diff --git a/config/device/AA256,U=30,M=PWI,S=(256 1502).txt b/config/device/AA256,U=30,M=PWI,S=(256 1502).txt
index 2e9e02a..a59b332 100644
--- a/config/device/AA256,U=30,M=PWI,S=(256 1502).txt	
+++ b/config/device/AA256,U=30,M=PWI,S=(256 1502).txt	
@@ -9,6 +9,13 @@ DisableUSB3=1
 AscanBitSize=14Bits
 Enable256=0
 
+SWEncoder1Resolution=1
+TriggerMode=Internal
+Encoder1A=DigitalInput01
+Encoder1B=DigitalInput02
+Encoder1Type=Quadrature4Edges
+RequestIO=OnCycleOnly
+
 [Cycle:0]
 GainDigital=0.000000 dB
 BeamCorrection=0.0 dB
diff --git a/config/device/AAA256,U=80,M=PWI,S=(256 4002).txt b/config/device/AAA256,U=80,M=PWI,S=(256 4002).txt
new file mode 100644
index 0000000..e051dc5
--- /dev/null
+++ b/config/device/AAA256,U=80,M=PWI,S=(256 4002).txt	
@@ -0,0 +1,138 @@
+[Root]
+VersionDriverOEMPA=1.3.0.0
+CycleCount=1
+EnableFMC=1
+FMCElementStart=0
+FMCElementStop=255
+FMCElementStep=1
+DisableUSB3=1
+AscanBitSize=14Bits
+Enable256=0
+
+[Cycle:0]
+GainDigital=0.000000 dB
+BeamCorrection=0.0 dB
+Start=0.000000 us
+Range=80.000000 us
+TimeSlot=3987.300000 us
+PointFactor=2
+CompressionType=Decimation
+Rectification=Signed
+FilterIndex=0
+GainAnalog=40.000000 dB
+GateCount=0
+
+[Cycle:0\Pulser]
+WedgeDelay=0.0 us
+Element.count=256
+Element_0=0;1;2;3;4;5;6;7
+Element_8=8;9;10;11;12;13;14;15
+Element_16=16;17;18;19;20;21;22;23
+Element_24=24;25;26;27;28;29;30;31
+Element_32=32;33;34;35;36;37;38;39
+Element_40=40;41;42;43;44;45;46;47
+Element_48=48;49;50;51;52;53;54;55
+Element_56=56;57;58;59;60;61;62;63
+Element_64=64;65;66;67;68;69;70;71
+Element_72=72;73;74;75;76;77;78;79
+Element_80=80;81;82;83;84;85;86;87
+Element_88=88;89;90;91;92;93;94;95
+Element_96=96;97;98;99;100;101;102;103
+Element_104=104;105;106;107;108;109;110;111
+Element_112=112;113;114;115;116;117;118;119
+Element_120=120;121;122;123;124;125;126;127
+Element_128=128;129;130;131;132;133;134;135
+Element_136=136;137;138;139;140;141;142;143
+Element_144=144;145;146;147;148;149;150;151
+Element_152=152;153;154;155;156;157;158;159
+Element_160=160;161;162;163;164;165;166;167
+Element_168=168;169;170;171;172;173;174;175
+Element_176=176;177;178;179;180;181;182;183
+Element_184=184;185;186;187;188;189;190;191
+Element_192=192;193;194;195;196;197;198;199
+Element_200=200;201;202;203;204;205;206;207
+Element_208=208;209;210;211;212;213;214;215
+Element_216=216;217;218;219;220;221;222;223
+Element_224=224;225;226;227;228;229;230;231
+Element_232=232;233;234;235;236;237;238;239
+Element_240=240;241;242;243;244;245;246;247
+Element_248=248;249;250;251;252;253;254;255
+Delay.count=256;1
+Delay_0=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_8=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_16=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_24=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_32=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_40=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_48=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_56=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_64=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_72=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_80=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_88=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_96=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_104=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_112=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_120=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_128=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_136=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_144=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_152=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_160=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_168=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_176=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_184=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_192=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_200=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_208=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_216=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_224=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_232=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_240=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Delay_248=0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000;0.000000 us
+Width.count=256
+Width_0=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_8=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_16=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_24=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_32=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_40=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_48=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_56=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_64=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_72=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_80=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_88=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_96=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_104=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_112=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_120=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_128=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_136=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_144=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_152=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_160=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_168=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_176=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_184=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_192=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_200=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_208=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_216=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_224=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_232=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_240=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+Width_248=0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429;0.071429 us
+
+[Cycle:0\Receiver]
+WedgeDelay=0.0 us
+Element.count=1
+Element=0
+Focusing=Standard
+Delay.count=1;1
+Delay=0.0 us
+Gain.count=1
+Gain=0.0 dB
+FocalTimeOfFlight.count=1
+FocalTimeOfFlight=0.0 us
+
diff --git a/pyproject.toml b/pyproject.toml
index 0142715..868628d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -16,4 +16,7 @@ dependencies = [
     "vtk>=9.4.0",
     "jupyter>=1.1.1",
     "python-miio>=0.5.12",
+    "click>=8.1.8",
+    "mido[ports-rtmidi]>=1.3.3",
+    "pyjoystick>=1.2.4",
 ]
diff --git a/src/BusClient.py b/src/BusClient.py
index 342fbc4..6adb4f9 100644
--- a/src/BusClient.py
+++ b/src/BusClient.py
@@ -24,6 +24,8 @@ class BusClient:
             self.sub = self.ctx.socket(zmq.SUB)
             for msg in msgs:
                 self.sub.setsockopt(zmq.SUBSCRIBE, msg.magic() + msg.eid())
+            if msgs.__len__() == 0:
+                self.sub.setsockopt(zmq.SUBSCRIBE, b'')
             if conflare:
                 self.sub.setsockopt(zmq.CONFLATE, 1)
             self.sub.connect(f'tcp://127.0.0.1:{self.bp}')
diff --git a/src/nodes/Beamformer.py b/src/nodes/Beamformer.py
index 8607ab8..08f29fd 100644
--- a/src/nodes/Beamformer.py
+++ b/src/nodes/Beamformer.py
@@ -37,7 +37,7 @@ class Beamformer(Node):
         time.sleep(1)
         while True:
             self.send(RequestRfFrameMsg())
-            r = dict(self.c.poller.poll(1000))
+            r = dict(self.c.poller.poll(10))
             if self.c.sub in r:
                 msg = self.recv()
                 if isinstance(msg, BeamformerMsg):
diff --git a/src/nodes/Device.py b/src/nodes/Device.py
index 746ea21..8ea31bd 100644
--- a/src/nodes/Device.py
+++ b/src/nodes/Device.py
@@ -2,6 +2,7 @@ import logging
 import struct
 import subprocess
 import time
+from threading import Thread
 
 import zmq
 
@@ -9,14 +10,14 @@ from config import LIVE_REP_SOCKET, CONFIG, DEVICE_CONFIG
 from nodes.Node import Node
 from utils.Msg import ImageArgMsg, KillMsg, SetDeviceConnectedMsg, SetDeviceEnabledMsg, DeviceEnabledMsg, \
     DeviceConnectedMsg, SetDeviceConfigMsg, DeviceOnlineMsg, DeviceConfigListMsg, RequestRfFrameMsg, RfFrameMsg, \
-    RfFrameWithMetaMsg
+    RfFrameWithMetaMsg, DeviceZero
 from utils.RfMeta import RfFrameMeta
 
 logger = logging.getLogger(__name__)
 
 
 class Device(Node):
-    topics = [SetDeviceConnectedMsg, SetDeviceEnabledMsg, SetDeviceConfigMsg, RequestRfFrameMsg]
+    topics = [SetDeviceConnectedMsg, SetDeviceEnabledMsg, SetDeviceConfigMsg, RequestRfFrameMsg, DeviceZero]
 
     def __init__(self, level=logging.INFO):
         super(Device, self).__init__(level=level)
@@ -24,6 +25,12 @@ class Device(Node):
         self.seq_meta = None
         self.device_rep_socket = None
         self.ok = b'ok\x00'
+        self.loop2_t = None
+
+    def loop2(self):
+        while True:
+            self.online()
+            time.sleep(1)
 
     def connect(self):
         self.device_rep_socket.send(b'connect')
@@ -64,7 +71,7 @@ class Device(Node):
     def online(self):
         code = subprocess.run(['curl', '-m', '1', f'http://{LIVE_REP_SOCKET}'], stderr=subprocess.DEVNULL,
                               stdout=subprocess.DEVNULL).returncode
-        logger.info(f'detect curl code: {code}')
+        logger.debug(f'detect curl code: {code}')
         match code:
             case 28 | 7:
                 self.send(DeviceOnlineMsg(False))
@@ -122,9 +129,15 @@ class Device(Node):
         self.device_rep_socket.send(b'data')
         return self.device_rep_socket.recv()
 
