diff --git a/burt_network/Protobuf b/burt_network/Protobuf
index 3a009905..7e77da8a 160000
--- a/burt_network/Protobuf
+++ b/burt_network/Protobuf
@@ -1 +1 @@
-Subproject commit 3a0099055d805fe6db85d532e89dcde2dbfc4fe0
+Subproject commit 7e77da8a2c9d9ce2cd6e6751a6aa777af5e257ca
diff --git a/burt_network/lib/src/generated/arm.pb.dart b/burt_network/lib/src/generated/arm.pb.dart
index 916062f2..b927b7d4 100644
--- a/burt_network/lib/src/generated/arm.pb.dart
+++ b/burt_network/lib/src/generated/arm.pb.dart
@@ -13,19 +13,19 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'geometry.pb.dart' as $1;
-import 'motor.pb.dart' as $2;
-import 'utils.pbenum.dart' as $0;
-import 'version.pb.dart' as $3;
+import 'geometry.pb.dart' as $0;
+import 'motor.pb.dart' as $5;
+import 'utils.pbenum.dart' as $4;
+import 'version.pb.dart' as $1;
 
 class ArmData extends $pb.GeneratedMessage {
   factory ArmData({
-    $1.Coordinates? currentPosition,
-    $1.Coordinates? targetPosition,
-    $2.MotorData? base,
-    $2.MotorData? shoulder,
-    $2.MotorData? elbow,
-    $3.Version? version,
+    $0.Coordinates? currentPosition,
+    $0.Coordinates? targetPosition,
+    $5.MotorData? base,
+    $5.MotorData? shoulder,
+    $5.MotorData? elbow,
+    $1.Version? version,
   }) {
     final $result = create();
     if (currentPosition != null) {
@@ -53,12 +53,12 @@ class ArmData extends $pb.GeneratedMessage {
   factory ArmData.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'ArmData', createEmptyInstance: create)
-    ..aOM<$1.Coordinates>(1, _omitFieldNames ? '' : 'currentPosition', protoName: 'currentPosition', subBuilder: $1.Coordinates.create)
-    ..aOM<$1.Coordinates>(2, _omitFieldNames ? '' : 'targetPosition', protoName: 'targetPosition', subBuilder: $1.Coordinates.create)
-    ..aOM<$2.MotorData>(3, _omitFieldNames ? '' : 'base', subBuilder: $2.MotorData.create)
-    ..aOM<$2.MotorData>(4, _omitFieldNames ? '' : 'shoulder', subBuilder: $2.MotorData.create)
-    ..aOM<$2.MotorData>(5, _omitFieldNames ? '' : 'elbow', subBuilder: $2.MotorData.create)
-    ..aOM<$3.Version>(6, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$0.Coordinates>(1, _omitFieldNames ? '' : 'currentPosition', protoName: 'currentPosition', subBuilder: $0.Coordinates.create)
+    ..aOM<$0.Coordinates>(2, _omitFieldNames ? '' : 'targetPosition', protoName: 'targetPosition', subBuilder: $0.Coordinates.create)
+    ..aOM<$5.MotorData>(3, _omitFieldNames ? '' : 'base', subBuilder: $5.MotorData.create)
+    ..aOM<$5.MotorData>(4, _omitFieldNames ? '' : 'shoulder', subBuilder: $5.MotorData.create)
+    ..aOM<$5.MotorData>(5, _omitFieldNames ? '' : 'elbow', subBuilder: $5.MotorData.create)
+    ..aOM<$1.Version>(6, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..hasRequiredFields = false
   ;
 
@@ -84,85 +84,85 @@ class ArmData extends $pb.GeneratedMessage {
   static ArmData? _defaultInstance;
 
   @$pb.TagNumber(1)
-  $1.Coordinates get currentPosition => $_getN(0);
+  $0.Coordinates get currentPosition => $_getN(0);
   @$pb.TagNumber(1)
-  set currentPosition($1.Coordinates v) { setField(1, v); }
+  set currentPosition($0.Coordinates v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasCurrentPosition() => $_has(0);
   @$pb.TagNumber(1)
   void clearCurrentPosition() => clearField(1);
   @$pb.TagNumber(1)
-  $1.Coordinates ensureCurrentPosition() => $_ensure(0);
+  $0.Coordinates ensureCurrentPosition() => $_ensure(0);
 
   @$pb.TagNumber(2)
-  $1.Coordinates get targetPosition => $_getN(1);
+  $0.Coordinates get targetPosition => $_getN(1);
   @$pb.TagNumber(2)
-  set targetPosition($1.Coordinates v) { setField(2, v); }
+  set targetPosition($0.Coordinates v) { setField(2, v); }
   @$pb.TagNumber(2)
   $core.bool hasTargetPosition() => $_has(1);
   @$pb.TagNumber(2)
   void clearTargetPosition() => clearField(2);
   @$pb.TagNumber(2)
-  $1.Coordinates ensureTargetPosition() => $_ensure(1);
+  $0.Coordinates ensureTargetPosition() => $_ensure(1);
 
   @$pb.TagNumber(3)
-  $2.MotorData get base => $_getN(2);
+  $5.MotorData get base => $_getN(2);
   @$pb.TagNumber(3)
-  set base($2.MotorData v) { setField(3, v); }
+  set base($5.MotorData v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasBase() => $_has(2);
   @$pb.TagNumber(3)
   void clearBase() => clearField(3);
   @$pb.TagNumber(3)
-  $2.MotorData ensureBase() => $_ensure(2);
+  $5.MotorData ensureBase() => $_ensure(2);
 
   @$pb.TagNumber(4)
-  $2.MotorData get shoulder => $_getN(3);
+  $5.MotorData get shoulder => $_getN(3);
   @$pb.TagNumber(4)
-  set shoulder($2.MotorData v) { setField(4, v); }
+  set shoulder($5.MotorData v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasShoulder() => $_has(3);
   @$pb.TagNumber(4)
   void clearShoulder() => clearField(4);
   @$pb.TagNumber(4)
-  $2.MotorData ensureShoulder() => $_ensure(3);
+  $5.MotorData ensureShoulder() => $_ensure(3);
 
   @$pb.TagNumber(5)
-  $2.MotorData get elbow => $_getN(4);
+  $5.MotorData get elbow => $_getN(4);
   @$pb.TagNumber(5)
-  set elbow($2.MotorData v) { setField(5, v); }
+  set elbow($5.MotorData v) { setField(5, v); }
   @$pb.TagNumber(5)
   $core.bool hasElbow() => $_has(4);
   @$pb.TagNumber(5)
   void clearElbow() => clearField(5);
   @$pb.TagNumber(5)
-  $2.MotorData ensureElbow() => $_ensure(4);
+  $5.MotorData ensureElbow() => $_ensure(4);
 
   @$pb.TagNumber(6)
-  $3.Version get version => $_getN(5);
+  $1.Version get version => $_getN(5);
   @$pb.TagNumber(6)
-  set version($3.Version v) { setField(6, v); }
+  set version($1.Version v) { setField(6, v); }
   @$pb.TagNumber(6)
   $core.bool hasVersion() => $_has(5);
   @$pb.TagNumber(6)
   void clearVersion() => clearField(6);
   @$pb.TagNumber(6)
-  $3.Version ensureVersion() => $_ensure(5);
+  $1.Version ensureVersion() => $_ensure(5);
 }
 
 class ArmCommand extends $pb.GeneratedMessage {
   factory ArmCommand({
     $core.bool? stop,
     $core.bool? calibrate,
-    $2.MotorCommand? swivel,
-    $2.MotorCommand? shoulder,
-    $2.MotorCommand? elbow,
-    $2.MotorCommand? gripperLift,
+    $5.MotorCommand? swivel,
+    $5.MotorCommand? shoulder,
+    $5.MotorCommand? elbow,
+    $5.MotorCommand? gripperLift,
     $core.double? ikX,
     $core.double? ikY,
     $core.double? ikZ,
     $core.bool? jab,
-    $3.Version? version,
+    $1.Version? version,
   }) {
     final $result = create();
     if (stop != null) {
@@ -207,15 +207,15 @@ class ArmCommand extends $pb.GeneratedMessage {
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'ArmCommand', createEmptyInstance: create)
     ..aOB(1, _omitFieldNames ? '' : 'stop')
     ..aOB(2, _omitFieldNames ? '' : 'calibrate')
-    ..aOM<$2.MotorCommand>(3, _omitFieldNames ? '' : 'swivel', subBuilder: $2.MotorCommand.create)
-    ..aOM<$2.MotorCommand>(4, _omitFieldNames ? '' : 'shoulder', subBuilder: $2.MotorCommand.create)
-    ..aOM<$2.MotorCommand>(5, _omitFieldNames ? '' : 'elbow', subBuilder: $2.MotorCommand.create)
-    ..aOM<$2.MotorCommand>(6, _omitFieldNames ? '' : 'gripperLift', subBuilder: $2.MotorCommand.create)
+    ..aOM<$5.MotorCommand>(3, _omitFieldNames ? '' : 'swivel', subBuilder: $5.MotorCommand.create)
+    ..aOM<$5.MotorCommand>(4, _omitFieldNames ? '' : 'shoulder', subBuilder: $5.MotorCommand.create)
+    ..aOM<$5.MotorCommand>(5, _omitFieldNames ? '' : 'elbow', subBuilder: $5.MotorCommand.create)
+    ..aOM<$5.MotorCommand>(6, _omitFieldNames ? '' : 'gripperLift', subBuilder: $5.MotorCommand.create)
     ..a<$core.double>(7, _omitFieldNames ? '' : 'ikX', $pb.PbFieldType.OF)
     ..a<$core.double>(8, _omitFieldNames ? '' : 'ikY', $pb.PbFieldType.OF)
     ..a<$core.double>(9, _omitFieldNames ? '' : 'ikZ', $pb.PbFieldType.OF)
     ..aOB(10, _omitFieldNames ? '' : 'jab')
-    ..aOM<$3.Version>(11, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(11, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..hasRequiredFields = false
   ;
 
@@ -261,50 +261,50 @@ class ArmCommand extends $pb.GeneratedMessage {
 
   /// Move individual motors
   @$pb.TagNumber(3)
-  $2.MotorCommand get swivel => $_getN(2);
+  $5.MotorCommand get swivel => $_getN(2);
   @$pb.TagNumber(3)
-  set swivel($2.MotorCommand v) { setField(3, v); }
+  set swivel($5.MotorCommand v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasSwivel() => $_has(2);
   @$pb.TagNumber(3)
   void clearSwivel() => clearField(3);
   @$pb.TagNumber(3)
-  $2.MotorCommand ensureSwivel() => $_ensure(2);
+  $5.MotorCommand ensureSwivel() => $_ensure(2);
 
   @$pb.TagNumber(4)
-  $2.MotorCommand get shoulder => $_getN(3);
+  $5.MotorCommand get shoulder => $_getN(3);
   @$pb.TagNumber(4)
-  set shoulder($2.MotorCommand v) { setField(4, v); }
+  set shoulder($5.MotorCommand v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasShoulder() => $_has(3);
   @$pb.TagNumber(4)
   void clearShoulder() => clearField(4);
   @$pb.TagNumber(4)
-  $2.MotorCommand ensureShoulder() => $_ensure(3);
+  $5.MotorCommand ensureShoulder() => $_ensure(3);
 
   @$pb.TagNumber(5)
-  $2.MotorCommand get elbow => $_getN(4);
+  $5.MotorCommand get elbow => $_getN(4);
   @$pb.TagNumber(5)
-  set elbow($2.MotorCommand v) { setField(5, v); }
+  set elbow($5.MotorCommand v) { setField(5, v); }
   @$pb.TagNumber(5)
   $core.bool hasElbow() => $_has(4);
   @$pb.TagNumber(5)
   void clearElbow() => clearField(5);
   @$pb.TagNumber(5)
-  $2.MotorCommand ensureElbow() => $_ensure(4);
+  $5.MotorCommand ensureElbow() => $_ensure(4);
 
   /// Needed for IK: If the wrist-lift moves, we need to re-calculate IK to keep the end-effector
   /// stationary. See /Arm/src/ik/README.md in the Arm-Firmware repository.
   @$pb.TagNumber(6)
-  $2.MotorCommand get gripperLift => $_getN(5);
+  $5.MotorCommand get gripperLift => $_getN(5);
   @$pb.TagNumber(6)
-  set gripperLift($2.MotorCommand v) { setField(6, v); }
+  set gripperLift($5.MotorCommand v) { setField(6, v); }
   @$pb.TagNumber(6)
   $core.bool hasGripperLift() => $_has(5);
   @$pb.TagNumber(6)
   void clearGripperLift() => clearField(6);
   @$pb.TagNumber(6)
-  $2.MotorCommand ensureGripperLift() => $_ensure(5);
+  $5.MotorCommand ensureGripperLift() => $_ensure(5);
 
   /// Can be removed in future versions
   @$pb.TagNumber(7)
@@ -345,25 +345,25 @@ class ArmCommand extends $pb.GeneratedMessage {
   void clearJab() => clearField(10);
 
