diff --git a/app/src/lib/components/statusbar/UpdateIndicator.svelte b/app/src/lib/components/statusbar/UpdateIndicator.svelte
index ea223a4..7dc0ffd 100644
--- a/app/src/lib/components/statusbar/UpdateIndicator.svelte
+++ b/app/src/lib/components/statusbar/UpdateIndicator.svelte
@@ -1,48 +1,48 @@
 <script lang="ts">
-  import { page } from '$app/state';
-  import { modals } from 'svelte-modals';
-  import { notifications } from '$lib/components/toasts/notifications';
-  import ConfirmDialog from '$lib/components/ConfirmDialog.svelte';
-  import GithubUpdateDialog from '$lib/components/GithubUpdateDialog.svelte';
-  import { compareVersions } from 'compare-versions';
-  import { onMount } from 'svelte';
-  import { api } from '$lib/api';
-  import type { GithubRelease } from '$lib/types/models';
-  import { useFeatureFlags } from '$lib/stores/featureFlags';
-  import { Cancel, CloudDown, Firmware } from '../icons';
+  import { page } from '$app/state'
+  import { modals } from 'svelte-modals'
+  import { notifications } from '$lib/components/toasts/notifications'
+  import ConfirmDialog from '$lib/components/ConfirmDialog.svelte'
+  import GithubUpdateDialog from '$lib/components/GithubUpdateDialog.svelte'
+  import { compareVersions } from 'compare-versions'
+  import { onMount } from 'svelte'
+  import { api } from '$lib/api'
+  import type { GithubRelease } from '$lib/types/models'
+  import { useFeatureFlags } from '$lib/stores/featureFlags'
+  import { Cancel, CloudDown, Firmware } from '../icons'
 
-  const features = useFeatureFlags();
+  const features = useFeatureFlags()
 
   interface Props {
-    update?: boolean;
+    update?: boolean
   }
 
-  let { update = $bindable(false) }: Props = $props();
+  let { update = $bindable(false) }: Props = $props()
 
-  let firmwareVersion: string = $state('');
-  let firmwareDownloadLink: string = $state('');
+  let firmwareVersion: string = $state('')
+  let firmwareDownloadLink: string = $state('')
 
   async function getGithubAPI() {
     const headers = {
       accept: 'application/vnd.github+json',
-      'X-GitHub-Api-Version': '2022-11-28',
-    };
+      'X-GitHub-Api-Version': '2022-11-28'
+    }
     const result = await api.get<GithubRelease>(
       `https://api.github.com/repos/${page.data.github}/releases/latest`,
       { headers }
-    );
+    )
     if (result.inner.message === '404' || result.inner.message == 'Not Found') {
-      console.warn('Error: Could not find releases in the repository');
-      return;
+      console.warn('Error: Could not find releases in the repository')
+      return
     }
     if (result.isErr()) {
-      console.error('Error:', result.inner);
-      return;
+      console.error('Error:', result.inner)
+      return
     }
 
-    const results = result.inner;
-    update = false;
-    firmwareVersion = '';
+    const results = result.inner
+    update = false
+    firmwareVersion = ''
 
     if (compareVersions(results.tag_name, $features.firmware_version as string) === 1) {
       // iterate over assets and find the correct one
@@ -52,29 +52,29 @@
           results.assets[i].name.includes('.bin') &&
           results.assets[i].name.includes($features.firmware_built_target as string)
         ) {
-          update = true;
-          firmwareVersion = results.tag_name;
-          firmwareDownloadLink = results.assets[i].browser_download_url;
-          notifications.info('Firmware update available.', 5000);
+          update = true
+          firmwareVersion = results.tag_name
+          firmwareDownloadLink = results.assets[i].browser_download_url
+          notifications.info('Firmware update available.', 5000)
         }
       }
     }
   }
 