+    def zero(self):
+        self.device_rep_socket.send(b'zero')
+        return self.device_rep_socket.recv()
+
     def custom_setup(self):
         self.device_rep_socket = self.context.socket(zmq.REQ)
         self.device_rep_socket.connect(f"tcp://{LIVE_REP_SOCKET}")
+        self.loop2_t = Thread(target=self.loop2)
+        self.loop2_t.start()
 
     def loop(self):
         arr = []
@@ -161,6 +174,9 @@ class Device(Node):
                     continue
                 _, sequence_id, encoder = struct.unpack_from('=iqi', braw)
                 buffer = braw[4 + 8 + 4:]
+                # logger.debug('send')
                 self.send(RfFrameWithMetaMsg(0, RfFrameMeta(
                     encoder=encoder, sequence_id=sequence_id
                 ), buffer))
+            elif isinstance(msg, DeviceZero):
+                self.zero()
diff --git a/src/nodes/JoyStick.py b/src/nodes/JoyStick.py
new file mode 100644
index 0000000..16cf783
--- /dev/null
+++ b/src/nodes/JoyStick.py
@@ -0,0 +1,123 @@
+import logging
+from threading import Thread
+
+import mido
+import pyjoystick
+import zmq
+from mido.backends.rtmidi import Input, Output
+from pyjoystick.sdl2 import Key, Joystick, run_event_loop
+
+from nodes.Node import Node
+from utils.Msg import KillMsg, Msg, ImageArgMsg, JoystickMsg
+
+logger = logging.getLogger(__name__)
+
+
+def clamp(x, t):
+    if -t < x < t:
+        return 0.0
+    return x
+
+
+class Joystick(Node):
+    def __init__(self, level=logging.INFO):
+        super(Joystick, self).__init__(level=level)
+        self.m_input: Input = None
+        self.m_output: Output = None
+        self.do_loop = True
+        self.t_joystick_event_loop: Thread = None
+        self.isa: zmq.Socket = None
+
+    def sendj(self, t=0.1):
+        d2 = self.d.copy()
+        self.s2.send_json(dict(
+            x=clamp(d2['x'], t),
+            y=clamp(d2['y'], t),
+            z=clamp(d2['z'], t),
+            rx=clamp(d2['rx'], t),
+            ry=clamp(d2['ry'], t),
+            rz=clamp(d2['rz'], t),
+        ))
+
+    def custom_setup(self):
+        self.isa = self.c.ctx.socket(zmq.PUSH)
+        self.isa.bind("inproc://midi")
+
+        self.s2 = self.c.ctx.socket(zmq.PUSH)
+        self.s2.connect("tcp://11.6.1.63:5555")
+
+        self.t_joystick_event_loop = Thread(target=self.joystick_event_loop)
+        self.t_joystick_event_loop.start()
+        self.arg = ImageArgMsg('joystick', 0, 0)
+        self.arg1 = 0
+        self.d = dict(
+            x=0.0,
+            y=0.0,
+            z=0.0,
+            rx=0.0,
+            ry=0.0,
+            rz=0.0,
+        )
+        self.rz1 = 0
+        self.rz2 = 0
+
+        self.z1 = 0
+        self.z2 = 0
+
+    def joystick_event_loop(self):
+        def key_received(key: pyjoystick.interface.Key):
+            msg = JoystickMsg(str(key).replace('-', ''), key.value)
+            # print(msg)
+            match msg.key:
+                case 'Axis 0':
+                    self.d['x'] = -msg.value
+                case 'Axis 1':
+                    self.d['y'] = msg.value
+                case 'Axis 4':
+                    self.d['rx'] = -msg.value
+                case 'Axis 3':
+                    self.d['ry'] = -msg.value
+                case 'Axis 2':
+                    self.z1 = msg.value
+                case 'Axis 5':
+                    self.z2 = - msg.value
+                case 'Button 4':
+                    self.rz1 = - msg.value
+                case 'Button 5':
+                    self.rz2 = msg.value
+            self.d['rz'] = float(self.rz1 + self.rz2)
+            self.d['z'] = float(self.z1 + self.z2)
+
+            self.sendj()
+
+            # if msg.key == 'Axis 0':
+            #     self.arg1 += msg.value
+            #     self.arg.t_end = int(self.arg1 * 2)
+            #     self.send(self.arg)
+
+        run_event_loop(None, None, key_received)
+
+    def loop(self):
+        isb = self.c.ctx.socket(zmq.PULL)
+        isb.connect("inproc://midi")
+        self.c.poller.register(isb, zmq.POLLIN)
+        while True:
+            p = dict(self.c.poller.poll())
+            if isb in p:
+                msg = Msg.decode_msg(isb.recv())
+                match msg.type:
+                    case 'pitchwheel':
+                        match msg.channel:
+                            case 0:
+                                # print(msg.pitch)
+                                self.send(ImageArgMsg('midi', 0, msg.pitch * 3))
+            if self.c.sub in p:
+                msg = self.recv()
+                if isinstance(msg, KillMsg):
+                    if msg.name == '':
+                        self.do_loop = False
+                        return
+
+
+if __name__ == '__main__':
+    Joystick()()
diff --git a/src/nodes/MainUI.py b/src/nodes/MainUI.py
index 160719d..d39c1d8 100644
--- a/src/nodes/MainUI.py
+++ b/src/nodes/MainUI.py
@@ -1,10 +1,12 @@
 import logging
 import platform
 import sys
+import time
 import traceback
 from enum import Enum, auto
 from pathlib import Path
 
+import zmq
 from PyQt6 import QtCore, QtWidgets
 from PyQt6.QtCore import QByteArray
 from PyQt6.QtWidgets import QMainWindow, QApplication, QFrame, QMessageBox, QFileDialog, QLineEdit
@@ -16,7 +18,7 @@ from nodes.Node import Node
 from utils.Msg import KillMsg, Msg, ImageArgMsg, SeqIdMinMax, MoveAxisMsg, SeqListMsg, SetBaseMsg, \
     SetSeqMetaMsg, SetPlayMode, DeviceConnectedMsg, DeviceEnabledMsg, DeviceOnlineMsg, SetDeviceEnabledMsg, \
     SetDeviceConnectedMsg, DeviceConfigListMsg, SetDeviceConfigMsg, SetRecordMsg, RobotRtsiMsg, RecordFrameMsg, \
-    SeqIdList, SetWindowVisibleMsg, SetSidMsg, ImagingConfigNameListMsg
+    SeqIdList, SetWindowVisibleMsg, SetSidMsg, ImagingConfigNameListMsg, DeviceZero
 from utils.RfMeta import RfSequenceMeta
 
 logger = logging.getLogger(__name__)
@@ -97,6 +99,24 @@ class Adv(QMainWindow, Ui_MainWindow):
         self.b_new_imaging_config.clicked.connect(self.on_new_imaging_config)
         self.c_imaging_config.currentIndexChanged.connect(self.on_imaging_config)
 
+        self.b_probe_single.clicked.connect(self.on_probe('single'))
+        self.b_probe_orig.clicked.connect(self.on_probe('orig'))
+        self.b_probe_start.clicked.connect(self.on_probe('start'))
+        self.b_probe_stop.clicked.connect(self.on_probe('stop'))
+
+        self.b_device_zero.clicked.connect(lambda: self.p.send(DeviceZero()))
+
+    def on_probe(self, arg):
+        def f():
+            ctx = zmq.Context()
+            p = ctx.socket(zmq.PUSH)
+            p.connect('tcp://q1hyb.as:23456')
+            time.sleep(0.1)
+            p.send_string(arg)
+            p.disconnect('tcp://q1hyb.as:23456')
+
+        return f
+
     def on_imaging_config(self, i):
         name = self.c_imaging_config.itemText(i)
         self.p.send(ImageArgMsg.from_path(IMAGING_CONFIG / f'{name}.json'))
@@ -322,15 +342,29 @@ class Adv(QMainWindow, Ui_MainWindow):
                 if msg.value:
                     self.l_online.setStyleSheet("")
                     self.l_online.setText("Device Online")
+                    self.g_device.setDisabled(False)
                 else:
                     self.l_online.setStyleSheet("background-color: pink;")
                     self.l_online.setText("Device Offline")
+                    self.g_device.setDisabled(True)
             elif isinstance(msg, DeviceConfigListMsg):
                 for name, txt in msg.arr:
                     self.c_live_seq_name.addItem(name, txt)
             elif isinstance(msg, RobotRtsiMsg):
-                self.l_robot_pos.setText(','.join([f'{v}' for v in msg.pos]))
-                self.l_robot_force.setText(','.join([f'{v}' for v in msg.force]))
+                self.ln_x.display(f"{msg.pos[0] / 100:.2f}")
+                self.ln_y.display(f"{msg.pos[1] / 100:.2f}")
+                self.ln_z.display(f"{msg.pos[2] / 100:.2f}")
+                self.ln_rx.display(f"{msg.pos[3] / 1000:.3f}")
+                self.ln_ry.display(f"{msg.pos[4] / 1000:.3f}")
+                self.ln_rz.display(f"{msg.pos[5] / 1000:.3f}")
+
+                self.ln_fx.display(f"{msg.force[0] / 10:.1f}")
+                self.ln_fy.display(f"{msg.force[1] / 10:.1f}")
+                self.ln_fz.display(f"{msg.force[2] / 10:.1f}")
+                self.ln_frx.display(f"{msg.force[3] / 100:.2f}")
+                self.ln_fry.display(f"{msg.force[4] / 100:.2f}")
+                self.ln_frz.display(f"{msg.force[5] / 100:.2f}")
+
             elif isinstance(msg, RecordFrameMsg):
 