   @$pb.TagNumber(11)
-  $3.Version get version => $_getN(10);
+  $1.Version get version => $_getN(10);
   @$pb.TagNumber(11)
-  set version($3.Version v) { setField(11, v); }
+  set version($1.Version v) { setField(11, v); }
   @$pb.TagNumber(11)
   $core.bool hasVersion() => $_has(10);
   @$pb.TagNumber(11)
   void clearVersion() => clearField(11);
   @$pb.TagNumber(11)
-  $3.Version ensureVersion() => $_ensure(10);
+  $1.Version ensureVersion() => $_ensure(10);
 }
 
 class GripperData extends $pb.GeneratedMessage {
   factory GripperData({
-    $2.MotorData? lift,
-    $2.MotorData? rotate,
-    $2.MotorData? pinch,
-    $3.Version? version,
+    $5.MotorData? lift,
+    $5.MotorData? rotate,
+    $5.MotorData? pinch,
+    $1.Version? version,
     $core.int? servoAngle,
-    $0.BoolState? laserState,
+    $4.BoolState? laserState,
   }) {
     final $result = create();
     if (lift != null) {
@@ -391,12 +391,12 @@ class GripperData extends $pb.GeneratedMessage {
   factory GripperData.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'GripperData', createEmptyInstance: create)
-    ..aOM<$2.MotorData>(1, _omitFieldNames ? '' : 'lift', subBuilder: $2.MotorData.create)
-    ..aOM<$2.MotorData>(2, _omitFieldNames ? '' : 'rotate', subBuilder: $2.MotorData.create)
-    ..aOM<$2.MotorData>(3, _omitFieldNames ? '' : 'pinch', subBuilder: $2.MotorData.create)
-    ..aOM<$3.Version>(4, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$5.MotorData>(1, _omitFieldNames ? '' : 'lift', subBuilder: $5.MotorData.create)
+    ..aOM<$5.MotorData>(2, _omitFieldNames ? '' : 'rotate', subBuilder: $5.MotorData.create)
+    ..aOM<$5.MotorData>(3, _omitFieldNames ? '' : 'pinch', subBuilder: $5.MotorData.create)
+    ..aOM<$1.Version>(4, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..a<$core.int>(5, _omitFieldNames ? '' : 'servoAngle', $pb.PbFieldType.O3, protoName: 'servoAngle')
-    ..e<$0.BoolState>(6, _omitFieldNames ? '' : 'laserState', $pb.PbFieldType.OE, protoName: 'laserState', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
+    ..e<$4.BoolState>(6, _omitFieldNames ? '' : 'laserState', $pb.PbFieldType.OE, protoName: 'laserState', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
     ..hasRequiredFields = false
   ;
 
@@ -422,48 +422,48 @@ class GripperData extends $pb.GeneratedMessage {
   static GripperData? _defaultInstance;
 
   @$pb.TagNumber(1)
-  $2.MotorData get lift => $_getN(0);
+  $5.MotorData get lift => $_getN(0);
   @$pb.TagNumber(1)
-  set lift($2.MotorData v) { setField(1, v); }
+  set lift($5.MotorData v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasLift() => $_has(0);
   @$pb.TagNumber(1)
   void clearLift() => clearField(1);
   @$pb.TagNumber(1)
-  $2.MotorData ensureLift() => $_ensure(0);
+  $5.MotorData ensureLift() => $_ensure(0);
 
   @$pb.TagNumber(2)
-  $2.MotorData get rotate => $_getN(1);
+  $5.MotorData get rotate => $_getN(1);
   @$pb.TagNumber(2)
-  set rotate($2.MotorData v) { setField(2, v); }
+  set rotate($5.MotorData v) { setField(2, v); }
   @$pb.TagNumber(2)
   $core.bool hasRotate() => $_has(1);
   @$pb.TagNumber(2)
   void clearRotate() => clearField(2);
   @$pb.TagNumber(2)
-  $2.MotorData ensureRotate() => $_ensure(1);
+  $5.MotorData ensureRotate() => $_ensure(1);
 
   @$pb.TagNumber(3)
-  $2.MotorData get pinch => $_getN(2);
+  $5.MotorData get pinch => $_getN(2);
   @$pb.TagNumber(3)
-  set pinch($2.MotorData v) { setField(3, v); }
+  set pinch($5.MotorData v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasPinch() => $_has(2);
   @$pb.TagNumber(3)
   void clearPinch() => clearField(3);
   @$pb.TagNumber(3)
-  $2.MotorData ensurePinch() => $_ensure(2);
+  $5.MotorData ensurePinch() => $_ensure(2);
 
   @$pb.TagNumber(4)
-  $3.Version get version => $_getN(3);
+  $1.Version get version => $_getN(3);
   @$pb.TagNumber(4)
-  set version($3.Version v) { setField(4, v); }
+  set version($1.Version v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasVersion() => $_has(3);
   @$pb.TagNumber(4)
   void clearVersion() => clearField(4);
   @$pb.TagNumber(4)
-  $3.Version ensureVersion() => $_ensure(3);
+  $1.Version ensureVersion() => $_ensure(3);
 
   @$pb.TagNumber(5)
   $core.int get servoAngle => $_getIZ(4);
@@ -475,9 +475,9 @@ class GripperData extends $pb.GeneratedMessage {
   void clearServoAngle() => clearField(5);
 
   @$pb.TagNumber(6)
-  $0.BoolState get laserState => $_getN(5);
+  $4.BoolState get laserState => $_getN(5);
   @$pb.TagNumber(6)
-  set laserState($0.BoolState v) { setField(6, v); }
+  set laserState($4.BoolState v) { setField(6, v); }
   @$pb.TagNumber(6)
   $core.bool hasLaserState() => $_has(5);
   @$pb.TagNumber(6)
@@ -488,15 +488,15 @@ class GripperCommand extends $pb.GeneratedMessage {
   factory GripperCommand({
     $core.bool? stop,
     $core.bool? calibrate,
-    $2.MotorCommand? lift,
-    $2.MotorCommand? rotate,
-    $2.MotorCommand? pinch,
+    $5.MotorCommand? lift,
+    $5.MotorCommand? rotate,
+    $5.MotorCommand? pinch,
     $core.bool? open,
     $core.bool? close,
     $core.bool? spin,
-    $3.Version? version,
+    $1.Version? version,
     $core.int? servoAngle,
-    $0.BoolState? laserState,
+    $4.BoolState? laserState,
   }) {
     final $result = create();
     if (stop != null) {
@@ -541,15 +541,15 @@ class GripperCommand extends $pb.GeneratedMessage {
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'GripperCommand', createEmptyInstance: create)
     ..aOB(1, _omitFieldNames ? '' : 'stop')
     ..aOB(2, _omitFieldNames ? '' : 'calibrate')
-    ..aOM<$2.MotorCommand>(3, _omitFieldNames ? '' : 'lift', subBuilder: $2.MotorCommand.create)
-    ..aOM<$2.MotorCommand>(4, _omitFieldNames ? '' : 'rotate', subBuilder: $2.MotorCommand.create)
-    ..aOM<$2.MotorCommand>(5, _omitFieldNames ? '' : 'pinch', subBuilder: $2.MotorCommand.create)
+    ..aOM<$5.MotorCommand>(3, _omitFieldNames ? '' : 'lift', subBuilder: $5.MotorCommand.create)
+    ..aOM<$5.MotorCommand>(4, _omitFieldNames ? '' : 'rotate', subBuilder: $5.MotorCommand.create)
+    ..aOM<$5.MotorCommand>(5, _omitFieldNames ? '' : 'pinch', subBuilder: $5.MotorCommand.create)
     ..aOB(6, _omitFieldNames ? '' : 'open')
     ..aOB(7, _omitFieldNames ? '' : 'close')
     ..aOB(8, _omitFieldNames ? '' : 'spin')
-    ..aOM<$3.Version>(9, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(9, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..a<$core.int>(10, _omitFieldNames ? '' : 'servoAngle', $pb.PbFieldType.O3, protoName: 'servoAngle')
-    ..e<$0.BoolState>(11, _omitFieldNames ? '' : 'laserState', $pb.PbFieldType.OE, protoName: 'laserState', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
+    ..e<$4.BoolState>(11, _omitFieldNames ? '' : 'laserState', $pb.PbFieldType.OE, protoName: 'laserState', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
     ..hasRequiredFields = false
   ;
 
@@ -595,37 +595,37 @@ class GripperCommand extends $pb.GeneratedMessage {
 
   /// Move individual motors
   @$pb.TagNumber(3)
-  $2.MotorCommand get lift => $_getN(2);
+  $5.MotorCommand get lift => $_getN(2);
   @$pb.TagNumber(3)
-  set lift($2.MotorCommand v) { setField(3, v); }
+  set lift($5.MotorCommand v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasLift() => $_has(2);
   @$pb.TagNumber(3)
   void clearLift() => clearField(3);
   @$pb.TagNumber(3)
-  $2.MotorCommand ensureLift() => $_ensure(2);
+  $5.MotorCommand ensureLift() => $_ensure(2);
 
   @$pb.TagNumber(4)
-  $2.MotorCommand get rotate => $_getN(3);
+  $5.MotorCommand get rotate => $_getN(3);
   @$pb.TagNumber(4)
-  set rotate($2.MotorCommand v) { setField(4, v); }
+  set rotate($5.MotorCommand v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasRotate() => $_has(3);
   @$pb.TagNumber(4)
   void clearRotate() => clearField(4);
   @$pb.TagNumber(4)
-  $2.MotorCommand ensureRotate() => $_ensure(3);
+  $5.MotorCommand ensureRotate() => $_ensure(3);
 
   @$pb.TagNumber(5)
-  $2.MotorCommand get pinch => $_getN(4);
+  $5.MotorCommand get pinch => $_getN(4);
   @$pb.TagNumber(5)
-  set pinch($2.MotorCommand v) { setField(5, v); }
+  set pinch($5.MotorCommand v) { setField(5, v); }
   @$pb.TagNumber(5)
   $core.bool hasPinch() => $_has(4);
   @$pb.TagNumber(5)
   void clearPinch() => clearField(5);
   @$pb.TagNumber(5)
-  $2.MotorCommand ensurePinch() => $_ensure(4);
+  $5.MotorCommand ensurePinch() => $_ensure(4);
 
   /// Custom actions
   @$pb.TagNumber(6)
@@ -656,15 +656,15 @@ class GripperCommand extends $pb.GeneratedMessage {
   void clearSpin() => clearField(8);
 
   @$pb.TagNumber(9)
-  $3.Version get version => $_getN(8);
+  $1.Version get version => $_getN(8);
   @$pb.TagNumber(9)
-  set version($3.Version v) { setField(9, v); }
+  set version($1.Version v) { setField(9, v); }
   @$pb.TagNumber(9)
   $core.bool hasVersion() => $_has(8);
   @$pb.TagNumber(9)
   void clearVersion() => clearField(9);
   @$pb.TagNumber(9)
-  $3.Version ensureVersion() => $_ensure(8);
+  $1.Version ensureVersion() => $_ensure(8);
 
   @$pb.TagNumber(10)
   $core.int get servoAngle => $_getIZ(9);
@@ -676,9 +676,9 @@ class GripperCommand extends $pb.GeneratedMessage {
   void clearServoAngle() => clearField(10);
 
   @$pb.TagNumber(11)
-  $0.BoolState get laserState => $_getN(10);
+  $4.BoolState get laserState => $_getN(10);
   @$pb.TagNumber(11)
-  set laserState($0.BoolState v) { setField(11, v); }
+  set laserState($4.BoolState v) { setField(11, v); }
   @$pb.TagNumber(11)
   $core.bool hasLaserState() => $_has(10);
   @$pb.TagNumber(11)
diff --git a/burt_network/lib/src/generated/autonomy.pb.dart b/burt_network/lib/src/generated/autonomy.pb.dart
index b1bc8302..31a30071 100644
--- a/burt_network/lib/src/generated/autonomy.pb.dart
+++ b/burt_network/lib/src/generated/autonomy.pb.dart
@@ -14,20 +14,20 @@ import 'dart:core' as $core;
 import 'package:protobuf/protobuf.dart' as $pb;
 
 import 'autonomy.pbenum.dart';
-import 'gps.pb.dart' as $4;
-import 'version.pb.dart' as $3;
+import 'gps.pb.dart' as $2;
+import 'version.pb.dart' as $1;
 
 export 'autonomy.pbenum.dart';
 
 class AutonomyData extends $pb.GeneratedMessage {
   factory AutonomyData({
     AutonomyState? state,
-    $4.GpsCoordinates? destination,
-    $core.Iterable<$4.GpsCoordinates>? obstacles,
-    $core.Iterable<$4.GpsCoordinates>? path,
+    $2.GpsCoordinates? destination,
+    $core.Iterable<$2.GpsCoordinates>? obstacles,
+    $core.Iterable<$2.GpsCoordinates>? path,
     AutonomyTask? task,
     $core.bool? crash,
-    $3.Version? version,
+    $1.Version? version,
   }) {
     final $result = create();
     if (state != null) {
@@ -59,12 +59,12 @@ class AutonomyData extends $pb.GeneratedMessage {
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'AutonomyData', createEmptyInstance: create)
     ..e<AutonomyState>(1, _omitFieldNames ? '' : 'state', $pb.PbFieldType.OE, defaultOrMaker: AutonomyState.AUTONOMY_STATE_UNDEFINED, valueOf: AutonomyState.valueOf, enumValues: AutonomyState.values)
-    ..aOM<$4.GpsCoordinates>(2, _omitFieldNames ? '' : 'destination', subBuilder: $4.GpsCoordinates.create)
-    ..pc<$4.GpsCoordinates>(3, _omitFieldNames ? '' : 'obstacles', $pb.PbFieldType.PM, subBuilder: $4.GpsCoordinates.create)
-    ..pc<$4.GpsCoordinates>(4, _omitFieldNames ? '' : 'path', $pb.PbFieldType.PM, subBuilder: $4.GpsCoordinates.create)
+    ..aOM<$2.GpsCoordinates>(2, _omitFieldNames ? '' : 'destination', subBuilder: $2.GpsCoordinates.create)
+    ..pc<$2.GpsCoordinates>(3, _omitFieldNames ? '' : 'obstacles', $pb.PbFieldType.PM, subBuilder: $2.GpsCoordinates.create)
+    ..pc<$2.GpsCoordinates>(4, _omitFieldNames ? '' : 'path', $pb.PbFieldType.PM, subBuilder: $2.GpsCoordinates.create)
     ..e<AutonomyTask>(5, _omitFieldNames ? '' : 'task', $pb.PbFieldType.OE, defaultOrMaker: AutonomyTask.AUTONOMY_TASK_UNDEFINED, valueOf: AutonomyTask.valueOf, enumValues: AutonomyTask.values)
     ..aOB(6, _omitFieldNames ? '' : 'crash')
-    ..aOM<$3.Version>(7, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(7, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..hasRequiredFields = false
   ;
 