   async function postGithubDownload(url: string) {
-    const result = await api.post('/api/downloadUpdate', { download_url: url });
+    const result = await api.post('/api/downloadUpdate', { download_url: url })
     if (result.isErr()) {
-      console.error('Error:', result.inner);
-      return;
+      console.error('Error:', result.inner)
+      return
     }
   }
 
   onMount(async () => {
     if ($features.download_firmware) {
-      await getGithubAPI();
-      setInterval(async () => await getGithubAPI(), 60 * 60 * 1000); // once per hour
+      await getGithubAPI()
+      setInterval(async () => await getGithubAPI(), 60 * 60 * 1000) // once per hour
     }
-  });
+  })
 
   function confirmGithubUpdate(url: string) {
     modals.open(ConfirmDialog, {
@@ -82,15 +82,15 @@
       message: 'Are you sure you want to overwrite the existing firmware with a new one?',
       labels: {
         cancel: { label: 'Abort', icon: Cancel },
-        confirm: { label: 'Update', icon: CloudDown },
+        confirm: { label: 'Update', icon: CloudDown }
       },
       onConfirm: () => {
-        postGithubDownload(url);
+        postGithubDownload(url)
         modals.open(GithubUpdateDialog, {
-          onConfirm: () => modals.closeAll(),
-        });
-      },
-    });
+          onConfirm: () => modals.closeAll()
+        })
+      }
+    })
   }
 </script>
 
diff --git a/app/src/lib/stores/model-store.ts b/app/src/lib/stores/model-store.ts
index 6aa3d8e..75c0af3 100644
--- a/app/src/lib/stores/model-store.ts
+++ b/app/src/lib/stores/model-store.ts
@@ -1,45 +1,45 @@
-import type { ControllerInput } from '$lib/types/models';
-import { persistentStore } from '$lib/utilities/svelte-utilities';
-import { writable, type Writable } from 'svelte/store';
+import type { ControllerInput } from '$lib/types/models'
+import { persistentStore } from '$lib/utilities/svelte-utilities'
+import { writable, type Writable } from 'svelte/store'
 
-export const emulateModel = writable(true);
+export const emulateModel = writable(true)
 
-export const jointNames = persistentStore('joint_names', <string[]>[]);
+export const jointNames = persistentStore('joint_names', <string[]>[])
 
-export const model = writable();
+export const model = writable()
 
 export const modes = [
-	'deactivated',
-	'idle',
-	'calibration',
-	'rest',
-	'stand',
-	'crawl',
-	'walk'
-] as const;
+  'deactivated',
+  'idle',
+  'calibration',
+  'rest',
+  'stand',
+  'crawl',
+  'walk'
+] as const
 
-export type Modes = (typeof modes)[number];
+export type Modes = (typeof modes)[number]
 
 export enum ModesEnum {
-	Deactivated,
-	Idle,
-	Calibration,
-	Rest,
-	Stand,
-	Crawl,
-	Walk
+  Deactivated,
+  Idle,
+  Calibration,
+  Rest,
+  Stand,
+  Crawl,
+  Walk
 }
 
-export const mode: Writable<ModesEnum> = writable(ModesEnum.Deactivated);
+export const mode: Writable<ModesEnum> = writable(ModesEnum.Deactivated)
 
-export const outControllerData = writable([0, 0, 0, 0, 0, 1, 0]);
+export const outControllerData = writable([0, 0, 0, 0, 0, 1, 0])
 
