diff --git a/.gitignore b/.gitignore
index b17f9758..a6994bd3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,7 +32,10 @@
 *.sqlite
 
 # Pictures taken
-photos/
+*.jpg
+*.jpeg
+*.png
+
 
 # Logs
 logs/
@@ -49,3 +52,7 @@ static/blockly-tutorial
 .Trashes
 ehthumbs.db
 Thumbs.db
+
+# autosave 'tilde' files #
+##########################
+*~
diff --git a/README.md b/README.md
index 94ba1704..55eef486 100644
--- a/README.md
+++ b/README.md
@@ -1,11 +1,11 @@
-CoderBot
+CoderBot_lboro
 ========
 
 A RaspberryPI-based bot controller
 
-The module provide a simple web interface to a raspberry py "robot".
+The module provide a simple web interface to a raspberry pi "robot".
 
-See the [wiki](https://github.com/CoderBotOrg/coderbot/wiki) for the documentation
+See the [wiki](https://github.com/explosivose/coderbot_lboro/wiki) for the documentation
 
 
 
diff --git a/arm_test.py b/arm_test.py
new file mode 100644
index 00000000..4d43582f
--- /dev/null
+++ b/arm_test.py
@@ -0,0 +1,35 @@
+#!/usr/python/bin
+
+import time
+import pigpio
+
+PIN = 9
+
+PWM_FREQ = 50
+PWM_RANGE = 2000
+
+pi = pigpio.pi('localhost')
+
+pi.set_PWM_frequency(PIN,PWM_FREQ)
+pi.set_PWM_range(PIN,PWM_RANGE)
+
+# entire dutycycle range seems to be 50-220
+
+print '1ms-2ms range'
+for x in range (100,200):
+    pi.set_PWM_dutycycle(PIN,x)
+    time.sleep(0.02)
+    print x
+
+print 'three waves hello:'
+for x in range (0,3):
+    pi.set_PWM_dutycycle(PIN,100)
+    time.sleep(0.5)
+    pi.set_PWM_dutycycle(PIN,200)
+    time.sleep(1)
+
+
+
+
+pi.set_PWM_dutycycle(PIN,0)
+print 'test complete.'
diff --git a/camera.py b/camera.py
index 3dffd619..b0236f0c 100644
--- a/camera.py
+++ b/camera.py
@@ -11,22 +11,41 @@
 from viz import camera, streamer, image, blob
 import config
 
-CAMERA_REFRESH_INTERVAL=0.1
+import picamera
+import picamera.array
+import io
+import cv2
+import colorsys
+import numpy as np
+
+CAMERA_REFRESH_INTERVAL=0.01
 MAX_IMAGE_AGE = 0.0
 PHOTO_PATH = "./photos"
+DEFAULT_IMAGE = "./photos/broken.jpg"
 PHOTO_PREFIX = "DSC"
 VIDEO_PREFIX = "VID"
 PHOTO_THUMB_SUFFIX = "_thumb"
 PHOTO_THUMB_SIZE = (240,180)
 VIDEO_ELAPSE_MAX = 900
+PHOTO_FILE_EXT = ".jpg"
+FFMPEG_CMD = "MP4Box"
+VIDEO_FILE_EXT = ".mp4"
+VIDEO_FILE_EXT_H264 = ".h264"
+
+MIN_MATCH_COUNT = 10
+
 
 class Camera(Thread):
 
   _instance = None
-  _img_template = image.Image.load("coderdojo-logo.png")
+  _img_template = cv2.imread("coderdojo-logo.png")
   _warp_corners_1 = [(0, -120), (640, -120), (380, 480), (260, 480)]
   _warp_corners_2 = [(0, -60), (320, -60), (190, 240), (130, 240)]
   _warp_corners_4 = [(0, -30), (160, -30), (95, 120), (65, 120)]
+  _image_cache = None
+  _image_cache_updated = False
+  _face_cascade = cv2.CascadeClassifier('/usr/local/share/OpenCV/lbpcascades/lbpcascade_frontalface.xml')
+  
   stream_port = 9080
 
   @classmethod
@@ -38,9 +57,9 @@ def get_instance(cls):
 
   def __init__(self):
     logging.info("starting camera")
-    cam_props = {"width":640, "height":480, "exposure_mode": config.Config.get().get("camera_exposure_mode")}
-    self._camera = camera.Camera(props=cam_props)
-    self._streamer = streamer.JpegStreamer("0.0.0.0:"+str(self.stream_port), st=0.1)
+    self.init_camera()
+        
+    self._streamer = streamer.JpegStreamer("0.0.0.0:"+str(self.stream_port), st=0.05)
     #self._cam_off_img.save(self._streamer)
     self.recording = False
     self.video_start_time = time.time() + 8640000
@@ -57,20 +76,86 @@ def __init__(self):
    
     super(Camera, self).__init__()
 
+  def init_camera(self):
+    try:
+      props = {
+        "width":640,
+        "height":480,
+        "exposure_mode":config.Config.get().get("camera_exposure_mode"),
+        "rotation":config.Config.get().get("camera_rotation")
+      }
+      self._camera = picamera.PiCamera()
+      cam = self._camera
+      res = (props.get("width",640), props.get("height",480))
+      cam.resolution = res
+      cam.framerate = 30
+      cam.exposure_mode = props.get("exposure_mode")
+      cam.rotation = props.get("rotation")
+      self.out_jpeg = io.BytesIO()
+      self.out_rgb = picamera.array.PiRGBArray(cam, size=res)
+      self.h264_encoder = None
+      self.recording = None
+      self.video_filename = None
+    except:
+      self._camera = None
+      logging.error("Could not initialise camera:" + str(sys.exc_info()[0]))
+      pass
+
+  def grab_start(self):
+    logging.debug("grab_start")
+    
+    rgb_res = (640,480)
+
+    camera_port_0, output_port_0 = self._camera._get_ports(True, 0)
+    self.jpeg_encoder = self._camera._get_image_encoder(camera_port_0, output_port_0, 'jpeg', None, quality=40)
+    camera_port_1, output_port_1 = self._camera._get_ports(True, 1)
+    self.rgb_encoder = self._camera._get_image_encoder(camera_port_1, output_port_1, 'bgr', rgb_res)
+    
+    with self._camera._encoders_lock:
+      self._camera._encoders[0] = self.jpeg_encoder
+      self._camera._encoders[1] = self.rgb_encoder
+
+  def grab_one(self):
+    self.out_jpeg.seek(0)
+    self.out_rgb.seek(0)
+    self.jpeg_encoder.start(self.out_jpeg)
+    self.rgb_encoder.start(self.out_rgb)
+    if not self.jpeg_encoder.wait(10):
+      raise picamera.PiCameraError('Timed Out')
+    if not self.rgb_encoder.wait(10):
+      raise picamera.PiCameraError('Timed Out')
+
+  def grab_stop(self):
+    logging.debug("grab_stop")
+    
+    with self._camera._encoders_lock:
+      del self._camera._encoders[0]
+      del self._camera._encoders[1]
+    
+    self.jpeg_encoder.close()
+    self.rgb_encoder.close()
+
   def run(self):
+    if self._camera is None:
+      return
     try:
-      self._camera.grab_start()
+      self.grab_start()
       while self._run:
         sleep_time = CAMERA_REFRESH_INTERVAL - (time.time() - self._image_time)
         if sleep_time <= 0:
           ts = time.time()
           #print "run.1"
           self._image_lock.acquire()
-          self._camera.grab_one()
+          self.grab_one()
           self._image_lock.release()
           #print "run.2: " + str(time.time()-ts)
           #self.save_image(image.Image(self._camera.get_image_bgr()).open().binarize().to_jpeg())
-          self.save_image(self._camera.get_image_jpeg())
+          if self._image_cache_updated is True:
+            ret, jpeg_array = cv2.imencode('.jpeg', self._image_cache)
+            self.jpeg_to_stream(np.array(jpeg_array).tostring())
+            self._image_cache_updated = False
+          else:
+            self.jpeg_to_stream(self.out_jpeg.getvalue())
           #print "run.3: " + str(time.time()-ts)
         else:
           time.sleep(sleep_time)
@@ -78,39 +163,69 @@ def run(self):
         if self.recording and time.time() - self.video_start_time > VIDEO_ELAPSE_MAX:
           self.video_stop()
 
-      self._camera.grab_stop()
+      self.grab_stop()
     except:
       logging.error("Unexpected error:" + str(sys.exc_info()[0]))
       raise
 
-  def get_image(self, maxage = MAX_IMAGE_AGE):
-    return image.Image(self._camera.get_image_bgr())
+  def get_image_array(self, maxage = MAX_IMAGE_AGE):
+    if self._camera is None:
+      print "get_image: Default image"
+      return cv2.imread(DEFAULT_IMAGE)
+    else:
+      return self.out_rgb.array
+
+  def get_image_binarized(self, maxage = MAX_IMAGE_AGE):
+    data = self.get_image_array(maxage)    
+    data = cv2.cvtColor(data, cv2.cv.CV_BGR2GRAY)
+    data = cv2.adaptiveThreshold(data, 255, cv2.ADAPTIVE_THRESH_MEAN_C, cv2.THRESH_BINARY_INV, 5, 3)
+    return data
 
-  def save_image(self, image_jpeg):
+  def get_image_copy(self,maxage = MAX_IMAGE_AGE):
+    if self._camera is None:
+      return cv2.imread(DEFAULT_IMAGE)
+    else:
+      return image.Image(self.out_rgb.array)  
+      
+
+  def jpeg_to_stream(self, image_jpeg):
     self._streamer.set_image(image_jpeg)
     self._image_time=time.time()
 
   def set_text(self, text):
-    self._camera.set_overlay_text(str(text))
+    if self._camera is None:
+      return
+    self._camera.annotate_text = str(text)
 
   def get_next_photo_index(self):
     last_photo_index = 0
     for p in self._photos:
       try:
-        index = int(p[len(PHOTO_PREFIX):-len(self._camera.PHOTO_FILE_EXT)])
+        index = int(p[len(PHOTO_PREFIX):-len(self.PHOTO_FILE_EXT)])
         if index > last_photo_index:
           last_photo_index = index
       except:
         pass
     return last_photo_index + 1
 
+  def rotate(self):
+    if self._camera is None:
+      return
+    rot = self._camera.rotation
+    rot = rot + 90
+    if rot > 271:
+      rot = 0
+    self._camera.rotation = rot
+
   def photo_take(self):
+    if self._camera is None:
+      return
     photo_index = self.get_next_photo_index()
-    filename = PHOTO_PREFIX + str(photo_index) + self._camera.PHOTO_FILE_EXT;
-    filename_thumb = PHOTO_PREFIX + str(photo_index) + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT;
+    filename = PHOTO_PREFIX + str(photo_index) + PHOTO_FILE_EXT;
+    filename_thumb = PHOTO_PREFIX + str(photo_index) + PHOTO_THUMB_SUFFIX + PHOTO_FILE_EXT;
     of = open(PHOTO_PATH + "/" + filename, "w+")
     oft = open(PHOTO_PATH + "/" + filename_thumb, "w+")
-    im_str = self._camera.get_image_jpeg()
+    im_str = self.out_jpeg.getvalue()
     of.write(im_str)
     # thumb
     im_pil = PILImage.open(StringIO(im_str)) 
@@ -121,33 +236,60 @@ def is_recording(self):
     return self.recording
 
   def video_rec(self, video_name=None):
-    if self.is_recording():
+    if self.recording:
+      return
+    if self._camera is None:
       return
     self.recording = True
-
     if video_name is None:
       video_index = self.get_next_photo_index()
-      filename = VIDEO_PREFIX + str(video_index) + self._camera.VIDEO_FILE_EXT;
-      filename_thumb = VIDEO_PREFIX + str(video_index) + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT;
+      filename = VIDEO_PREFIX + str(video_index) + VIDEO_FILE_EXT;
+      filename_thumb = VIDEO_PREFIX + str(video_index) + PHOTO_THUMB_SUFFIX + PHOTO_FILE_EXT;
     else:
-      filename = VIDEO_PREFIX + video_name + self._camera.VIDEO_FILE_EXT;
-      filename_thumb = VIDEO_PREFIX + video_name + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT;
+      filename = VIDEO_PREFIX + video_name + VIDEO_FILE_EXT;
+      filename_thumb = VIDEO_PREFIX + video_name + PHOTO_THUMB_SUFFIX + PHOTO_FILE_EXT;
       try:
         os.remove(PHOTO_PATH + "/" + filename)
       except:
         pass
 
     oft = open(PHOTO_PATH +  "/" + filename_thumb, "w")
-    im_str = self._camera.get_image_jpeg()
+    im_str = self.out_jpeg.getvalue()
     im_pil = PILImage.open(StringIO(im_str)) 
     im_pil.resize(PHOTO_THUMB_SIZE).save(oft)
     self._photos.append(filename)
-    self._camera.video_rec(PHOTO_PATH + "/" + filename)
+
+    filename = PHOTO_PATH + "/" + filename
+    self.video_filename = filename[:filename.rfind(".")]
+
+    camera_port_2, output_port_2 = self._camera._get_ports(True, 2)
+    self.h264_encoder = self._camera._get_video_encoder(camera_port_2, output_port_2, 'h264', None)
+
+    with self._camera._encoders_lock:
+      self._camera._encoders[2] = self.h264_encoder
+    logging.debug( self.video_filename + VIDEO_FILE_EXT_H264 )
+
+    self.h264_encoder.start(self.video_filename + VIDEO_FILE_EXT_H264)
+
+    #self._camera.video_rec(PHOTO_PATH + "/" + filename)
     self.video_start_time = time.time()
 
   def video_stop(self):
+    if self._camera is None:
+      return
     if self.recording:
-      self._camera.video_stop()
+      logging.debug("video_stop")
+      self.h264_encoder.stop()
+      
+      with self.camera._encoders_lock:
+        del self.camera._encoders[2]
+      
+      self.h264_encoder.close()
+      # pack in mp4 container
+      params = " -fps 12 -add " + self.video_filename + VIDEO_FILE_EXT_H264 + " " + self.video_filename + VIDEO_FILE_EXT
+      os.system(self.FFMPEG_CMD + params)
+      # remove h264 file
+      os.remove(self.video_filename + VIDEO_FILE_EXT_H264)
       self.recording = False
     
   def get_photo_list(self):
@@ -162,7 +304,8 @@ def get_photo_thumb_file(self, filename):
   def delete_photo(self, filename):
     logging.info("delete photo: " + filename)
     os.remove(PHOTO_PATH + "/" + filename)
-    os.remove(PHOTO_PATH + "/" + filename[:filename.rfind(".")] + PHOTO_THUMB_SUFFIX + self._camera.PHOTO_FILE_EXT)
+    if self._camera is not None:
+      os.remove(PHOTO_PATH + "/" + filename[:filename.rfind(".")] + PHOTO_THUMB_SUFFIX + PHOTO_FILE_EXT)
     self._photos.remove(filename)
 
   def exit(self):
@@ -170,12 +313,19 @@ def exit(self):
     self.join()
 
   def calibrate(self):
-    img = self._camera.getImage()
+    if self._camera is None:
+      return
+    img = self._camera.getImage() # ??
     self._background = img.hueHistogram()[-1]
-        
+
+  def set_rotation(self, rotation):
+    if self._camera is None:
+      return
+    self._camera.rotation = rotation
+  
   def find_line(self):
     self._image_lock.acquire()
-    img = self.get_image(0).binarize()
+    img = self.get_image_binarized(0)
     slices = [0,0,0]
     blobs = [0,0,0]
     slices[0] = img.crop(0, 100, 160, 120)
@@ -191,13 +341,48 @@ def find_line(self):
     self._image_lock.release()
     return coords[0]
 
+  def find_template(self, img, template):
+    # initiate sift detector
+    sift = cv2.SIFT()
+    # find the keypoints and descriptors with SIFT
+    kp1, des1 = sift.detectAndCompute(template, None)
+    kp2, des2 = sift.detectAndCompute(img, None)
+    FLANN_INDEX_KDTREE = 0
+    index_params = dict(algorithm = FLAN_INDEX_KDTREE, trees = 5)
+    search_params = dict(checks = 50)
+    flann = cv2.FlannBasedMatcher(index_params, search_params)
+    matches = flan.knnMatch(des1, des2, k=2)
+    # store all the good matches as per Lowe's ratio test
+    good = []
+    templates = []
+    for m,n in matches:
+      if m.distance < 0.7 * n.distance:
+        good.append(m)
+
+    if len(good) > MIN_MATCH_COUNT:
+      src_pts = np.float32([ kp1[m.queryIdx].pt for m in good ]).reshape(-1,1,2)
+      dst_pts = np.float32([ kp2[m.trainIdx].pt for m in good ]).reshape(-1,1,2)
+
+      M, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, 5.0)
+      matchesMask = mask.ravel().tolist()
+      
+      h,w = template.shape
+      pts = np.float32([ [0,0],[0,h-1],[w-1,h-1],[w-1,0] ]).reshape(-1,1,2)
+      dst = cv2.perspectiveTransform(pts,M)
+      logging.info("found template: " + dst)
+      templates[0] = dst
+    else: 
+      logging.info("Not enough matches are found - %d/%d" % (len(good),MIN_MATCH_COUNT))
+      matchesMask = None
+    return templates
+
   def find_signal(self):
     #print "signal"
     angle = None
     ts = time.time()
     self._image_lock.acquire()
-    img = self.get_image(0)
-    signals = img.find_template(self._img_template)
+    img = self.get_image_array(0)
+    signals = self.find_template(img, self._img_template)
      
     logging.info("signal: " + str(time.time() - ts))
     if len(signals):
@@ -210,9 +395,10 @@ def find_signal(self):
   def find_face(self):
     faceX = faceY = faceS = None
     self._image_lock.acquire()
-    img = self.get_image(0)
+    img = self.get_image_array(0)
     ts = time.time()
-    faces = img.grayscale().find_faces()
+    img = cv2.cvtColor(img, cv2.cv.CV_BGR2GRAY)
+    faces = self._face_cascade.detectMultiScale(img)
     print "face.detect: " + str(time.time() - ts)
     self._image_lock.release()
     print faces
@@ -220,6 +406,7 @@ def find_face(self):
       # Get the largest face, face is a rectangle 
       x, y, w, h = faces[0]
       centerX = x + (w/2)
+      # ASSUMING RGB 160X120 RESOLUTION!
       faceX = ((centerX * 100) / 160) - 50 #center = 0
       centerY = y + (h/2)
       faceY = 50 - (centerY * 100) / 120 #center = 0 
@@ -227,11 +414,26 @@ def find_face(self):
       faceS = (size * 100) / 120
     return [faceX, faceY, faceS]
 