@@ -99,21 +99,21 @@ class AutonomyData extends $pb.GeneratedMessage {
   void clearState() => clearField(1);
 
   @$pb.TagNumber(2)
-  $4.GpsCoordinates get destination => $_getN(1);
+  $2.GpsCoordinates get destination => $_getN(1);
   @$pb.TagNumber(2)
-  set destination($4.GpsCoordinates v) { setField(2, v); }
+  set destination($2.GpsCoordinates v) { setField(2, v); }
   @$pb.TagNumber(2)
   $core.bool hasDestination() => $_has(1);
   @$pb.TagNumber(2)
   void clearDestination() => clearField(2);
   @$pb.TagNumber(2)
-  $4.GpsCoordinates ensureDestination() => $_ensure(1);
+  $2.GpsCoordinates ensureDestination() => $_ensure(1);
 
   @$pb.TagNumber(3)
-  $core.List<$4.GpsCoordinates> get obstacles => $_getList(2);
+  $core.List<$2.GpsCoordinates> get obstacles => $_getList(2);
 
   @$pb.TagNumber(4)
-  $core.List<$4.GpsCoordinates> get path => $_getList(3);
+  $core.List<$2.GpsCoordinates> get path => $_getList(3);
 
   @$pb.TagNumber(5)
   AutonomyTask get task => $_getN(4);
@@ -134,24 +134,24 @@ class AutonomyData extends $pb.GeneratedMessage {
   void clearCrash() => clearField(6);
 
   @$pb.TagNumber(7)
-  $3.Version get version => $_getN(6);
+  $1.Version get version => $_getN(6);
   @$pb.TagNumber(7)
-  set version($3.Version v) { setField(7, v); }
+  set version($1.Version v) { setField(7, v); }
   @$pb.TagNumber(7)
   $core.bool hasVersion() => $_has(6);
   @$pb.TagNumber(7)
   void clearVersion() => clearField(7);
   @$pb.TagNumber(7)
-  $3.Version ensureVersion() => $_ensure(6);
+  $1.Version ensureVersion() => $_ensure(6);
 }
 
 class AutonomyCommand extends $pb.GeneratedMessage {
   factory AutonomyCommand({
-    $4.GpsCoordinates? destination,
+    $2.GpsCoordinates? destination,
     AutonomyTask? task,
     $core.int? arucoId,
     $core.bool? abort,
-    $3.Version? version,
+    $1.Version? version,
   }) {
     final $result = create();
     if (destination != null) {
@@ -176,11 +176,11 @@ class AutonomyCommand extends $pb.GeneratedMessage {
   factory AutonomyCommand.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'AutonomyCommand', createEmptyInstance: create)
-    ..aOM<$4.GpsCoordinates>(1, _omitFieldNames ? '' : 'destination', subBuilder: $4.GpsCoordinates.create)
+    ..aOM<$2.GpsCoordinates>(1, _omitFieldNames ? '' : 'destination', subBuilder: $2.GpsCoordinates.create)
     ..e<AutonomyTask>(2, _omitFieldNames ? '' : 'task', $pb.PbFieldType.OE, defaultOrMaker: AutonomyTask.AUTONOMY_TASK_UNDEFINED, valueOf: AutonomyTask.valueOf, enumValues: AutonomyTask.values)
     ..a<$core.int>(3, _omitFieldNames ? '' : 'arucoId', $pb.PbFieldType.O3)
     ..aOB(4, _omitFieldNames ? '' : 'abort')
-    ..aOM<$3.Version>(5, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(5, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..hasRequiredFields = false
   ;
 
@@ -206,15 +206,15 @@ class AutonomyCommand extends $pb.GeneratedMessage {
   static AutonomyCommand? _defaultInstance;
 
   @$pb.TagNumber(1)
-  $4.GpsCoordinates get destination => $_getN(0);
+  $2.GpsCoordinates get destination => $_getN(0);
   @$pb.TagNumber(1)
-  set destination($4.GpsCoordinates v) { setField(1, v); }
+  set destination($2.GpsCoordinates v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasDestination() => $_has(0);
   @$pb.TagNumber(1)
   void clearDestination() => clearField(1);
   @$pb.TagNumber(1)
-  $4.GpsCoordinates ensureDestination() => $_ensure(0);
+  $2.GpsCoordinates ensureDestination() => $_ensure(0);
 
   @$pb.TagNumber(2)
   AutonomyTask get task => $_getN(1);
@@ -244,15 +244,15 @@ class AutonomyCommand extends $pb.GeneratedMessage {
   void clearAbort() => clearField(4);
 
   @$pb.TagNumber(5)
-  $3.Version get version => $_getN(4);
+  $1.Version get version => $_getN(4);
   @$pb.TagNumber(5)
-  set version($3.Version v) { setField(5, v); }
+  set version($1.Version v) { setField(5, v); }
   @$pb.TagNumber(5)
   $core.bool hasVersion() => $_has(4);
   @$pb.TagNumber(5)
   void clearVersion() => clearField(5);
   @$pb.TagNumber(5)
-  $3.Version ensureVersion() => $_ensure(4);
+  $1.Version ensureVersion() => $_ensure(4);
 }
 
 
diff --git a/burt_network/lib/src/generated/base_station.pb.dart b/burt_network/lib/src/generated/base_station.pb.dart
index 22bd7bb3..498878bd 100644
--- a/burt_network/lib/src/generated/base_station.pb.dart
+++ b/burt_network/lib/src/generated/base_station.pb.dart
@@ -14,17 +14,17 @@ import 'dart:core' as $core;
 import 'package:protobuf/protobuf.dart' as $pb;
 
 import 'base_station.pbenum.dart';
-import 'gps.pb.dart' as $4;
-import 'motor.pb.dart' as $2;
-import 'utils.pbenum.dart' as $0;
-import 'version.pb.dart' as $3;
+import 'gps.pb.dart' as $2;
+import 'motor.pb.dart' as $5;
+import 'utils.pbenum.dart' as $4;
+import 'version.pb.dart' as $1;
 
 export 'base_station.pbenum.dart';
 
 class AntennaFirmwareCommand extends $pb.GeneratedMessage {
   factory AntennaFirmwareCommand({
-    $3.Version? version,
-    $2.MotorCommand? swivel,
+    $1.Version? version,
+    $5.MotorCommand? swivel,
     $core.bool? stop,
     $core.bool? calibrate,
   }) {
@@ -48,8 +48,8 @@ class AntennaFirmwareCommand extends $pb.GeneratedMessage {
   factory AntennaFirmwareCommand.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'AntennaFirmwareCommand', createEmptyInstance: create)
-    ..aOM<$3.Version>(1, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
-    ..aOM<$2.MotorCommand>(2, _omitFieldNames ? '' : 'swivel', subBuilder: $2.MotorCommand.create)
+    ..aOM<$1.Version>(1, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
+    ..aOM<$5.MotorCommand>(2, _omitFieldNames ? '' : 'swivel', subBuilder: $5.MotorCommand.create)
     ..aOB(3, _omitFieldNames ? '' : 'stop')
     ..aOB(4, _omitFieldNames ? '' : 'calibrate')
     ..hasRequiredFields = false
@@ -77,26 +77,26 @@ class AntennaFirmwareCommand extends $pb.GeneratedMessage {
   static AntennaFirmwareCommand? _defaultInstance;
 
   @$pb.TagNumber(1)
-  $3.Version get version => $_getN(0);
+  $1.Version get version => $_getN(0);
   @$pb.TagNumber(1)
-  set version($3.Version v) { setField(1, v); }
+  set version($1.Version v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasVersion() => $_has(0);
   @$pb.TagNumber(1)
   void clearVersion() => clearField(1);
   @$pb.TagNumber(1)
-  $3.Version ensureVersion() => $_ensure(0);
+  $1.Version ensureVersion() => $_ensure(0);
 
   @$pb.TagNumber(2)
-  $2.MotorCommand get swivel => $_getN(1);
+  $5.MotorCommand get swivel => $_getN(1);
   @$pb.TagNumber(2)
-  set swivel($2.MotorCommand v) { setField(2, v); }
+  set swivel($5.MotorCommand v) { setField(2, v); }
   @$pb.TagNumber(2)
   $core.bool hasSwivel() => $_has(1);
   @$pb.TagNumber(2)
   void clearSwivel() => clearField(2);
   @$pb.TagNumber(2)
-  $2.MotorCommand ensureSwivel() => $_ensure(1);
+  $5.MotorCommand ensureSwivel() => $_ensure(1);
 
   @$pb.TagNumber(3)
   $core.bool get stop => $_getBF(2);
@@ -119,8 +119,8 @@ class AntennaFirmwareCommand extends $pb.GeneratedMessage {
 
 class AntennaFirmwareData extends $pb.GeneratedMessage {
   factory AntennaFirmwareData({
-    $3.Version? version,
-    $2.MotorData? swivel,
+    $1.Version? version,
+    $5.MotorData? swivel,
   }) {
     final $result = create();
     if (version != null) {
@@ -136,8 +136,8 @@ class AntennaFirmwareData extends $pb.GeneratedMessage {
   factory AntennaFirmwareData.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'AntennaFirmwareData', createEmptyInstance: create)
-    ..aOM<$3.Version>(1, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
-    ..aOM<$2.MotorData>(2, _omitFieldNames ? '' : 'swivel', subBuilder: $2.MotorData.create)
+    ..aOM<$1.Version>(1, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
+    ..aOM<$5.MotorData>(2, _omitFieldNames ? '' : 'swivel', subBuilder: $5.MotorData.create)
     ..hasRequiredFields = false
   ;
 
@@ -163,26 +163,26 @@ class AntennaFirmwareData extends $pb.GeneratedMessage {
   static AntennaFirmwareData? _defaultInstance;
 
   @$pb.TagNumber(1)
-  $3.Version get version => $_getN(0);
+  $1.Version get version => $_getN(0);
   @$pb.TagNumber(1)
-  set version($3.Version v) { setField(1, v); }
+  set version($1.Version v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasVersion() => $_has(0);
   @$pb.TagNumber(1)
   void clearVersion() => clearField(1);
   @$pb.TagNumber(1)
-  $3.Version ensureVersion() => $_ensure(0);
+  $1.Version ensureVersion() => $_ensure(0);
 
   @$pb.TagNumber(2)
-  $2.MotorData get swivel => $_getN(1);
+  $5.MotorData get swivel => $_getN(1);
   @$pb.TagNumber(2)
-  set swivel($2.MotorData v) { setField(2, v); }
+  set swivel($5.MotorData v) { setField(2, v); }
   @$pb.TagNumber(2)
   $core.bool hasSwivel() => $_has(1);
   @$pb.TagNumber(2)
   void clearSwivel() => clearField(2);
   @$pb.TagNumber(2)
-  $2.MotorData ensureSwivel() => $_ensure(1);
+  $5.MotorData ensureSwivel() => $_ensure(1);
 }
 