-export const kinematicData = writable([0, 0, 0, 0, 1, 0]);
+export const kinematicData = writable([0, 0, 0, 0, 1, 0])
 
 export const input: Writable<ControllerInput> = writable({
-	left: { x: 0, y: 0 },
-	right: { x: 0, y: 0 },
-	height: 50,
-	speed: 50,
-	s1: 50
-});
+  left: { x: 0, y: 0 },
+  right: { x: 0, y: 0 },
+  height: 0.5,
+  speed: 0.5,
+  s1: 0.05
+})
diff --git a/app/src/lib/types/models.ts b/app/src/lib/types/models.ts
index e0bdc0c..53f2387 100644
--- a/app/src/lib/types/models.ts
+++ b/app/src/lib/types/models.ts
@@ -1,4 +1,4 @@
-export enum Topics {
+export enum MessageTopic {
   imu = 'imu',
   mode = 'mode',
   input = 'input',
diff --git a/app/src/routes/+layout.svelte b/app/src/routes/+layout.svelte
index 7a3c2a5..7a3b213 100644
--- a/app/src/routes/+layout.svelte
+++ b/app/src/routes/+layout.svelte
@@ -21,7 +21,9 @@
     location,
     useFeatureFlags
   } from '$lib/stores'
-  import { Topics, type Analytics, type DownloadOTA } from '$lib/types/models'
+  import { type Analytics, type DownloadOTA } from '$lib/types/models'
+  import { MessageTopic } from '$lib/types/models'
+
   interface Props {
     children?: import('svelte').Snippet
   }
@@ -36,10 +38,14 @@
 
     addEventListeners()
 
-    outControllerData.subscribe(data => socket.sendEvent(Topics.input, data))
-    mode.subscribe(data => socket.sendEvent(Topics.mode, data))
-    servoAnglesOut.subscribe(data => socket.sendEvent(Topics.angles, data))
-    kinematicData.subscribe(data => socket.sendEvent(Topics.position, data))
+    outControllerData.subscribe(data => {
+      console.log(data)
+
+      socket.sendEvent(MessageTopic.input, data)
+    })
+    mode.subscribe(data => socket.sendEvent(MessageTopic.mode, data))
+    servoAnglesOut.subscribe(data => socket.sendEvent(MessageTopic.angles, data))
+    kinematicData.subscribe(data => socket.sendEvent(MessageTopic.position, data))
   })
 
   onDestroy(() => {
@@ -50,24 +56,24 @@
     socket.on('open', handleOpen)
     socket.on('close', handleClose)
     socket.on('error', handleError)
-    socket.on(Topics.rssi, handleNetworkStatus)
-    socket.on(Topics.mode, (data: ModesEnum) => mode.set(data))
-    socket.on(Topics.analytics, handleAnalytics)
-    socket.on(Topics.angles, (angles: number[]) => {
+    socket.on(MessageTopic.rssi, handleNetworkStatus)
+    socket.on(MessageTopic.mode, (data: ModesEnum) => mode.set(data))
+    socket.on(MessageTopic.analytics, handleAnalytics)
+    socket.on(MessageTopic.angles, (angles: number[]) => {
       if (angles.length) servoAngles.set(angles)
     })
     features.subscribe(data => {
-      if (data?.download_firmware) socket.on(Topics.otastatus, handleOAT)
-      if (data?.sonar) socket.on(Topics.sonar, data => console.log(data))
+      if (data?.download_firmware) socket.on(MessageTopic.otastatus, handleOAT)
+      if (data?.sonar) socket.on(MessageTopic.sonar, data => console.log(data))
     })
   }
 
   const removeEventListeners = () => {
-    socket.off(Topics.analytics, handleAnalytics)
+    socket.off(MessageTopic.analytics, handleAnalytics)
     socket.off('open', handleOpen)
     socket.off('close', handleClose)
-    socket.off(Topics.rssi, handleNetworkStatus)
-    socket.off(Topics.otastatus, handleOAT)
+    socket.off(MessageTopic.rssi, handleNetworkStatus)
+    socket.off(MessageTopic.otastatus, handleOAT)
   }
 
   const handleOpen = () => {
diff --git a/app/src/routes/controller/+page.svelte b/app/src/routes/controller/+page.svelte
index c81a23d..0c4bca9 100644
--- a/app/src/routes/controller/+page.svelte
+++ b/app/src/routes/controller/+page.svelte
@@ -5,12 +5,12 @@
   import { onMount } from 'svelte'
   import { mpu, socket } from '$lib/stores'
   import { imu } from '$lib/stores/imu'
-  import { Topics, type IMU } from '$lib/types/models'
+  import { MessageTopic, type IMU } from '$lib/types/models'
 
   let layout = $derived($views.find(v => v.name === $selectedView)!)
 