+  def find_blobs(self, img, minsize=0, maxsize=1000000):
+    blobs = []
+    contours, hierarchy = cv2.findContours(img, cv2.cv.CV_RETR_TREE, cv2.cv.CV_CHAIN_APPROX_SIMPLE)
+    for c in contours:
+      area = cv2.contourArea(c)
+      if area > minsize and area < maxsize:
+        if len(blobs) and area > blobs[0].area:
+          blobs.insert(0, blob.Blob(c))
+        else:
+          blobs.append(blob.Blob(c))
+
+    return blobs
+  
   def path_ahead(self):
     #print "path ahead"
     ts = time.time()
     self._image_lock.acquire()
-    img = self.get_image(0)
+    img = self.get_image_array(0)
+    img_binarized = self.get_image_binarized(0)
+    blobs = self.find_blobs(img=img_binarized, minsize=100, maxsize=8000)
     #print "path_ahead.get_image: " + str(time.time() - ts)
     #img.crop(0, 100, 160, 120)
 
@@ -248,7 +450,7 @@ def path_ahead(self):
     #control_hue = control_hue - 10
     #binarized = color_distance.binarize(control_hue).invert()
     #print "path_ahead.binarize: " + str(time.time() - ts)
-    blobs = img.binarize().find_blobs(minsize=100, maxsize=8000)
+    #blobs = img.binarize().find_blobs(minsize=100, maxsize=8000)
     #print "path_ahead.blobs: " + str(time.time() - ts)
     coordY = 60
     if len(blobs):
@@ -261,8 +463,11 @@ def path_ahead(self):
       #dw_x = 260 + obstacle.coordinates()[0] - (obstacle.width()/2)
       #dw_y = 160 + obstacle.coordinates()[1] - (obstacle.height()/2) 
       #img.drawRectangle(dw_x, dw_y, obstacle.width(), obstacle.height(), color=(255,0,0))
-      x, y = img.transform((obstacle.center[0], obstacle.bottom))
-      coordY = 60 - ((y * 48) / 100) 
+      
+      # TRANSFORM ASSUMES RGB 160X120 RESOLUTION! 
+      #x, y = img.transform((obstacle.center[0], obstacle.bottom))
+      #coordY = 60 - ((y * 48) / 100) 
+      coordY = 60 - ((obstacle.center[1] * 48) / 100)
       logging.info("coordY: " + str(coordY))
       #print obstacle.coordinates()[1]+(obstacle.height()/2)
       #ar_layer.centeredRectangle(obstacle.coordinates(), (obstacle.width(), obstacle.height()))
@@ -283,31 +488,65 @@ def find_color(self, s_color):
     code_data = None
     ts = time.time()
     self._image_lock.acquire()
-    img = self.get_image(0)
+    img = self.get_image_array(0)
     self._image_lock.release()
-    bw = img.filter_color(color)
+    #bw = img.filter_color(color)
+    h, s, v = colorsys.rgb_to_hsv(color[0]/255.0, color[1]/255.0, color[2]/255.0)
+    img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+    h = h * 180
+    s = s * 255
+    v = v * 255
+    logging.debug("color_hsv: " + str(h) + " " + str(s) + " " + str(v))
+    lower_color = np.array([h-10, 50, 50])
+    upper_color = np.array([h+10, 255, 255])
+    logging.debug("lower: " + str(lower_color) + " upper: " + str(upper_color))
+    bw = cv2.inRange(img_hsv, lower_color, upper_color)
+    # get unordered list of contours in filtered image
+    contours, _ = cv2.findContours(bw, cv2.cv.CV_RETR_LIST, cv2.cv.CV_CHAIN_APPROX_SIMPLE)
+    center = (0,0)
+    radius = 0
+    if not contours is None and len(contours) > 0:
+      # get the contour with the largest area
+      largest = sorted(contours, key = cv2.contourArea, reverse=True)[0]
+      (x,y),radius = cv2.minEnclosingCircle(largest) 
+      center = (int(x), int(y))
+      radius = int(radius)
+      # draw a circle around the largest
+      cv2.circle(img, center, radius, (0,255,0), 2)
+      # copy to image cache for jpegging and streaming [see run()]
+      self._image_cache = img
+      self._image_cache_updated = True
     #self.save_image(bw.to_jpeg())
-    objects = bw.find_blobs(minsize=20, maxsize=1000)
-    logging.debug("objects: " + str(objects))
-    dist = -1
-    angle = 180
-
-    if objects and len(objects):
-      obj = objects[-1]
-      bottom = obj.bottom
-      logging.info("bottom: " + str(obj.center[0]) + " " +str(obj.bottom))
-      coords = bw.transform([(obj.center[0], obj.bottom)])
-      logging.info("coordinates: " + str(coords))
-      x = coords[0][0]
-      y = coords[0][1]
-      dist = math.sqrt(math.pow(12 + (68 * (120 - y) / 100),2) + (math.pow((x-80)*60/160,2)))
-      angle = math.atan2(x - 80, 120 - y) * 180 / math.pi
-      logging.info("object found, dist: " + str(dist) + " angle: " + str(angle))
+    #objects = bw.find_blobs(minsize=5, maxsize=100)
+    #logging.debug("objects: " + str(objects))
+    #dist = -1
+    #angle = 180
+
+    #if objects and len(objects):
+      #obj = objects[-1]
+      #bottom = obj.bottom
+      #logging.info("bottom: " + str(obj.center[0]) + " " +str(obj.bottom))
+      #coords = bw.transform([(obj.center[0], obj.bottom)])
+      #logging.info("coordinates: " + str(coords))
+      #x = coords[0][0]
+      #y = coords[0][1]
+      #dist = math.sqrt(math.pow(12 + (68 * (120 - y) / 100),2) + (math.pow((x-80)*60/160,2)))
+      #angle = math.atan2(x - 80, 120 - y) * 180 / math.pi
+      #logging.info("object found, dist: " + str(dist) + " angle: " + str(angle))
     #self.save_image(img.to_jpeg())
     #print "object: " + str(time.time() - ts)
-    return [dist, angle]
+    #return [dist, angle]
+    return [center[0],center[1],radius*2]
+      
     
   def sleep(self, elapse):
-    logging.debug("sleep: " + elapse)
+    logging.debug("sleep: " + str(elapse))
     time.sleep(elapse)
 
+  def drawCircle(self,colour,x,y):
+    cv2.circle(self._camera.get_image_bgr(),(x,y),30,(0,0,255), -1)
+    #cv2.circle(self.get_image(0)
+    
+
+      
+
diff --git a/coderbot.cfg b/coderbot.cfg
index 910d219b..1e8b5218 100644
--- a/coderbot.cfg
+++ b/coderbot.cfg
@@ -1 +1 @@
-{"move_tr_speed": "75", "move_fw_elapse": "1.5", "show_page_program": "true", "load_at_start": "", "move_tr_elapse": "90", "sound_start": "$startup.mp3", "sound_stop": "$shutdown.mp3", "camera_exposure_mode": "auto", "prog_move_motion": "yes", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "ctrl_fw_speed": "100", "move_fw_speed": "100", "show_page_control": "true", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "prog_maxblocks": "-1", "ctrl_hud_image": "", "button_func": "none", "move_motor_mode": "servo", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "20", "move_power_angle_3": "20", "ctrl_tr_speed": "80", "move_power_angle_1": "15"}
\ No newline at end of file
+{"move_tr_speed": "75", "move_fw_elapse": "1.5", "arm_angle_raised": "120", "load_at_start": "", "move_tr_elapse": "90", "show_page_program": "true", "sound_stop": "$shutdown.mp3", "camera_exposure_mode": "fixedfps", "prog_move_motion": "yes", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "ctrl_counter": "yes", "sound_start": "$startup.mp3", "camera_rotation": "180", "ctrl_fw_speed": "100", "move_fw_speed": "100", "show_page_control": "true", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "arm_angle_lowered": "60", "prog_maxblocks": "-1", "ctrl_hud_image": "", "button_func": "none", "move_motor_mode": "servo", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "20", "move_power_angle_3": "20", "ctrl_tr_speed": "80", "move_power_angle_1": "15"}
\ No newline at end of file
diff --git a/coderbot.py b/coderbot.py
index 439a1c86..804ec7e6 100644
--- a/coderbot.py
+++ b/coderbot.py
@@ -4,15 +4,21 @@
 
 PIN_MOTOR_ENABLE = 22
 PIN_LEFT_FORWARD = 25
-PIN_LEFT_BACKWARD = 24
+PIN_LEFT_BACKWARD = 24 # NOT USED FOR SERVOS
 PIN_RIGHT_FORWARD = 4
-PIN_RIGHT_BACKWARD = 17
+PIN_RIGHT_BACKWARD = 17 # NOT USED FOR SERVOS
 PIN_PUSHBUTTON = 18
-PIN_SERVO_3 = 9
+PIN_SERVO_3 = 9 # ARM PIN
 PIN_SERVO_4 = 10
+LED_RED = 21
+LED_BLUE = 16
+LED_GREEN = 20
+
+PWM_FREQUENCY = 50 #Hz
+PWM_UPPER = 1700 # 1.7ms for full clockwise
+PWM_LOWER = 1300 # 1.3ms for full anti-clockwise
+LEDPinFreq =100
 
-PWM_FREQUENCY = 100 #Hz
-PWM_RANGE = 100 #0-100
 
 def coderbot_callback(gpio, level, tick):
   return CoderBot.get_instance().callback(gpio, level, tick)
@@ -20,7 +26,9 @@ def coderbot_callback(gpio, level, tick):
 class CoderBot:
   _pin_out = [PIN_MOTOR_ENABLE, PIN_LEFT_FORWARD, PIN_RIGHT_FORWARD, PIN_LEFT_BACKWARD, PIN_RIGHT_BACKWARD, PIN_SERVO_3, PIN_SERVO_4]
 
+
   def __init__(self, servo=False):
+    self.check_end = None
     self.pi = pigpio.pi('localhost')
     self.pi.set_mode(PIN_PUSHBUTTON, pigpio.INPUT)
     self._cb = dict()
@@ -34,19 +42,25 @@ def __init__(self, servo=False):
     cb1 = self.pi.callback(PIN_PUSHBUTTON, pigpio.EITHER_EDGE, coderbot_callback)
     for pin in self._pin_out:
       self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
-      self.pi.set_PWM_range(pin, PWM_RANGE)
 
+    self.pi.set_PWM_frequency(LED_RED, LEDPinFreq)
+    self.pi.set_PWM_frequency(LED_GREEN, LEDPinFreq)
+    self.pi.set_PWM_frequency(LED_BLUE, LEDPinFreq)
     self.stop()
     self._is_moving = False
  
   the_bot = None
 
   @classmethod
-  def get_instance(cls, servo=False):
+  def get_instance(cls, servo = False):
     if not cls.the_bot:
       cls.the_bot = CoderBot(servo)
     return cls.the_bot
 
+  #add a method to be called periodically while waiting
+  def setCheckEndMethod(self,check_end):
+    self.check_end = check_end
+
   def move(self, speed=100, elapse=-1):
     self.motor_control(speed_left=speed, speed_right=speed, elapse=elapse)
 
@@ -63,10 +77,20 @@ def left(self, speed=100, elapse=-1):
     self.turn(speed=-speed, elapse=elapse)
 
   def right(self, speed=100, elapse=-1):
-    self.turn(speed=speed, elapse=elapse)
+    self.turn(speed=speed, elapse=elapse) 
 
   def servo3(self, angle):
-    self._servo_control(PIN_SERVO_3, angle)
+    #self._servo_control(PIN_SERVO_3, angle)
+    angle = self.clamp(angle,0,100)
+    pwm = PWM_LOWER + ((angle/100.0)*(PWM_UPPER - PWM_LOWER))
+    self.pi.set_servo_pulsewidth(PIN_SERVO_3,pwm)
+
+  def arm_up(self):
+    self.servo3(0)
+    
+  def arm_down(self):
+    self.servo3(120)
+                       
 
   def servo4(self, angle):
     self._servo_control(PIN_SERVO_4, angle)
@@ -92,7 +116,7 @@ def _dc_motor(self, speed_left=100, speed_right=100, elapse=-1):
 
     self.pi.write(PIN_MOTOR_ENABLE, 1)
     if elapse > 0:
-      time.sleep(elapse)
+      self.sleep(elapse)
       self.stop()
 
   def _servo_motor(self, speed_left=100, speed_right=100, elapse=-1):
@@ -106,30 +130,53 @@ def _servo_motor(self, speed_left=100, speed_right=100, elapse=-1):
     self._servo_motor_control(PIN_LEFT_FORWARD, speed_left)
     self._servo_motor_control(PIN_RIGHT_FORWARD, speed_right)
     if elapse > 0:
-      time.sleep(elapse)
+      self.sleep(elapse)
       self.stop()
 
 
   def _servo_motor_control(self, pin, speed):
     self._is_moving = True
-    speed = ((speed + 100) * 50 / 200) + 52
 
-    self.pi.set_PWM_range(pin, 1000)
-    self.pi.set_PWM_frequency(pin, 50)
-    self.pi.set_PWM_dutycycle(pin, speed)
+    #clamp between -100 and 100
+    speed = self.clamp(speed,-100,100)
+
+    #calculate pwn value between the range of UPPER_PWM and LOWER_PWM
+    half_range = ((PWM_UPPER - PWM_LOWER) / 2)
+    pwm_out = PWM_LOWER + half_range + ((speed / 100.0) * half_range)
+    self.pi.set_servo_pulsewidth(pin, pwm_out)
 
   def _servo_control(self, pin, angle):
-    duty = ((angle + 90) * 100 / 180) + 25
 
-    self.pi.set_PWM_range(pin, 1000)
-    self.pi.set_PWM_frequency(pin, 50)
+    # assuming angle range is 0 to 120
+    # transform from angle range to servo duty cycle range (100 to 200)
+    duty = angle + 90 # (90-210)
+    if duty < 90: duty = 90
+    if duty > 210: duty = 210
+    self.pi.set_PWM_range(pin, PWM_RANGE)
+    self.pi.set_PWM_frequency(pin, PWM_FREQUENCY)
     self.pi.set_PWM_dutycycle(pin, duty)
 
   def stop(self):
     for pin in self._pin_out:
-      self.pi.write(pin, 0)
+      if pin != PIN_SERVO_3 and pin != PIN_SERVO_4:
+        self.pi.write(pin, 0)
     self._is_moving = False
 
+  def clamp(self,x,lower,upper):
+    if x < lower:
+      x = lower
+    if x > upper:
+      x = upper
+    return x
+
+  def sleep(self, elapse):
+    for i in range(int(elapse / 0.1)):
+      time.sleep(0.1)
+      if self.check_end != None:
+        self.check_end()
+          
+    time.sleep(elapse % 0.1)
+
   def is_moving(self):
     return self._is_moving
 
@@ -137,7 +184,7 @@ def say(self, what):
     if what and "$" in what:
       os.system ('omxplayer sounds/' + what[1:])
     elif what and len(what):
-      os.system ('espeak -vit -p 90 -a 200 -s 150 -g 10 "' + what + '" 2>>/dev/null')
+      os.system ('espeak -ven -p 90 -a 200 -s 150 -g 10 "' + what + '" 2>>/dev/null')
 
   def set_callback(self, gpio, callback, elapse):
     self._cb_elapse[gpio] = elapse * 1000
@@ -165,4 +212,44 @@ def reboot(self):
     os.system ('sudo reboot')
 