 /// / Command to control the movement of the MARS antenna.
@@ -201,11 +201,11 @@ class AntennaFirmwareData extends $pb.GeneratedMessage {
 /// / - immediately set the [mode] to [AntennaControlMode.MANUAL_CONTROL] to hold the position
 class BaseStationCommand extends $pb.GeneratedMessage {
   factory BaseStationCommand({
-    $3.Version? version,
+    $1.Version? version,
     AntennaControlMode? mode,
-    $4.GpsCoordinates? roverCoordinates,
-    $4.GpsCoordinates? baseStationCoordinates,
-    $4.GpsCoordinates? roverCoordinatesOverride,
+    $2.GpsCoordinates? roverCoordinates,
+    $2.GpsCoordinates? baseStationCoordinates,
+    $2.GpsCoordinates? roverCoordinatesOverride,
     AntennaFirmwareCommand? manualCommand,
     $core.double? angleTolerance,
   }) {
@@ -238,11 +238,11 @@ class BaseStationCommand extends $pb.GeneratedMessage {
   factory BaseStationCommand.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'BaseStationCommand', createEmptyInstance: create)
-    ..aOM<$3.Version>(1, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(1, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..e<AntennaControlMode>(2, _omitFieldNames ? '' : 'mode', $pb.PbFieldType.OE, defaultOrMaker: AntennaControlMode.ANTENNA_CONTROL_MODE_UNDEFINED, valueOf: AntennaControlMode.valueOf, enumValues: AntennaControlMode.values)
-    ..aOM<$4.GpsCoordinates>(3, _omitFieldNames ? '' : 'roverCoordinates', protoName: 'roverCoordinates', subBuilder: $4.GpsCoordinates.create)
-    ..aOM<$4.GpsCoordinates>(4, _omitFieldNames ? '' : 'baseStationCoordinates', protoName: 'baseStationCoordinates', subBuilder: $4.GpsCoordinates.create)
-    ..aOM<$4.GpsCoordinates>(5, _omitFieldNames ? '' : 'roverCoordinatesOverride', protoName: 'roverCoordinatesOverride', subBuilder: $4.GpsCoordinates.create)
+    ..aOM<$2.GpsCoordinates>(3, _omitFieldNames ? '' : 'roverCoordinates', protoName: 'roverCoordinates', subBuilder: $2.GpsCoordinates.create)
+    ..aOM<$2.GpsCoordinates>(4, _omitFieldNames ? '' : 'baseStationCoordinates', protoName: 'baseStationCoordinates', subBuilder: $2.GpsCoordinates.create)
+    ..aOM<$2.GpsCoordinates>(5, _omitFieldNames ? '' : 'roverCoordinatesOverride', protoName: 'roverCoordinatesOverride', subBuilder: $2.GpsCoordinates.create)
     ..aOM<AntennaFirmwareCommand>(6, _omitFieldNames ? '' : 'manualCommand', protoName: 'manualCommand', subBuilder: AntennaFirmwareCommand.create)
     ..a<$core.double>(7, _omitFieldNames ? '' : 'angleTolerance', $pb.PbFieldType.OF, protoName: 'angleTolerance')
     ..hasRequiredFields = false
@@ -270,15 +270,15 @@ class BaseStationCommand extends $pb.GeneratedMessage {
   static BaseStationCommand? _defaultInstance;
 
   @$pb.TagNumber(1)
-  $3.Version get version => $_getN(0);
+  $1.Version get version => $_getN(0);
   @$pb.TagNumber(1)
-  set version($3.Version v) { setField(1, v); }
+  set version($1.Version v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasVersion() => $_has(0);
   @$pb.TagNumber(1)
   void clearVersion() => clearField(1);
   @$pb.TagNumber(1)
-  $3.Version ensureVersion() => $_ensure(0);
+  $1.Version ensureVersion() => $_ensure(0);
 
   @$pb.TagNumber(2)
   AntennaControlMode get mode => $_getN(1);
@@ -290,37 +290,37 @@ class BaseStationCommand extends $pb.GeneratedMessage {
   void clearMode() => clearField(2);
 
   @$pb.TagNumber(3)
-  $4.GpsCoordinates get roverCoordinates => $_getN(2);
+  $2.GpsCoordinates get roverCoordinates => $_getN(2);
   @$pb.TagNumber(3)
-  set roverCoordinates($4.GpsCoordinates v) { setField(3, v); }
+  set roverCoordinates($2.GpsCoordinates v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasRoverCoordinates() => $_has(2);
   @$pb.TagNumber(3)
   void clearRoverCoordinates() => clearField(3);
   @$pb.TagNumber(3)
-  $4.GpsCoordinates ensureRoverCoordinates() => $_ensure(2);
+  $2.GpsCoordinates ensureRoverCoordinates() => $_ensure(2);
 
   @$pb.TagNumber(4)
-  $4.GpsCoordinates get baseStationCoordinates => $_getN(3);
+  $2.GpsCoordinates get baseStationCoordinates => $_getN(3);
   @$pb.TagNumber(4)
-  set baseStationCoordinates($4.GpsCoordinates v) { setField(4, v); }
+  set baseStationCoordinates($2.GpsCoordinates v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasBaseStationCoordinates() => $_has(3);
   @$pb.TagNumber(4)
   void clearBaseStationCoordinates() => clearField(4);
   @$pb.TagNumber(4)
-  $4.GpsCoordinates ensureBaseStationCoordinates() => $_ensure(3);
+  $2.GpsCoordinates ensureBaseStationCoordinates() => $_ensure(3);
 
   @$pb.TagNumber(5)
-  $4.GpsCoordinates get roverCoordinatesOverride => $_getN(4);
+  $2.GpsCoordinates get roverCoordinatesOverride => $_getN(4);
   @$pb.TagNumber(5)
-  set roverCoordinatesOverride($4.GpsCoordinates v) { setField(5, v); }
+  set roverCoordinatesOverride($2.GpsCoordinates v) { setField(5, v); }
   @$pb.TagNumber(5)
   $core.bool hasRoverCoordinatesOverride() => $_has(4);
   @$pb.TagNumber(5)
   void clearRoverCoordinatesOverride() => clearField(5);
   @$pb.TagNumber(5)
-  $4.GpsCoordinates ensureRoverCoordinatesOverride() => $_ensure(4);
+  $2.GpsCoordinates ensureRoverCoordinatesOverride() => $_ensure(4);
 
   @$pb.TagNumber(6)
   AntennaFirmwareCommand get manualCommand => $_getN(5);
@@ -346,11 +346,11 @@ class BaseStationCommand extends $pb.GeneratedMessage {
 
 class BaseStationData extends $pb.GeneratedMessage {
   factory BaseStationData({
-    $3.Version? version,
+    $1.Version? version,
     AntennaControlMode? mode,
     AntennaFirmwareData? antenna,
-    $4.GpsCoordinates? baseStationCoordinates,
-    $0.BoolState? rtkConnected,
+    $2.GpsCoordinates? baseStationCoordinates,
+    $4.BoolState? rtkConnected,
   }) {
     final $result = create();
     if (version != null) {
@@ -375,11 +375,11 @@ class BaseStationData extends $pb.GeneratedMessage {
   factory BaseStationData.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'BaseStationData', createEmptyInstance: create)
-    ..aOM<$3.Version>(1, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(1, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..e<AntennaControlMode>(2, _omitFieldNames ? '' : 'mode', $pb.PbFieldType.OE, defaultOrMaker: AntennaControlMode.ANTENNA_CONTROL_MODE_UNDEFINED, valueOf: AntennaControlMode.valueOf, enumValues: AntennaControlMode.values)
     ..aOM<AntennaFirmwareData>(3, _omitFieldNames ? '' : 'antenna', subBuilder: AntennaFirmwareData.create)
-    ..aOM<$4.GpsCoordinates>(4, _omitFieldNames ? '' : 'baseStationCoordinates', protoName: 'baseStationCoordinates', subBuilder: $4.GpsCoordinates.create)
-    ..e<$0.BoolState>(5, _omitFieldNames ? '' : 'rtkConnected', $pb.PbFieldType.OE, protoName: 'rtkConnected', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
+    ..aOM<$2.GpsCoordinates>(4, _omitFieldNames ? '' : 'baseStationCoordinates', protoName: 'baseStationCoordinates', subBuilder: $2.GpsCoordinates.create)
+    ..e<$4.BoolState>(5, _omitFieldNames ? '' : 'rtkConnected', $pb.PbFieldType.OE, protoName: 'rtkConnected', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
     ..hasRequiredFields = false
   ;
 
@@ -405,15 +405,15 @@ class BaseStationData extends $pb.GeneratedMessage {
   static BaseStationData? _defaultInstance;
 
   @$pb.TagNumber(1)
-  $3.Version get version => $_getN(0);
+  $1.Version get version => $_getN(0);
   @$pb.TagNumber(1)
-  set version($3.Version v) { setField(1, v); }
+  set version($1.Version v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasVersion() => $_has(0);
   @$pb.TagNumber(1)
   void clearVersion() => clearField(1);
   @$pb.TagNumber(1)
-  $3.Version ensureVersion() => $_ensure(0);
+  $1.Version ensureVersion() => $_ensure(0);
 
   @$pb.TagNumber(2)
   AntennaControlMode get mode => $_getN(1);
@@ -436,21 +436,21 @@ class BaseStationData extends $pb.GeneratedMessage {
   AntennaFirmwareData ensureAntenna() => $_ensure(2);
 
   @$pb.TagNumber(4)
-  $4.GpsCoordinates get baseStationCoordinates => $_getN(3);
+  $2.GpsCoordinates get baseStationCoordinates => $_getN(3);
   @$pb.TagNumber(4)
-  set baseStationCoordinates($4.GpsCoordinates v) { setField(4, v); }
+  set baseStationCoordinates($2.GpsCoordinates v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasBaseStationCoordinates() => $_has(3);
   @$pb.TagNumber(4)
   void clearBaseStationCoordinates() => clearField(4);
   @$pb.TagNumber(4)
-  $4.GpsCoordinates ensureBaseStationCoordinates() => $_ensure(3);
+  $2.GpsCoordinates ensureBaseStationCoordinates() => $_ensure(3);
 
   /// Whether or not the RTK gps is open and being read
   @$pb.TagNumber(5)
-  $0.BoolState get rtkConnected => $_getN(4);
+  $4.BoolState get rtkConnected => $_getN(4);
   @$pb.TagNumber(5)
-  set rtkConnected($0.BoolState v) { setField(5, v); }
+  set rtkConnected($4.BoolState v) { setField(5, v); }
   @$pb.TagNumber(5)
   $core.bool hasRtkConnected() => $_has(4);
   @$pb.TagNumber(5)
diff --git a/burt_network/lib/src/generated/drive.pb.dart b/burt_network/lib/src/generated/drive.pb.dart
index bca27395..acdc078d 100644
--- a/burt_network/lib/src/generated/drive.pb.dart
+++ b/burt_network/lib/src/generated/drive.pb.dart
@@ -14,9 +14,9 @@ import 'dart:core' as $core;
 import 'package:protobuf/protobuf.dart' as $pb;
 
 import 'drive.pbenum.dart';
-import 'status.pbenum.dart' as $5;
-import 'utils.pbenum.dart' as $0;
-import 'version.pb.dart' as $3;
+import 'status.pbenum.dart' as $3;
+import 'utils.pbenum.dart' as $4;
+import 'version.pb.dart' as $1;
 
 export 'drive.pbenum.dart';
 
@@ -32,10 +32,10 @@ class DriveCommand extends $pb.GeneratedMessage {
     $core.double? frontTilt,
     $core.double? rearSwivel,
     $core.double? rearTilt,
-    $5.RoverStatus? status,
-    $3.Version? version,
+    $3.RoverStatus? status,
+    $1.Version? version,
     ProtoColor? color,
-    $0.BoolState? blink,
+    $4.BoolState? blink,
   }) {
     final $result = create();
     if (throttle != null) {
@@ -97,10 +97,10 @@ class DriveCommand extends $pb.GeneratedMessage {
     ..a<$core.double>(8, _omitFieldNames ? '' : 'frontTilt', $pb.PbFieldType.OF)
     ..a<$core.double>(9, _omitFieldNames ? '' : 'rearSwivel', $pb.PbFieldType.OF)
     ..a<$core.double>(10, _omitFieldNames ? '' : 'rearTilt', $pb.PbFieldType.OF)
-    ..e<$5.RoverStatus>(11, _omitFieldNames ? '' : 'status', $pb.PbFieldType.OE, defaultOrMaker: $5.RoverStatus.DISCONNECTED, valueOf: $5.RoverStatus.valueOf, enumValues: $5.RoverStatus.values)
-    ..aOM<$3.Version>(12, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..e<$3.RoverStatus>(11, _omitFieldNames ? '' : 'status', $pb.PbFieldType.OE, defaultOrMaker: $3.RoverStatus.DISCONNECTED, valueOf: $3.RoverStatus.valueOf, enumValues: $3.RoverStatus.values)
+    ..aOM<$1.Version>(12, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..e<ProtoColor>(13, _omitFieldNames ? '' : 'color', $pb.PbFieldType.OE, defaultOrMaker: ProtoColor.PROTO_COLOR_UNDEFINED, valueOf: ProtoColor.valueOf, enumValues: ProtoColor.values)
-    ..e<$0.BoolState>(14, _omitFieldNames ? '' : 'blink', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
+    ..e<$4.BoolState>(14, _omitFieldNames ? '' : 'blink', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
     ..hasRequiredFields = false
   ;
 