   onMount(() => {
-    socket.on(Topics.imu, (data: IMU) => {
+    socket.on(MessageTopic.imu, (data: IMU) => {
       imu.addData(data)
       if (data.heading)
         mpu.update(mpuData => {
diff --git a/app/src/routes/peripherals/i2c/i2c.svelte b/app/src/routes/peripherals/i2c/i2c.svelte
index 0410feb..084f08d 100644
--- a/app/src/routes/peripherals/i2c/i2c.svelte
+++ b/app/src/routes/peripherals/i2c/i2c.svelte
@@ -2,7 +2,7 @@
   import SettingsCard from '$lib/components/SettingsCard.svelte'
   import { onMount } from 'svelte'
   import { socket } from '$lib/stores'
-  import { Topics, type I2CDevice } from '$lib/types/models'
+  import { MessageTopic, type I2CDevice } from '$lib/types/models'
   import { Connection } from '$lib/components/icons'
   import I2CSetting from './i2cSetting.svelte'
 
@@ -24,9 +24,9 @@
   let isLoading = $state(false)
 
   onMount(() => {
-    socket.on(Topics.i2cScan, handleScan)
+    socket.on(MessageTopic.i2cScan, handleScan)
     triggerScan()
-    return () => socket.off(Topics.i2cScan, handleScan)
+    return () => socket.off(MessageTopic.i2cScan, handleScan)
   })
 
   const handleScan = (data: any) => {
@@ -43,7 +43,7 @@
 
   const triggerScan = () => {
     isLoading = true
-    socket.sendEvent(Topics.i2cScan, '')
+    socket.sendEvent(MessageTopic.i2cScan, '')
   }
 </script>
 
diff --git a/app/src/routes/peripherals/i2c/i2cSetting.svelte b/app/src/routes/peripherals/i2c/i2cSetting.svelte
index 1500117..1e5f555 100644
--- a/app/src/routes/peripherals/i2c/i2cSetting.svelte
+++ b/app/src/routes/peripherals/i2c/i2cSetting.svelte
@@ -1,7 +1,7 @@
 <script lang="ts">
   import { Cancel, Edit, EditOff, Power } from '$lib/components/icons'
   import { socket } from '$lib/stores'
-  import { Topics, type PeripheralsConfiguration } from '$lib/types/models'
+  import { MessageTopic, type PeripheralsConfiguration } from '$lib/types/models'
   import { onMount } from 'svelte'
   import { modals } from 'svelte-modals'
   import ConfirmDialog from '$lib/components/ConfirmDialog.svelte'
@@ -10,9 +10,9 @@
   let isEditing = $state(false)
 
   onMount(() => {
-    socket.on(Topics.peripheralSettings, handleSettings)
-    socket.sendEvent(Topics.peripheralSettings, '')
-    return () => socket.off(Topics.peripheralSettings, handleSettings)
+    socket.on(MessageTopic.peripheralSettings, handleSettings)
+    socket.sendEvent(MessageTopic.peripheralSettings, '')
+    return () => socket.off(MessageTopic.peripheralSettings, handleSettings)
   })
 