                 self.record_frame_cnt += 1
diff --git a/src/nodes/Midi.py b/src/nodes/Midi.py
new file mode 100644
index 0000000..7cda2e5
--- /dev/null
+++ b/src/nodes/Midi.py
@@ -0,0 +1,66 @@
+import logging
+from threading import Thread
+from unittest import case
+
+import mido
+import zmq
+from mido import Message
+from mido.backends.rtmidi import Input, Output
+
+from nodes.Node import Node
+from utils.Msg import KillMsg, MidiMsg, Msg, ImageArgMsg
+
+logger = logging.getLogger(__name__)
+
+
+class Midi(Node):
+    def __init__(self, level=logging.INFO):
+        super(Midi, self).__init__(level=level)
+        self.m_input: Input = None
+        self.m_output: Output = None
+        self.do_loop = True
+        self.t_midi_event_loop: Thread = None
+        self.isa: zmq.Socket = None
+
+    def custom_setup(self):
+        self.isa = self.c.ctx.socket(zmq.PUSH)
+        self.isa.bind("inproc://midi")
+
+        self.m_input: Input = mido.open_input('SMC-Mixer:SMC-Mixer Bluetooth 128:0')
+        self.m_output: Output = mido.open_output('SMC-Mixer:SMC-Mixer Bluetooth 128:0')
+        self.t_midi_event_loop = Thread(target=self.midi_event_loop)
+        self.t_midi_event_loop.start()
+
+    def midi_event_loop(self):
+        while self.do_loop:
+            midi_msg: Message = self.m_input.receive()
+            # print(midi_msg)
+            d = midi_msg.dict()
+            match d['type']:
+                case 'pitchwheel':
+                    channel = d['channel']
+                    # 0-127
+                    pitch = int(d['pitch'] / 128) + 64
+                    # pitch_p = int(pitch / 127)
+                    self.isa.send(MidiMsg(type='pitchwheel', channel=channel, pitch=pitch).encode_msg())
+
+    def loop(self):
+        isb = self.c.ctx.socket(zmq.PULL)
+        isb.connect("inproc://midi")
+        self.c.poller.register(isb, zmq.POLLIN)
+        while True:
+            p = dict(self.c.poller.poll())
+            if isb in p:
+                msg = Msg.decode_msg(isb.recv())
+                match msg.type:
+                    case 'pitchwheel':
+                        match msg.channel:
+                            case 0:
+                                # print(msg.pitch)
+                                self.send(ImageArgMsg('midi', 0, msg.pitch * 3))
+            if self.c.sub in p:
+                msg = self.recv()
+                if isinstance(msg, KillMsg):
+                    if msg.name == '':
+                        self.do_loop = False
+                        return
diff --git a/src/nodes/Node.py b/src/nodes/Node.py
index d7665c9..039b201 100644
--- a/src/nodes/Node.py
+++ b/src/nodes/Node.py
@@ -37,8 +37,9 @@ class Node:
 