@@ -222,24 +222,24 @@ class DriveCommand extends $pb.GeneratedMessage {
   void clearRearTilt() => clearField(10);
 
   @$pb.TagNumber(11)
-  $5.RoverStatus get status => $_getN(10);
+  $3.RoverStatus get status => $_getN(10);
   @$pb.TagNumber(11)
-  set status($5.RoverStatus v) { setField(11, v); }
+  set status($3.RoverStatus v) { setField(11, v); }
   @$pb.TagNumber(11)
   $core.bool hasStatus() => $_has(10);
   @$pb.TagNumber(11)
   void clearStatus() => clearField(11);
 
   @$pb.TagNumber(12)
-  $3.Version get version => $_getN(11);
+  $1.Version get version => $_getN(11);
   @$pb.TagNumber(12)
-  set version($3.Version v) { setField(12, v); }
+  set version($1.Version v) { setField(12, v); }
   @$pb.TagNumber(12)
   $core.bool hasVersion() => $_has(11);
   @$pb.TagNumber(12)
   void clearVersion() => clearField(12);
   @$pb.TagNumber(12)
-  $3.Version ensureVersion() => $_ensure(11);
+  $1.Version ensureVersion() => $_ensure(11);
 
   @$pb.TagNumber(13)
   ProtoColor get color => $_getN(12);
@@ -251,9 +251,9 @@ class DriveCommand extends $pb.GeneratedMessage {
   void clearColor() => clearField(13);
 
   @$pb.TagNumber(14)
-  $0.BoolState get blink => $_getN(13);
+  $4.BoolState get blink => $_getN(13);
   @$pb.TagNumber(14)
-  set blink($0.BoolState v) { setField(14, v); }
+  set blink($4.BoolState v) { setField(14, v); }
   @$pb.TagNumber(14)
   $core.bool hasBlink() => $_has(13);
   @$pb.TagNumber(14)
@@ -367,9 +367,9 @@ class DriveData extends $pb.GeneratedMessage {
     $core.double? batteryVoltage,
     $core.double? batteryCurrent,
     $core.double? batteryTemperature,
-    $3.Version? version,
+    $1.Version? version,
     ProtoColor? color,
-    $5.RoverStatus? status,
+    $3.RoverStatus? status,
     DriveMotorData? frontLeftMotor,
     DriveMotorData? middleLeftMotor,
     DriveMotorData? backLeftMotor,
@@ -464,9 +464,9 @@ class DriveData extends $pb.GeneratedMessage {
     ..a<$core.double>(11, _omitFieldNames ? '' : 'batteryVoltage', $pb.PbFieldType.OF)
     ..a<$core.double>(12, _omitFieldNames ? '' : 'batteryCurrent', $pb.PbFieldType.OF)
     ..a<$core.double>(13, _omitFieldNames ? '' : 'batteryTemperature', $pb.PbFieldType.OF)
-    ..aOM<$3.Version>(14, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(14, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..e<ProtoColor>(21, _omitFieldNames ? '' : 'color', $pb.PbFieldType.OE, defaultOrMaker: ProtoColor.PROTO_COLOR_UNDEFINED, valueOf: ProtoColor.valueOf, enumValues: ProtoColor.values)
-    ..e<$5.RoverStatus>(22, _omitFieldNames ? '' : 'status', $pb.PbFieldType.OE, defaultOrMaker: $5.RoverStatus.DISCONNECTED, valueOf: $5.RoverStatus.valueOf, enumValues: $5.RoverStatus.values)
+    ..e<$3.RoverStatus>(22, _omitFieldNames ? '' : 'status', $pb.PbFieldType.OE, defaultOrMaker: $3.RoverStatus.DISCONNECTED, valueOf: $3.RoverStatus.valueOf, enumValues: $3.RoverStatus.values)
     ..aOM<DriveMotorData>(23, _omitFieldNames ? '' : 'frontLeftMotor', subBuilder: DriveMotorData.create)
     ..aOM<DriveMotorData>(24, _omitFieldNames ? '' : 'middleLeftMotor', subBuilder: DriveMotorData.create)
     ..aOM<DriveMotorData>(25, _omitFieldNames ? '' : 'backLeftMotor', subBuilder: DriveMotorData.create)
@@ -622,15 +622,15 @@ class DriveData extends $pb.GeneratedMessage {
   void clearBatteryTemperature() => clearField(13);
 
   @$pb.TagNumber(14)
-  $3.Version get version => $_getN(13);
+  $1.Version get version => $_getN(13);
   @$pb.TagNumber(14)
-  set version($3.Version v) { setField(14, v); }
+  set version($1.Version v) { setField(14, v); }
   @$pb.TagNumber(14)
   $core.bool hasVersion() => $_has(13);
   @$pb.TagNumber(14)
   void clearVersion() => clearField(14);
   @$pb.TagNumber(14)
-  $3.Version ensureVersion() => $_ensure(13);
+  $1.Version ensureVersion() => $_ensure(13);
 
   @$pb.TagNumber(21)
   ProtoColor get color => $_getN(14);
@@ -642,9 +642,9 @@ class DriveData extends $pb.GeneratedMessage {
   void clearColor() => clearField(21);
 
   @$pb.TagNumber(22)
-  $5.RoverStatus get status => $_getN(15);
+  $3.RoverStatus get status => $_getN(15);
   @$pb.TagNumber(22)
-  set status($5.RoverStatus v) { setField(22, v); }
+  set status($3.RoverStatus v) { setField(22, v); }
   @$pb.TagNumber(22)
   $core.bool hasStatus() => $_has(15);
   @$pb.TagNumber(22)
diff --git a/burt_network/lib/src/generated/google/protobuf/timestamp.pb.dart b/burt_network/lib/src/generated/google/protobuf/timestamp.pb.dart
index ea44b44e..fd4037d9 100644
--- a/burt_network/lib/src/generated/google/protobuf/timestamp.pb.dart
+++ b/burt_network/lib/src/generated/google/protobuf/timestamp.pb.dart
@@ -149,9 +149,9 @@ class Timestamp extends $pb.GeneratedMessage with $mixin.TimestampMixin {
   static Timestamp getDefault() => _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<Timestamp>(create);
   static Timestamp? _defaultInstance;
 
-  /// Represents seconds of UTC time since Unix epoch
-  /// 1970-01-01T00:00:00Z. Must be from 0001-01-01T00:00:00Z to
-  /// 9999-12-31T23:59:59Z inclusive.
+  /// Represents seconds of UTC time since Unix epoch 1970-01-01T00:00:00Z. Must
+  /// be between -315576000000 and 315576000000 inclusive (which corresponds to
+  /// 0001-01-01T00:00:00Z to 9999-12-31T23:59:59Z).
   @$pb.TagNumber(1)
   $fixnum.Int64 get seconds => $_getI64(0);
   @$pb.TagNumber(1)
@@ -161,9 +161,10 @@ class Timestamp extends $pb.GeneratedMessage with $mixin.TimestampMixin {
   @$pb.TagNumber(1)
   void clearSeconds() => clearField(1);
 
-  /// Non-negative fractions of a second at nanosecond resolution. Negative
-  /// second values with fractions must still have non-negative nanos values
-  /// that count forward in time. Must be from 0 to 999,999,999
+  /// Non-negative fractions of a second at nanosecond resolution. This field is
+  /// the nanosecond portion of the duration, not an alternative to seconds.
+  /// Negative second values with fractions must still have non-negative nanos
+  /// values that count forward in time. Must be between 0 and 999,999,999
   /// inclusive.
   @$pb.TagNumber(2)
   $core.int get nanos => $_getIZ(1);
diff --git a/burt_network/lib/src/generated/gps.pb.dart b/burt_network/lib/src/generated/gps.pb.dart
index 9ee4ab4a..c3016f47 100644
--- a/burt_network/lib/src/generated/gps.pb.dart
+++ b/burt_network/lib/src/generated/gps.pb.dart
@@ -13,9 +13,9 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'geometry.pb.dart' as $1;
+import 'geometry.pb.dart' as $0;
 import 'gps.pbenum.dart';
-import 'version.pb.dart' as $3;
+import 'version.pb.dart' as $1;
 
 export 'gps.pbenum.dart';
 
@@ -114,8 +114,8 @@ class GpsCoordinates extends $pb.GeneratedMessage {
 class RoverPosition extends $pb.GeneratedMessage {
   factory RoverPosition({
     GpsCoordinates? gps,
-    $1.Orientation? orientation,
-    $3.Version? version,
+    $0.Orientation? orientation,
+    $1.Version? version,
     $core.List<$core.int>? rtkMessage,
   }) {
     final $result = create();
@@ -139,8 +139,8 @@ class RoverPosition extends $pb.GeneratedMessage {
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'RoverPosition', createEmptyInstance: create)
     ..aOM<GpsCoordinates>(1, _omitFieldNames ? '' : 'gps', subBuilder: GpsCoordinates.create)
-    ..aOM<$1.Orientation>(2, _omitFieldNames ? '' : 'orientation', subBuilder: $1.Orientation.create)
-    ..aOM<$3.Version>(3, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$0.Orientation>(2, _omitFieldNames ? '' : 'orientation', subBuilder: $0.Orientation.create)
+    ..aOM<$1.Version>(3, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..a<$core.List<$core.int>>(4, _omitFieldNames ? '' : 'rtkMessage', $pb.PbFieldType.OY, protoName: 'rtkMessage')
     ..hasRequiredFields = false
   ;
@@ -178,26 +178,26 @@ class RoverPosition extends $pb.GeneratedMessage {
   GpsCoordinates ensureGps() => $_ensure(0);
 
   @$pb.TagNumber(2)
-  $1.Orientation get orientation => $_getN(1);
+  $0.Orientation get orientation => $_getN(1);
   @$pb.TagNumber(2)
-  set orientation($1.Orientation v) { setField(2, v); }
+  set orientation($0.Orientation v) { setField(2, v); }
   @$pb.TagNumber(2)
   $core.bool hasOrientation() => $_has(1);
   @$pb.TagNumber(2)
   void clearOrientation() => clearField(2);
   @$pb.TagNumber(2)
-  $1.Orientation ensureOrientation() => $_ensure(1);
+  $0.Orientation ensureOrientation() => $_ensure(1);
 
   @$pb.TagNumber(3)
-  $3.Version get version => $_getN(2);
+  $1.Version get version => $_getN(2);
   @$pb.TagNumber(3)
-  set version($3.Version v) { setField(3, v); }
+  set version($1.Version v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasVersion() => $_has(2);
   @$pb.TagNumber(3)
   void clearVersion() => clearField(3);
   @$pb.TagNumber(3)
-  $3.Version ensureVersion() => $_ensure(2);
+  $1.Version ensureVersion() => $_ensure(2);
 
   @$pb.TagNumber(4)
   $core.List<$core.int> get rtkMessage => $_getN(3);
diff --git a/burt_network/lib/src/generated/lidar.pb.dart b/burt_network/lib/src/generated/lidar.pb.dart
index af2cf2e7..9f8edfb9 100644
--- a/burt_network/lib/src/generated/lidar.pb.dart
+++ b/burt_network/lib/src/generated/lidar.pb.dart
@@ -13,7 +13,7 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'version.pb.dart' as $3;
+import 'version.pb.dart' as $1;
 
 class LidarCartesianPoint extends $pb.GeneratedMessage {
   factory LidarCartesianPoint({
@@ -147,7 +147,7 @@ class LidarPointCloud extends $pb.GeneratedMessage {
   factory LidarPointCloud({
     $core.Iterable<LidarCartesianPoint>? cartesian,
     $core.Iterable<LidarPolarPoint>? polar,
-    $3.Version? version,
+    $1.Version? version,
   }) {
     final $result = create();
     if (cartesian != null) {
@@ -168,7 +168,7 @@ class LidarPointCloud extends $pb.GeneratedMessage {
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'LidarPointCloud', createEmptyInstance: create)
     ..pc<LidarCartesianPoint>(1, _omitFieldNames ? '' : 'cartesian', $pb.PbFieldType.PM, subBuilder: LidarCartesianPoint.create)
     ..pc<LidarPolarPoint>(2, _omitFieldNames ? '' : 'polar', $pb.PbFieldType.PM, subBuilder: LidarPolarPoint.create)
-    ..aOM<$3.Version>(3, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(3, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..hasRequiredFields = false
   ;
 
@@ -200,15 +200,15 @@ class LidarPointCloud extends $pb.GeneratedMessage {
   $core.List<LidarPolarPoint> get polar => $_getList(1);
 