   const handleSettings = (data: any) => {
@@ -30,7 +30,7 @@
       },
       onConfirm: () => {
         modals.close()
-        socket.sendEvent(Topics.peripheralSettings, settings)
+        socket.sendEvent(MessageTopic.peripheralSettings, settings)
       }
     })
   }
diff --git a/app/src/routes/peripherals/imu/imu.svelte b/app/src/routes/peripherals/imu/imu.svelte
index 01957b4..5e61b0c 100644
--- a/app/src/routes/peripherals/imu/imu.svelte
+++ b/app/src/routes/peripherals/imu/imu.svelte
@@ -6,7 +6,7 @@
   import { slide } from 'svelte/transition'
   import { onDestroy, onMount } from 'svelte'
   import { socket } from '$lib/stores'
-  import { Topics, type IMU } from '$lib/types/models'
+  import { MessageTopic, type IMU } from '$lib/types/models'
   import { useFeatureFlags } from '$lib/stores/featureFlags'
   import { Rotate3d } from '$lib/components/icons'
 
@@ -201,7 +201,7 @@
   }
 
   onMount(() => {
-    socket.on(Topics.imu, (data: IMU) => {
+    socket.on(MessageTopic.imu, (data: IMU) => {
       console.log(data)
       imu.addData(data)
     })
@@ -211,7 +211,7 @@
   })
 
   onDestroy(() => {
-    socket.off(Topics.imu)
+    socket.off(MessageTopic.imu)
     clearInterval(intervalId)
   })
 </script>
diff --git a/app/src/routes/peripherals/servo/servos.svelte b/app/src/routes/peripherals/servo/servos.svelte
index 0afdf98..61b2fd1 100644
--- a/app/src/routes/peripherals/servo/servos.svelte
+++ b/app/src/routes/peripherals/servo/servos.svelte
@@ -1,6 +1,6 @@
 <script lang="ts">
   import { socket } from '$lib/stores'
-  import { Topics } from '$lib/types/models'
+  import { MessageTopic } from '$lib/types/models'
   import { throttler as Throttler } from '$lib/utilities'
 
   let { servoId = $bindable(0), pwm = $bindable(306) } = $props()
@@ -12,16 +12,16 @@
   const throttler = new Throttler()
 
   const activateServo = () => {
-    socket.sendEvent(Topics.servoState, { active: 1 })
+    socket.sendEvent(MessageTopic.servoState, { active: 1 })
   }
 
   const deactivateServo = () => {
-    socket.sendEvent(Topics.servoState, { active: 0 })
+    socket.sendEvent(MessageTopic.servoState, { active: 0 })
   }
 
   const updatePWM = () => {
     throttler.throttle(() => {
-      socket.sendEvent(Topics.servoPWM, { servo_id: servoId, pwm })
+      socket.sendEvent(MessageTopic.servoPWM, { servo_id: servoId, pwm })
     }, 10)
   }
 
diff --git a/app/src/routes/system/status/SystemStatus.svelte b/app/src/routes/system/status/SystemStatus.svelte
index e6b66d9..3b0051d 100644
--- a/app/src/routes/system/status/SystemStatus.svelte
+++ b/app/src/routes/system/status/SystemStatus.svelte
@@ -6,7 +6,7 @@
   import Spinner from '$lib/components/Spinner.svelte'
   import { slide } from 'svelte/transition'
   import { cubicOut } from 'svelte/easing'
-  import { type SystemInformation, type Analytics, Topics } from '$lib/types/models'
+  import { type SystemInformation, type Analytics, MessageTopic } from '$lib/types/models'
   import { socket } from '$lib/stores/socket'
   import { api } from '$lib/api'
   import { convertSeconds } from '$lib/utilities'
@@ -50,9 +50,9 @@
 
   const postSleep = async () => await api.post('api/sleep')
 
-  onMount(() => socket.on(Topics.analytics, handleSystemData))
+  onMount(() => socket.on(MessageTopic.analytics, handleSystemData))
 