 
-  
+  def LED_on(self, Colour, seconds, pin=0):
+    if Colour == "Red LED":
+      pin = LED_RED
+    elif Colour == "Green LED":
+      pin = LED_GREEN
+    elif Colour == "Blue LED":
+      pin = LED_BLUE
+    self.pi.write(pin, 1)
+    time.sleep(seconds)
+    self.pi.write(pin, 0)
+
+  def LED_on_indef(self, Colour, pin=0):
+    if Colour == "Red LED":
+      pin = LED_RED
+    elif Colour == "Green LED":
+      pin = LED_GREEN
+    elif Colour == "Blue LED":
+      pin = LED_BLUE
+    self.pi.write(pin, 1)
+
+  def LED_off_indef(self, Colour, pin=0):
+    if Colour == "Red LED":
+      pin = LED_RED
+    elif Colour == "Green LED":
+      pin = LED_GREEN
+    elif Colour == "Blue LED":
+      pin = LED_BLUE
+    self.pi.write(pin, 0)  
+
+  def RGB_Blend(self, s_color):
+    colorR = int(s_color[1:3],16)
+    colorG = int(s_color[3:5],16)
+    colorB = int(s_color[5:7],16)
+    self.pi.set_PWM_dutycycle(LED_RED, colorR)
+    self.pi.set_PWM_dutycycle(LED_GREEN, colorG)
+    self.pi.set_PWM_dutycycle(LED_BLUE, colorB)
+
+  def alloff(self):
+    self.pi.write(LED_GREEN, 0)
+    self.pi.write(LED_RED, 0)
+    self.pi.write(LED_BLUE, 0)      
diff --git a/config_test.conf b/config_test.conf
new file mode 100644
index 00000000..c1d613b7
--- /dev/null
+++ b/config_test.conf
@@ -0,0 +1,5 @@
+ssid = ssidvalue
+psk = poo
+diff = diffvalue
+chimp = ooh-ooh-ah-ah
+
diff --git a/config_test.py b/config_test.py
new file mode 100644
index 00000000..9503f3e4
--- /dev/null
+++ b/config_test.py
@@ -0,0 +1,50 @@
+#!/usr/bin/python
+
+import sys
+import ConfigParser
+import StringIO
+
+class ConfigTest():
+
+    filename="./config_test.conf"
+
+    @classmethod
+    def set_key(cls, key, val):
+        config = ConfigParser.ConfigParser()
+        try:
+            with open(cls.filename) as f:
+                conf_str = '[config]\n' + f.read()
+                conf_fp = StringIO.StringIO(conf_str)
+                config.readfp(conf_fp)
+        except IOError as e:
+            print cls.filename, 'does not exist!'
+            return
+
+        config.set('config', str(key), str(val))
+
+        try:
+            with open(cls.filename, 'wb') as f:
+                conf_items = config.items('config')
+                for (key, value) in conf_items:
+                    f.write("{0} = {1}\n".format(key, value))
+                f.write("\n")
+        except IOError as e:
+            print e
+
+
+    @classmethod
+    def get_key(cls, key):
+        config = ConfigParser.ConfigParser()
+        config.read(cls.filename)
+        return config.get('config_test',str(key))
+
+
+def main():
+    if len(sys.argv) > 3 and sys.argv[1] == "set":
+        ConfigTest.set_key(sys.argv[2],sys.argv[3])
+    elif len(sys.argv) > 2 and sys.argv[1] == "get":
+        print ConfigTest.get_key(sys.argv[2])
+
+if __name__ == "__main__":
+    main()
+
diff --git a/data/program_arm_test.data b/data/program_arm_test.data
new file mode 100644
index 00000000..cd09fa2a
--- /dev/null
+++ b/data/program_arm_test.data
@@ -0,0 +1 @@
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml/"><block type=\"controls_repeat_ext\" id=\"97\" inline=\"true\" x=\"75\" y=\"76\"><value name=\"TIMES\"><block type=\"math_number\" id=\"98\"><field name=\"NUM\">4</field></block></value><statement name=\"DO\"><block type=\"coderbot_armRaise\" id=\"3\"><next><block type=\"coderbot_sleep\" id=\"22\" inline=\"false\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"23\"><field name=\"NUM\">1.0</field></block></value><next><block type=\"coderbot_armLower\" id=\"44\"><next><block type=\"coderbot_sleep\" id=\"66\" inline=\"false\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"67\"><field name=\"NUM\">1.0</field></block></value></block></next></block></next></block></next></block></statement></block></xml>", "code": "for count in range(4):\n  get_prog_eng().check_end()\n  get_bot().servo3(60)\n  get_cam().sleep(1)\n  get_bot().servo3(120)\n  get_cam().sleep(1)\n", "name": "arm_test"}
\ No newline at end of file
diff --git a/data/program_find_color_test.data b/data/program_find_color_test.data
new file mode 100644
index 00000000..126bc234
--- /dev/null
+++ b/data/program_find_color_test.data
@@ -0,0 +1 @@
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml/"><block type=\"controls_repeat_ext\" id=\"10\" inline=\"true\" x=\"11\" y=\"11\"><value name=\"TIMES\"><block type=\"math_number\" id=\"11\"><field name=\"NUM\">100</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"27\" inline=\"false\"><value name=\"TEXT\"><block type=\"coderbot_adv_findColor\" id=\"34\" inline=\"true\"><field name=\"RETVAL\">X</field><value name=\"COLOR\"><block type=\"colour_picker\" id=\"35\"><field name=\"COLOUR\">#ff6600</field></block></value></block></value><next><block type=\"coderbot_sleep\" id=\"54\" inline=\"false\"><value name=\"ELAPSE\"><block type=\"math_number\" id=\"55\"><field name=\"NUM\">0.1</field></block></value></block></next></block></statement></block></xml>", "code": "for count in range(100):\n  get_prog_eng().check_end()\n  get_cam().set_text(get_cam().find_color('#ff6600')[0])\n  get_cam().sleep(0.1)\n", "name": "find_color_test"}
\ No newline at end of file
diff --git a/init.py b/init.py
index cc459059..1f050b0f 100755
--- a/init.py
+++ b/init.py
@@ -1,5 +1,9 @@
 #!/usr/bin/python
 
+import os
+
+os.chdir("/home/pi/coderbot_lboro/")
+
 import coderbot
 import main
 
diff --git a/main.py b/main.py
index 8858e5b4..d569d990 100644
--- a/main.py
+++ b/main.py
@@ -39,7 +39,7 @@ def get_locale():
     # header the browser transmits.
     loc = request.accept_languages.best_match(['it', 'en'])
     if loc is None:
-      loc = 'it'
+      loc = 'en'
     return loc
 
 @app.route("/")
@@ -57,13 +57,13 @@ def handle_wifi():
     mode = request.form.get("wifi_mode")
     ssid = request.form.get("wifi_ssid")
     psk = request.form.get("wifi_psk")
-    logging.info( "mode ", mode, " ssid: ", ssid, " psk: ", psk)
-    client_params = " \"" + ssid + "\" \"" + psk + "\"" if ssid != "" and psk != "" else ""
+    logging.info( "mode ", str(mode), " ssid: ", str(ssid), " psk: ", str(psk))
+    client_params = " \"" + str(ssid) + "\" \"" + str(psk) + "\"" if ssid != "" and psk != "" else ""
     logging.info(client_params)
     os.system("sudo python wifi.py updatecfg " + mode + client_params)
     if mode == "ap":
-      return "http://coder.bot:8080/";
-    else:
+      return "http://coder.bot:8080/"
+    elif mode == "client":
       return "http://coderbotsrv.appspot.com/"
 
 @app.route("/bot", methods=["GET"])
@@ -83,6 +83,8 @@ def handle_bot():
     elif cmd == "stop":
         bot.stop()
         motion.stop()
+    elif cmd == "rotate_camera":
+        cam.rotate()
     elif cmd == "take_photo":
         cam.photo_take()
         bot.say(app.bot_config.get("sound_shutter"))
@@ -107,6 +109,10 @@ def handle_bot():
     elif cmd == "reboot":
         logging.info("rebooting")
         bot.reboot()
+    elif cmd == "armup":
+        bot.arm_up()
+    elif cmd == "armdown":
+        bot.arm_down()
 
     return "ok"
 
@@ -122,6 +128,7 @@ def handle_photos():
 
 @app.route("/photos/<filename>", methods=["GET"])
 def handle_photo(filename):
+
     logging.info("photo")
     mimetype = {'jpeg': 'image/jpeg', 'h264': 'video/mp4'}
     video = None
diff --git a/messages.pot b/messages.pot
index 1234ecd0..9c90c1dc 100644
--- a/messages.pot
+++ b/messages.pot
@@ -8,7 +8,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PROJECT VERSION\n"
 "Report-Msgid-Bugs-To: EMAIL@ADDRESS\n"
-"POT-Creation-Date: 2015-04-04 00:32+0200\n"
+"POT-Creation-Date: 2015-07-13 13:16+0000\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: LANGUAGE <LL@li.org>\n"
@@ -64,16 +64,20 @@ msgstr ""
 msgid "Movement"
 msgstr ""
 
-#: templates/blocks_adv.xml:229
+#: templates/blocks_adv.xml:229 templates/blocks_std.xml:61
+msgid "Arm"
+msgstr ""
+
+#: templates/blocks_adv.xml:233
 msgid "Camera"
 msgstr ""
 
-#: templates/blocks_adv.xml:234 templates/blocks_std.xml:61
+#: templates/blocks_adv.xml:238 templates/blocks_std.xml:65
 #: templates/config.html:14
 msgid "Sensor"
 msgstr ""
 
-#: templates/blocks_adv.xml:246 templates/blocks_std.xml:73
+#: templates/blocks_adv.xml:250 templates/blocks_std.xml:77
 msgid "Sound"
 msgstr ""
 
@@ -82,7 +86,7 @@ msgstr ""
 msgid "Control"
 msgstr ""
 
-#: templates/config.html:3 templates/control.html:63
+#: templates/config.html:3 templates/control.html:61
 msgid "Back"
 msgstr ""
 
@@ -102,7 +106,7 @@ msgstr ""
 msgid "Button"
 msgstr ""
 
-#: templates/config.html:18 templates/config.html:127
+#: templates/config.html:18 templates/config.html:128
 msgid "User Interface"
 msgstr ""
 
@@ -110,241 +114,257 @@ msgstr ""
 msgid "WiFi"
 msgstr ""
 
-#: templates/config.html:24 templates/config.html:63
+#: templates/config.html:20
+msgid "Restart, Halt"
+msgstr ""
+
+#: templates/config.html:25 templates/config.html:64
 msgid "Movement assisted by vision"
 msgstr ""
 
-#: templates/config.html:27
+#: templates/config.html:28
 msgid "Step timing | distance / angle"
 msgstr ""
 
-#: templates/config.html:28 templates/config.html:66
+#: templates/config.html:29 templates/config.html:67
 msgid "Forward speed"
 msgstr ""
 
-#: templates/config.html:30 templates/config.html:68
+#: templates/config.html:31 templates/config.html:69
 msgid "Forward elapse / distance"
 msgstr ""
 
-#: templates/config.html:32 templates/config.html:70
+#: templates/config.html:33 templates/config.html:71
 msgid "Turn speed"
 msgstr ""
 
-#: templates/config.html:34 templates/config.html:72
+#: templates/config.html:35 templates/config.html:73
 msgid "Turn elapse / angle"
 msgstr ""
 
-#: templates/config.html:37
+#: templates/config.html:38
 msgid "Show control counter"
 msgstr ""
 
-#: templates/config.html:40
+#: templates/config.html:41
 msgid "HUD image name"
 msgstr ""
 
-#: templates/config.html:45
+#: templates/config.html:46
 msgid "Editor level"
 msgstr ""
 
-#: templates/config.html:47
+#: templates/config.html:48
 msgid "Move"
 msgstr ""
 
-#: templates/config.html:49
+#: templates/config.html:50
 msgid "Basic"
 msgstr ""
 
-#: templates/config.html:51
+#: templates/config.html:52
 msgid "Standard"
 msgstr ""
 
-#: templates/config.html:53
+#: templates/config.html:54
 msgid "Advanced"
 msgstr ""
 
-#: templates/config.html:56
+#: templates/config.html:57
 msgid "Program editor details"
 msgstr ""
 
-#: templates/config.html:57
+#: templates/config.html:58
 msgid "Shows Editor scrollbars"
 msgstr ""
 
-#: templates/config.html:59
+#: templates/config.html:60
 msgid "Save program before every run"
 msgstr ""
 
-#: templates/config.html:75
+#: templates/config.html:76
 msgid "Other program parameters"
 msgstr ""
 
-#: templates/config.html:76
+#: templates/config.html:77
 msgid "Auto record video on program run"
 msgstr ""
 
-#: templates/config.html:79
+#: templates/config.html:80
 msgid "Max number of blocks allowed"
 msgstr ""
 
-#: templates/config.html:83
+#: templates/config.html:84
 msgid "Start sound"
 msgstr ""
 
-#: templates/config.html:85
+#: templates/config.html:86
 msgid "Stop sound"
 msgstr ""
 
-#: templates/config.html:87
+#: templates/config.html:88
 msgid "Shutter sound"
 msgstr ""
 
-#: templates/config.html:91
+#: templates/config.html:92
 msgid "Camera parameters"
 msgstr ""
 
-#: templates/config.html:92
+#: templates/config.html:93
 msgid "Exposure mode"
 msgstr ""
 
-#: templates/config.html:103
+#: templates/config.html:104
 msgid "Motor control mode"
 msgstr ""
 
-#: templates/config.html:105
+#: templates/config.html:106
 msgid "Power (target angle -15)"
 msgstr ""
 
-#: templates/config.html:107
+#: templates/config.html:108
 msgid "Power (target angle -4)"
 msgstr ""
 
-#: templates/config.html:109
+#: templates/config.html:110
 msgid "Power (target angle -1)"
 msgstr ""
 
-#: templates/config.html:113
+#: templates/config.html:114
 msgid "Load at start"
 msgstr ""
 
-#: templates/config.html:118
+#: templates/config.html:119
 msgid "Button function"
 msgstr ""
 
-#: templates/config.html:119
+#: templates/config.html:120
 msgid "None"
 msgstr ""
 
-#: templates/config.html:121
+#: templates/config.html:122
 msgid "Start/Stop current program"
 msgstr ""
 
-#: templates/config.html:128
+#: templates/config.html:129
 msgid "Show Control page"
 msgstr ""
 
-#: templates/config.html:130
+#: templates/config.html:131
 msgid "Show Control movement commands"
 msgstr ""
 
-#: templates/config.html:132
+#: templates/config.html:133
 msgid "Show Program page"
 msgstr ""
 
-#: templates/config.html:134
+#: templates/config.html:135
 msgid "Show Preferences button"
 msgstr ""
 
-#: templates/config.html:139
+#: templates/config.html:140
 msgid "WiFi Client access mode"
 msgstr ""
 
-#: templates/config.html:142 templates/config.html:164
+#: templates/config.html:143
+msgid "Halt"
+msgstr ""
+
+#: templates/config.html:144
+msgid "Restart"
+msgstr ""
+
+#: templates/config.html:145
+msgid "Reboot"
+msgstr ""
+
+#: templates/config.html:148 templates/config.html:169
 msgid "Cancel"
 msgstr ""
 
-#: templates/config.html:143 templates/program.html:18
+#: templates/config.html:149 templates/program.html:18
 #: templates/program.html:26
 msgid "Save"
 msgstr ""
 
-#: templates/config.html:151
+#: templates/config.html:156
 msgid "WiFi Client mode access data"
 msgstr ""
 
-#: templates/config.html:153
+#: templates/config.html:158
 msgid "WiFi mode"
 msgstr ""
 
-#: templates/config.html:155
+#: templates/config.html:160
 msgid "Access Point"
 msgstr ""
 
-#: templates/config.html:157
+#: templates/config.html:162
 msgid "Client"
 msgstr ""
 
-#: templates/config.html:159
+#: templates/config.html:164
 msgid "WiFi name"
 msgstr ""
 
-#: templates/config.html:161
+#: templates/config.html:166
 msgid "WiFi password"
 msgstr ""
 
-#: templates/config.html:165
+#: templates/config.html:170
 msgid "Apply Wifi config"
 msgstr ""
 
-#: templates/config.html:172
+#: templates/config.html:177
 msgid "WiFi AP mode access"
 msgstr ""
 
-#: templates/config.html:184
+#: templates/config.html:189
 msgid "WiFi Client mode access"
 msgstr ""
 
-#: templates/config_params.html:20
+#: templates/config_params.html:21
 msgid "Say what:"
 msgstr ""
 
-#: templates/config_params.html:21
+#: templates/config_params.html:22
 msgid "Saved"
 msgstr ""
 
-#: templates/config_params.html:22
+#: templates/config_params.html:23
 msgid "Program saved"
 msgstr ""
 
-#: templates/config_params.html:23
+#: templates/config_params.html:24
 msgid "Program name already in use, overwrite?"
 msgstr ""
 
-#: templates/config_params.html:24
+#: templates/config_params.html:25
 msgid "Delete"
 msgstr ""
 
-#: templates/config_params.html:25
+#: templates/config_params.html:26
 msgid "Delete photo"
 msgstr ""
 
-#: templates/config_params.html:26
+#: templates/config_params.html:27
 msgid "Reset move counter?"
 msgstr ""
 
-#: templates/config_params.html:27 templates/program.html:40
+#: templates/config_params.html:28 templates/program.html:40
 msgid "is running"
 msgstr ""
 
-#: templates/config_params.html:28
+#: templates/config_params.html:29
 msgid "stopped"
 msgstr ""
 
-#: templates/config_params.html:29 templates/control.html:51
+#: templates/config_params.html:30 templates/control.html:49
 #: templates/program.html:32
 msgid "Stop"
 msgstr ""
 
-#: templates/config_params.html:30
+#: templates/config_params.html:31
 msgid "Close"
 msgstr ""
 
@@ -356,39 +376,39 @@ msgstr ""
 msgid "Program"
 msgstr ""
 
-#: templates/control.html:19
-msgid "Halt"
-msgstr ""
-
-#: templates/control.html:24
+#: templates/control.html:21
 msgid "Forward"
 msgstr ""
 
-#: templates/control.html:27
+#: templates/control.html:24
 msgid "Left"
 msgstr ""
 
-#: templates/control.html:28
+#: templates/control.html:25
 msgid "Right"
 msgstr ""
 
-#: templates/control.html:31
+#: templates/control.html:28
 msgid "Backward"
 msgstr ""
 
-#: templates/control.html:40
+#: templates/control.html:37
 msgid "Say"
 msgstr ""
 
-#: templates/control.html:45
+#: templates/control.html:42
 msgid "Photo"
 msgstr ""
 
-#: templates/control.html:50
+#: templates/control.html:43
+msgid "Rotate"
+msgstr ""
+
+#: templates/control.html:48
 msgid "Rec"
 msgstr ""
 
-#: templates/control.html:54
+#: templates/control.html:52
 msgid "Photos"
 msgstr ""
 
diff --git a/motion.py b/motion.py
index bf41ae9c..fdccac54 100644
--- a/motion.py
+++ b/motion.py
@@ -7,7 +7,7 @@
 
 from coderbot import CoderBot
 from camera import Camera
-from program import get_prog_eng
+#from program import get_prog_eng
 from config import Config
 
 lk_params = dict( winSize  = (15, 15),
@@ -20,10 +20,18 @@
                        blockSize = 7 )
 
 
-PI_CAM_FOV_H_DEG = 53.0
+#PI_CAM_FOV_H_DEG = 53.0
+#PI_CAM_FOV_V_CM = 100.0
+PI_CAM_FOV_H_DEG = 100.0
 PI_CAM_FOV_V_CM = 100.0
-IMAGE_WIDTH = 160.0
-IMAGE_HEIGHT = 120.0
+#IMAGE_WIDTH = 160.0
+#IMAGE_HEIGHT = 120.0
+IMAGE_WIDTH = 640.0
+IMAGE_HEIGHT = 480.0
+
+TURN_PERIOD = 0.05
+TURN_SPEED = 70
+
 
 class Motion:
     def __init__(self):
@@ -74,7 +82,7 @@ def stop(self):
     def loop_move(self):
         self.running = True
         while self.running:
-            frame = self.cam.get_image()
+            frame = self.cam.get_image_copy()
             self.frame_gray = frame.grayscale()
 
             if len(self.tracks) < 2 or self.frame_idx % self.detect_interval == 0:
@@ -94,7 +102,7 @@ def loop_move(self):
     def loop_turn(self):
         self.running = True
         while self.running:
-            frame = self.cam.get_image()
+            frame = self.cam.get_image_copy()
             self.frame_gray = frame.grayscale()
 
             if len(self.tracks) < 2 or self.frame_idx % self.detect_interval == 0:
@@ -189,6 +197,9 @@ def calc_motion(self):
             self.delta_dist += (avg_delta_y * PI_CAM_FOV_V_CM) / IMAGE_HEIGHT
             #print "count: ", count, "delta_a: ", self.delta_angle, " avg_delta_x: ", avg_delta_x, " delta_y: ", self.delta_dist, " avg_delta_y: ", avg_delta_y
 