     def base_setup(self):
         FORMAT = '[%(asctime)s] p%(process)s {%(pathname)s:%(lineno)d} %(levelname)s - %(message)s'
-        FORMAT = '"%(pathname)s:%(lineno)d" %(levelname)s - %(message)s'
-        logging.basicConfig(level=self.level, format=FORMAT)
+        FORMAT = '"%(pathname)s:%(lineno)d" [%(asctime)s.%(msecs)03d] %(levelname)s - %(message)s'
+        logging.basicConfig(level=self.level, format=FORMAT,datefmt = '%Y-%m-%d %H:%M:%S',)
+
         self.context = zmq.Context()
         if self.enable_init:
             self.c = BusClient(*([KillMsg] + self.topics), poller=True, conflare=self.conflare)
diff --git a/src/ui/Main.py b/src/ui/Main.py
index 23acc0a..73111eb 100644
--- a/src/ui/Main.py
+++ b/src/ui/Main.py
@@ -12,91 +12,68 @@ from PyQt6 import QtCore, QtGui, QtWidgets
 class Ui_MainWindow(object):
     def setupUi(self, MainWindow):
         MainWindow.setObjectName("MainWindow")
-        MainWindow.resize(1158, 805)
+        MainWindow.resize(1158, 998)
         self.centralwidget = QtWidgets.QWidget(parent=MainWindow)
         self.centralwidget.setObjectName("centralwidget")
         self.gridLayout = QtWidgets.QGridLayout(self.centralwidget)
         self.gridLayout.setObjectName("gridLayout")
-        self.gridLayout_3 = QtWidgets.QGridLayout()
-        self.gridLayout_3.setObjectName("gridLayout_3")
-        self.horizontalLayout = QtWidgets.QHBoxLayout()
-        self.horizontalLayout.setObjectName("horizontalLayout")
-        self.label_20 = QtWidgets.QLabel(parent=self.centralwidget)
-        self.label_20.setObjectName("label_20")
-        self.horizontalLayout.addWidget(self.label_20)
-        self.c_live_seq_name = QtWidgets.QComboBox(parent=self.centralwidget)
-        self.c_live_seq_name.setEnabled(False)
-        self.c_live_seq_name.setObjectName("c_live_seq_name")
-        self.c_live_seq_name.addItem("")
-        self.horizontalLayout.addWidget(self.c_live_seq_name)
-        self.horizontalLayout.setStretch(1, 1)
-        self.gridLayout_3.addLayout(self.horizontalLayout, 3, 0, 1, 4)
-        self.b_device_enable = QtWidgets.QPushButton(parent=self.centralwidget)
-        self.b_device_enable.setEnabled(False)
-        self.b_device_enable.setObjectName("b_device_enable")
-        self.gridLayout_3.addWidget(self.b_device_enable, 2, 3, 1, 1)
-        self.b_device_connection = QtWidgets.QPushButton(parent=self.centralwidget)
-        self.b_device_connection.setObjectName("b_device_connection")
-        self.gridLayout_3.addWidget(self.b_device_connection, 2, 1, 1, 1)
-        self.label_24 = QtWidgets.QLabel(parent=self.centralwidget)
-        self.label_24.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
-        self.label_24.setObjectName("label_24")
-        self.gridLayout_3.addWidget(self.label_24, 1, 2, 2, 1)
-        self.lb_device_connection = QtWidgets.QLabel(parent=self.centralwidget)
-        self.lb_device_connection.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
-        self.lb_device_connection.setObjectName("lb_device_connection")
-        self.gridLayout_3.addWidget(self.lb_device_connection, 1, 1, 1, 1)
-        self.l_online = QtWidgets.QLabel(parent=self.centralwidget)
+        self.g_device = QtWidgets.QGroupBox(parent=self.centralwidget)
+        self.g_device.setEnabled(True)
+        self.g_device.setObjectName("g_device")
+        self.verticalLayout = QtWidgets.QVBoxLayout(self.g_device)
+        self.verticalLayout.setObjectName("verticalLayout")
+        self.l_online = QtWidgets.QLabel(parent=self.g_device)
         font = QtGui.QFont()
         font.setPointSize(15)
         self.l_online.setFont(font)
         self.l_online.setStyleSheet("background-color: pink;")
         self.l_online.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
         self.l_online.setObjectName("l_online")
-        self.gridLayout_3.addWidget(self.l_online, 0, 0, 1, 4)
-        self.lb_device_enable = QtWidgets.QLabel(parent=self.centralwidget)
+        self.verticalLayout.addWidget(self.l_online)
+        self.gridLayout_8 = QtWidgets.QGridLayout()
+        self.gridLayout_8.setObjectName("gridLayout_8")
+        self.b_device_connection = QtWidgets.QPushButton(parent=self.g_device)
+        self.b_device_connection.setObjectName("b_device_connection")
+        self.gridLayout_8.addWidget(self.b_device_connection, 1, 1, 1, 1)
+        self.lb_device_connection = QtWidgets.QLabel(parent=self.g_device)
+        self.lb_device_connection.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
+        self.lb_device_connection.setObjectName("lb_device_connection")
+        self.gridLayout_8.addWidget(self.lb_device_connection, 0, 1, 1, 1)
+        self.lb_device_enable = QtWidgets.QLabel(parent=self.g_device)
         self.lb_device_enable.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
         self.lb_device_enable.setObjectName("lb_device_enable")
-        self.gridLayout_3.addWidget(self.lb_device_enable, 1, 3, 1, 1)
-        self.label_21 = QtWidgets.QLabel(parent=self.centralwidget)
+        self.gridLayout_8.addWidget(self.lb_device_enable, 0, 3, 1, 1)
+        self.b_device_enable = QtWidgets.QPushButton(parent=self.g_device)
+        self.b_device_enable.setEnabled(False)
+        self.b_device_enable.setObjectName("b_device_enable")
+        self.gridLayout_8.addWidget(self.b_device_enable, 1, 3, 1, 1)
+        self.label_24 = QtWidgets.QLabel(parent=self.g_device)
+        self.label_24.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
+        self.label_24.setObjectName("label_24")
+        self.gridLayout_8.addWidget(self.label_24, 0, 2, 2, 1)
+        self.label_21 = QtWidgets.QLabel(parent=self.g_device)
         self.label_21.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
         self.label_21.setObjectName("label_21")
-        self.gridLayout_3.addWidget(self.label_21, 1, 0, 2, 1)
-        self.gridLayout_3.setColumnStretch(1, 1)
-        self.gridLayout_3.setColumnStretch(3, 1)
-        self.gridLayout.addLayout(self.gridLayout_3, 0, 0, 1, 1)
-        self.gridLayout_2 = QtWidgets.QGridLayout()
-        self.gridLayout_2.setObjectName("gridLayout_2")
-        self.l_robot_pos = QtWidgets.QLabel(parent=self.centralwidget)
-        font = QtGui.QFont()
-        font.setPointSize(15)
-        self.l_robot_pos.setFont(font)
-        self.l_robot_pos.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
-        self.l_robot_pos.setObjectName("l_robot_pos")
-        self.gridLayout_2.addWidget(self.l_robot_pos, 1, 1, 1, 1)
-        self.l_robot_force = QtWidgets.QLabel(parent=self.centralwidget)
-        font = QtGui.QFont()
-        font.setPointSize(15)
-        self.l_robot_force.setFont(font)
-        self.l_robot_force.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
-        self.l_robot_force.setObjectName("l_robot_force")
-        self.gridLayout_2.addWidget(self.l_robot_force, 2, 1, 1, 1)
-        self.label_22 = QtWidgets.QLabel(parent=self.centralwidget)
-        self.label_22.setObjectName("label_22")
-        self.gridLayout_2.addWidget(self.label_22, 1, 0, 1, 1)
-        self.label_23 = QtWidgets.QLabel(parent=self.centralwidget)
-        self.label_23.setObjectName("label_23")
-        self.gridLayout_2.addWidget(self.label_23, 2, 0, 1, 1)
-        self.label_19 = QtWidgets.QLabel(parent=self.centralwidget)
-        font = QtGui.QFont()
-        font.setPointSize(15)
-        self.label_19.setFont(font)
-        self.label_19.setStyleSheet("background-color: pink;")
-        self.label_19.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
-        self.label_19.setObjectName("label_19")
-        self.gridLayout_2.addWidget(self.label_19, 0, 0, 1, 2)
-        self.gridLayout_2.setColumnStretch(1, 1)
-        self.gridLayout.addLayout(self.gridLayout_2, 0, 1, 1, 1)
+        self.gridLayout_8.addWidget(self.label_21, 0, 0, 2, 1)
+        self.gridLayout_8.setColumnStretch(1, 1)
+        self.gridLayout_8.setColumnStretch(3, 1)
+        self.verticalLayout.addLayout(self.gridLayout_8)
+        self.horizontalLayout = QtWidgets.QHBoxLayout()
+        self.horizontalLayout.setObjectName("horizontalLayout")
+        self.label_20 = QtWidgets.QLabel(parent=self.g_device)
+        self.label_20.setObjectName("label_20")
+        self.horizontalLayout.addWidget(self.label_20)
+        self.c_live_seq_name = QtWidgets.QComboBox(parent=self.g_device)
+        self.c_live_seq_name.setEnabled(False)
+        self.c_live_seq_name.setObjectName("c_live_seq_name")
+        self.c_live_seq_name.addItem("")
+        self.horizontalLayout.addWidget(self.c_live_seq_name)
+        self.horizontalLayout.setStretch(1, 1)
+        self.verticalLayout.addLayout(self.horizontalLayout)
+        self.b_device_zero = QtWidgets.QPushButton(parent=self.g_device)
+        self.b_device_zero.setObjectName("b_device_zero")
+        self.verticalLayout.addWidget(self.b_device_zero)
+        self.gridLayout.addWidget(self.g_device, 0, 0, 1, 1)
         self.gridLayout_4 = QtWidgets.QGridLayout()
         self.gridLayout_4.setObjectName("gridLayout_4")
         self.label_14 = QtWidgets.QLabel(parent=self.centralwidget)
@@ -179,7 +156,23 @@ class Ui_MainWindow(object):
         self.horizontalSlider_8.setOrientation(QtCore.Qt.Orientation.Horizontal)
         self.horizontalSlider_8.setObjectName("horizontalSlider_8")
         self.gridLayout_4.addWidget(self.horizontalSlider_8, 6, 1, 1, 1)
-        self.gridLayout.addLayout(self.gridLayout_4, 2, 1, 1, 1)
+        self.gridLayout.addLayout(self.gridLayout_4, 3, 1, 1, 1)
+        self.horizontalLayout_4 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_4.setObjectName("horizontalLayout_4")
+        self.label = QtWidgets.QLabel(parent=self.centralwidget)
+        self.label.setObjectName("label")
+        self.horizontalLayout_4.addWidget(self.label)
+        self.l_base = QtWidgets.QLineEdit(parent=self.centralwidget)
+        self.l_base.setText("")
+        self.l_base.setObjectName("l_base")
+        self.horizontalLayout_4.addWidget(self.l_base)
+        self.b_select_base = QtWidgets.QPushButton(parent=self.centralwidget)
+        self.b_select_base.setObjectName("b_select_base")
+        self.horizontalLayout_4.addWidget(self.b_select_base)
+        self.b_base = QtWidgets.QPushButton(parent=self.centralwidget)
+        self.b_base.setObjectName("b_base")
+        self.horizontalLayout_4.addWidget(self.b_base)
+        self.gridLayout.addLayout(self.horizontalLayout_4, 4, 0, 1, 2)
         self.gridLayout_5 = QtWidgets.QGridLayout()
         self.gridLayout_5.setObjectName("gridLayout_5")
         self.spinBox_3 = QtWidgets.QSpinBox(parent=self.centralwidget)
@@ -247,7 +240,158 @@ class Ui_MainWindow(object):
         self.horizontalLayout_3.addWidget(self.b_new_imaging_config)
         self.horizontalLayout_3.setStretch(1, 1)
         self.gridLayout_5.addLayout(self.horizontalLayout_3, 2, 0, 1, 3)
-        self.gridLayout.addLayout(self.gridLayout_5, 2, 0, 1, 1)
+        self.gridLayout.addLayout(self.gridLayout_5, 3, 0, 1, 1)
+        self.horizontalLayout_6 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_6.setObjectName("horizontalLayout_6")
+        self.cb_bscan = QtWidgets.QCheckBox(parent=self.centralwidget)
+        self.cb_bscan.setChecked(True)
+        self.cb_bscan.setObjectName("cb_bscan")
+        self.horizontalLayout_6.addWidget(self.cb_bscan)
+        self.checkBox = QtWidgets.QCheckBox(parent=self.centralwidget)
+        self.checkBox.setObjectName("checkBox")
+        self.horizontalLayout_6.addWidget(self.checkBox)
+        spacerItem2 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Minimum)
+        self.horizontalLayout_6.addItem(spacerItem2)
+        self.gridLayout.addLayout(self.horizontalLayout_6, 5, 0, 1, 2)
+        self.gridLayout_6 = QtWidgets.QGridLayout()
+        self.gridLayout_6.setObjectName("gridLayout_6")
+        self.l_record_commit = QtWidgets.QLineEdit(parent=self.centralwidget)
+        self.l_record_commit.setEnabled(False)
+        self.l_record_commit.setObjectName("l_record_commit")
+        self.gridLayout_6.addWidget(self.l_record_commit, 1, 1, 1, 1)
+        self.label_17 = QtWidgets.QLabel(parent=self.centralwidget)
+        self.label_17.setObjectName("label_17")
+        self.gridLayout_6.addWidget(self.label_17, 1, 0, 1, 1)
+        self.b_record = QtWidgets.QPushButton(parent=self.centralwidget)
+        self.b_record.setEnabled(False)
+        self.b_record.setObjectName("b_record")