   @$pb.TagNumber(3)
-  $3.Version get version => $_getN(2);
+  $1.Version get version => $_getN(2);
   @$pb.TagNumber(3)
-  set version($3.Version v) { setField(3, v); }
+  set version($1.Version v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasVersion() => $_has(2);
   @$pb.TagNumber(3)
   void clearVersion() => clearField(3);
   @$pb.TagNumber(3)
-  $3.Version ensureVersion() => $_ensure(2);
+  $1.Version ensureVersion() => $_ensure(2);
 }
 
 
diff --git a/burt_network/lib/src/generated/logs.pb.dart b/burt_network/lib/src/generated/logs.pb.dart
index 2c99466f..0f673c31 100644
--- a/burt_network/lib/src/generated/logs.pb.dart
+++ b/burt_network/lib/src/generated/logs.pb.dart
@@ -13,7 +13,7 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'core.pbenum.dart' as $6;
+import 'core.pbenum.dart' as $7;
 import 'logs.pbenum.dart';
 
 export 'logs.pbenum.dart';
@@ -23,7 +23,7 @@ class BurtLog extends $pb.GeneratedMessage {
     BurtLogLevel? level,
     $core.String? title,
     $core.String? body,
-    $6.Device? device,
+    $7.Device? device,
   }) {
     final $result = create();
     if (level != null) {
@@ -48,7 +48,7 @@ class BurtLog extends $pb.GeneratedMessage {
     ..e<BurtLogLevel>(1, _omitFieldNames ? '' : 'level', $pb.PbFieldType.OE, defaultOrMaker: BurtLogLevel.BURT_LOG_LEVEL_UNDEFINED, valueOf: BurtLogLevel.valueOf, enumValues: BurtLogLevel.values)
     ..aOS(2, _omitFieldNames ? '' : 'title')
     ..aOS(3, _omitFieldNames ? '' : 'body')
-    ..e<$6.Device>(4, _omitFieldNames ? '' : 'device', $pb.PbFieldType.OE, defaultOrMaker: $6.Device.DEVICE_UNDEFINED, valueOf: $6.Device.valueOf, enumValues: $6.Device.values)
+    ..e<$7.Device>(4, _omitFieldNames ? '' : 'device', $pb.PbFieldType.OE, defaultOrMaker: $7.Device.DEVICE_UNDEFINED, valueOf: $7.Device.valueOf, enumValues: $7.Device.values)
     ..hasRequiredFields = false
   ;
 
@@ -101,9 +101,9 @@ class BurtLog extends $pb.GeneratedMessage {
   void clearBody() => clearField(3);
 
   @$pb.TagNumber(4)
-  $6.Device get device => $_getN(3);
+  $7.Device get device => $_getN(3);
   @$pb.TagNumber(4)
-  set device($6.Device v) { setField(4, v); }
+  set device($7.Device v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasDevice() => $_has(3);
   @$pb.TagNumber(4)
diff --git a/burt_network/lib/src/generated/motor.pb.dart b/burt_network/lib/src/generated/motor.pb.dart
index 43c33a3e..3022063e 100644
--- a/burt_network/lib/src/generated/motor.pb.dart
+++ b/burt_network/lib/src/generated/motor.pb.dart
@@ -14,14 +14,14 @@ import 'dart:core' as $core;
 import 'package:protobuf/protobuf.dart' as $pb;
 
 import 'motor.pbenum.dart';
-import 'utils.pbenum.dart' as $0;
+import 'utils.pbenum.dart' as $4;
 
 export 'motor.pbenum.dart';
 
 class MotorData extends $pb.GeneratedMessage {
   factory MotorData({
-    $0.BoolState? isMoving,
-    $0.BoolState? isLimitSwitchPressed,
+    $4.BoolState? isMoving,
+    $4.BoolState? isLimitSwitchPressed,
     MotorDirection? direction,
     $core.int? currentStep,
     $core.int? targetStep,
@@ -57,8 +57,8 @@ class MotorData extends $pb.GeneratedMessage {
   factory MotorData.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'MotorData', createEmptyInstance: create)
-    ..e<$0.BoolState>(1, _omitFieldNames ? '' : 'isMoving', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(2, _omitFieldNames ? '' : 'isLimitSwitchPressed', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
+    ..e<$4.BoolState>(1, _omitFieldNames ? '' : 'isMoving', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(2, _omitFieldNames ? '' : 'isLimitSwitchPressed', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
     ..e<MotorDirection>(3, _omitFieldNames ? '' : 'direction', $pb.PbFieldType.OE, defaultOrMaker: MotorDirection.MOTOR_DIRECTION_UNDEFINED, valueOf: MotorDirection.valueOf, enumValues: MotorDirection.values)
     ..a<$core.int>(4, _omitFieldNames ? '' : 'currentStep', $pb.PbFieldType.O3)
     ..a<$core.int>(5, _omitFieldNames ? '' : 'targetStep', $pb.PbFieldType.O3)
@@ -89,18 +89,18 @@ class MotorData extends $pb.GeneratedMessage {
   static MotorData? _defaultInstance;
 
   @$pb.TagNumber(1)
-  $0.BoolState get isMoving => $_getN(0);
+  $4.BoolState get isMoving => $_getN(0);
   @$pb.TagNumber(1)
-  set isMoving($0.BoolState v) { setField(1, v); }
+  set isMoving($4.BoolState v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasIsMoving() => $_has(0);
   @$pb.TagNumber(1)
   void clearIsMoving() => clearField(1);
 
   @$pb.TagNumber(2)
-  $0.BoolState get isLimitSwitchPressed => $_getN(1);
+  $4.BoolState get isLimitSwitchPressed => $_getN(1);
   @$pb.TagNumber(2)
-  set isLimitSwitchPressed($0.BoolState v) { setField(2, v); }
+  set isLimitSwitchPressed($4.BoolState v) { setField(2, v); }
   @$pb.TagNumber(2)
   $core.bool hasIsLimitSwitchPressed() => $_has(1);
   @$pb.TagNumber(2)
diff --git a/burt_network/lib/src/generated/relays.pb.dart b/burt_network/lib/src/generated/relays.pb.dart
index 01967f64..f5a139d1 100644
--- a/burt_network/lib/src/generated/relays.pb.dart
+++ b/burt_network/lib/src/generated/relays.pb.dart
@@ -13,18 +13,18 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'utils.pbenum.dart' as $0;
+import 'utils.pbenum.dart' as $4;
 
 class RelaysCommand extends $pb.GeneratedMessage {
   factory RelaysCommand({
-    $0.BoolState? backLeftMotor,
-    $0.BoolState? backRightMotor,
-    $0.BoolState? frontLeftMotor,
-    $0.BoolState? frontRightMotor,
-    $0.BoolState? arm,
-    $0.BoolState? science,
-    $0.BoolState? drive,
-    $0.BoolState? bypass,
+    $4.BoolState? backLeftMotor,
+    $4.BoolState? backRightMotor,
+    $4.BoolState? frontLeftMotor,
+    $4.BoolState? frontRightMotor,
+    $4.BoolState? arm,
+    $4.BoolState? science,
+    $4.BoolState? drive,
+    $4.BoolState? bypass,
   }) {
     final $result = create();
     if (backLeftMotor != null) {
@@ -58,14 +58,14 @@ class RelaysCommand extends $pb.GeneratedMessage {
   factory RelaysCommand.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'RelaysCommand', createEmptyInstance: create)
-    ..e<$0.BoolState>(1, _omitFieldNames ? '' : 'backLeftMotor', $pb.PbFieldType.OE, protoName: 'backLeftMotor', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(2, _omitFieldNames ? '' : 'backRightMotor', $pb.PbFieldType.OE, protoName: 'backRightMotor', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(3, _omitFieldNames ? '' : 'frontLeftMotor', $pb.PbFieldType.OE, protoName: 'frontLeftMotor', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(4, _omitFieldNames ? '' : 'frontRightMotor', $pb.PbFieldType.OE, protoName: 'frontRightMotor', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(5, _omitFieldNames ? '' : 'arm', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(6, _omitFieldNames ? '' : 'science', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(7, _omitFieldNames ? '' : 'drive', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(8, _omitFieldNames ? '' : 'bypass', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
+    ..e<$4.BoolState>(1, _omitFieldNames ? '' : 'backLeftMotor', $pb.PbFieldType.OE, protoName: 'backLeftMotor', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(2, _omitFieldNames ? '' : 'backRightMotor', $pb.PbFieldType.OE, protoName: 'backRightMotor', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(3, _omitFieldNames ? '' : 'frontLeftMotor', $pb.PbFieldType.OE, protoName: 'frontLeftMotor', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(4, _omitFieldNames ? '' : 'frontRightMotor', $pb.PbFieldType.OE, protoName: 'frontRightMotor', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(5, _omitFieldNames ? '' : 'arm', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(6, _omitFieldNames ? '' : 'science', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(7, _omitFieldNames ? '' : 'drive', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(8, _omitFieldNames ? '' : 'bypass', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
     ..hasRequiredFields = false
   ;
 
@@ -92,63 +92,63 @@ class RelaysCommand extends $pb.GeneratedMessage {
 
   /// Turn the following devices on or off
   @$pb.TagNumber(1)
-  $0.BoolState get backLeftMotor => $_getN(0);
+  $4.BoolState get backLeftMotor => $_getN(0);
   @$pb.TagNumber(1)
-  set backLeftMotor($0.BoolState v) { setField(1, v); }
+  set backLeftMotor($4.BoolState v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasBackLeftMotor() => $_has(0);
   @$pb.TagNumber(1)
   void clearBackLeftMotor() => clearField(1);
 
   @$pb.TagNumber(2)
-  $0.BoolState get backRightMotor => $_getN(1);
+  $4.BoolState get backRightMotor => $_getN(1);
   @$pb.TagNumber(2)
-  set backRightMotor($0.BoolState v) { setField(2, v); }
+  set backRightMotor($4.BoolState v) { setField(2, v); }
   @$pb.TagNumber(2)
   $core.bool hasBackRightMotor() => $_has(1);
   @$pb.TagNumber(2)
   void clearBackRightMotor() => clearField(2);
 
   @$pb.TagNumber(3)
-  $0.BoolState get frontLeftMotor => $_getN(2);
+  $4.BoolState get frontLeftMotor => $_getN(2);
   @$pb.TagNumber(3)
-  set frontLeftMotor($0.BoolState v) { setField(3, v); }
+  set frontLeftMotor($4.BoolState v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasFrontLeftMotor() => $_has(2);
   @$pb.TagNumber(3)
   void clearFrontLeftMotor() => clearField(3);
 
   @$pb.TagNumber(4)
-  $0.BoolState get frontRightMotor => $_getN(3);
+  $4.BoolState get frontRightMotor => $_getN(3);
   @$pb.TagNumber(4)
-  set frontRightMotor($0.BoolState v) { setField(4, v); }
+  set frontRightMotor($4.BoolState v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasFrontRightMotor() => $_has(3);
   @$pb.TagNumber(4)
   void clearFrontRightMotor() => clearField(4);
 
   @$pb.TagNumber(5)
-  $0.BoolState get arm => $_getN(4);
+  $4.BoolState get arm => $_getN(4);
   @$pb.TagNumber(5)
-  set arm($0.BoolState v) { setField(5, v); }
+  set arm($4.BoolState v) { setField(5, v); }
   @$pb.TagNumber(5)
   $core.bool hasArm() => $_has(4);
   @$pb.TagNumber(5)
   void clearArm() => clearField(5);
 
   @$pb.TagNumber(6)
-  $0.BoolState get science => $_getN(5);
+  $4.BoolState get science => $_getN(5);
   @$pb.TagNumber(6)
-  set science($0.BoolState v) { setField(6, v); }
+  set science($4.BoolState v) { setField(6, v); }
   @$pb.TagNumber(6)
   $core.bool hasScience() => $_has(5);
   @$pb.TagNumber(6)
   void clearScience() => clearField(6);
 
   @$pb.TagNumber(7)
-  $0.BoolState get drive => $_getN(6);
+  $4.BoolState get drive => $_getN(6);
   @$pb.TagNumber(7)
-  set drive($0.BoolState v) { setField(7, v); }
+  set drive($4.BoolState v) { setField(7, v); }
   @$pb.TagNumber(7)
   $core.bool hasDrive() => $_has(6);
   @$pb.TagNumber(7)
@@ -156,9 +156,9 @@ class RelaysCommand extends $pb.GeneratedMessage {
 