+        print "angle : "
+        print self.delta_angle
+        
         #cv2.line(self.vis, (int(80+deltaAngle),20), (80,20), (0, 0, 255))
         #cv2.putText(self.vis, "delta: " + str(int((self.deltaAngle*53.0)/160.0)) + " avg_delta: " + str(int(((avg_delta_x*53.0)/160.0))), (0,20), cv2.FONT_HERSHEY_SIMPLEX, 0.3, (0, 0, 255))
         return self.delta_angle, self.delta_dist
@@ -200,7 +211,8 @@ def bot_turn(self, target_angle, delta_angle):
         for p_a in self.power_angles:
            if abs(target_angle - delta_angle) > p_a[0] and self.running:
                #print "pow: ", p_a[1][0], " duration: ", p_a[1][1]
-               self.bot.motor_control(sign * p_a[1][0], -1 * sign * p_a[1][0], p_a[1][1])
+               #self.bot.motor_control(sign * p_a[1][0], -1 * sign * p_a[1][0], p_a[1][1])
+               self.bot.motor_control(sign * TURN_SPEED, -1 * sign * TURN_SPEED, TURN_PERIOD)
                run = p_a[1][0] > 0 #stopped
                break
         
diff --git a/photos/README.md b/photos/README.md
new file mode 100644
index 00000000..ced4d772
--- /dev/null
+++ b/photos/README.md
@@ -0,0 +1,3 @@
+# Photos
+
+This directory will be used for storing jpg images from the camera!
diff --git a/pigpio_test.py b/pigpio_test.py
new file mode 100644
index 00000000..d0cba354
--- /dev/null
+++ b/pigpio_test.py
@@ -0,0 +1,45 @@
+#!/usr/bin/python
+
+import time
+import pigpio
+
+
+PIN = 25   # RIGHT=4 LEFT=25 ARM=9
+
+PWM_FREQ = 50
+PWM_RANGE = 2000
+
+pi = pigpio.pi('localhost')
+
+pi.set_PWM_frequency(PIN,PWM_FREQ)
+pi.set_PWM_range(PIN,PWM_RANGE)
+
+# duty cycle values for range 2000, frequency 50
+# 
+
+print 'full counter-clockwise (1ms):'
+pi.set_PWM_dutycycle(PIN,100)
+time.sleep(2)
+
+print 'rest (1.5ms):'
+pi.set_PWM_dutycycle(PIN,150)
+time.sleep(2)
+
+print 'full clockwise (2ms):'
+pi.set_PWM_dutycycle(PIN,200)
+time.sleep(2)
+
+print 'stop:'
+pi.set_PWM_dutycycle(PIN,0)
+time.sleep(2)
+
+print 'whole range:'
+for x in range (100,200):
+    pi.set_PWM_dutycycle(PIN,x)
+    time.sleep(0.02)
+    print x
+
+
+pi.set_PWM_dutycycle(PIN,0)
+print 'test complete.'
+
diff --git a/program.py b/program.py
index 80d507de..e02cdc39 100644
--- a/program.py
+++ b/program.py
@@ -13,6 +13,7 @@
 PROGRAM_PREFIX = "program_"
 PROGRAM_SUFFIX = ".data"
 
+
 def get_cam():
   return camera.Camera.get_instance()
 
@@ -118,17 +119,19 @@ def run(self):
     try:
       #print "run.1"
       bot = coderbot.CoderBot.get_instance()
+      bot.setCheckEndMethod(self.check_end) 
       cam = camera.Camera.get_instance()
       program = self
       if config.Config.get().get("prog_video_rec") == "true":
         get_cam().video_rec(program.name)
         logging.debug("starting video")
       exec(self._code)
-      #print "run.2"
     except RuntimeError as re:
       logging.info("quit: " + str(re))
     finally:
       get_cam().video_stop() #if video is running, stop it
+      get_cam().set_text(' ')
+      #get_cam._streamer.end_stream()
       get_motion().stop()
       self._running = False
 
diff --git a/scripts/README.md b/scripts/README.md
new file mode 100644
index 00000000..ccd809a4
--- /dev/null
+++ b/scripts/README.md
@@ -0,0 +1,15 @@
+|Script|Live Dir|
+|------|--------|
+|coderbot|/etc/init.d/|
+|hostapd|/etc/init.d/|
+|interfaces_ap|/etc/network/|
+|interfaces_cli|/etc/network/|
+|pigpiod|/etc/init.d|
+|hostapd.conf|/etc/hostapd/|
+|dnsmasq.conf|/etc/|
+
+
+Note that scripts in the init.d folder need to be enabled/disabled as
+described in [Starting Coderbot](https://github.com/explosivose/coderbot_lboro/wiki/Starting-Coderbot).
+
+
diff --git a/scripts/coderbot b/scripts/coderbot
deleted file mode 100755
index 2d0f3d1a..00000000
--- a/scripts/coderbot
+++ /dev/null
@@ -1,58 +0,0 @@
-#!/bin/sh
- 
-### BEGIN INIT INFO
-# Provides:          myservice
-# Required-Start:    $remote_fs $syslog
-# Required-Stop:     $remote_fs $syslog
-# Default-Start:     2 3 4 5
-# Default-Stop:      0 1 6
-# Short-Description: CoderBot service
-# Description:       Provide CoderBot Service web application
-### END INIT INFO
- 
-# Change the next 3 lines to suit where you install your script and what you want to call it
-DIR=/home/pi/coderbot
-DAEMON=$DIR/init.py
-DAEMON_NAME=coderbot
- 
-# This next line determines what user the script runs as.
-# Root generally not recommended but necessary if you are using the Raspberry Pi GPIO from Python.
-DAEMON_USER=pi
- 
-# The process ID of the script when it runs is stored here:
-PIDFILE=/var/run/$DAEMON_NAME.pid
- 
-. /lib/lsb/init-functions
- 
-do_start () {
-    log_daemon_msg "Starting system $DAEMON_NAME daemon"
-    start-stop-daemon --start --background --pidfile $PIDFILE --make-pidfile --user $DAEMON_USER --chdir $DIR --chuid $DAEMON_USER --exec /usr/bin/python  -- ./init.py
-    log_end_msg $?
-}
-do_stop () {
-    log_daemon_msg "Stopping system $DAEMON_NAME daemon"
-    start-stop-daemon --stop --pidfile $PIDFILE --retry 10
-    log_end_msg $?
-}
- 
-case "$1" in
- 
-    start|stop)
-        do_${1}
-        ;;
- 
-    restart|reload|force-reload)
-        do_stop
-        do_start
-        ;;
- 
-    status)
-        status_of_proc "$DAEMON_NAME" "$DAEMON" && exit 0 || exit $?
-        ;;
-    *)
-        echo "Usage: /etc/init.d/$DAEMON_NAME {start|stop|restart|status}"
-        exit 1
-        ;;
- 
-esac
-exit 0
diff --git a/scripts/coderbot_wifi.conf b/scripts/coderbot_wifi.conf
deleted file mode 100644
index d59c3b93..00000000
--- a/scripts/coderbot_wifi.conf
+++ /dev/null
@@ -1 +0,0 @@
-{"wifi_mode": "ap"}
\ No newline at end of file
diff --git a/scripts/etc/coderbot_wifi.conf b/scripts/etc/coderbot_wifi.conf
new file mode 100644
index 00000000..16afbe86
--- /dev/null
+++ b/scripts/etc/coderbot_wifi.conf
@@ -0,0 +1,2 @@
+#This is located at /etc/coderbot_wifi.conf
+{"wifi_mode": "ap"}
diff --git a/scripts/etc/hostapd/hostapd.conf b/scripts/etc/hostapd/hostapd.conf
index a1fcb119..922e53bf 100644
--- a/scripts/etc/hostapd/hostapd.conf
+++ b/scripts/etc/hostapd/hostapd.conf
@@ -1,6 +1,6 @@
 interface=wlan0
-#driver=nl80211
-driver=rtl871xdrv
+driver=nl80211
+#driver=rtl871xdrv
 ctrl_interface=/var/run/hostapd
 ctrl_interface_group=0
 ssid=coderbot
diff --git a/scripts/etc/init.d/coderbot b/scripts/etc/init.d/coderbot
new file mode 100755
index 00000000..a0209fca
--- /dev/null
+++ b/scripts/etc/init.d/coderbot
@@ -0,0 +1,56 @@
+#!/bin/sh
+
+### BEGIN INIT INFO
+# Provides:		coderbot
+# Required-Start: 	$remote_fs $syslog
+# Required-Stop: 	$remote_fs $syslog
+# Default-Start:	2 3 4 5
+# Default-Stop: 	0 1 6
+# Short-Description:	Web-based Blockly Interface for Pi
+# Description:		Web-based Blockly Interface for programming the Pi, goto 10.0.0.1:8080
+### END INIT INFO
+
+# Location of daemon python script
+DIR=/home/pi/coderbot_lboro
+DAEMON=$DIR/init.py
+DAEMON_NAME=coderbot
+
+# Put your command-line options here
+DAEMON_OPTS=""
+
+DAEMON_USER=root
+
+# The process ID of the script when it runs is stored here
+PIDFILE=/var/run/$DAEMON_NAME.pid
+
+. /lib/lsb/init-functions
+
+do_start() {
+    log_daemon_msg "Starting system $DAEMON_NAME daemon"
+    start-stop-daemon --start --background --pidfile $PIDFILE --make-pidfile --user $DAEMON_USER --chuid $DAEMON_USER --startas $DAEMON -- $DAEMON_OPTS
+    log_end_msg $?
+}
+
+do_stop() {
+    log_daemon_msg "Stopping system $DAEMON_NAME daemon"
+    start-stop-daemon --stop --pidfile $PIDFILE --retry 10
+    log_end_msg $?
+}
+
+case "$1" in
+    start|stop)
+	do_${1}
+	;;
+    restart|reload|force-reload)
+	do_stop
+	do_start
+	;;
+    status)
+	status_of_proc "$DAEMON_NAME" "$DAEMON" && exit 0 || exit $?
+	;;
+    *)
+	echo "Usage: /etc/init.d/$DAEMON_NAME {start|stop|restart|status}"
+	exit 1
+	;;
+esac
+exit 0
diff --git a/scripts/etc/init.d/hostapd b/scripts/etc/init.d/hostapd
new file mode 100755
index 00000000..0e17e57f
--- /dev/null
+++ b/scripts/etc/init.d/hostapd
@@ -0,0 +1,70 @@
+#!/bin/sh
+
+### BEGIN INIT INFO
+# Provides:		hostapd
+# Required-Start:	$remote_fs
+# Required-Stop:	$remote_fs
+# Should-Start:		$network
+# Should-Stop:
+# Default-Start:	2 3 4 5
+# Default-Stop:		0 1 6
+# Short-Description:	Advanced IEEE 802.11 management daemon
+# Description:		Userspace IEEE 802.11 AP and IEEE 802.1X/WPA/WPA2/EAP
+#			Authenticator
+### END INIT INFO
+
+PATH=/sbin:/bin:/usr/sbin:/usr/bin
+DAEMON_SBIN=/usr/sbin/hostapd
+DAEMON_DEFS=/etc/default/hostapd
+DAEMON_CONF=/etc/hostapd/hostapd.conf
+NAME=hostapd
+DESC="advanced IEEE 802.11 management"
+PIDFILE=/var/run/hostapd.pid
+
+[ -x "$DAEMON_SBIN" ] || exit 0
+[ -s "$DAEMON_DEFS" ] && . /etc/default/hostapd
+[ -n "$DAEMON_CONF" ] || exit 0
+
+
+. /lib/lsb/init-functions
+
+do_start() {
+	log_daemon_msg "Starting $DESC" "$NAME"
+	start-stop-daemon --start --background --pidfile $PIDFILE --make-pidfile \
+		--startas $DAEMON_SBIN -- $DAEMON_CONF
+	log_end_msg $?
+}
+
+do_stop() {
+	log_daemon_msg "Stopping $NAME"
+	start-stop-daemon --stop --pidfile $PIDFILE --retry 10
+	log_end_msg $?
+}
+
+case "$1" in
+  start|stop)
+	do_${1}
+	;;
+  reload)
+  	log_daemon_msg "Reloading $DESC" "$NAME"
+	start-stop-daemon --stop --signal HUP --exec "$DAEMON_SBIN" \
+		--pidfile "$PIDFILE"
+	log_end_msg "$?"
+	;;
+  restart|force-reload)
+  	do_stop
+  	sleep 8
+	do_start
+	;;
+  status)
+	status_of_proc "$DAEMON_SBIN" "$NAME"
+	exit $?
+	;;
+  *)
+	N=/etc/init.d/$NAME
+	echo "Usage: $N {start|stop|restart|force-reload|reload|status}" >&2
+	exit 1
+	;;
+esac
+
+exit 0
diff --git a/scripts/etc/init.d/pigpiod b/scripts/etc/init.d/pigpiod
new file mode 100755
index 00000000..c4ae23fe
--- /dev/null
+++ b/scripts/etc/init.d/pigpiod
@@ -0,0 +1,57 @@
+#!/bin/sh
+
+### BEGIN INIT INFO
+# Provides:		pigpiod
+# Required-Start: 	$remote_fs $syslog
+# Required-Stop: 	$remote_fs $syslog
+# Default-Start:	2 3 4 5
+# Default-Stop: 	0 1 6
+# Short-Description:	PI GPIO Server
+# Description:		Provides access to GPIO non-root users!
+### END INIT INFO
+
+# Location of daemon python script
+DIR=/usr/local/bin
+DAEMON=$DIR/pigpiod
+DAEMON_NAME=pigpiod
+
+# Put your command-line options here
+DAEMON_OPTS="-s 10"
+
+# Must start as root to use GPIO
+DAEMON_USER=root
+
+# The process ID of the script when it runs is stored here
+PIDFILE=/var/run/$DAEMON_NAME.pid
+
+. /lib/lsb/init-functions
+
+do_start() {
+    log_daemon_msg "Starting system $DAEMON_NAME daemon"
+    start-stop-daemon --start --background --pidfile $PIDFILE --make-pidfile --user $DAEMON_USER --chuid $DAEMON_USER --startas $DAEMON -- ${DAEMON_OPTS}
+    log_end_msg $?
+}
+
+do_stop() {
+    log_daemon_msg "Stopping system $DAEMON_NAME daemon"
+    start-stop-daemon --stop --pidfile $PIDFILE --retry 10
+    log_end_msg $?
+}
+
+case "$1" in
+    start|stop)
+	do_${1}
+	;;
+    restart|reload|force-reload)
+	do_stop
+	do_start
+	;;
+    status)
+	status_of_proc "$DAEMON_NAME" "$DAEMON" && exit 0 || exit $?
+	;;
+    *)
+	echo "Usage: /etc/init.d/$DAEMON_NAME {start|stop|restart|status}"
+	exit 1
+	;;
+esac
+exit 0
diff --git a/scripts/etc/network/interfaces_ap b/scripts/etc/network/interfaces_ap
new file mode 100644
index 00000000..2043ea4c
--- /dev/null
+++ b/scripts/etc/network/interfaces_ap
@@ -0,0 +1,12 @@
+auto lo
+iface lo inet loopback
+iface eth0 inet dhcp
+#allow-hotplug wlan0
+#iface wlan0 inet manual
+#wpa-roam /etc/wpa_supplicant/wpa_supplicant.conf
+#iface default inet dhcp
+iface wlan0 inet static
+address 10.0.0.1
+netmask 255.255.255.0
+#wireless-power off
+
diff --git a/scripts/etc/network/interfaces_cli b/scripts/etc/network/interfaces_cli
new file mode 100644
index 00000000..80e54eeb
--- /dev/null
+++ b/scripts/etc/network/interfaces_cli
@@ -0,0 +1,12 @@
+auto lo
+iface lo inet loopback
+#iface eth0 inet dhcp
+#iface default inet dhcp
+allow-hotplug wlan0
+iface wlan0 inet static
+address 192.168.0.105
+netmask 255.255.255.0
+gateway 192.168.0.1
+wpa-ssid Lboro_Coderbot_Hub
+wpa-psk welovepis
+
diff --git a/scripts/etc/network/interfaces_hub b/scripts/etc/network/interfaces_hub
new file mode 100644
index 00000000..65676d54
--- /dev/null
+++ b/scripts/etc/network/interfaces_hub
@@ -0,0 +1,13 @@
+auto lo
+iface lo inet loopback
+iface eth0 inet dhcp
+
+allow-hotplug wlan0
+iface wlan0 inet dhcp
+#iface default inet dhcp
+
+wpa-ssid "Lboro_Coderbot_Hub"
+wpa-psk "welovepis"
+
+#wireless-power off
+
diff --git a/scripts/etc/rc.local b/scripts/etc/rc.local
new file mode 100755
index 00000000..8082d7b4
--- /dev/null
+++ b/scripts/etc/rc.local
@@ -0,0 +1,22 @@
+##!/bin/sh -e
+#
+# rc.local
+#
+# This script is executed at the end of each multiuser runlevel.
+# Make sure that the script will "exit 0" on success or any other
+# value on error.
+#
+# In order to enable or disable this script just change the execution
+# bits.
+#
+# By default this script does nothing.
+
+# Print the IP address
+_IP=$(hostname -I) || true
+if [ "$_IP" ]; then
+  printf "My IP address is %s\n" "$_IP"
+fi
+
+sudo python /home/pi/coderbot_lboro/wifi.py
+
+exit 0
diff --git a/scripts/hostapd b/scripts/hostapd
deleted file mode 100755
index b19a99f7..00000000
--- a/scripts/hostapd
+++ /dev/null
@@ -1,72 +0,0 @@
-#!/bin/sh
-
-### BEGIN INIT INFO
-# Provides:		hostapd
-# Required-Start:	$remote_fs
-# Required-Stop:	$remote_fs
-# Should-Start:		$network
-# Should-Stop:
-# Default-Start:	2 3 4 5
-# Default-Stop:		0 1 6
-# Short-Description:	Advanced IEEE 802.11 management daemon
-# Description:		Userspace IEEE 802.11 AP and IEEE 802.1X/WPA/WPA2/EAP
-#			Authenticator
-### END INIT INFO
-
-PATH=/sbin:/bin:/usr/sbin:/usr/bin
-DAEMON_SBIN_1=/usr/sbin/hostapd.RT5370
-DAEMON_SBIN_2=/usr/sbin/hostapd.RTL8188
-DAEMON_DEFS_1=/etc/hostapd/hostapd.RT5370
-DAEMON_DEFS_2=/etc/hostapd/hostapd.RTL8188
-DAEMON_CONF=
-NAME=hostapd
-DESC="advanced IEEE 802.11 management"
-PIDFILE=/var/run/hostapd.pid
-
-[ -x "$DAEMON_SBIN_1" ] || exit 0
-[ -s "$DAEMON_DEFS_1" ] && . /etc/default/hostapd
-[ -n "$DAEMON_CONF" ] || exit 0
-
-DAEMON_OPTS="-B -P $PIDFILE $DAEMON_OPTS $DAEMON_CONF"
-
-. /lib/lsb/init-functions
-
-case "$1" in
-  start)
-	log_daemon_msg "Starting $DESC" "$NAME"
-        echo "starting 1"
-	start-stop-daemon --start --oknodo --quiet --exec "$DAEMON_SBIN_1" --pidfile "$PIDFILE" -- $DAEMON_DEFS_1 >/dev/null
-        echo "starting 2"
-	start-stop-daemon --start --oknodo --quiet --exec "$DAEMON_SBIN_2" --pidfile "$PIDFILE" -- $DAEMON_DEFS_2 >/dev/null
-        echo "$?"
-	log_end_msg "$?"
-	;;
-  stop)
-	log_daemon_msg "Stopping $DESC" "$NAME"
-	start-stop-daemon --stop --oknodo --quiet --exec "$DAEMON_SBIN_1" --pidfile "$PIDFILE"
-	start-stop-daemon --stop --oknodo --quiet --exec "$DAEMON_SBIN_2" --pidfile "$PIDFILE"
-	log_end_msg "$?"
-	;;
-  reload)
-  	log_daemon_msg "Reloading $DESC" "$NAME"
-	start-stop-daemon --stop --signal HUP --exec "$DAEMON_SBIN_1" --pidfile "$PIDFILE"
-	start-stop-daemon --stop --signal HUP --exec "$DAEMON_SBIN_2" --pidfile "$PIDFILE"
-	log_end_msg "$?"
-	;;
-  restart|force-reload)
-  	$0 stop
-	sleep 8
-	$0 start
-	;;
-  status)
-	status_of_proc "$DAEMON_SBIN_1" "$NAME"
-	exit $?
-	;;
-  *)
-	N=/etc/init.d/$NAME
-	echo "Usage: $N {start|stop|restart|force-reload|reload|status}" >&2
-	exit 1
-	;;
-esac
-
-exit 0
diff --git a/scripts/pigpiod b/scripts/pigpiod
deleted file mode 100755
index 408a9cc9..00000000
--- a/scripts/pigpiod
+++ /dev/null
@@ -1,58 +0,0 @@
-#!/bin/sh
-
-### BEGIN INIT INFO
-# Provides:          pigpiod
-# Required-Start:    udev
-# Required-Stop:
-# Default-Start:     S
-# Default-Stop:
-# X-Interactive:
-# Description: PI GPIO Server
-# Short-Description: Provides access to GPIO to non-root users
-### END INIT INFO
-
-PATH='/sbin:/bin:/usr/bin'
-
-NAME=pigpiod
-PIGPIOD=/usr/local/bin/pigpiod
-FIND_PID="ps -eo pid,args | grep /usr/local/bin/pigpiod | awk '{print $1}'"
-
-RET=0
-
-. /lib/lsb/init-functions
-
-kill_pid () {
-    PID=$(eval $FIND_PID)
-    if [ ! -z $PID ]; then
-        kill $PID
-        PID=$(eval $FIND_PID)
-        if [ ! -z $PID ]; then
-            sleep 3
-            kill -9 $PID
-        fi
-    fi
-}
-
-case "$1" in
-    start|reload|restart|force-reload)
-    	kill_pid
-	log_daemon_msg "Starting PIGPIO Daemon" "pigpiod"
-	echo
-    	$PIGPIOD
-    	RET=$?
-        ;;
-    stop)
-    	kill_pid
-    	RET=$?
-        ;;
-    status)
-        ;;
-    *)
-    	log_failure_msg "Usage: /etc/init.d/$NAME {start|stop|restart}"
-    	RET=1
-        ;;
-esac
-
-exit $RET
-
-:
diff --git a/scripts/wifi b/scripts/wifi
index 81729d82..2405e2d8 100755
--- a/scripts/wifi
+++ b/scripts/wifi
@@ -11,7 +11,7 @@
 ### END INIT INFO
  