+        self.gridLayout_6.addWidget(self.b_record, 1, 2, 1, 1)
+        self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_2.setObjectName("horizontalLayout_2")
+        self.label_18 = QtWidgets.QLabel(parent=self.centralwidget)
+        self.label_18.setObjectName("label_18")
+        self.horizontalLayout_2.addWidget(self.label_18)
+        self.l_record_frames = QtWidgets.QLabel(parent=self.centralwidget)
+        self.l_record_frames.setObjectName("l_record_frames")
+        self.horizontalLayout_2.addWidget(self.l_record_frames)
+        self.label_25 = QtWidgets.QLabel(parent=self.centralwidget)
+        self.label_25.setObjectName("label_25")
+        self.horizontalLayout_2.addWidget(self.label_25)
+        self.l_record_size = QtWidgets.QLabel(parent=self.centralwidget)
+        self.l_record_size.setObjectName("l_record_size")
+        self.horizontalLayout_2.addWidget(self.l_record_size)
+        self.label_26 = QtWidgets.QLabel(parent=self.centralwidget)
+        self.label_26.setObjectName("label_26")
+        self.horizontalLayout_2.addWidget(self.label_26)
+        self.l_record_max_sid = QtWidgets.QLabel(parent=self.centralwidget)
+        self.l_record_max_sid.setObjectName("l_record_max_sid")
+        self.horizontalLayout_2.addWidget(self.l_record_max_sid)
+        self.horizontalLayout_2.setStretch(1, 1)
+        self.horizontalLayout_2.setStretch(3, 1)
+        self.horizontalLayout_2.setStretch(5, 1)
+        self.gridLayout_6.addLayout(self.horizontalLayout_2, 2, 0, 1, 3)
+        self.b_play_live = QtWidgets.QPushButton(parent=self.centralwidget)
+        self.b_play_live.setEnabled(False)
+        self.b_play_live.setObjectName("b_play_live")
+        self.gridLayout_6.addWidget(self.b_play_live, 0, 0, 1, 3)
+        self.gridLayout.addLayout(self.gridLayout_6, 1, 0, 1, 1)
+        self.horizontalLayout_7 = QtWidgets.QHBoxLayout()
+        self.horizontalLayout_7.setObjectName("horizontalLayout_7")
+        self.b_probe_start = QtWidgets.QPushButton(parent=self.centralwidget)
+        self.b_probe_start.setObjectName("b_probe_start")
+        self.horizontalLayout_7.addWidget(self.b_probe_start)
+        self.b_probe_stop = QtWidgets.QPushButton(parent=self.centralwidget)
+        self.b_probe_stop.setObjectName("b_probe_stop")
+        self.horizontalLayout_7.addWidget(self.b_probe_stop)
+        self.l_probe_angle = QtWidgets.QLabel(parent=self.centralwidget)
+        self.l_probe_angle.setObjectName("l_probe_angle")
+        self.horizontalLayout_7.addWidget(self.l_probe_angle)
+        self.b_probe_single = QtWidgets.QPushButton(parent=self.centralwidget)
+        self.b_probe_single.setObjectName("b_probe_single")
+        self.horizontalLayout_7.addWidget(self.b_probe_single)
+        self.b_probe_orig = QtWidgets.QPushButton(parent=self.centralwidget)
+        self.b_probe_orig.setObjectName("b_probe_orig")
+        self.horizontalLayout_7.addWidget(self.b_probe_orig)
+        self.gridLayout.addLayout(self.horizontalLayout_7, 2, 0, 1, 2)
+        self.gridLayout_2 = QtWidgets.QGridLayout()
+        self.gridLayout_2.setObjectName("gridLayout_2")
+        self.ln_y = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_y.setDigitCount(6)
+        self.ln_y.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_y.setObjectName("ln_y")
+        self.gridLayout_2.addWidget(self.ln_y, 1, 2, 1, 1)
+        self.ln_z = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_z.setDigitCount(6)
+        self.ln_z.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_z.setObjectName("ln_z")
+        self.gridLayout_2.addWidget(self.ln_z, 1, 3, 1, 1)
+        self.ln_x = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_x.setDigitCount(6)
+        self.ln_x.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_x.setObjectName("ln_x")
+        self.gridLayout_2.addWidget(self.ln_x, 1, 1, 1, 1)
+        self.ln_ry = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_ry.setDigitCount(6)
+        self.ln_ry.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_ry.setObjectName("ln_ry")
+        self.gridLayout_2.addWidget(self.ln_ry, 1, 5, 1, 1)
+        self.label_22 = QtWidgets.QLabel(parent=self.centralwidget)
+        self.label_22.setObjectName("label_22")
+        self.gridLayout_2.addWidget(self.label_22, 1, 0, 1, 1)
+        self.ln_rx = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_rx.setDigitCount(6)
+        self.ln_rx.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_rx.setObjectName("ln_rx")
+        self.gridLayout_2.addWidget(self.ln_rx, 1, 4, 1, 1)
+        self.label_23 = QtWidgets.QLabel(parent=self.centralwidget)
+        self.label_23.setObjectName("label_23")
+        self.gridLayout_2.addWidget(self.label_23, 2, 0, 1, 1)
+        self.ln_rz = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_rz.setDigitCount(6)
+        self.ln_rz.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_rz.setObjectName("ln_rz")
+        self.gridLayout_2.addWidget(self.ln_rz, 1, 6, 1, 1)
+        self.ln_fx = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_fx.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_fx.setObjectName("ln_fx")
+        self.gridLayout_2.addWidget(self.ln_fx, 2, 1, 1, 1)
+        self.ln_fy = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_fy.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_fy.setObjectName("ln_fy")
+        self.gridLayout_2.addWidget(self.ln_fy, 2, 2, 1, 1)
+        self.ln_fz = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_fz.setSmallDecimalPoint(False)
+        self.ln_fz.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_fz.setProperty("value", 0.01)
+        self.ln_fz.setObjectName("ln_fz")
+        self.gridLayout_2.addWidget(self.ln_fz, 2, 3, 1, 1)
+        self.ln_frx = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_frx.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_frx.setObjectName("ln_frx")
+        self.gridLayout_2.addWidget(self.ln_frx, 2, 4, 1, 1)
+        self.ln_fry = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_fry.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_fry.setObjectName("ln_fry")
+        self.gridLayout_2.addWidget(self.ln_fry, 2, 5, 1, 1)
+        self.ln_frz = QtWidgets.QLCDNumber(parent=self.centralwidget)
+        self.ln_frz.setSegmentStyle(QtWidgets.QLCDNumber.SegmentStyle.Flat)
+        self.ln_frz.setObjectName("ln_frz")
+        self.gridLayout_2.addWidget(self.ln_frz, 2, 6, 1, 1)
+        self.label_19 = QtWidgets.QLabel(parent=self.centralwidget)
+        font = QtGui.QFont()
+        font.setPointSize(15)
+        self.label_19.setFont(font)
+        self.label_19.setStyleSheet("background-color: pink;")
+        self.label_19.setAlignment(QtCore.Qt.AlignmentFlag.AlignCenter)
+        self.label_19.setObjectName("label_19")
+        self.gridLayout_2.addWidget(self.label_19, 0, 0, 1, 7)
+        self.gridLayout_2.setColumnStretch(1, 1)
+        self.gridLayout_2.setColumnStretch(2, 1)
+        self.gridLayout_2.setColumnStretch(3, 1)
+        self.gridLayout_2.setColumnStretch(4, 1)
+        self.gridLayout_2.setColumnStretch(5, 1)
+        self.gridLayout_2.setColumnStretch(6, 1)
+        self.gridLayout.addLayout(self.gridLayout_2, 0, 1, 1, 1)
         self.gridLayout_7 = QtWidgets.QGridLayout()
         self.gridLayout_7.setObjectName("gridLayout_7")
         self.s_sid = QtWidgets.QSlider(parent=self.centralwidget)
@@ -299,76 +443,6 @@ class Ui_MainWindow(object):
         self.horizontalLayout_5.setStretch(5, 1)
         self.gridLayout_7.addLayout(self.horizontalLayout_5, 2, 0, 1, 3)
         self.gridLayout.addLayout(self.gridLayout_7, 1, 1, 1, 1)
-        self.horizontalLayout_4 = QtWidgets.QHBoxLayout()
-        self.horizontalLayout_4.setObjectName("horizontalLayout_4")
-        self.label = QtWidgets.QLabel(parent=self.centralwidget)
-        self.label.setObjectName("label")
-        self.horizontalLayout_4.addWidget(self.label)
-        self.l_base = QtWidgets.QLineEdit(parent=self.centralwidget)
-        self.l_base.setText("")
-        self.l_base.setObjectName("l_base")
-        self.horizontalLayout_4.addWidget(self.l_base)
-        self.b_select_base = QtWidgets.QPushButton(parent=self.centralwidget)
-        self.b_select_base.setObjectName("b_select_base")
-        self.horizontalLayout_4.addWidget(self.b_select_base)
-        self.b_base = QtWidgets.QPushButton(parent=self.centralwidget)
-        self.b_base.setObjectName("b_base")
-        self.horizontalLayout_4.addWidget(self.b_base)
-        self.gridLayout.addLayout(self.horizontalLayout_4, 3, 0, 1, 2)
-        self.gridLayout_6 = QtWidgets.QGridLayout()
-        self.gridLayout_6.setObjectName("gridLayout_6")
-        self.l_record_commit = QtWidgets.QLineEdit(parent=self.centralwidget)
-        self.l_record_commit.setEnabled(False)
-        self.l_record_commit.setObjectName("l_record_commit")
-        self.gridLayout_6.addWidget(self.l_record_commit, 1, 1, 1, 1)
-        self.label_17 = QtWidgets.QLabel(parent=self.centralwidget)
-        self.label_17.setObjectName("label_17")
-        self.gridLayout_6.addWidget(self.label_17, 1, 0, 1, 1)
-        self.b_record = QtWidgets.QPushButton(parent=self.centralwidget)
-        self.b_record.setEnabled(False)
-        self.b_record.setObjectName("b_record")
-        self.gridLayout_6.addWidget(self.b_record, 1, 2, 1, 1)
-        self.horizontalLayout_2 = QtWidgets.QHBoxLayout()
-        self.horizontalLayout_2.setObjectName("horizontalLayout_2")
-        self.label_18 = QtWidgets.QLabel(parent=self.centralwidget)
-        self.label_18.setObjectName("label_18")
-        self.horizontalLayout_2.addWidget(self.label_18)
-        self.l_record_frames = QtWidgets.QLabel(parent=self.centralwidget)
-        self.l_record_frames.setObjectName("l_record_frames")
-        self.horizontalLayout_2.addWidget(self.l_record_frames)
-        self.label_25 = QtWidgets.QLabel(parent=self.centralwidget)
-        self.label_25.setObjectName("label_25")
-        self.horizontalLayout_2.addWidget(self.label_25)
-        self.l_record_size = QtWidgets.QLabel(parent=self.centralwidget)
-        self.l_record_size.setObjectName("l_record_size")
-        self.horizontalLayout_2.addWidget(self.l_record_size)
-        self.label_26 = QtWidgets.QLabel(parent=self.centralwidget)
-        self.label_26.setObjectName("label_26")
-        self.horizontalLayout_2.addWidget(self.label_26)
-        self.l_record_max_sid = QtWidgets.QLabel(parent=self.centralwidget)
-        self.l_record_max_sid.setObjectName("l_record_max_sid")
-        self.horizontalLayout_2.addWidget(self.l_record_max_sid)
-        self.horizontalLayout_2.setStretch(1, 1)
-        self.horizontalLayout_2.setStretch(3, 1)
-        self.horizontalLayout_2.setStretch(5, 1)
-        self.gridLayout_6.addLayout(self.horizontalLayout_2, 2, 0, 1, 3)
-        self.b_play_live = QtWidgets.QPushButton(parent=self.centralwidget)
-        self.b_play_live.setEnabled(False)
-        self.b_play_live.setObjectName("b_play_live")
-        self.gridLayout_6.addWidget(self.b_play_live, 0, 0, 1, 3)
-        self.gridLayout.addLayout(self.gridLayout_6, 1, 0, 1, 1)
-        self.horizontalLayout_6 = QtWidgets.QHBoxLayout()
-        self.horizontalLayout_6.setObjectName("horizontalLayout_6")
-        self.cb_bscan = QtWidgets.QCheckBox(parent=self.centralwidget)
-        self.cb_bscan.setChecked(True)
-        self.cb_bscan.setObjectName("cb_bscan")
-        self.horizontalLayout_6.addWidget(self.cb_bscan)
-        self.checkBox = QtWidgets.QCheckBox(parent=self.centralwidget)
-        self.checkBox.setObjectName("checkBox")
-        self.horizontalLayout_6.addWidget(self.checkBox)
-        spacerItem2 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Minimum)
-        self.horizontalLayout_6.addItem(spacerItem2)
-        self.gridLayout.addLayout(self.horizontalLayout_6, 4, 0, 1, 2)
         MainWindow.setCentralWidget(self.centralwidget)
         self.menubar = QtWidgets.QMenuBar(parent=MainWindow)
         self.menubar.setGeometry(QtCore.QRect(0, 0, 1158, 30))
@@ -384,20 +458,17 @@ class Ui_MainWindow(object):
     def retranslateUi(self, MainWindow):
         _translate = QtCore.QCoreApplication.translate
         MainWindow.setWindowTitle(_translate("MainWindow", "Scarlet Flandre Control Panel"))
+        self.g_device.setTitle(_translate("MainWindow", "Device Status"))
+        self.l_online.setText(_translate("MainWindow", "Device Offline"))