   /// Special commands
   @$pb.TagNumber(8)
-  $0.BoolState get bypass => $_getN(7);
+  $4.BoolState get bypass => $_getN(7);
   @$pb.TagNumber(8)
-  set bypass($0.BoolState v) { setField(8, v); }
+  set bypass($4.BoolState v) { setField(8, v); }
   @$pb.TagNumber(8)
   $core.bool hasBypass() => $_has(7);
   @$pb.TagNumber(8)
@@ -167,15 +167,15 @@ class RelaysCommand extends $pb.GeneratedMessage {
 
 class RelaysData extends $pb.GeneratedMessage {
   factory RelaysData({
-    $0.BoolState? backLeftMotor,
-    $0.BoolState? backRightMotor,
-    $0.BoolState? frontLeftMotor,
-    $0.BoolState? frontRightMotor,
-    $0.BoolState? arm,
-    $0.BoolState? science,
-    $0.BoolState? drive,
-    $0.BoolState? bypass,
-    $0.BoolState? mechanicalOverride,
+    $4.BoolState? backLeftMotor,
+    $4.BoolState? backRightMotor,
+    $4.BoolState? frontLeftMotor,
+    $4.BoolState? frontRightMotor,
+    $4.BoolState? arm,
+    $4.BoolState? science,
+    $4.BoolState? drive,
+    $4.BoolState? bypass,
+    $4.BoolState? mechanicalOverride,
   }) {
     final $result = create();
     if (backLeftMotor != null) {
@@ -212,15 +212,15 @@ class RelaysData extends $pb.GeneratedMessage {
   factory RelaysData.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'RelaysData', createEmptyInstance: create)
-    ..e<$0.BoolState>(1, _omitFieldNames ? '' : 'backLeftMotor', $pb.PbFieldType.OE, protoName: 'backLeftMotor', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(2, _omitFieldNames ? '' : 'backRightMotor', $pb.PbFieldType.OE, protoName: 'backRightMotor', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(3, _omitFieldNames ? '' : 'frontLeftMotor', $pb.PbFieldType.OE, protoName: 'frontLeftMotor', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(4, _omitFieldNames ? '' : 'frontRightMotor', $pb.PbFieldType.OE, protoName: 'frontRightMotor', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(5, _omitFieldNames ? '' : 'arm', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(6, _omitFieldNames ? '' : 'science', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(7, _omitFieldNames ? '' : 'drive', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(8, _omitFieldNames ? '' : 'bypass', $pb.PbFieldType.OE, defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(9, _omitFieldNames ? '' : 'mechanicalOverride', $pb.PbFieldType.OE, protoName: 'mechanicalOverride', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
+    ..e<$4.BoolState>(1, _omitFieldNames ? '' : 'backLeftMotor', $pb.PbFieldType.OE, protoName: 'backLeftMotor', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(2, _omitFieldNames ? '' : 'backRightMotor', $pb.PbFieldType.OE, protoName: 'backRightMotor', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(3, _omitFieldNames ? '' : 'frontLeftMotor', $pb.PbFieldType.OE, protoName: 'frontLeftMotor', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(4, _omitFieldNames ? '' : 'frontRightMotor', $pb.PbFieldType.OE, protoName: 'frontRightMotor', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(5, _omitFieldNames ? '' : 'arm', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(6, _omitFieldNames ? '' : 'science', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(7, _omitFieldNames ? '' : 'drive', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(8, _omitFieldNames ? '' : 'bypass', $pb.PbFieldType.OE, defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(9, _omitFieldNames ? '' : 'mechanicalOverride', $pb.PbFieldType.OE, protoName: 'mechanicalOverride', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
     ..hasRequiredFields = false
   ;
 
@@ -247,63 +247,63 @@ class RelaysData extends $pb.GeneratedMessage {
 
   /// Whether the following devices are on or off
   @$pb.TagNumber(1)
-  $0.BoolState get backLeftMotor => $_getN(0);
+  $4.BoolState get backLeftMotor => $_getN(0);
   @$pb.TagNumber(1)
-  set backLeftMotor($0.BoolState v) { setField(1, v); }
+  set backLeftMotor($4.BoolState v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasBackLeftMotor() => $_has(0);
   @$pb.TagNumber(1)
   void clearBackLeftMotor() => clearField(1);
 
   @$pb.TagNumber(2)
-  $0.BoolState get backRightMotor => $_getN(1);
+  $4.BoolState get backRightMotor => $_getN(1);
   @$pb.TagNumber(2)
-  set backRightMotor($0.BoolState v) { setField(2, v); }
+  set backRightMotor($4.BoolState v) { setField(2, v); }
   @$pb.TagNumber(2)
   $core.bool hasBackRightMotor() => $_has(1);
   @$pb.TagNumber(2)
   void clearBackRightMotor() => clearField(2);
 
   @$pb.TagNumber(3)
-  $0.BoolState get frontLeftMotor => $_getN(2);
+  $4.BoolState get frontLeftMotor => $_getN(2);
   @$pb.TagNumber(3)
-  set frontLeftMotor($0.BoolState v) { setField(3, v); }
+  set frontLeftMotor($4.BoolState v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasFrontLeftMotor() => $_has(2);
   @$pb.TagNumber(3)
   void clearFrontLeftMotor() => clearField(3);
 
   @$pb.TagNumber(4)
-  $0.BoolState get frontRightMotor => $_getN(3);
+  $4.BoolState get frontRightMotor => $_getN(3);
   @$pb.TagNumber(4)
-  set frontRightMotor($0.BoolState v) { setField(4, v); }
+  set frontRightMotor($4.BoolState v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasFrontRightMotor() => $_has(3);
   @$pb.TagNumber(4)
   void clearFrontRightMotor() => clearField(4);
 
   @$pb.TagNumber(5)
-  $0.BoolState get arm => $_getN(4);
+  $4.BoolState get arm => $_getN(4);
   @$pb.TagNumber(5)
-  set arm($0.BoolState v) { setField(5, v); }
+  set arm($4.BoolState v) { setField(5, v); }
   @$pb.TagNumber(5)
   $core.bool hasArm() => $_has(4);
   @$pb.TagNumber(5)
   void clearArm() => clearField(5);
 
   @$pb.TagNumber(6)
-  $0.BoolState get science => $_getN(5);
+  $4.BoolState get science => $_getN(5);
   @$pb.TagNumber(6)
-  set science($0.BoolState v) { setField(6, v); }
+  set science($4.BoolState v) { setField(6, v); }
   @$pb.TagNumber(6)
   $core.bool hasScience() => $_has(5);
   @$pb.TagNumber(6)
   void clearScience() => clearField(6);
 
   @$pb.TagNumber(7)
-  $0.BoolState get drive => $_getN(6);
+  $4.BoolState get drive => $_getN(6);
   @$pb.TagNumber(7)
-  set drive($0.BoolState v) { setField(7, v); }
+  set drive($4.BoolState v) { setField(7, v); }
   @$pb.TagNumber(7)
   $core.bool hasDrive() => $_has(6);
   @$pb.TagNumber(7)
@@ -311,18 +311,18 @@ class RelaysData extends $pb.GeneratedMessage {
 
   /// Special data
   @$pb.TagNumber(8)
-  $0.BoolState get bypass => $_getN(7);
+  $4.BoolState get bypass => $_getN(7);
   @$pb.TagNumber(8)
-  set bypass($0.BoolState v) { setField(8, v); }
+  set bypass($4.BoolState v) { setField(8, v); }
   @$pb.TagNumber(8)
   $core.bool hasBypass() => $_has(7);
   @$pb.TagNumber(8)
   void clearBypass() => clearField(8);
 
   @$pb.TagNumber(9)
-  $0.BoolState get mechanicalOverride => $_getN(8);
+  $4.BoolState get mechanicalOverride => $_getN(8);
   @$pb.TagNumber(9)
-  set mechanicalOverride($0.BoolState v) { setField(9, v); }
+  set mechanicalOverride($4.BoolState v) { setField(9, v); }
   @$pb.TagNumber(9)
   $core.bool hasMechanicalOverride() => $_has(8);
   @$pb.TagNumber(9)
diff --git a/burt_network/lib/src/generated/science.pb.dart b/burt_network/lib/src/generated/science.pb.dart
index 96d94c3c..dfc0fba4 100644
--- a/burt_network/lib/src/generated/science.pb.dart
+++ b/burt_network/lib/src/generated/science.pb.dart
@@ -14,7 +14,7 @@ import 'dart:core' as $core;
 import 'package:protobuf/protobuf.dart' as $pb;
 
 import 'science.pbenum.dart';
-import 'version.pb.dart' as $3;
+import 'version.pb.dart' as $1;
 
 export 'science.pbenum.dart';
 
@@ -32,7 +32,7 @@ class ScienceCommand extends $pb.GeneratedMessage {
     $core.bool? stop,
     $core.int? sample,
     ScienceState? state,
-    $3.Version? version,
+    $1.Version? version,
   }) {
     final $result = create();
     if (carouselMotor != null) {
@@ -89,7 +89,7 @@ class ScienceCommand extends $pb.GeneratedMessage {
     ..aOB(9, _omitFieldNames ? '' : 'stop')
     ..a<$core.int>(10, _omitFieldNames ? '' : 'sample', $pb.PbFieldType.O3)
     ..e<ScienceState>(11, _omitFieldNames ? '' : 'state', $pb.PbFieldType.OE, defaultOrMaker: ScienceState.SCIENCE_STATE_UNDEFINED, valueOf: ScienceState.valueOf, enumValues: ScienceState.values)
-    ..aOM<$3.Version>(12, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(12, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..hasRequiredFields = false
   ;
 
@@ -217,15 +217,15 @@ class ScienceCommand extends $pb.GeneratedMessage {
   void clearState() => clearField(11);
 
   @$pb.TagNumber(12)
-  $3.Version get version => $_getN(11);
+  $1.Version get version => $_getN(11);
   @$pb.TagNumber(12)
-  set version($3.Version v) { setField(12, v); }
+  set version($1.Version v) { setField(12, v); }
   @$pb.TagNumber(12)
   $core.bool hasVersion() => $_has(11);
   @$pb.TagNumber(12)
   void clearVersion() => clearField(12);
   @$pb.TagNumber(12)
-  $3.Version ensureVersion() => $_ensure(11);
+  $1.Version ensureVersion() => $_ensure(11);
 }
 
 /// / Data coming from the science subsystem.
@@ -236,7 +236,7 @@ class ScienceData extends $pb.GeneratedMessage {
     $core.double? co2,
     $core.double? humidity,
     $core.double? temperature,
-    $3.Version? version,
+    $1.Version? version,
   }) {
     final $result = create();
     if (sample != null) {
@@ -269,7 +269,7 @@ class ScienceData extends $pb.GeneratedMessage {
     ..a<$core.double>(3, _omitFieldNames ? '' : 'co2', $pb.PbFieldType.OF)
     ..a<$core.double>(4, _omitFieldNames ? '' : 'humidity', $pb.PbFieldType.OF)
     ..a<$core.double>(5, _omitFieldNames ? '' : 'temperature', $pb.PbFieldType.OF)
-    ..aOM<$3.Version>(6, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(6, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..hasRequiredFields = false
   ;
 
@@ -342,15 +342,15 @@ class ScienceData extends $pb.GeneratedMessage {
   void clearTemperature() => clearField(5);
 
   @$pb.TagNumber(6)
-  $3.Version get version => $_getN(5);
+  $1.Version get version => $_getN(5);
   @$pb.TagNumber(6)
-  set version($3.Version v) { setField(6, v); }
+  set version($1.Version v) { setField(6, v); }
   @$pb.TagNumber(6)
   $core.bool hasVersion() => $_has(5);
   @$pb.TagNumber(6)
   void clearVersion() => clearField(6);
   @$pb.TagNumber(6)
-  $3.Version ensureVersion() => $_ensure(5);
+  $1.Version ensureVersion() => $_ensure(5);
 }
 
 
diff --git a/burt_network/lib/src/generated/subsystems.pb.dart b/burt_network/lib/src/generated/subsystems.pb.dart
index 6c4b90e6..fd367851 100644
--- a/burt_network/lib/src/generated/subsystems.pb.dart
+++ b/burt_network/lib/src/generated/subsystems.pb.dart
@@ -13,14 +13,14 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'core.pbenum.dart' as $6;
-import 'utils.pbenum.dart' as $0;
-import 'version.pb.dart' as $3;
+import 'core.pbenum.dart' as $7;
+import 'utils.pbenum.dart' as $4;
+import 'version.pb.dart' as $1;
 
 class SubsystemsCommand extends $pb.GeneratedMessage {
   factory SubsystemsCommand({
     $core.bool? zeroIMU,
-    $3.Version? version,
+    $1.Version? version,
   }) {
     final $result = create();
     if (zeroIMU != null) {
@@ -37,7 +37,7 @@ class SubsystemsCommand extends $pb.GeneratedMessage {
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'SubsystemsCommand', createEmptyInstance: create)
     ..aOB(1, _omitFieldNames ? '' : 'zeroIMU', protoName: 'zeroIMU')
-    ..aOM<$3.Version>(2, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(2, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..hasRequiredFields = false
   ;
 
@@ -72,23 +72,23 @@ class SubsystemsCommand extends $pb.GeneratedMessage {
   void clearZeroIMU() => clearField(1);
 