 # Change the next 3 lines to suit where you install your script and what you want to call it
-DIR=/home/pi/coderbot
+DIR=/home/pi/coderbot_lboro
 DAEMON=$DIR/wifi.py
 DAEMON_NAME=wifi
  
diff --git a/static/images/blocks/arm_lower.png b/static/images/blocks/arm_lower.png
new file mode 100644
index 00000000..e1f85d4c
Binary files /dev/null and b/static/images/blocks/arm_lower.png differ
diff --git a/static/images/blocks/arm_raise.png b/static/images/blocks/arm_raise.png
new file mode 100644
index 00000000..035f8356
Binary files /dev/null and b/static/images/blocks/arm_raise.png differ
diff --git a/static/js/blockly/blocks.js b/static/js/blockly/blocks.js
index dadc0a59..4ce4bf4e 100644
--- a/static/js/blockly/blocks.js
+++ b/static/js/blockly/blocks.js
@@ -706,7 +706,7 @@ Blockly.Blocks['coderbot_adv_findColor'] = {
     this.setColour(290);
     this.appendDummyInput()
         .appendField(Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_FIND)
-        .appendField(new Blockly.FieldDropdown([[Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_DIST, 'DIST'], [Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_ANGLE, 'ANGLE'],[Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_BOTH,'BOTH']]), 'RETVAL')
+        .appendField(new Blockly.FieldDropdown([[Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_X, 'X'], [Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_Y, 'Y'],[Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_DIAMETER,'DIAMETER'],[Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_ALL,'ALL']]), 'RETVAL')
         .appendField(Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_COLOR);
     this.appendValueInput('COLOR')
         .setCheck('Colour');
@@ -720,7 +720,7 @@ Blockly.JavaScript['coderbot_adv_findColor'] = function(block) {
   // Boolean values true and false.
   var color = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_NONE);
   var retval = block.getFieldValue('RETVAL');
-  var ret_code = {'DIST': '[0]', 'ANGLE': '[1]', 'BOTH': ''}[retval];
+  var ret_code = {'X': '[0]', 'Y': '[1]', 'DIAMETER': '[2]', 'ALL': ''}[retval];
   var code = 'get_cam().find_color(' + color + ')' + ret_code + ';';
   return [code, Blockly.Python.ORDER_ATOMIC];
 };
@@ -729,7 +729,7 @@ Blockly.Python['coderbot_adv_findColor'] = function(block) {
   // Boolean values true and false.
   var color = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_NONE);
   var retval = block.getFieldValue('RETVAL');
-  var ret_code = {'DIST': '[0]', 'ANGLE': '[1]', 'BOTH': ''}[retval];
+  var ret_code = {'X': '[0]', 'Y': '[1]', 'DIAMETER': '[2]', 'ALL': ''}[retval];
   var code = 'get_cam().find_color(' + color + ')' + ret_code;
   return [code, Blockly.Python.ORDER_ATOMIC];
 };
@@ -760,3 +760,248 @@ Blockly.Python['coderbot_adv_findLogo'] = function(block) {
   var code = 'get_cam().find_logo()';
   return [code, Blockly.Python.ORDER_ATOMIC];
 };
+
+Blockly.Blocks['coderbot_armRaise'] = {
+  /**
+     * Block for armRaise function.
+     * @this Blockly.Block
+     */
+  init: function() {
+    this.setHelpUrl(Blockly.Msg.CODERBOT_ARM_RAISE_HELPURL);
+    this.setColour(290);
+    var di = this.appendDummyInput()    
+    if (CODERBOT_PROG_LEVEL.indexOf("basic")>=0) {
+      di.appendField(new Blockly.FieldImage('/images/blocks/arm_raise.png', 32, 32, '*'));
+    } else {
+      di.appendField(Blockly.Msg.CODERBOT_ARM_RAISE)
+    }
+    this.setPreviousStatement(true);
+    this.setNextStatement(true);
+    this.setTooltip('Coderbot_armRaiseTooltip');
+  }
+};
+
+Blockly.JavaScript['coderbot_armRaise'] = function(block) {
+  // Generate JavaScript for raising the arm
+  return 'get_bot().arm_up();\n';
+};
+
+Blockly.Python['coderbot_armRaise'] = function(block) {
+  // Generate Python code for raising the arm
+  return 'get_bot().arm_up()\n';
+};
+
+Blockly.Blocks['coderbot_armLower'] = {
+  /** 
+     * Block for armLower function.
+     * @this Blockly.Block
+     */
+  init: function() {
+    this.setHelpUrl(Blockly.Msg.CODERBOT_ARM_RAISE_HELPURL);
+    this.setColour(290);
+    var di = this.appendDummyInput()
+    if (CODERBOT_PROG_LEVEL.indexOf("basic")>=0) {
+      di.appendField(new Blockly.FieldImage('/image/blocks/arm_lower.png', 32, 32, '*'));
+    } else {
+      di.appendField(Blockly.Msg.CODERBOT_ARM_LOWER)
+    }
+    this.setPreviousStatement(true);
+    this.setNextStatement(true);
+    this.setTooltip('Coderbot_armLowerTooltip');
+  } 
+};
+
+Blockly.JavaScript['coderbot_armLower'] = function(block) {
+  // Generate JavaScript code for lowering the arm
+  return 'get_bot().arm_down();\n';
+};
+
+Blockly.Python['coderbot_armLower'] = function(block) {
+  // Generate Python code for lowering the arm
+  return 'get_bot().arm_down()\n';
+};
+
+
+Blockly.Blocks['coderbot_printCircle'] = {
+  /**
+   * Block for printing a circle on the screen at a given coordinate
+   * @this Blockly.Block
+   */
+  init: function() {
+    this.appendValueInput("colourX")
+        .setCheck("Number")
+        .appendField("Print circle of colour")
+        .appendField(new Blockly.FieldColour("#ff0000"), "COLOUR_PARAM")
+        .appendField("at coordinates X");
+    this.appendValueInput("colourY")
+        .setCheck("Number")
+        .appendField(" and Y");
+    this.setInputsInline(true);
+    this.setPreviousStatement(true, null);
+    this.setNextStatement(true, null);
+    this.setColour(30);
+    this.setTooltip('');
+    this.setHelpUrl('http://www.example.com/');
+  }
+};
+
+Blockly.JavaScript['coderbot_printCircle'] = function(block) {
+  var colour_param = block.getFieldValue('COLOUR_PARAM');
+  var value_colourx = Blockly.JavaScript.valueToCode(block, 'colourX', Blockly.JavaScript.ORDER_ATOMIC);
+  var value_coloury = Blockly.JavaScript.valueToCode(block, 'colourY', Blockly.JavaScript.ORDER_ATOMIC);
+  // TODO: Assemble JavaScript into code variable.
+  return 'get_cam().drawCircle(' + colour_param + ',' + value_colourx + ',' + value_coloury + ';\n';
+};
+
+Blockly.Python['coderbot_printCircle'] = function(block) {
+  var colour_param = block.getFieldValue('COLOUR_PARAM');
+  var value_colourx = Blockly.Python.valueToCode(block, 'colourX', Blockly.Python.ORDER_ATOMIC);
+  var value_coloury = Blockly.Python.valueToCode(block, 'colourY', Blockly.Python.ORDER_ATOMIC);
+  // TODO: Assemble Python into code variable.
+  return 'get_cam().drawCircle(' + colour_param + ',' + value_colourx + ',' + value_coloury + ';\n';
+};
+
+Blockly.Blocks['turn_led_on'] = {
+  init: function() {
+    this.appendValueInput("seconds")
+      .setCheck("Number")
+      .appendField("Turn the ")
+      .appendField(new Blockly.FieldDropdown([["red", "Red LED"], ["green", "Green LED"], ["blue", "Blue LED"]]), "Colour")
+      .appendField("LED on for ");
+    this.appendDummyInput()
+      .appendField("seconds");
+    this.setInputsInline(true);
+    this.setHelpUrl(Blockly.Msg.CODERBOT_LED);
+    this.setColour(355);
+    this.setPreviousStatement(true,null);
+    this.setNextStatement(true,null);
+    this.setTooltip('Coderbot_LED');
+  }
+};
+
+Blockly.JavaScript['turn_led_on'] = function(block) {
+  // Generate JavaScrip code for LED lights
+  var dropdown_colour = block.getFieldValue('Colour');
+  var time = Blockly.Javascript.valueToCode(block, 'seconds', Blockly.Javascript.ORDER_ATOMIC);
+  return 'get_bot().LED_on();\n';
+};
+
+Blockly.Python['turn_led_on'] = function(block) {
+  // Generate Python code for LED lights
+  var dropdown_colour = block.getFieldValue('Colour');
+  var time = Blockly.Python.valueToCode(block, 'seconds', Blockly.Python.ORDER_ATOMIC);
+  var code =  "get_bot().LED_on(Colour=\"" + dropdown_colour + "\", seconds=" +time + ")\n";
+  return code;
+};
+
+Blockly.Blocks['led_on'] = {
+  init: function() {
+    this.appendDummyInput()
+      .appendField("Turn the ")
+      .appendField(new Blockly.FieldDropdown([["red", "Red LED"], ["green", "Green LED"], ["blue", "Blue LED"]]), "Colour")
+      .appendField("LED on");
+    this.setHelpUrl(Blockly.Msg.CODERBOT_LED_ON);
+    this.setColour(355);
+    this.setPreviousStatement(true,null);
+    this.setNextStatement(true,null);
+    this.setTooltip('Coderbot_LED');
+  }
+};
+
+Blockly.JavaScript['led_on'] = function(block) {
+  // Generate JavaScrip code for LED lights
+  var dropdown_colour = block.getFieldValue('Colour');
+  return 'get_bot().LED_on_indef();\n';
+};
+
+Blockly.Python['led_on'] = function(block) {
+  // Generate Python code for LED lights
+  var dropdown_colour = block.getFieldValue('Colour');
+  var code =  "get_bot().LED_on_indef(Colour=\"" + dropdown_colour + "\"" + ")\n";
+  return code;
+};
+
+Blockly.Blocks['led_off'] = {
+  init: function() {
+    this.appendDummyInput()
+      .appendField("Turn the ")
+      .appendField(new Blockly.FieldDropdown([["red", "Red LED"], ["green", "Green LED"], ["blue", "Blue LED"]]), "Colour")
+      .appendField("LED off");
+    this.setHelpUrl(Blockly.Msg.CODERBOT_LED_OFF);
+    this.setColour(355);
+    this.setPreviousStatement(true,null);
+    this.setNextStatement(true,null);
+    this.setTooltip('Coderbot_LED');
+  }
+};
+
+Blockly.JavaScript['led_off'] = function(block) {
+  // Generate JavaScrip code for LED lights
+  var dropdown_colour = block.getFieldValue('Colour');
+  return 'get_bot().LED_on_indef();\n';
+};
+
+Blockly.Python['led_off'] = function(block) {
+  // Generate Python code for LED lights
+  var dropdown_colour = block.getFieldValue('Colour');
+  var code =  "get_bot().LED_off_indef(Colour=\"" + dropdown_colour + "\"" + ")\n";
+  return code;
+};
+
+Blockly.Blocks['rgb_blend'] = {
+  /**
+   * Block for findSignal function.
+   * @this Blockly.Block
+   */
+  init: function() {
+    this.appendValueInput("COLOR")
+      .setCheck('Colour')
+      .appendField("Turn the LED on with the specific colour ");
+    this.setInputsInline(true);
+    this.setPreviousStatement(true, null);
+    this.setNextStatement(true, null);
+    this.setHelpUrl(Blockly.Msg.CODERBOT_LED_BLEND);
+    this.setColour(355);
+  } 
+};
+
+
+Blockly.JavaScript['rgb_blend'] = function(block) {
+  // Generate JavaScrip code for LED lights
+  var color = Blockly.Javascript.valueToCode(block, 'COLOR', Blockly.Javascript.ORDER_ATOMIC);
+  var code =  "get_bot().RGB_Blend(s_color=" + s_color +  ")\n";
+  return code
+};
+
+Blockly.Python['rgb_blend'] = function(block) {
+  // Generate Python code for LED lights
+  var s_color = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_ATOMIC);
+  var code =  "get_bot().RGB_Blend(s_color=" + s_color +  ")\n";
+  return code
+};
+
+Blockly.Blocks['all_off'] = {
+  /** 
+     * Block for armLower function.
+     * @this Blockly.Block
+     */
+  init: function() {
+    this.appendDummyInput()
+      .appendField("Turn all LEDs off");
+    this.setPreviousStatement(true, null);
+    this.setNextStatement(true, null);
+    this.setTooltip('Coderbot_alloffTooltip');
+    this.setHelpUrl(Blockly.Msg.CODERBOT_ALL_OFF_HELPURL);
+    this.setColour(355);
+  } 
+};
+
+Blockly.JavaScript['all_off'] = function(block) {
+  // Generate JavaScript code for lowering the arm
+  return 'get_bot().alloff();\n';
+};
+
+Blockly.Python['all_off'] = function(block) {
+  // Generate Python code for lowering the arm
+  return 'get_bot().alloff()\n';
+};
\ No newline at end of file
diff --git a/static/js/blockly/bot_en.js b/static/js/blockly/bot_en.js
index 665dc0fc..f655a35b 100644
--- a/static/js/blockly/bot_en.js
+++ b/static/js/blockly/bot_en.js
@@ -8,6 +8,8 @@ Blockly.Msg.CODERBOT_MOVE_FORWARD = "move forward";
 Blockly.Msg.CODERBOT_MOVE_BACKWARD = "move backward";
 Blockly.Msg.CODERBOT_MOVE_LEFT = "turn left";
 Blockly.Msg.CODERBOT_MOVE_RIGHT = "turn right";
+Blockly.Msg.CODERBOT_ARM_LOWER = "drop arm";
+Blockly.Msg.CODERBOT_ARM_RAISE = "raise arm";
 Blockly.Msg.CODERBOT_MOVE_ADV_MOVE = "move bot";
 Blockly.Msg.CODERBOT_MOVE_MOTION_MOVE = "move bot (motion control)";
 Blockly.Msg.CODERBOT_MOVE_MOTION_TURN = "turn bot (motion control)";
@@ -38,11 +40,17 @@ Blockly.Msg.CODERBOT_SENSOR_FINDSIGNAL = "find signal";
 Blockly.Msg.CODERBOT_SENSOR_FINDCODE = "find code";
 Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_FIND = "find";
 Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_COLOR = "from color";
-Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_DIST = "distance";
-Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_ANGLE = "angle";
-Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_BOTH = "both";
+Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_X = "x coord";
+Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_Y = "ycoord";
+Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_DIAMETER = "diameter";
+Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_ALL = "x, y, diameter (as list)";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_X = "x coord";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_Y = "y coord";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_SIZE = "size";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_ALL = "x, y, size (as list)";
 Blockly.Msg.CODERBOT_SENSOR_FINDLOGO = "find logo";
+Blockly.Msg.CODERBOT_LED = "turn LED on for a set time";
+Blockly.Msg.CODERBOT_LED_ON = "turns LED on"
+Blockly.Msg.CODERBOT_LED_OFF = "turns LED off"
+Blockly.Msg.CODERBOT_LED_BLEND = "Blended colour as LED output"
+Blockly.Msg.CODERBOT_ALL_OFF = "turn all the LEDs off"
\ No newline at end of file
diff --git a/static/js/coderbot.js b/static/js/coderbot.js
index a28fa626..d943c111 100644
--- a/static/js/coderbot.js
+++ b/static/js/coderbot.js
@@ -51,16 +51,20 @@ CoderBot.prototype.stop = function() {
         }
 }
 