+        self.b_device_connection.setText(_translate("MainWindow", "Connect"))
+        self.lb_device_connection.setText(_translate("MainWindow", "Disconnected"))
+        self.lb_device_enable.setText(_translate("MainWindow", "Disabled"))
+        self.b_device_enable.setText(_translate("MainWindow", "Disconnect"))
+        self.label_24.setText(_translate("MainWindow", "<html><head/><body><p style=\"line-height:0.3\" align=\"center\">Beam</p><p align=\"center\">Status</p></body></html>"))
+        self.label_21.setText(_translate("MainWindow", "<html><head/><body><p style=\"line-height:0.3\" align=\"center\">Connection</p><p align=\"center\">Status</p></body></html>"))
         self.label_20.setText(_translate("MainWindow", "DeviceConfig"))
         self.c_live_seq_name.setItemText(0, _translate("MainWindow", "Empty"))
-        self.b_device_enable.setText(_translate("MainWindow", "Disconnect"))
-        self.b_device_connection.setText(_translate("MainWindow", "Connect"))
-        self.label_24.setText(_translate("MainWindow", "<html><head/><body><p style=\"line-height:0.3\" align=\"center\">Beam</p><p align=\"center\">Status</p></body></html>"))
-        self.lb_device_connection.setText(_translate("MainWindow", "Disconnected"))
-        self.l_online.setText(_translate("MainWindow", "Device Offline"))
-        self.lb_device_enable.setText(_translate("MainWindow", "Disabled"))
-        self.label_21.setText(_translate("MainWindow", "<html><head/><body><p style=\"line-height:0.3\" align=\"center\">Connection</p><p align=\"center\">Status</p></body></html>"))
-        self.l_robot_pos.setText(_translate("MainWindow", "0,0,0,0,0,0"))
-        self.l_robot_force.setText(_translate("MainWindow", "0,0,0,0,0,0"))
-        self.label_22.setText(_translate("MainWindow", "Position"))
-        self.label_23.setText(_translate("MainWindow", "Force"))
-        self.label_19.setText(_translate("MainWindow", "Robot Offline"))
+        self.b_device_zero.setText(_translate("MainWindow", "Zero"))
         self.label_14.setText(_translate("MainWindow", "Yal"))
         self.label_13.setText(_translate("MainWindow", "Pitch"))
         self.label_3.setText(_translate("MainWindow", "Probe Position"))
@@ -406,6 +477,9 @@ class Ui_MainWindow(object):
         self.label_12.setText(_translate("MainWindow", "Roll"))
         self.label_11.setText(_translate("MainWindow", "E"))
         self.label_8.setText(_translate("MainWindow", "X"))
+        self.label.setText(_translate("MainWindow", "Base Path"))
+        self.b_select_base.setText(_translate("MainWindow", "Select"))
+        self.b_base.setText(_translate("MainWindow", "Open"))
         self.label_7.setText(_translate("MainWindow", "TextLabel"))
         self.label_2.setText(_translate("MainWindow", "Imaging"))
         self.label_6.setText(_translate("MainWindow", "TextLabel"))
@@ -413,6 +487,25 @@ class Ui_MainWindow(object):
         self.label_5.setText(_translate("MainWindow", "t_end"))
         self.label_27.setText(_translate("MainWindow", "Profile"))
         self.b_new_imaging_config.setText(_translate("MainWindow", "New"))
+        self.cb_bscan.setText(_translate("MainWindow", "BSCAN"))
+        self.checkBox.setText(_translate("MainWindow", "FOCUS"))
+        self.label_17.setText(_translate("MainWindow", "RecordName"))
+        self.b_record.setText(_translate("MainWindow", "Record"))
+        self.label_18.setText(_translate("MainWindow", "Record Frames:"))
+        self.l_record_frames.setText(_translate("MainWindow", "0"))
+        self.label_25.setText(_translate("MainWindow", "Record Size:"))
+        self.l_record_size.setText(_translate("MainWindow", "0"))
+        self.label_26.setText(_translate("MainWindow", "Max SeqId:"))
+        self.l_record_max_sid.setText(_translate("MainWindow", "0"))
+        self.b_play_live.setText(_translate("MainWindow", "Live"))
+        self.b_probe_start.setText(_translate("MainWindow", "Start"))
+        self.b_probe_stop.setText(_translate("MainWindow", "Stop"))
+        self.l_probe_angle.setText(_translate("MainWindow", "TextLabel"))
+        self.b_probe_single.setText(_translate("MainWindow", "Single"))
+        self.b_probe_orig.setText(_translate("MainWindow", "Orig"))
+        self.label_22.setText(_translate("MainWindow", "Position"))
+        self.label_23.setText(_translate("MainWindow", "Force"))
+        self.label_19.setText(_translate("MainWindow", "Robot Offline"))
         self.b_play_playback.setText(_translate("MainWindow", "Playback"))
         self.label_16.setText(_translate("MainWindow", "SeqName"))
         self.label_4.setText(_translate("MainWindow", "Frame ID"))
@@ -423,17 +516,3 @@ class Ui_MainWindow(object):
         self.l_seq_current.setText(_translate("MainWindow", "0"))
         self.label_29.setText(_translate("MainWindow", "Max:"))
         self.l_seq_max.setText(_translate("MainWindow", "0"))
-        self.label.setText(_translate("MainWindow", "Base Path"))
-        self.b_select_base.setText(_translate("MainWindow", "Select"))
-        self.b_base.setText(_translate("MainWindow", "Open"))
-        self.label_17.setText(_translate("MainWindow", "RecordName"))
-        self.b_record.setText(_translate("MainWindow", "Record"))
-        self.label_18.setText(_translate("MainWindow", "Record Frames:"))
-        self.l_record_frames.setText(_translate("MainWindow", "0"))
-        self.label_25.setText(_translate("MainWindow", "Record Size:"))
-        self.l_record_size.setText(_translate("MainWindow", "0"))
-        self.label_26.setText(_translate("MainWindow", "Max SeqId:"))
-        self.l_record_max_sid.setText(_translate("MainWindow", "0"))
-        self.b_play_live.setText(_translate("MainWindow", "Live"))
-        self.cb_bscan.setText(_translate("MainWindow", "BSCAN"))
-        self.checkBox.setText(_translate("MainWindow", "FOCUS"))
diff --git a/src/ui/Main.ui b/src/ui/Main.ui
index 4eaf95e..41561b7 100644
--- a/src/ui/Main.ui
+++ b/src/ui/Main.ui
@@ -7,183 +7,136 @@
     <x>0</x>
     <y>0</y>
     <width>1158</width>
-    <height>805</height>
+    <height>998</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Scarlet Flandre Control Panel</string>
   </property>
   <widget class="QWidget" name="centralwidget">
-   <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0">
+   <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0">
     <item row="0" column="0">
-     <layout class="QGridLayout" name="gridLayout_3" columnstretch="0,1,0,1">
-      <item row="3" column="0" colspan="4">
-       <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,1">
-        <item>
-         <widget class="QLabel" name="label_20">
-          <property name="text">
-           <string>DeviceConfig</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QComboBox" name="c_live_seq_name">
-          <property name="enabled">
-           <bool>false</bool>
-          </property>
-          <item>
+     <widget class="QGroupBox" name="g_device">
+      <property name="enabled">
+       <bool>true</bool>
+      </property>
+      <property name="title">
+       <string>Device Status</string>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <widget class="QLabel" name="l_online">
+         <property name="font">
+          <font>
+           <pointsize>15</pointsize>
+          </font>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color: pink;</string>
+         </property>
+         <property name="text">
+          <string>Device Offline</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignmentFlag::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1,0,1">
+         <item row="1" column="1">
+          <widget class="QPushButton" name="b_device_connection">
            <property name="text">
-            <string>Empty</string>
+            <string>Connect</string>
            </property>
-          </item>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item row="2" column="3">
-       <widget class="QPushButton" name="b_device_enable">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="text">
-         <string>Disconnect</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QPushButton" name="b_device_connection">
-        <property name="text">
-         <string>Connect</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="2" rowspan="2">
-       <widget class="QLabel" name="label_24">
-        <property name="text">
-         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p style=&quot;line-height:0.3&quot; align=&quot;center&quot;&gt;Beam&lt;/p&gt;&lt;p align=&quot;center&quot;&gt;Status&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignmentFlag::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="1">
-       <widget class="QLabel" name="lb_device_connection">
-        <property name="text">
-         <string>Disconnected</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignmentFlag::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="0" colspan="4">
-       <widget class="QLabel" name="l_online">
-        <property name="font">
-         <font>
-          <pointsize>15</pointsize>
-         </font>
-        </property>
-        <property name="styleSheet">
-         <string notr="true">background-color: pink;</string>
-        </property>
-        <property name="text">
-         <string>Device Offline</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignmentFlag::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="3">
-       <widget class="QLabel" name="lb_device_enable">
-        <property name="text">
-         <string>Disabled</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignmentFlag::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0" rowspan="2">
-       <widget class="QLabel" name="label_21">
-        <property name="text">
-         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p style=&quot;line-height:0.3&quot; align=&quot;center&quot;&gt;Connection&lt;/p&gt;&lt;p align=&quot;center&quot;&gt;Status&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignmentFlag::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-     </layout>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QLabel" name="lb_device_connection">
+           <property name="text">
+            <string>Disconnected</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignmentFlag::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="3">
+          <widget class="QLabel" name="lb_device_enable">
+           <property name="text">
+            <string>Disabled</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignmentFlag::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="3">
+          <widget class="QPushButton" name="b_device_enable">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string>Disconnect</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="2" rowspan="2">
+          <widget class="QLabel" name="label_24">
+           <property name="text">
+            <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p style=&quot;line-height:0.3&quot; align=&quot;center&quot;&gt;Beam&lt;/p&gt;&lt;p align=&quot;center&quot;&gt;Status&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignmentFlag::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0" rowspan="2">
+          <widget class="QLabel" name="label_21">
+           <property name="text">
+            <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p style=&quot;line-height:0.3&quot; align=&quot;center&quot;&gt;Connection&lt;/p&gt;&lt;p align=&quot;center&quot;&gt;Status&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignmentFlag::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,1">
+         <item>
+          <widget class="QLabel" name="label_20">
+           <property name="text">
+            <string>DeviceConfig</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QComboBox" name="c_live_seq_name">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <item>
+            <property name="text">
+             <string>Empty</string>
+            </property>
+           </item>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="QPushButton" name="b_device_zero">
+         <property name="text">
+          <string>Zero</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </widget>
     </item>
-    <item row="0" column="1">
-     <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
-      <item row="1" column="1">
-       <widget class="QLabel" name="l_robot_pos">
-        <property name="font">
-         <font>
-          <pointsize>15</pointsize>
