diff --git a/esp32/include/msgs/i2c_scan_msg.hpp b/esp32/include/msgs/i2c_scan_msg.hpp
new file mode 100644
index 0000000..49aeb13
--- /dev/null
+++ b/esp32/include/msgs/i2c_scan_msg.hpp
@@ -0,0 +1,17 @@
+#pragma once
+#include <ArduinoJson.h>
+#include <vector>
+
+struct I2CScanMsg {
+    std::vector<uint8_t> addresses;
+
+    friend void toJson(JsonVariant v, I2CScanMsg const& c) {
+        JsonArray arr = v.to<JsonArray>();
+        for (uint8_t addr : c.addresses) arr.add(addr);
+    }
+
+    void fromJson(JsonVariantConst o) {
+        addresses.clear();
+        for (JsonVariantConst val : o.as<JsonArrayConst>()) addresses.push_back(val.as<uint8_t>());
+    }
+};
\ No newline at end of file
diff --git a/esp32/include/msgs/motion_angles_msg.hpp b/esp32/include/msgs/motion_angles_msg.hpp
new file mode 100644
index 0000000..7cf05d5
--- /dev/null
+++ b/esp32/include/msgs/motion_angles_msg.hpp
@@ -0,0 +1,20 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct MotionAnglesMsg {
+    float angles[12];
+
+    friend void toJson(JsonVariant v, MotionAnglesMsg const &m) {
+        JsonArray arr = v.to<JsonArray>();
+        for (int i = 0; i < 12; i++) {
+            arr.add(m.angles[i]);
+        }
+    }
+
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        for (int i = 0; i < 12 && i < arr.size(); i++) {
+            angles[i] = arr[i].as<float>();
+        }
+    }
+};
\ No newline at end of file
diff --git a/esp32/include/msgs/motion_input_msg.hpp b/esp32/include/msgs/motion_input_msg.hpp
new file mode 100644
index 0000000..3946e6b
--- /dev/null
+++ b/esp32/include/msgs/motion_input_msg.hpp
@@ -0,0 +1,28 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct MotionInputMsg {
+    float lx, ly, rx, ry, h, s, s1;
+
+    friend void toJson(JsonVariant v, MotionInputMsg const &m) {
+        JsonArray arr = v.to<JsonArray>();
+        arr.add(m.lx);
+        arr.add(m.ly);
+        arr.add(m.rx);
+        arr.add(m.ry);
+        arr.add(m.h);
+        arr.add(m.s);
+        arr.add(m.s1);
+    }
+
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        lx = arr[0].as<float>();
+        ly = arr[1].as<float>();
+        rx = arr[2].as<float>();
+        ry = arr[3].as<float>();
+        h = arr[4].as<float>();
+        s = arr[5].as<float>();
+        s1 = arr[6].as<float>();
+    }
+};
\ No newline at end of file
diff --git a/esp32/include/msgs/motion_mode_msg.hpp b/esp32/include/msgs/motion_mode_msg.hpp
new file mode 100644
index 0000000..ab87563
--- /dev/null
+++ b/esp32/include/msgs/motion_mode_msg.hpp
@@ -0,0 +1,10 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct MotionModeMsg {
+    int mode;
+
+    friend void toJson(JsonVariant v, MotionModeMsg const &m) { v.set(m.mode); }
+
+    void fromJson(JsonVariantConst o) { mode = o.as<int>(); }
+};
\ No newline at end of file
diff --git a/esp32/include/msgs/motion_position_msg.hpp b/esp32/include/msgs/motion_position_msg.hpp
new file mode 100644
index 0000000..3be9de2
--- /dev/null
+++ b/esp32/include/msgs/motion_position_msg.hpp
@@ -0,0 +1,26 @@
+#pragma once
+#include <ArduinoJson.h>
+
+struct MotionPositionMsg {
+    float omega, phi, psi, xm, ym, zm;
+
+    friend void toJson(JsonVariant v, MotionPositionMsg const &m) {
+        JsonArray arr = v.to<JsonArray>();
+        arr.add(m.omega);
+        arr.add(m.phi);
+        arr.add(m.psi);
+        arr.add(m.xm);
+        arr.add(m.ym);
+        arr.add(m.zm);
+    }
+
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        omega = arr[0].as<float>();
+        phi = arr[1].as<float>();
+        psi = arr[2].as<float>();
+        xm = arr[3].as<float>();
+        ym = arr[4].as<float>();
+        zm = arr[5].as<float>();
+    }
+};
\ No newline at end of file
diff --git a/esp32/include/msgs/topics.def b/esp32/include/msgs/topics.def
index 7ac3182..a78b9d3 100644
--- a/esp32/include/msgs/topics.def
+++ b/esp32/include/msgs/topics.def
@@ -1,5 +1,9 @@
-#define TOPIC_LIST         \
-    X(Imu, ImuMsg)         \
-    X(Mode, ModeMsg)       \
-    X(Command, CommandMsg) \
-    X(Servo, ServoMsg)\
+#define TOPIC_LIST                       \
+    X(Imu, ImuMsg)                       \
+    X(Mode, ModeMsg)                     \
+    X(Command, CommandMsg)               \
+    X(Servo, ServoMsg)                   \
+    X(MotionInput, MotionInputMsg)       \
+    X(MotionAngles, MotionAnglesMsg)     \
+    X(MotionPosition, MotionPositionMsg) \
+    X(MotionMode, MotionModeMsg)
diff --git a/esp32/include/topic.hpp b/esp32/include/topic.hpp
index a4c13e8..ae90dda 100644
--- a/esp32/include/topic.hpp
+++ b/esp32/include/topic.hpp
@@ -3,6 +3,10 @@
 #include "msgs/command_msg.hpp"
 #include "msgs/mode_msg.hpp"
 #include "msgs/servo_msg.hpp"
+#include "msgs/motion_input_msg.hpp"
+#include "msgs/motion_angles_msg.hpp"
+#include "msgs/motion_position_msg.hpp"
+#include "msgs/motion_mode_msg.hpp"
 #include "msgs/topics.def"
 
 enum class Topic : uint8_t {