+CoderBot.prototype.rotateCamera = function() {
+  this.command('rotate_camera',0);
+}
+
 CoderBot.prototype.takePhoto = function() {
 	this.command('take_photo', 0);
 }
 
-CoderBot.prototype.videoRec = function() {
-	this.command('video_rec', 0);
+CoderBot.prototype.armDown = function() {
+	this.command('armdown', 0);
 }
 
-CoderBot.prototype.videoStop = function() {
-	this.command('video_stop', 0);
+CoderBot.prototype.armUp = function() {
+	this.command('armup', 0);
 }
 
 CoderBot.prototype.say = function(h) {
diff --git a/static/js/control.js b/static/js/control.js
index 46bdc447..0c7b645c 100644
--- a/static/js/control.js
+++ b/static/js/control.js
@@ -78,11 +78,14 @@ $(document).on( "pagecreate", '#page-control', function( event ) {
 	$('#b_camera').on("click", function (){
                 bot.takePhoto();
 	});
+	$('#b_camera_rot').on("click",function(){
+		bot.rotateCamera();
+	});
 	$('#b_video_rec').on("click", function (){
-                bot.videoRec();
+                bot.armDown();
 	});
 	$('#b_video_stop').on("click", function (){
-                bot.videoStop();
+                bot.armUp();
 	});
 	$('#b_photos').on("click", function (){
         	$.mobile.pageContainer.pagecontainer('change', '#page-photos');
@@ -111,8 +114,10 @@ $(document).on( "pagecreate", '#page-preferences', function( event ) {
                 $('#popup-wifi').popup('close');
                 if($("[name='wifi_mode']:checked").val()=="ap"){
 			$('#popup-wifi-ap').popup('open');
-                } else {
+                } else if ($("[name='wifi_mode']:checked").val()=="client") {
                         $('#popup-wifi-client').popup('open');
+		} else if ($("[name=wifi_mode']:checked").val()=="local_client") {
+			$('#popup-wifi-local-client').popup('open');
 		}
                 return false;
         });
@@ -154,7 +159,7 @@ $('video').on('loadeddata', function( event, ui ) {
         }, dataType="json");       
 });
 
-$(document).on( "click", 'a[data-rel="popup"]', function( event ) {
+$(document).on( "click", 'li.ui-li-has-thumb', function( event ) {
 	var src = "/photos/" + $(this).find('img').attr('data-src');
         $('#popup-photo').find('img').attr('src', src);
         $('#popup-video').find('video').attr('src', src);
diff --git a/templates/blocks_Picasso.xml b/templates/blocks_Picasso.xml
new file mode 100644
index 00000000..d9c5d4c0
--- /dev/null
+++ b/templates/blocks_Picasso.xml
@@ -0,0 +1,151 @@
+  <xml id="toolbox" style="display: none">
+    <category name="{% trans %}Movement{% endtrans %}">
+      <block type="coderbot_moveForward"></block>
+      <block type="coderbot_moveBackward"></block>
+      <block type="coderbot_turnLeft"></block>
+      <block type="coderbot_turnRight"></block>
+      <block type="coderbot_adv_move">
+        <value name="SPEED">
+          <block type="math_number">
+            <field name="NUM">100</field>
+          </block>
+        </value>
+        <value name="ELAPSE">
+          <block type="math_number">
+            <field name="NUM">0.2</field>
+          </block>
+        </value>
+      </block>
+      <block type="coderbot_adv_motor">
+        <value name="SPEED_LEFT">
+          <block type="math_number">
+            <field name="NUM">100</field>
+          </block>
+        </value>
+        <value name="SPEED_RIGHT">
+          <block type="math_number">
+            <field name="NUM">100</field>
+          </block>
+        </value>
+        <value name="ELAPSE">
+          <block type="math_number">
+            <field name="NUM">1.0</field>
+          </block>
+        </value>
+      </block>
+      <block type="coderbot_adv_stop"></block>
+      <block type="coderbot_sleep">
+        <value name="ELAPSE">
+          <block type="math_number">
+            <field name="NUM">1.0</field>
+          </block>
+        </value>
+      </block>
+    </category>
+    <category name ="{% trans %}Arm{% endtrans %}">
+      <block type="coderbot_armRaise"></block>
+      <block type="coderbot_armLower"></block>
+    </category> 
+    <category name="{% trans %}LED{% endtrans %}">
+      <block type="turn_led_on">
+        <value name="seconds">
+          <block type="math_number">
+            <field name="NUM">3</field>
+          </block>
+        </value>
+      </block>
+      <block type="led_on"></block>
+      <block type="led_off"></block>
+      <block type="rgb_blend">
+        <value name="COLOR">
+          <block type="colour_picker">
+          </block>
+        </value>
+      </block>
+      <block type="all_off"></block> 
+    </category>
+    <category name="{% trans %}Sections{% endtrans %}" custom="PROCEDURE"></category>
+    <category name="{% trans %}Advanced - Logic{% endtrans %}">
+      <block type="controls_if"></block>
+      <block type="logic_compare"></block>
+      <block type="logic_operation"></block>
+      <block type="logic_negate"></block>
+      <block type="logic_boolean"></block>
+      <block type="logic_null"></block>
+      <block type="logic_ternary"></block>
+    </category>
+    <category name="{% trans %}Advanced - Variables{% endtrans %}" custom="VARIABLE"></category>
+    <category name="{% trans %}Advanced - Loops{% endtrans %}">
+      <block type="controls_repeat_ext">
+        <value name="TIMES">
+          <block type="math_number">
+            <field name="NUM">10</field>
+          </block>
+        </value>
+      </block>
+      <block type="controls_whileUntil"></block>
+      <block type="controls_for">
+        <value name="FROM">
+          <block type="math_number">
+            <field name="NUM">1</field>
+          </block>
+        </value>
+        <value name="TO">
+          <block type="math_number">
+            <field name="NUM">10</field>
+          </block>
+        </value>
+        <value name="BY">
+          <block type="math_number">
+            <field name="NUM">1</field>
+          </block>
+        </value>
+      </block>
+      <block type="controls_forEach"></block>
+      <block type="controls_flow_statements"></block>
+    </category>
+    <category name="{% trans %}Advanced - Math{% endtrans %}">
+      <block type="math_number"></block>
+      <block type="math_arithmetic"></block>
+      <block type="math_single"></block>
+      <block type="math_trig"></block>
+      <block type="math_constant"></block>
+      <block type="math_number_property"></block>
+      <block type="math_change">
+        <value name="DELTA">
+          <block type="math_number">
+            <field name="NUM">1</field>
+          </block>
+        </value>
+      </block>
+      <block type="math_round"></block>
+      <block type="math_on_list"></block>
+      <block type="math_modulo"></block>
+      <block type="math_constrain">
+        <value name="LOW">
+          <block type="math_number">
+            <field name="NUM">1</field>
+          </block>
+        </value>
+        <value name="HIGH">
+          <block type="math_number">
+            <field name="NUM">100</field>
+          </block>
+        </value>
+      </block>
+      <block type="math_random_int">
+        <value name="FROM">
+          <block type="math_number">
+            <field name="NUM">1</field>
+          </block>
+        </value>
+        <value name="TO">
+          <block type="math_number">
+            <field name="NUM">100</field>
+          </block>
+        </value>
+      </block>
+      <block type="math_random_float"></block>
+    </category>
+
+  </xml>
diff --git a/templates/blocks_Pioneer.xml b/templates/blocks_Pioneer.xml
new file mode 100644
index 00000000..62923a55
--- /dev/null
+++ b/templates/blocks_Pioneer.xml
@@ -0,0 +1,249 @@
+  <xml id="toolbox" style="display: none">
+    <category name="{% trans %}Movement{% endtrans %}">
+      <block type="coderbot_moveForward"></block>
+      <block type="coderbot_moveBackward"></block>
+      <block type="coderbot_turnLeft"></block>
+      <block type="coderbot_turnRight"></block>
+      <block type="coderbot_adv_move">
+        <value name="SPEED">
+          <block type="math_number">
+            <field name="NUM">100</field>
+          </block>
+        </value>
+        <value name="ELAPSE">
+          <block type="math_number">
+            <field name="NUM">0.2</field>
+          </block>
+        </value>
+      </block>
+      <block type="coderbot_adv_motor">
+        <value name="SPEED_LEFT">
+          <block type="math_number">
+            <field name="NUM">100</field>
+          </block>
+        </value>
+        <value name="SPEED_RIGHT">
+          <block type="math_number">
+            <field name="NUM">100</field>
+          </block>
+        </value>
+        <value name="ELAPSE">
+          <block type="math_number">
+            <field name="NUM">1.0</field>
+          </block>
+        </value>
+      </block>
+      <block type="coderbot_adv_stop"></block>
+      <block type="coderbot_sleep">
+        <value name="ELAPSE">
+          <block type="math_number">
+            <field name="NUM">1.0</field>
+          </block>
+        </value>
+      </block>
+    </category> 
+    <category name="{% trans %}Video Processing{% endtrans %}">
+      <block type="coderbot_adv_pathAhead"></block>
+      <block type="coderbot_adv_findLine"></block>
+      <block type="coderbot_adv_findSignal"></block>
+      <block type="coderbot_adv_findFace"></block>
+      <block type="coderbot_adv_findColor">
+        <value name="COLOR">
+          <block type="colour_picker">
+          </block>
+        </value>
+      </block>
+    </category>
+    <category name="{% trans %}LED{% endtrans %}">
+      <block type="turn_led_on">
+        <value name="seconds">
+          <block type="math_number">
+            <field name="NUM">3</field>
+          </block>
+        </value>
+      </block>
+      <block type="led_on"></block>
+      <block type="led_off"></block> 
+      <block type="rgb_blend">
+        <value name="COLOR">
+          <block type="colour_picker">
+          </block>
+        </value>
+      </block>
+      <block type="all_off"></block>
+    </category> 
+    <category name="{% trans %}Sections{% endtrans %}" custom="PROCEDURE"></category>
+    <category name="{% trans %}Logic{% endtrans %}">
+      <block type="controls_if"></block>
+      <block type="logic_compare"></block>
+      <block type="logic_operation"></block>
+      <block type="logic_negate"></block>
+      <block type="logic_boolean"></block>
+      <block type="logic_null"></block>
+      <block type="logic_ternary"></block>
+    </category>
+    <category name="{% trans %}Loops{% endtrans %}">
+      <block type="controls_repeat_ext">
+        <value name="TIMES">
+          <block type="math_number">
+            <field name="NUM">10</field>
+          </block>
+        </value>
+      </block>
+      <block type="controls_whileUntil"></block>
+      <block type="controls_for">
+        <value name="FROM">
+          <block type="math_number">
+            <field name="NUM">1</field>
+          </block>
+        </value>
+        <value name="TO">
+          <block type="math_number">
+            <field name="NUM">10</field>
+          </block>
+        </value>
+        <value name="BY">
+          <block type="math_number">
+            <field name="NUM">1</field>
+          </block>
+        </value>
+      </block>
+      <block type="controls_forEach"></block>
+      <block type="controls_flow_statements"></block>
+    </category>
+    <category name="{% trans %}Math{% endtrans %}">
+      <block type="math_number"></block>
+      <block type="math_arithmetic"></block>
+      <block type="math_single"></block>
+      <block type="math_trig"></block>
+      <block type="math_constant"></block>
+      <block type="math_number_property"></block>
+      <block type="math_change">
+        <value name="DELTA">
+          <block type="math_number">
+            <field name="NUM">1</field>
+          </block>
+        </value>
+      </block>
+      <block type="math_round"></block>
+      <block type="math_on_list"></block>
+      <block type="math_modulo"></block>
+      <block type="math_constrain">
+        <value name="LOW">
+          <block type="math_number">
+            <field name="NUM">1</field>
+          </block>
+        </value>
+        <value name="HIGH">
+          <block type="math_number">
+            <field name="NUM">100</field>
+          </block>
+        </value>
+      </block>
+      <block type="math_random_int">
+        <value name="FROM">
+          <block type="math_number">
+            <field name="NUM">1</field>
+          </block>
+        </value>
+        <value name="TO">
+          <block type="math_number">
+            <field name="NUM">100</field>
+          </block>
+        </value>
+      </block>
+      <block type="math_random_float"></block>
+    </category>
+    <category name="{% trans %}Text{% endtrans %}">
+      <block type="text"></block>
+      <block type="text_join"></block>
+      <block type="text_append">
+        <value name="TEXT">
+          <block type="text"></block>
+        </value>
+      </block>
+      <block type="text_length"></block>
+      <block type="text_isEmpty"></block>
+      <block type="text_indexOf">
+        <value name="VALUE">
+          <block type="variables_get">
+            <field name="VAR">{% trans %}text{% endtrans %}</field>
+          </block>
+        </value>
+      </block>
+      <block type="text_charAt">
+        <value name="VALUE">
+          <block type="variables_get">
+            <field name="VAR">{% trans %}text{% endtrans %}</field>
+          </block>
+        </value>
+      </block>
+      <block type="text_getSubstring">
+        <value name="STRING">
+          <block type="variables_get">
+            <field name="VAR">{% trans %}text{% endtrans %}</field>
+          </block>
+        </value>
+      </block>
+      <block type="text_changeCase"></block>
+      <block type="text_trim"></block>
+      <block type="text_print"></block>
+      <!--block type="text_prompt_ext">
+        <value name="TEXT">
+          <block type="text"></block>
+        </value>
+      </block-->
+    </category>
+    <category name="{% trans %}Lists{% endtrans %}">
+      <block type="lists_create_empty"></block>
+      <block type="lists_create_with"></block>
+      <block type="lists_repeat">
+        <value name="NUM">
+          <block type="math_number">
+            <field name="NUM">5</field>
+          </block>
+        </value>
+      </block>
+      <block type="lists_length"></block>
+      <block type="lists_isEmpty"></block>
+      <block type="lists_indexOf">
+        <value name="VALUE">
+          <block type="variables_get">
+            <field name="VAR">{% trans %}list{% endtrans %}</field>
+          </block>
+        </value>
+      </block>
+      <block type="lists_getIndex">
+        <value name="VALUE">
+          <block type="variables_get">
+            <field name="VAR">{% trans %}list{% endtrans %}</field>
+          </block>
+        </value>
+      </block>
+      <block type="lists_setIndex">
+        <value name="LIST">
+          <block type="variables_get">
+            <field name="VAR">{% trans %}list{% endtrans %}</field>
+          </block>
+        </value>
+      </block>
+      <block type="lists_getSublist">
+        <value name="LIST">
+          <block type="variables_get">
+            <field name="VAR">{% trans %}list{% endtrans %}</field>
+          </block>
+        </value>
+      </block>
+    </category>
+    <category name="{% trans %}Colour{% endtrans %}">
+      <block type="colour_picker"></block>
+      <block type="colour_random"></block>
+      <block type="colour_rgb"></block>
+      <block type="colour_blend"></block>
+    </category>
+    <category name="{% trans %}Variables{% endtrans %}" custom="VARIABLE"></category>
+
+
+
+
+  </xml>
diff --git a/templates/blocks_adv.xml b/templates/blocks_adv.xml
index eb4ccdfd..0f3516be 100644
--- a/templates/blocks_adv.xml
+++ b/templates/blocks_adv.xml
@@ -174,20 +174,6 @@
       <block type="coderbot_moveBackward"></block>
       <block type="coderbot_turnLeft"></block>
       <block type="coderbot_turnRight"></block>
-      <block type="coderbot_motion_move">
-        <value name="DIST">
-          <block type="math_number">
-            <field name="NUM">10</field>
-          </block>
-        </value>
-      </block>
-      <block type="coderbot_motion_turn">
-        <value name="ANGLE">
-          <block type="math_number">
-            <field name="NUM">90</field>
-          </block>
-        </value>
-      </block>
       <block type="coderbot_adv_move">
         <value name="SPEED">
           <block type="math_number">
@@ -226,6 +212,10 @@
         </value>
       </block>
     </category>
+    <category name ="{% trans %}Arm{% endtrans %}">
+      <block type="coderbot_armRaise"></block>
+      <block type="coderbot_armLower"></block>
+    </category>
     <category name="{% trans %}Camera{% endtrans %}">
       <block type="coderbot_camera_photoTake"></block>
       <block type="coderbot_camera_videoRec"></block>
@@ -245,5 +235,23 @@
     </category>
     <category name="{% trans %}Sound{% endtrans %}">
       <block type="coderbot_say"></block>
-    </category>      
+    </category>  
+    <category name="{% trans %}LED{% endtrans %}">
+      <block type="turn_led_on">
+        <value name="seconds">
+          <block type="math_number">
+            <field name="NUM">3</field>
+          </block>
+        </value>
+      </block>
+      <block type="led_on"></block>
+      <block type="led_off"></block> 
+      <block type="rgb_blend">
+        <value name="COLOR">
+          <block type="colour_picker">
+          </block>
+        </value>
+      </block>
+      <block type="all_off"></block>
+    </category> 
   </xml>
diff --git a/templates/blocks_basic.xml b/templates/blocks_basic.xml
index 36a57710..c709e3cc 100644
--- a/templates/blocks_basic.xml
+++ b/templates/blocks_basic.xml
@@ -3,6 +3,9 @@
       <block type="coderbot_moveBackward"></block>
       <block type="coderbot_turnLeft"></block>
       <block type="coderbot_turnRight"></block>
+      <block type="coderbot_armRaise"></block>
+      <block type="coderbot_armLower"></block>
+      <block typ
       <block type="coderbot_say">
         <value name="TEXT">
           <block type="text">
@@ -20,4 +23,13 @@
           </block>
         </value>
       </block>
+      <block type="turn_led_on">
+        <value name="seconds">
+          <block type="math_number">
+            <field name="NUM">3</field>
+          </block>
+        </value>
+      </block>
+      <block type="led_on"></block>
+      <block type="led_off"></block> 
   </xml>
diff --git a/templates/blocks_basic_move.xml b/templates/blocks_basic_move.xml
index 6b3ffc8d..0937011d 100644
--- a/templates/blocks_basic_move.xml
+++ b/templates/blocks_basic_move.xml
@@ -3,4 +3,15 @@
       <block type="coderbot_moveBackward"></block>
       <block type="coderbot_turnLeft"></block>
       <block type="coderbot_turnRight"></block>
+      <block type="coderbot_armRaise"></block>
+      <block type="coderbot_armLower"></block>
+      <block type="turn_led_on">
+        <value name="seconds">
+          <block type="math_number">
+            <field name="NUM">3</field>
+          </block>
+        </value>
+      </block>
+      <block type="led_on"></block>
+      <block type="led_off"></block> 
   </xml>
diff --git a/templates/blocks_std.xml b/templates/blocks_std.xml
index 2f9b07a2..b0dfbe50 100644
--- a/templates/blocks_std.xml
+++ b/templates/blocks_std.xml
@@ -58,6 +58,10 @@
         </value>
       </block>
     </category>
+    <category name ="{% trans %}Arm{% endtrans %}">
+      <block type="coderbot_armRaise"></block>
+      <block type="coderbot_armLower"></block>
+    </category>
     <category name="{% trans %}Sensor{% endtrans %}">
       <block type="coderbot_adv_pathAhead"></block>
       <block type="coderbot_adv_findLine"></block>
@@ -72,5 +76,23 @@
     </category>
     <category name="{% trans %}Sound{% endtrans %}">
       <block type="coderbot_say"></block>
-    </category>      
+    </category>
+    <category name="{% trans %}LED{% endtrans %}">
+      <block type="turn_led_on">
+        <value name="seconds">
+          <block type="math_number">
+            <field name="NUM">3</field>
+          </block>
+        </value>
+      </block>
+      <block type="led_on"></block>
+      <block type="led_off"></block>
+      <block type="rgb_blend">
+        <value name="COLOR">
+          <block type="colour_picker">
+          </block>
+        </value>
+      </block>
+      <block type="all_off"></block> 
+    </category>        
   </xml>
diff --git a/templates/config.html b/templates/config.html
index 923dd7df..25aab5e8 100644
--- a/templates/config.html
+++ b/templates/config.html
@@ -51,7 +51,11 @@ <h1>CoderBot</h1>
       <input type="radio" name="prog_level" id="r_prog_level_c" value="std" {%if config.prog_level=='std'%}checked="checked"{%endif%}>
       <label for="r_prog_level_c">{% trans %}Standard{% endtrans %}</label> 
       <input type="radio" name="prog_level" id="r_prog_level_d" value="adv" {%if config.prog_level=='adv'%}checked="checked"{%endif%}>
-      <label for="r_prog_level_d">{% trans %}Advanced{% endtrans %}</label>     
+      <label for="r_prog_level_d">{% trans %}Advanced{% endtrans %}</label>
+      <input type="radio" name="prog_level" id="r_prog_level_e" value="Picasso" {%if config.prog_level=='Picasso'%}checked="checked"{%endif%}>
+      <label for="r_prog_level_e">{% trans %}Picasso{% endtrans %}</label>       
+      <input type="radio" name="prog_level" id="r_prog_level_f" value="Pioneer" {%if config.prog_level=='Pioneer'%}checked="checked"{%endif%}>
+      <label for="r_prog_level_f">{% trans %}Pioneer{% endtrans %}</label>
      </fieldset>
      <fieldset data-role="controlgroup" data-mini="true">
       <legend>{% trans %}Program editor details{% endtrans %}</legend>
@@ -99,6 +103,13 @@ <h1>CoderBot</h1>
        <option value="antishake"{%if config.camera_exposure_mode=='antishake'%} selected{%endif%}>Anti shake</option>
        <option value="verylong"{%if config.camera_exposure_mode=='verylong'%} selected{%endif%}>Very long</option>
      </select>
+     <label for="i_camera_rotation">{% trans %} Camera image rotation {% endtrans %}</label>
+     <select name="camera_rotation" id="i_camera_rotation" value="{{config.camera_rotation}}">
+       <option value="0"{%if config.camera_rotation=='0'%} selected{%endif%}>0</option>
+       <option value="90"{%if config.camera_rotation=='90'%} selected{%endif%}>90</option>
+       <option value="180"{%if config.camera_rotation=='180'%} selected{%endif%}>180</option>
+       <option value="270"{%if config.camera_rotation=='270'%} selected{%endif%}>270</option>
+     </select>
     </div>
     <div id="t_movement" class="ui-body-d ui-content">
      <label for="i_move_motor_mode">{% trans %}Motor control mode{% endtrans %}</label>
@@ -109,6 +120,10 @@ <h1>CoderBot</h1>
      <input type="text" id="i_move_power_angle_2" name="move_power_angle_2" value="{{config.move_power_angle_2}}">
      <label for="i_move_power_angle_3">{% trans %}Power (target angle -1){% endtrans %}</label>
      <input type="text" id="i_move_power_angle_3" name="move_power_angle_3" value="{{config.move_power_angle_3}}">
+     <label for="i_arm_angle_lowered">{% trans %}Arm lowered angle (0-180) {% endtrans %}</label>
+     <input type ="text" id="i_arm_angle_lowered" name="arm_angle_lowered" value="{{config.arm_angle_lowered}}">
+     <label for="i_arm_angle_raised">{% trans %} Arm raised angle (0-180) {% endtrans %}</label>
+     <input type ="text" id="i_arm_angle_raised" name="arm_angle_raised" value="{{config.arm_angle_raised}}">
     </div>
     <div id="t_start" class="ui-body-d ui-content">
      <label for="i_load_at_start">{% trans %}Load at start{% endtrans %}</label>
@@ -160,6 +175,8 @@ <h3>{% trans %}WiFi Client mode access data{% endtrans %}</h3>
     <label for="r_wifi_mode_a">{% trans %}Access Point{% endtrans %}</label>
     <input type="radio" name="wifi_mode" id="r_wifi_mode_b" value="client" {%if config.wifi_mode=='client'%}checked="checked"{%endif%}>
     <label for="r_wifi_mode_b">{% trans %}Client{% endtrans %}</label>
+    <input type="radio" name ="wifi_mode" id="r_wifi_mode_c" value="local_client" {%if config.wifi_mode=='local_client'%}checked="checked"{%endif%}>
+    <label for="r_wifi_mode_c">Local Client</label>
    </fieldset>
    <label for="i_wifi_ssid">{% trans %}WiFi name{% endtrans %}</label>
    <input type="text" id="i_wifi_ssid" name="wifi_ssid" value="{{config.wifi_ssid}}">
@@ -197,4 +214,15 @@ <h3>{% trans %}WiFi Client mode access{% endtrans %}</h3>
   </div>
  </div>
 </div>
+<div data-role="popup" id="popup-wifi-local-client" data-history="false" data-theme="a" class="ui-corner-all" data-dismissible="false" data-position-to "window">
+  <div style="padding:10px 20px;">
+    <h3> WiFi Local Client mode access</h3>
+    <p>Client mode is being set:
+    <ol>
+    <li>Wait 30 seconds</li>
+    <li>Connect your device to your own wifi</li>
+    <li>Click on the following link: <a href="http://192.168.0.1:8080/">Local Coderbot Hub</a></li>
+    </ol>
+  </div>
+</div>
 