-         </font>
-        </property>
-        <property name="text">
-         <string>0,0,0,0,0,0</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignmentFlag::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="1">
-       <widget class="QLabel" name="l_robot_force">
-        <property name="font">
-         <font>
-          <pointsize>15</pointsize>
-         </font>
-        </property>
-        <property name="text">
-         <string>0,0,0,0,0,0</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignmentFlag::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_22">
-        <property name="text">
-         <string>Position</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_23">
-        <property name="text">
-         <string>Force</string>
-        </property>
-       </widget>
-      </item>
-      <item row="0" column="0" colspan="2">
-       <widget class="QLabel" name="label_19">
-        <property name="font">
-         <font>
-          <pointsize>15</pointsize>
-         </font>
-        </property>
-        <property name="styleSheet">
-         <string notr="true">background-color: pink;</string>
-        </property>
-        <property name="text">
-         <string>Robot Offline</string>
-        </property>
-        <property name="alignment">
-         <set>Qt::AlignmentFlag::AlignCenter</set>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </item>
-    <item row="2" column="1">
+    <item row="3" column="1">
      <layout class="QGridLayout" name="gridLayout_4">
       <item row="6" column="0">
        <widget class="QLabel" name="label_14">
@@ -335,7 +288,39 @@
       </item>
      </layout>
     </item>
-    <item row="2" column="0">
+    <item row="4" column="0" colspan="2">
+     <layout class="QHBoxLayout" name="horizontalLayout_4">
+      <item>
+       <widget class="QLabel" name="label">
+        <property name="text">
+         <string>Base Path</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLineEdit" name="l_base">
+        <property name="text">
+         <string/>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="b_select_base">
+        <property name="text">
+         <string>Select</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="b_base">
+        <property name="text">
+         <string>Open</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item row="3" column="0">
      <layout class="QGridLayout" name="gridLayout_5">
       <item row="6" column="2">
        <widget class="QSpinBox" name="spinBox_3"/>
@@ -463,6 +448,307 @@
       </item>
      </layout>
     </item>
+    <item row="5" column="0" colspan="2">
+     <layout class="QHBoxLayout" name="horizontalLayout_6">
+      <item>
+       <widget class="QCheckBox" name="cb_bscan">
+        <property name="text">
+         <string>BSCAN</string>
+        </property>
+        <property name="checked">
+         <bool>true</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="checkBox">
+        <property name="text">
+         <string>FOCUS</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Orientation::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+     </layout>
+    </item>
+    <item row="1" column="0">
+     <layout class="QGridLayout" name="gridLayout_6">
+      <item row="1" column="1">
+       <widget class="QLineEdit" name="l_record_commit">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_17">
+        <property name="text">
+         <string>RecordName</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QPushButton" name="b_record">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>Record</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0" colspan="3">
+       <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,1,0,1,0,1">
+        <item>
+         <widget class="QLabel" name="label_18">
+          <property name="text">
+           <string>Record Frames:</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="l_record_frames">
+          <property name="text">
+           <string>0</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_25">
+          <property name="text">
+           <string>Record Size:</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="l_record_size">
+          <property name="text">
+           <string>0</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="label_26">
+          <property name="text">
+           <string>Max SeqId:</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="l_record_max_sid">
+          <property name="text">
+           <string>0</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item row="0" column="0" colspan="3">
+       <widget class="QPushButton" name="b_play_live">
+        <property name="enabled">
+         <bool>false</bool>
+        </property>
+        <property name="text">
+         <string>Live</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item row="2" column="0" colspan="2">
+     <layout class="QHBoxLayout" name="horizontalLayout_7">
+      <item>
+       <widget class="QPushButton" name="b_probe_start">
+        <property name="text">
+         <string>Start</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="b_probe_stop">
+        <property name="text">
+         <string>Stop</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="l_probe_angle">
+        <property name="text">
+         <string>TextLabel</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="b_probe_single">
+        <property name="text">
+         <string>Single</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QPushButton" name="b_probe_orig">
+        <property name="text">
+         <string>Orig</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item row="0" column="1">
+     <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1,1,1,1,1,1">
+      <item row="1" column="2">
+       <widget class="QLCDNumber" name="ln_y">
+        <property name="digitCount">
+         <number>6</number>
+        </property>
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="3">
+       <widget class="QLCDNumber" name="ln_z">
+        <property name="digitCount">
+         <number>6</number>
+        </property>
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QLCDNumber" name="ln_x">
+        <property name="digitCount">
+         <number>6</number>
+        </property>
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="5">
+       <widget class="QLCDNumber" name="ln_ry">
+        <property name="digitCount">
+         <number>6</number>
+        </property>
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_22">
+        <property name="text">
+         <string>Position</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="4">
+       <widget class="QLCDNumber" name="ln_rx">
+        <property name="digitCount">
+         <number>6</number>
+        </property>
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_23">
+        <property name="text">
+         <string>Force</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="6">
+       <widget class="QLCDNumber" name="ln_rz">
+        <property name="digitCount">
+         <number>6</number>
+        </property>
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QLCDNumber" name="ln_fx">
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QLCDNumber" name="ln_fy">
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="3">
+       <widget class="QLCDNumber" name="ln_fz">
+        <property name="smallDecimalPoint">
+         <bool>false</bool>
+        </property>
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+        <property name="value" stdset="0">
+         <double>0.010000000000000</double>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="4">
+       <widget class="QLCDNumber" name="ln_frx">
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="5">
+       <widget class="QLCDNumber" name="ln_fry">
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="6">
+       <widget class="QLCDNumber" name="ln_frz">
+        <property name="segmentStyle">
+         <enum>QLCDNumber::SegmentStyle::Flat</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0" colspan="7">
+       <widget class="QLabel" name="label_19">
+        <property name="font">
+         <font>
+          <pointsize>15</pointsize>
+         </font>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">background-color: pink;</string>
+        </property>
+        <property name="text">
+         <string>Robot Offline</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignmentFlag::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
     <item row="1" column="1">
      <layout class="QGridLayout" name="gridLayout_7">
       <item row="3" column="1">
@@ -565,156 +851,6 @@
       </item>
      </layout>
     </item>
-    <item row="3" column="0" colspan="2">
-     <layout class="QHBoxLayout" name="horizontalLayout_4">
-      <item>
-       <widget class="QLabel" name="label">
-        <property name="text">
-         <string>Base Path</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QLineEdit" name="l_base">
-        <property name="text">
-         <string/>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="b_select_base">
-        <property name="text">
-         <string>Select</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="b_base">
-        <property name="text">
-         <string>Open</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </item>
-    <item row="1" column="0">
-     <layout class="QGridLayout" name="gridLayout_6">
-      <item row="1" column="1">
-       <widget class="QLineEdit" name="l_record_commit">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="0">
-       <widget class="QLabel" name="label_17">
-        <property name="text">
-         <string>RecordName</string>
-        </property>
-       </widget>
-      </item>
-      <item row="1" column="2">
-       <widget class="QPushButton" name="b_record">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="text">
-         <string>Record</string>
-        </property>
-       </widget>
-      </item>
-      <item row="2" column="0" colspan="3">
-       <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="0,1,0,1,0,1">
-        <item>
-         <widget class="QLabel" name="label_18">
-          <property name="text">
-           <string>Record Frames:</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="l_record_frames">
-          <property name="text">
-           <string>0</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_25">
-          <property name="text">
-           <string>Record Size:</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="l_record_size">
-          <property name="text">
-           <string>0</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="label_26">
-          <property name="text">
-           <string>Max SeqId:</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QLabel" name="l_record_max_sid">
-          <property name="text">
-           <string>0</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item row="0" column="0" colspan="3">
-       <widget class="QPushButton" name="b_play_live">
-        <property name="enabled">
-         <bool>false</bool>
-        </property>
-        <property name="text">
-         <string>Live</string>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </item>
-    <item row="4" column="0" colspan="2">
-     <layout class="QHBoxLayout" name="horizontalLayout_6">
-      <item>
-       <widget class="QCheckBox" name="cb_bscan">
-        <property name="text">
-         <string>BSCAN</string>
-        </property>
-        <property name="checked">
-         <bool>true</bool>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QCheckBox" name="checkBox">
-        <property name="text">
-         <string>FOCUS</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <spacer name="horizontalSpacer">
-        <property name="orientation">
-         <enum>Qt::Orientation::Horizontal</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>40</width>
-          <height>20</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-     </layout>
-    </item>
    </layout>
   </widget>
   <widget class="QMenuBar" name="menubar">
diff --git a/src/utils/Msg.py b/src/utils/Msg.py
index 9d8e376..7cd52dc 100644
--- a/src/utils/Msg.py
+++ b/src/utils/Msg.py
@@ -40,6 +40,9 @@ class BG(Enum):
     BytesMsg = auto()
     BeamformerMsg = auto()
     RequestRfFrameMsg = auto()
+    MidiMsg = auto()
+    JoystickMsg = auto()
+    DeviceZero = auto()
 