-  onDestroy(() => socket.off(Topics.analytics, handleSystemData))
+  onDestroy(() => socket.off(MessageTopic.analytics, handleSystemData))
   const handleSystemData = (data: Analytics) => {
     if (systemInformation) {
       systemInformation = {
diff --git a/app/src/routes/wifi/sta/Scan.svelte b/app/src/routes/wifi/sta/Scan.svelte
index 5eac41c..df582a9 100644
--- a/app/src/routes/wifi/sta/Scan.svelte
+++ b/app/src/routes/wifi/sta/Scan.svelte
@@ -19,50 +19,50 @@
     'WPA2 Enterprise',
     'WPA3 PSK',
     'WPA2 WPA3 PSK',
-    'WAPI PSK',
-  ];
+    'WAPI PSK'
+  ]
 
-  let listOfNetworks: NetworkItem[] = $state([]);
+  let listOfNetworks: NetworkItem[] = $state([])
 
-  let scanActive = $state(false);
+  let scanActive = $state(false)
 
-  let pollingId: ReturnType<typeof setTimeout> | number;
+  let pollingId: ReturnType<typeof setTimeout> | number
 
   async function scanNetworks() {
-    scanActive = true;
-    await api.get('/api/wifi/scan');
+    scanActive = true
+    await api.get('/api/wifi/scan')
     if ((await pollingResults()) == false) {
-      pollingId = setInterval(() => pollingResults(), 1000);
+      pollingId = setInterval(() => pollingResults(), 1000)
     }
-    return;
+    return
   }
 
   async function pollingResults() {
-    const result = await api.get<NetworkList>('/api/wifi/networks');
+    const result = await api.get<NetworkList>('/api/wifi/networks')
     if (result.isErr()) {
-      console.error(`Error occurred while fetching: `, result.inner);
-      return false;
+      console.error(`Error occurred while fetching: `, result.inner)
+      return false
     }
-    let response = result.inner;
-    listOfNetworks = response.networks;
-    scanActive = false;
+    let response = result.inner
+    listOfNetworks = response.networks
+    scanActive = false
     if (listOfNetworks.length) {
-      clearInterval(pollingId);
-      pollingId = 0;
+      clearInterval(pollingId)
+      pollingId = 0
     }
-    return listOfNetworks.length;
+    return listOfNetworks.length
   }
 
   onMount(() => {
-    scanNetworks();
-  });
+    scanNetworks()
+  })
 
   onDestroy(() => {
     if (pollingId) {
-      clearInterval(pollingId);
-      pollingId = 0;
+      clearInterval(pollingId)
+      pollingId = 0
     }
-  });
+  })
 </script>
 
 {#if isOpen}
@@ -89,7 +89,7 @@
                 <div
                   class="bg-base-200 rounded-btn my-1 flex items-center space-x-3 hover:scale-[1.02] active:scale-[0.98]"
                   onclick={() => {
-                    storeNetwork(network.ssid);
+                    storeNetwork(network.ssid)
                   }}
                   role="button"
                   tabindex="0">
diff --git a/app/src/routes/wifi/sta/Wifi.svelte b/app/src/routes/wifi/sta/Wifi.svelte
index 5a35357..7292c0a 100644
--- a/app/src/routes/wifi/sta/Wifi.svelte
+++ b/app/src/routes/wifi/sta/Wifi.svelte
@@ -12,7 +12,7 @@
   import Spinner from '$lib/components/Spinner.svelte'
   import InfoDialog from '$lib/components/InfoDialog.svelte'
   import {
-    Topics,
+    MessageTopic,
     type KnownNetworkItem,
     type WifiSettings,
     type WifiStatus
@@ -97,10 +97,10 @@
     return wifiSettings
   }
 
-  onDestroy(() => socket.off(Topics.WiFiSettings))
+  onDestroy(() => socket.off(MessageTopic.WiFiSettings))
 
   onMount(() => {
-    socket.on<WifiSettings>(Topics.WiFiSettings, data => {
+    socket.on<WifiSettings>(MessageTopic.WiFiSettings, data => {
       wifiSettings = data
       dndNetworkList = wifiSettings.wifi_networks
     })