diff --git a/templates/config_params.html b/templates/config_params.html
index b9356ca0..57a96e94 100644
--- a/templates/config_params.html
+++ b/templates/config_params.html
@@ -15,7 +15,8 @@
 var CODERBOT_CTRL_TR_ELAPSE="{{config.ctrl_tr_elapse}}";
 var CODERBOT_CTRL_COUNTER="{{config.ctrl_counter}}"=="yes";
 var CODERBOT_CTRL_MOVE_MOTION="{{config.ctrl_move_motion}}"=="yes";
-
+var CODERBOT_ARM_ANGLE_LOWERED="{{config.arm_angle_lowered}}";
+var CODERBOT_ARM_ANGLE_RAISED="{{config.arm_angle_raised}}";
 var BotMessages = Object();
 BotMessages.Input = "{%trans%}Say what:{%endtrans%}";
 BotMessages.Saved = "{%trans%}Saved{%endtrans%}";
diff --git a/templates/control.html b/templates/control.html
index 58d985f4..59596b68 100644
--- a/templates/control.html
+++ b/templates/control.html
@@ -40,12 +40,13 @@ <h1>CoderBot</h1>
     <div class="ui-grid-solo">
      <div class="ui-block-a">
       <button id="b_camera" class="ui-btn ui-btn-inline ui-icon-camera ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Photo{% endtrans %}</button>
+      <button id="b_camera_rot" class ="ui-btn ui-btn-inline ui-icon-camera ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Rotate{% endtrans %}</button>
      </div>
     </div>
     <div class="ui-grid-solo">
      <div class="ui-block-a">
-      <button id="b_video_rec" class="ui-btn ui-btn-inline ui-icon-video ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Rec{% endtrans %}</button>
-      <button id="b_video_stop" class="ui-btn ui-btn-inline ui-icon-cb-stop ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Stop{% endtrans %}</button>
+      <button id="b_video_rec" class="ui-btn ui-btn-inline ui-icon-video ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Pen Down{% endtrans %}</button>
+      <button id="b_video_stop" class="ui-btn ui-btn-inline ui-icon-cb-stop ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Pen Up{% endtrans %}</button>
      </div>
      <div class="ui-block-a">
       <button id="b_photos" class="ui-btn ui-btn-inline ui-icon-grid ui-btn-icon-top ui-btn-traslucent" type="button">{% trans %}Photos{% endtrans %}</button>
diff --git a/translations/it/LC_MESSAGES/messages.po b/translations/it/LC_MESSAGES/messages.po
index bd70ca66..f4375c2c 100644
--- a/translations/it/LC_MESSAGES/messages.po
+++ b/translations/it/LC_MESSAGES/messages.po
@@ -7,7 +7,7 @@ msgid ""
 msgstr ""
 "Project-Id-Version: PROJECT VERSION\n"
 "Report-Msgid-Bugs-To: EMAIL@ADDRESS\n"
-"POT-Creation-Date: 2015-04-04 00:32+0200\n"
+"POT-Creation-Date: 2015-07-13 13:16+0000\n"
 "PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n"
 "Last-Translator: FULL NAME <EMAIL@ADDRESS>\n"
 "Language-Team: it <LL@li.org>\n"
@@ -64,16 +64,20 @@ msgstr "Funzioni"
 msgid "Movement"
 msgstr "Movimento"
 
-#: templates/blocks_adv.xml:229
+#: templates/blocks_adv.xml:229 templates/blocks_std.xml:61
+msgid "Arm"
+msgstr ""
+
+#: templates/blocks_adv.xml:233
 msgid "Camera"
 msgstr "Camera"
 
-#: templates/blocks_adv.xml:234 templates/blocks_std.xml:61
+#: templates/blocks_adv.xml:238 templates/blocks_std.xml:65
 #: templates/config.html:14
 msgid "Sensor"
 msgstr "Sensore"
 
-#: templates/blocks_adv.xml:246 templates/blocks_std.xml:73
+#: templates/blocks_adv.xml:250 templates/blocks_std.xml:77
 msgid "Sound"
 msgstr "Suono"
 
@@ -82,7 +86,7 @@ msgstr "Suono"
 msgid "Control"
 msgstr "Controllo"
 
-#: templates/config.html:3 templates/control.html:63
+#: templates/config.html:3 templates/control.html:61
 msgid "Back"
 msgstr "Indietro"
 
@@ -102,7 +106,7 @@ msgstr "Avvio"
 msgid "Button"
 msgstr "Bottone"
 
-#: templates/config.html:18 templates/config.html:127
+#: templates/config.html:18 templates/config.html:128
 msgid "User Interface"
 msgstr "Interfaccia utente"
 
@@ -110,241 +114,257 @@ msgstr "Interfaccia utente"
 msgid "WiFi"
 msgstr ""
 
-#: templates/config.html:24 templates/config.html:63
+#: templates/config.html:20
+msgid "Restart, Halt"
+msgstr ""
+
+#: templates/config.html:25 templates/config.html:64
 msgid "Movement assisted by vision"
 msgstr "Movimento assistito da visione"
 
-#: templates/config.html:27
+#: templates/config.html:28
 msgid "Step timing | distance / angle"
 msgstr "Durata o lunghezza step (distanza / angolo)"
 
-#: templates/config.html:28 templates/config.html:66
+#: templates/config.html:29 templates/config.html:67
 msgid "Forward speed"
 msgstr "Avanti"
 
-#: templates/config.html:30 templates/config.html:68
+#: templates/config.html:31 templates/config.html:69
 msgid "Forward elapse / distance"
 msgstr "Durata / distanza avanti"
 
-#: templates/config.html:32 templates/config.html:70
+#: templates/config.html:33 templates/config.html:71
 msgid "Turn speed"
 msgstr "Velocità di rotazione"
 
-#: templates/config.html:34 templates/config.html:72
+#: templates/config.html:35 templates/config.html:73
 msgid "Turn elapse / angle"
 msgstr "Tempo / angolo di rotazione"
 
-#: templates/config.html:37
+#: templates/config.html:38
 msgid "Show control counter"
 msgstr "Mostra contatore mosse"
 
-#: templates/config.html:40
+#: templates/config.html:41
 msgid "HUD image name"
 msgstr "Nome immagine HUD"
 
-#: templates/config.html:45
+#: templates/config.html:46
 msgid "Editor level"
 msgstr "Livello editor"
 
-#: templates/config.html:47
+#: templates/config.html:48
 msgid "Move"
 msgstr "Movimento"
 
-#: templates/config.html:49
+#: templates/config.html:50
 msgid "Basic"
 msgstr "Base"
 
-#: templates/config.html:51
+#: templates/config.html:52
 msgid "Standard"
 msgstr "Normale"
 
-#: templates/config.html:53
+#: templates/config.html:54
 msgid "Advanced"
 msgstr "Avanzato"
 
-#: templates/config.html:56
+#: templates/config.html:57
 msgid "Program editor details"
 msgstr "Dettagli editor del programma"
 
-#: templates/config.html:57
+#: templates/config.html:58
 msgid "Shows Editor scrollbars"
 msgstr "Mostra le scrollbar dell'area di lavoro"
 
-#: templates/config.html:59
+#: templates/config.html:60
 msgid "Save program before every run"
 msgstr "Salva il programma prima di ogni esecuzione"
 
-#: templates/config.html:75
+#: templates/config.html:76
 msgid "Other program parameters"
 msgstr "Altri parametri del programma"
 
-#: templates/config.html:76
+#: templates/config.html:77
 msgid "Auto record video on program run"
 msgstr "Avvia automaticamente registrazione video all'avvio del programma"
 
-#: templates/config.html:79
+#: templates/config.html:80
 msgid "Max number of blocks allowed"
 msgstr "Numero massimo consentito di blocchi di programma"
 
-#: templates/config.html:83
+#: templates/config.html:84
 msgid "Start sound"
 msgstr "Suono avvio"
 
-#: templates/config.html:85
+#: templates/config.html:86
 msgid "Stop sound"
 msgstr "Suono stop"
 
-#: templates/config.html:87
+#: templates/config.html:88
 msgid "Shutter sound"
 msgstr "Suono avvio"
 
-#: templates/config.html:91
+#: templates/config.html:92
 msgid "Camera parameters"
 msgstr "Parametri videocamera"
 
-#: templates/config.html:92
+#: templates/config.html:93
 msgid "Exposure mode"
 msgstr "Esposizione"
 
-#: templates/config.html:103
+#: templates/config.html:104
 msgid "Motor control mode"
 msgstr "Tipo di motori (dc | servo)"
 
-#: templates/config.html:105
+#: templates/config.html:106
 msgid "Power (target angle -15)"
 msgstr "Potenza (angolo target -15)"
 
-#: templates/config.html:107
+#: templates/config.html:108
 msgid "Power (target angle -4)"
 msgstr "Potenza (angolo target -4)"
 