 
 class Msg:
@@ -308,6 +311,23 @@ class BeamformerMsg(BytesMsg):
     pass
 
 
+class DeviceZero(Msg):
+    pass
+
+
+@dataclasses.dataclass
+class MidiMsg(Msg):
+    type: str
+    channel: int
+    pitch: int
+
+
+@dataclasses.dataclass
+class JoystickMsg(Msg):
+    key: str
+    value: float
+
+
 @dataclasses.dataclass
 class RobotRtsiMsg(Msg):
     pos: tuple[int, int, int, int, int, int]
diff --git a/src/utils/mi.py b/src/utils/mi.py
index df57ad5..5ebd058 100644
--- a/src/utils/mi.py
+++ b/src/utils/mi.py
@@ -1,3 +1,4 @@
+import click
 from miio.miioprotocol import MiIOProtocol
 
 from config import SWITCH1_IP, SWITCH1_TOKEN, SWITCH2_IP, SWITCH2_TOKEN
@@ -51,5 +52,38 @@ def c2_connected():
     return c2().send('get_properties', [{'did': 'MYDID', 'siid': 2, 'piid': 1}])[0]['value']
 
 
+@click.group()
+def cli():
+    pass
+
+
+@cli.command()
+@click.argument('name')
+def on(name):
+    if name == 'c1':
+        c1_connect()
+    if name == 'c2':
+        c2_connect()
+
+
+@cli.command()
+@click.argument('name')
+def off(name):
+    if name == 'c1':
+        c1_disconnect()
+    if name == 'c2':
+        c2_disconnect()
+
+
+@cli.command()
+@click.argument('name')
+def status(name):
+    if name == 'c1':
+        print(c1_connected())
+        print(c1_power())
+    if name == 'c2':
+        print(c2_connected())
+
+
 if __name__ == '__main__':
-    print(c2_connect())
+    cli()
diff --git a/test/kdemain.py b/test/kdemain.py
index f93cf72..dc58c80 100644
--- a/test/kdemain.py
+++ b/test/kdemain.py
@@ -7,7 +7,10 @@ from nodes.Broker import Broker
 from nodes.Device import Device
 from nodes.ImageCV import ImageCV
 from nodes.ImageFFMPEG import ImageFFMPEG
+from nodes.JoyStick import Joystick
 from nodes.Loader import Loader
+from nodes.Midi import Midi
+from nodes.Monitor import Monitor
 from nodes.Muxer import Muxer
 from nodes.Recorder import Recorder
 from nodes.Robot import Robot
@@ -23,13 +26,16 @@ if __name__ == '__main__':
         Broker(),
         kde_pyqt6_mainui,
         Device(level=logging.DEBUG),
-        ImageFFMPEG(),
+        # ImageFFMPEG(),
         ImageCV(level=logging.DEBUG),
         Beamformer(level=logging.DEBUG),
         Loader(),
         Muxer(level=logging.DEBUG),
+        Midi(),
+        # Joystick(),
         Robot(),
         Recorder(),
+        # Monitor(),
     ]
     for p in ps:
         pps.append(multiprocessing.Process(target=p))
diff --git a/test/testmiio.py b/test/testmiio.py
index d807c9e..459a4bb 100644
--- a/test/testmiio.py
+++ b/test/testmiio.py
@@ -2,12 +2,35 @@ from miio.miioprotocol import MiIOProtocol
 from config import SWITCH1_IP, SWITCH1_TOKEN, SWITCH2_IP, SWITCH2_TOKEN
 from miio import Device
 
-from utils.mi import c1_disconnect, c1_connect
+# from utils.mi import c1_disconnect, c1_connect, c2_connect
+#
+# if __name__ == '__main__':
+#     # m = MiIOProtocol(
+#     #     SWITCH1_IP, SWITCH1_TOKEN,
+#     # )
+#     # r = m.send('get_properties', [{'did': 'MYDID', 'siid': 2, 'piid': 1}])
+#     # print(r[0]['value'])
+#     c1_connect()
+#     c2_connect()
 
+import click
+
+
+@click.group()
+def cli():
+    pass
+
+@cli.command()
+@click.option('--count', default=1, help='Number of greetings.')
+@click.option('--name', prompt='Your name',
+              help='The person to greet.')
+def con(count, name):
+    """Simple program that greets NAME for a total of COUNT times."""
+    for x in range(count):
+        click.echo(f"Hello {name}!")
+
+@cli.command()
+def disconnect():
+    click.echo('Dropped the database')
 if __name__ == '__main__':
-    # m = MiIOProtocol(
-    #     SWITCH1_IP, SWITCH1_TOKEN,
-    # )
-    # r = m.send('get_properties', [{'did': 'MYDID', 'siid': 2, 'piid': 1}])
-    # print(r[0]['value'])
-    c1_connect()
\ No newline at end of file
+    cli()
diff --git a/uv.lock b/uv.lock
index cd7c5df..462eba9 100644
--- a/uv.lock
+++ b/uv.lock
@@ -9,13 +9,6 @@ resolution-markers = [
     "sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32'",
 ]
 
-[manifest]
-overrides = [
-    { name = "av", marker = "sys_platform != 'linux' and sys_platform != 'win32'", specifier = ">=14.0.0" },
-    { name = "av", marker = "sys_platform == 'linux'", path = "av-14.2.0rc1-cp312-cp312-linux_x86_64.whl" },
-    { name = "av", marker = "sys_platform == 'win32'", path = "av-14.1.0-cp312-cp312-win_amd64.whl" },
-]
-
 [[package]]
 name = "aiohappyeyeballs"
 version = "2.4.4"
@@ -69,46 +62,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/13/e7/e436a0c0eb5127d8b491a9b83ecd2391c6ff7dcd5548dfaec2080a2340fd/aiohttp_cors-0.7.0-py3-none-any.whl", hash = "sha256:0451ba59fdf6909d0e2cd21e4c0a43752bc0703d33fc78ae94d9d9321710193e", size = 27564 },
 ]
 
-[[package]]
-name = "aioice"
-version = "0.9.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "dnspython" },
-    { name = "ifaddr" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 }
-wheels = [
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