-#: templates/config.html:109
+#: templates/config.html:110
 msgid "Power (target angle -1)"
 msgstr "Potenza (angolo target -1)"
 
-#: templates/config.html:113
+#: templates/config.html:114
 msgid "Load at start"
 msgstr "Carica all'avvio"
 
-#: templates/config.html:118
+#: templates/config.html:119
 msgid "Button function"
 msgstr "Funzione del bottone"
 
-#: templates/config.html:119
+#: templates/config.html:120
 msgid "None"
 msgstr "Nessuno"
 
-#: templates/config.html:121
+#: templates/config.html:122
 msgid "Start/Stop current program"
 msgstr "Avvia/Ferma il programma caricato"
 
-#: templates/config.html:128
+#: templates/config.html:129
 msgid "Show Control page"
 msgstr "Mostra pagina Controllo"
 
-#: templates/config.html:130
+#: templates/config.html:131
 msgid "Show Control movement commands"
 msgstr "Mostra comandi movimento in pagina Controllo"
 
-#: templates/config.html:132
+#: templates/config.html:133
 msgid "Show Program page"
 msgstr "Nome programma"
 
-#: templates/config.html:134
+#: templates/config.html:135
 msgid "Show Preferences button"
 msgstr "Mostra bottone Preferenze"
 
-#: templates/config.html:139
+#: templates/config.html:140
 msgid "WiFi Client access mode"
 msgstr "WiFi in modalità Client"
 
-#: templates/config.html:142 templates/config.html:164
+#: templates/config.html:143
+msgid "Halt"
+msgstr "Stop"
+
+#: templates/config.html:144
+msgid "Restart"
+msgstr "Ricomincia"
+
+#: templates/config.html:145
+msgid "Reboot"
+msgstr ""
+
+#: templates/config.html:148 templates/config.html:169
 msgid "Cancel"
 msgstr "Annulla"
 
-#: templates/config.html:143 templates/program.html:18
+#: templates/config.html:149 templates/program.html:18
 #: templates/program.html:26
 msgid "Save"
 msgstr "Salva"
 
-#: templates/config.html:151
+#: templates/config.html:156
 msgid "WiFi Client mode access data"
 msgstr "Dati di accesso alla rete WiFi"
 
-#: templates/config.html:153
+#: templates/config.html:158
 msgid "WiFi mode"
 msgstr "Modalità WiFi"
 
-#: templates/config.html:155
+#: templates/config.html:160
 msgid "Access Point"
 msgstr ""
 
-#: templates/config.html:157
+#: templates/config.html:162
 msgid "Client"
 msgstr ""
 
-#: templates/config.html:159
+#: templates/config.html:164
 msgid "WiFi name"
 msgstr "Nome rete WiFi"
 
-#: templates/config.html:161
+#: templates/config.html:166
 msgid "WiFi password"
 msgstr "Password WiFi"
 
-#: templates/config.html:165
+#: templates/config.html:170
 msgid "Apply Wifi config"
 msgstr "Applica le modifiche alla configurazione WiFi"
 
-#: templates/config.html:172
+#: templates/config.html:177
 msgid "WiFi AP mode access"
 msgstr "WiFi in modalità AP"
 
-#: templates/config.html:184
+#: templates/config.html:189
 msgid "WiFi Client mode access"
 msgstr "WiFi in modalità Client"
 
-#: templates/config_params.html:20
+#: templates/config_params.html:21
 msgid "Say what:"
 msgstr "Frase:"
 
-#: templates/config_params.html:21
+#: templates/config_params.html:22
 msgid "Saved"
 msgstr "Salvato"
 
-#: templates/config_params.html:22
+#: templates/config_params.html:23
 msgid "Program saved"
 msgstr "Programma salvato"
 
-#: templates/config_params.html:23
+#: templates/config_params.html:24
 msgid "Program name already in use, overwrite?"
 msgstr "Esiste già un programma con questo nome, sovrascriverlo?"
 
-#: templates/config_params.html:24
+#: templates/config_params.html:25
 msgid "Delete"
 msgstr "Cancella"
 
-#: templates/config_params.html:25
+#: templates/config_params.html:26
 msgid "Delete photo"
 msgstr "Cancellare la foto"
 
-#: templates/config_params.html:26
+#: templates/config_params.html:27
 msgid "Reset move counter?"
 msgstr "Azzera contatore mosse?"
 
-#: templates/config_params.html:27 templates/program.html:40
+#: templates/config_params.html:28 templates/program.html:40
 msgid "is running"
 msgstr "in esecuzione"
 
-#: templates/config_params.html:28
+#: templates/config_params.html:29
 msgid "stopped"
 msgstr "fermo"
 
-#: templates/config_params.html:29 templates/control.html:51
+#: templates/config_params.html:30 templates/control.html:49
 #: templates/program.html:32
 msgid "Stop"
 msgstr "Ferma"
 
-#: templates/config_params.html:30
+#: templates/config_params.html:31
 msgid "Close"
 msgstr "Chiudi"
 
@@ -356,39 +376,39 @@ msgstr "Preferenze"
 msgid "Program"
 msgstr "Programma"
 
-#: templates/control.html:19
-msgid "Halt"
-msgstr "Stop"
-
-#: templates/control.html:24
+#: templates/control.html:21
 msgid "Forward"
 msgstr "Avanti"
 
-#: templates/control.html:27
+#: templates/control.html:24
 msgid "Left"
 msgstr "Sinistra"
 
-#: templates/control.html:28
+#: templates/control.html:25
 msgid "Right"
 msgstr "Destra"
 
-#: templates/control.html:31
+#: templates/control.html:28
 msgid "Backward"
 msgstr "Indietro"
 
-#: templates/control.html:40
+#: templates/control.html:37
 msgid "Say"
 msgstr "Parla"
 
-#: templates/control.html:45
+#: templates/control.html:42
 msgid "Photo"
 msgstr "Foto"
 
-#: templates/control.html:50
+#: templates/control.html:43
+msgid "Rotate"
+msgstr "Ruotare"
+
+#: templates/control.html:48
 msgid "Rec"
 msgstr "Registra"
 
-#: templates/control.html:54
+#: templates/control.html:52
 msgid "Photos"
 msgstr "Album"
 
diff --git a/viz/camera.py b/viz/camera.py
index 54fc8fda..0a261481 100644
--- a/viz/camera.py
+++ b/viz/camera.py
@@ -19,8 +19,9 @@ def __init__(self, props):
     self.camera.resolution = (props.get('width', 640), props.get('height', 240))
     self.camera.framerate = 30
     self.camera.exposure_mode = props.get('exposure_mode')
+    self.camera.rotation = props.get('rotation')
     self.out_jpeg = io.BytesIO()
-    self.out_rgb = picamera.array.PiRGBArray(self.camera, size=(160,120))
+    self.out_rgb = picamera.array.PiRGBArray(self.camera, size=(640,480))#160,120
     self.h264_encoder = None
     self.recording = None
     self.video_filename = None
@@ -59,7 +60,7 @@ def grab(self):
     camera_port_0, output_port_0 = self.camera._get_ports(True, 0)
     self.jpeg_encoder = self.camera._get_image_encoder(camera_port_0, output_port_0, 'jpeg', None, quality=40)
     camera_port_1, output_port_1 = self.camera._get_ports(True, 1)
-    self.rgb_encoder = self.camera._get_image_encoder(camera_port_1, output_port_1, 'bgr', (160, 120))
+    self.rgb_encoder = self.camera._get_image_encoder(camera_port_1, output_port_1, 'bgr', (640, 480))#160,120
     #print "g.1: " + str(ts - time.time())
     #ts = time.time()
 
@@ -102,7 +103,7 @@ def grab_start(self):
     camera_port_0, output_port_0 = self.camera._get_ports(True, 0)
     self.jpeg_encoder = self.camera._get_image_encoder(camera_port_0, output_port_0, 'jpeg', None, quality=40)
     camera_port_1, output_port_1 = self.camera._get_ports(True, 1)
-    self.rgb_encoder = self.camera._get_image_encoder(camera_port_1, output_port_1, 'bgr', (160, 120))
+    self.rgb_encoder = self.camera._get_image_encoder(camera_port_1, output_port_1, 'bgr', (640, 480)) #160,120
 
     with self.camera._encoders_lock:
       self.camera._encoders[0] = self.jpeg_encoder
diff --git a/viz/image.py b/viz/image.py
index 09855e18..331e0215 100644
--- a/viz/image.py
+++ b/viz/image.py
@@ -101,6 +101,10 @@ def find_blobs(self, minsize=0, maxsize=10000000):
           
       return blobs
 
+    def find_contours(self):
+      contours, hierarchy = cv2.findContours(self._data, cv2.cv.CV_RETR_TREE, cv2.cv.CV_CHAIN_APPROX_SIMPLE)
+      return contours, hierarchy
+
     def find_template(self, img_template):
       # Initiate SIFT detector
       sift = cv2.SIFT()
@@ -149,3 +153,8 @@ def to_jpeg(self):
       return np.array(jpeg_array).tostring()
 
 
+    def draw_contour_bound_circle(self, contour, color=(0,255,0)):
+      (x,y),radius = cv2.minEnclosingCircle(contour)
+      center = (int(x), int(y))
+      radius = int(radius)
+      cv2.circle(self._data, center, radius, color, 2)
diff --git a/wifi.py b/wifi.py
index aa9c2610..d880eeee 100755
--- a/wifi.py
+++ b/wifi.py
@@ -9,12 +9,17 @@
 import fcntl
 import struct
 import json
+import ConfigParser
+import StringIO
+from time import sleep
 
 class WiFi():
 
   CONFIG_FILE = "/etc/coderbot_wifi.conf"
-  adapters = ["RT5370", "RTL8188CUS"] 
-  hostapds = {"RT5370": "hostapd.RT5370", "RTL8188CUS": "hostapd.RTL8188"} 
+  HOSTAPD_CONF_FILE = "/etc/hostapd/hostapd.conf"
+  INTERFACES_FILE = "/etc/network/interfaces_cli"
+  adapters = ["RT5370", "RTL8188CUS", "RT3572"] 
+  hostapds = {"RT5370": "hostapd.RT5370", "RTL8188CUS": "hostapd.RTL8188"}
   web_url = "http://coderbotsrv.appspot.com/register_ip"
   wifi_client_conf_file = "/etc/wpa_supplicant/wpa_supplicant.conf"
   _config = {}
@@ -45,24 +50,84 @@ def get_adapter_type(cls):
     
   @classmethod
   def start_hostapd(cls):
-    adapter = cls.get_adapter_type()
-    hostapd_type = cls.hostapds.get(adapter)
     try:
       print "starting hostapd..."
-      #os.system("start-stop-daemon --start --oknodo --quiet --exec /usr/sbin/" + hostapd_type + " -- /etc/hostapd/" + hostapd_type + " &")
-      os.system("/usr/sbin/" + hostapd_type + " /etc/hostapd/" + hostapd_type + " -B")
-
+      os.system("sudo service hostapd restart")
     except subprocess.CalledProcessError as e:
       print e.output
 
   @classmethod
   def stop_hostapd(cls):
     try:
-      out = subprocess.check_output(["pkill", "-9", "hostapd"])
-      print out
+      os.system("sudo service hostapd stop")
     except subprocess.CalledProcessError as e:
       print e.output
 
+  @classmethod
+  def set_hostapd_params(cls, wssid, wpsk):
+    config = ConfigParser.ConfigParser()
+    # configparser requires sections like '[section]'
+    # open hostapd.conf with dummy section '[hostapd]'
+    try:
+      with open(cls.HOSTAPD_CONF_FILE) as f:
+        conf_str = '[hostapd]\n' + f.read()
+        conf_fp = StringIO.StringIO(conf_str)
+        config.readfp(conf_fp)
+    except IOError as e:
+      print e
+      return
+    
+    if len(str(wpsk)) < 8:
+      wpsk='coderbot'
+    
+    config.set('hostapd','ssid',str(wssid))
+    config.set('hostapd','wpa_passphrase',str(wpsk))
+
+    try:
+      with open(cls.HOSTAPD_CONF_FILE, 'wb') as f:
+        conf_items = config.items('hostapd')
+        for (key,value) in conf_items:
+          f.write("{0}={1}\n".format(key, value))
+        f.write("\n")
+    except IOError as e:
+      print e
+
+  def set_client_params(cls, wssid, wpsk, number):
+    config = ConfigParser.ConfigParser()
+    # configparser requires sections like '[section]'
+    # open hostapd.conf with dummy section '[interfaces]'
+
+    try:
+      with open(cls.INTERFACES_FILE) as f:
+        inter_split = f.read().split("static")
+        inter_start = inter_split[0] + "static\n"
+        conf_str = '[interfaces]\n' + inter_split[1]
+        #parser needs = to work
+        conf_str = conf_str.replace(" ","=")
+        conf_fp = StringIO.StringIO(conf_str)
+        config.readfp(conf_fp)
+        
+    except IOError as e:
+      print e
+      return
+      
+    config.set('interfaces','address',"192.168.0.1" + number)
+    config.set('interfaces','wpa-ssid',str(wssid))
+    config.set('interfaces','wpa-psk',str(wpsk))
+    
+    try:
+      with open(cls.INTERFACES_FILE, 'wb') as f:
+        conf_items = config.items('interfaces')
+        f.write(inter_start)
+        for (key,value) in conf_items:
+          #quick workaround for values with spaces in
+          value = value.replace("wlan0=inet=static","wlan0 inet static")
+          f.write("{0} {1}\n".format(key, value))
+        f.write("\n")
+    except IOError as e:
+      print e
+    shutil.copy(cls.INTERFACES_FILE, "/etc/network/interfaces")	
+
   @classmethod
   def get_ipaddr(cls, ifname):
     s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
@@ -86,50 +151,6 @@ def register_ipaddr(cls, ipaddr, botname):
       raise
     print botname, ": ", ipaddr
 
-  @classmethod
-  def get_wlans(cls):
-    out = subprocess.check_output(["iwlist", "wlan0", "scan"])  
-
-  @classmethod
-  def set_client_params(cls, wssid, wpsk):
-    f = open (cls.wifi_client_conf_file, "w+")
-    f.write("""ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
-update_config=1
-network={\n""")
-    f.write("  ssid=\""+wssid+"\"\n")
-    f.write("  psk=\""+wpsk+"\"\n")
-    f.write("}")
-
-  @classmethod
-  def set_start_as_client(cls):
-    shutil.copy("/etc/network/interfaces_cli", "/etc/network/interfaces")
-    cls._config["wifi_mode"] = "client"
-    cls.save_config()
-
-  @classmethod
-  def start_as_client(cls):
-    cls.stop_hostapd()
-    try:
-      out = subprocess.check_output(["ifdown", "wlan0"])
-      out = subprocess.check_output(["ifup", "wlan0"])
-      print "registering ip..."
-      cls.register_ipaddr(cls.get_ipaddr("wlan0"), "CoderBot")
-    except subprocess.CalledProcessError as e:
-      print e.output
-      raise
-
-  @classmethod
-  def set_start_as_ap(cls):
-    shutil.copy("/etc/network/interfaces_ap", "/etc/network/interfaces")
-    cls._config["wifi_mode"] = "ap"
-    cls.save_config()
-
-  @classmethod
-  def start_as_ap(cls):
-    out = subprocess.check_output(["ifdown", "wlan0"])
-    out = subprocess.check_output(["ifup", "wlan0"])
-    cls.start_hostapd()
-
   @classmethod
   def start_service(cls):
     config = cls.load_config()
@@ -143,25 +164,56 @@ def start_service(cls):
       except:
         print "Unable to register ip, revert to ap mode"
         cls.start_as_ap()
+    elif config["wifi_mode"] == "local_client":
+      print "starting as local client..."
+      try:
+        cls.start_as_local_client()
+      except:
+        print "Unable to connect to WLAN, rever to ap mode"
+        cls.start_as_ap()
 
 def main():
   w = WiFi()
-  if len(sys.argv) > 2 and sys.argv[1] == "updatecfg":
-    if len(sys.argv) > 2 and sys.argv[2] == "ap":
-      w.set_start_as_ap()
-      w.start_as_ap()
-    elif len(sys.argv) > 2 and sys.argv[2] == "client":
-      if len(sys.argv) > 3:
-        w.set_client_params(sys.argv[3], sys.argv[4])
-      w.set_start_as_client()
-      w.stop_hostapd()
-      try:
-        w.start_as_client()
-      except:
-        print "Unable to register ip, revert to ap mode"
-        w.start_as_ap()
-  else:
-    w.start_service()
+  if len(sys.argv) < 2:
+    print 'Testing Client Connection...'
+    print 'Wait 5 seconds before checking connection to router...'
+    sleep(5)
+    print 'pinging router...'
+    #ping hub router
+    response = os.system('ping -c 1 192.168.0.1')
+    #healthy response is 0
+
+    if response == 0:
+      print 'Router has been found, staying on client mode'
+    else:
+      print 'Router not found, switching to AP mode'
+      #setup hotspot
+      shutil.copy("/etc/network/interfaces_ap", "/etc/network/interfaces")
+      print 'restart networking...'
+      os.system('sudo service networking restart')
+      w.start_hostapd()
+      print 'Waiting for hostapd to startup'
+      sleep(3)
+      print 'copying client interfaces back for next time'
+      shutil.copy("/etc/network/interfaces_cli", "/etc/network/interfaces")
+  
+  elif sys.argv[1] == "updatecfg":
+    if len(sys.argv) == 3:
+      print "updating configs..."
+      #Update config to use this number, eg. for 7
+      #client ip goes to 192.168.0.7
+      w.set_client_params("Lboro_Coderbot_Hub","welovepis", sys.argv[2])
+      #hostspot ssid goes to Lboro Coderbot 7
+      w.set_hostapd_params("Lboro Coderbot " + sys.argv[2], "coderbot")
+      print "done!"
+    else:
+      if len(sys.argv) > 2 and sys.argv[2] == "ap":
+        if len(sys.argv) > 3:
+          w.set_hostapd_params(sys.argv[3], sys.argv[4])
+      elif len(sys.argv) > 2 and sys.argv[2] == "client":
+        if len(sys.argv) > 4:
+          w.set_client_params(sys.argv[3], sys.argv[4], sys.argv[5])
+
 
 if __name__ == "__main__":
   main()