   @$pb.TagNumber(2)
-  $3.Version get version => $_getN(1);
+  $1.Version get version => $_getN(1);
   @$pb.TagNumber(2)
-  set version($3.Version v) { setField(2, v); }
+  set version($1.Version v) { setField(2, v); }
   @$pb.TagNumber(2)
   $core.bool hasVersion() => $_has(1);
   @$pb.TagNumber(2)
   void clearVersion() => clearField(2);
   @$pb.TagNumber(2)
-  $3.Version ensureVersion() => $_ensure(1);
+  $1.Version ensureVersion() => $_ensure(1);
 }
 
 class SubsystemsData extends $pb.GeneratedMessage {
   factory SubsystemsData({
-    $3.Version? version,
-    $core.Iterable<$6.Device>? connectedDevices,
-    $0.BoolState? gpsConnected,
-    $0.BoolState? imuConnected,
+    $1.Version? version,
+    $core.Iterable<$7.Device>? connectedDevices,
+    $4.BoolState? gpsConnected,
+    $4.BoolState? imuConnected,
   }) {
     final $result = create();
     if (version != null) {
@@ -110,10 +110,10 @@ class SubsystemsData extends $pb.GeneratedMessage {
   factory SubsystemsData.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'SubsystemsData', createEmptyInstance: create)
-    ..aOM<$3.Version>(1, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
-    ..pc<$6.Device>(2, _omitFieldNames ? '' : 'connectedDevices', $pb.PbFieldType.KE, protoName: 'connectedDevices', valueOf: $6.Device.valueOf, enumValues: $6.Device.values, defaultEnumValue: $6.Device.DEVICE_UNDEFINED)
-    ..e<$0.BoolState>(3, _omitFieldNames ? '' : 'gpsConnected', $pb.PbFieldType.OE, protoName: 'gpsConnected', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
-    ..e<$0.BoolState>(4, _omitFieldNames ? '' : 'imuConnected', $pb.PbFieldType.OE, protoName: 'imuConnected', defaultOrMaker: $0.BoolState.BOOL_UNDEFINED, valueOf: $0.BoolState.valueOf, enumValues: $0.BoolState.values)
+    ..aOM<$1.Version>(1, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
+    ..pc<$7.Device>(2, _omitFieldNames ? '' : 'connectedDevices', $pb.PbFieldType.KE, protoName: 'connectedDevices', valueOf: $7.Device.valueOf, enumValues: $7.Device.values, defaultEnumValue: $7.Device.DEVICE_UNDEFINED)
+    ..e<$4.BoolState>(3, _omitFieldNames ? '' : 'gpsConnected', $pb.PbFieldType.OE, protoName: 'gpsConnected', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
+    ..e<$4.BoolState>(4, _omitFieldNames ? '' : 'imuConnected', $pb.PbFieldType.OE, protoName: 'imuConnected', defaultOrMaker: $4.BoolState.BOOL_UNDEFINED, valueOf: $4.BoolState.valueOf, enumValues: $4.BoolState.values)
     ..hasRequiredFields = false
   ;
 
@@ -139,32 +139,32 @@ class SubsystemsData extends $pb.GeneratedMessage {
   static SubsystemsData? _defaultInstance;
 
   @$pb.TagNumber(1)
-  $3.Version get version => $_getN(0);
+  $1.Version get version => $_getN(0);
   @$pb.TagNumber(1)
-  set version($3.Version v) { setField(1, v); }
+  set version($1.Version v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasVersion() => $_has(0);
   @$pb.TagNumber(1)
   void clearVersion() => clearField(1);
   @$pb.TagNumber(1)
-  $3.Version ensureVersion() => $_ensure(0);
+  $1.Version ensureVersion() => $_ensure(0);
 
   @$pb.TagNumber(2)
-  $core.List<$6.Device> get connectedDevices => $_getList(1);
+  $core.List<$7.Device> get connectedDevices => $_getList(1);
 
   @$pb.TagNumber(3)
-  $0.BoolState get gpsConnected => $_getN(2);
+  $4.BoolState get gpsConnected => $_getN(2);
   @$pb.TagNumber(3)
-  set gpsConnected($0.BoolState v) { setField(3, v); }
+  set gpsConnected($4.BoolState v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasGpsConnected() => $_has(2);
   @$pb.TagNumber(3)
   void clearGpsConnected() => clearField(3);
 
   @$pb.TagNumber(4)
-  $0.BoolState get imuConnected => $_getN(3);
+  $4.BoolState get imuConnected => $_getN(3);
   @$pb.TagNumber(4)
-  set imuConnected($0.BoolState v) { setField(4, v); }
+  set imuConnected($4.BoolState v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasImuConnected() => $_has(3);
   @$pb.TagNumber(4)
diff --git a/burt_network/lib/src/generated/video.pb.dart b/burt_network/lib/src/generated/video.pb.dart
index 3df1f8ae..e675bc54 100644
--- a/burt_network/lib/src/generated/video.pb.dart
+++ b/burt_network/lib/src/generated/video.pb.dart
@@ -13,9 +13,9 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'version.pb.dart' as $3;
+import 'version.pb.dart' as $1;
 import 'video.pbenum.dart';
-import 'vision.pb.dart' as $7;
+import 'vision.pb.dart' as $6;
 
 export 'video.pbenum.dart';
 
@@ -38,6 +38,7 @@ class CameraDetails extends $pb.GeneratedMessage {
     $core.double? verticalFov,
     $core.int? streamWidth,
     $core.int? streamHeight,
+    $core.int? rotationQuarters,
   }) {
     final $result = create();
     if (name != null) {
@@ -88,6 +89,9 @@ class CameraDetails extends $pb.GeneratedMessage {
     if (streamHeight != null) {
       $result.streamHeight = streamHeight;
     }
+    if (rotationQuarters != null) {
+      $result.rotationQuarters = rotationQuarters;
+    }
     return $result;
   }
   CameraDetails._() : super();
@@ -111,6 +115,7 @@ class CameraDetails extends $pb.GeneratedMessage {
     ..a<$core.double>(14, _omitFieldNames ? '' : 'verticalFov', $pb.PbFieldType.OF)
     ..a<$core.int>(15, _omitFieldNames ? '' : 'streamWidth', $pb.PbFieldType.O3)
     ..a<$core.int>(16, _omitFieldNames ? '' : 'streamHeight', $pb.PbFieldType.O3)
+    ..a<$core.int>(17, _omitFieldNames ? '' : 'rotationQuarters', $pb.PbFieldType.O3, protoName: 'rotationQuarters')
     ..hasRequiredFields = false
   ;
 
@@ -285,6 +290,16 @@ class CameraDetails extends $pb.GeneratedMessage {
   $core.bool hasStreamHeight() => $_has(15);
   @$pb.TagNumber(16)
   void clearStreamHeight() => clearField(16);
+
+  /// / Number of 90 degrees rotation increments
+  @$pb.TagNumber(17)
+  $core.int get rotationQuarters => $_getIZ(16);
+  @$pb.TagNumber(17)
+  set rotationQuarters($core.int v) { $_setSignedInt32(16, v); }
+  @$pb.TagNumber(17)
+  $core.bool hasRotationQuarters() => $_has(16);
+  @$pb.TagNumber(17)
+  void clearRotationQuarters() => clearField(17);
 }
 
 /// / Reports data about a camera.
@@ -293,9 +308,9 @@ class VideoData extends $pb.GeneratedMessage {
     $core.String? id,
     CameraDetails? details,
     $core.List<$core.int>? frame,
-    $3.Version? version,
+    $1.Version? version,
     $core.String? imagePath,
-    $core.Iterable<$7.DetectedObject>? detectedObjects,
+    $core.Iterable<$6.DetectedObject>? detectedObjects,
   }) {
     final $result = create();
     if (id != null) {
@@ -326,9 +341,9 @@ class VideoData extends $pb.GeneratedMessage {
     ..aOS(1, _omitFieldNames ? '' : 'id')
     ..aOM<CameraDetails>(2, _omitFieldNames ? '' : 'details', subBuilder: CameraDetails.create)
     ..a<$core.List<$core.int>>(3, _omitFieldNames ? '' : 'frame', $pb.PbFieldType.OY)
-    ..aOM<$3.Version>(4, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(4, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..aOS(5, _omitFieldNames ? '' : 'imagePath', protoName: 'imagePath')
-    ..pc<$7.DetectedObject>(6, _omitFieldNames ? '' : 'detectedObjects', $pb.PbFieldType.PM, protoName: 'detectedObjects', subBuilder: $7.DetectedObject.create)
+    ..pc<$6.DetectedObject>(6, _omitFieldNames ? '' : 'detectedObjects', $pb.PbFieldType.PM, protoName: 'detectedObjects', subBuilder: $6.DetectedObject.create)
     ..hasRequiredFields = false
   ;
 
@@ -387,15 +402,15 @@ class VideoData extends $pb.GeneratedMessage {
 
   /// / The version of this video data.
   @$pb.TagNumber(4)
-  $3.Version get version => $_getN(3);
+  $1.Version get version => $_getN(3);
   @$pb.TagNumber(4)
-  set version($3.Version v) { setField(4, v); }
+  set version($1.Version v) { setField(4, v); }
   @$pb.TagNumber(4)
   $core.bool hasVersion() => $_has(3);
   @$pb.TagNumber(4)
   void clearVersion() => clearField(4);
   @$pb.TagNumber(4)
-  $3.Version ensureVersion() => $_ensure(3);
+  $1.Version ensureVersion() => $_ensure(3);
 
   /// / The path that a high-quality screenshot was saved to.
   @$pb.TagNumber(5)
@@ -409,7 +424,7 @@ class VideoData extends $pb.GeneratedMessage {
 
   /// / Any objects that were detected in the frame.
   @$pb.TagNumber(6)
-  $core.List<$7.DetectedObject> get detectedObjects => $_getList(5);
+  $core.List<$6.DetectedObject> get detectedObjects => $_getList(5);
 }
 
 /// / Make changes to a camera feed.
@@ -417,7 +432,7 @@ class VideoCommand extends $pb.GeneratedMessage {
   factory VideoCommand({
     $core.String? id,
     CameraDetails? details,
-    $3.Version? version,
+    $1.Version? version,
     $core.bool? takeSnapshot,
   }) {
     final $result = create();
@@ -442,7 +457,7 @@ class VideoCommand extends $pb.GeneratedMessage {
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'VideoCommand', createEmptyInstance: create)
     ..aOS(1, _omitFieldNames ? '' : 'id')
     ..aOM<CameraDetails>(2, _omitFieldNames ? '' : 'details', subBuilder: CameraDetails.create)
-    ..aOM<$3.Version>(3, _omitFieldNames ? '' : 'version', subBuilder: $3.Version.create)
+    ..aOM<$1.Version>(3, _omitFieldNames ? '' : 'version', subBuilder: $1.Version.create)
     ..aOB(4, _omitFieldNames ? '' : 'takeSnapshot', protoName: 'takeSnapshot')
     ..hasRequiredFields = false
   ;
@@ -493,15 +508,15 @@ class VideoCommand extends $pb.GeneratedMessage {
   CameraDetails ensureDetails() => $_ensure(1);
 
   @$pb.TagNumber(3)
-  $3.Version get version => $_getN(2);
+  $1.Version get version => $_getN(2);
   @$pb.TagNumber(3)
-  set version($3.Version v) { setField(3, v); }
+  set version($1.Version v) { setField(3, v); }
   @$pb.TagNumber(3)
   $core.bool hasVersion() => $_has(2);
   @$pb.TagNumber(3)
   void clearVersion() => clearField(3);
   @$pb.TagNumber(3)
-  $3.Version ensureVersion() => $_ensure(2);
+  $1.Version ensureVersion() => $_ensure(2);
 
   @$pb.TagNumber(4)
   $core.bool get takeSnapshot => $_getBF(3);
diff --git a/burt_network/lib/src/generated/video.pbjson.dart b/burt_network/lib/src/generated/video.pbjson.dart
index fbf5d8fe..75c49700 100644
--- a/burt_network/lib/src/generated/video.pbjson.dart
+++ b/burt_network/lib/src/generated/video.pbjson.dart
@@ -78,6 +78,7 @@ const CameraDetails$json = {
     {'1': 'vertical_fov', '3': 14, '4': 1, '5': 2, '10': 'verticalFov'},
     {'1': 'stream_width', '3': 15, '4': 1, '5': 5, '10': 'streamWidth'},
     {'1': 'stream_height', '3': 16, '4': 1, '5': 5, '10': 'streamHeight'},
+    {'1': 'rotationQuarters', '3': 17, '4': 1, '5': 5, '10': 'rotationQuarters'},
   ],
 };
 
@@ -92,7 +93,7 @@ final $typed_data.Uint8List cameraDetailsDescriptor = $convert.base64Decode(
     'ZGlhZ29uYWxfZm92GAwgASgCUgtkaWFnb25hbEZvdhIlCg5ob3Jpem9udGFsX2ZvdhgNIAEoAl'
     'INaG9yaXpvbnRhbEZvdhIhCgx2ZXJ0aWNhbF9mb3YYDiABKAJSC3ZlcnRpY2FsRm92EiEKDHN0'
     'cmVhbV93aWR0aBgPIAEoBVILc3RyZWFtV2lkdGgSIwoNc3RyZWFtX2hlaWdodBgQIAEoBVIMc3'
-    'RyZWFtSGVpZ2h0');
+    'RyZWFtSGVpZ2h0EioKEHJvdGF0aW9uUXVhcnRlcnMYESABKAVSEHJvdGF0aW9uUXVhcnRlcnM=');
 
 @$core.Deprecated('Use videoDataDescriptor instead')
 const VideoData$json = {
diff --git a/burt_network/lib/src/generated/vision.pb.dart b/burt_network/lib/src/generated/vision.pb.dart
index d026d4e5..bc1f4882 100644
--- a/burt_network/lib/src/generated/vision.pb.dart
+++ b/burt_network/lib/src/generated/vision.pb.dart
@@ -13,14 +13,14 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'geometry.pb.dart' as $1;
+import 'geometry.pb.dart' as $0;
 import 'vision.pbenum.dart';
 
 export 'vision.pbenum.dart';
 
 class PnpResult extends $pb.GeneratedMessage {
   factory PnpResult({
-    $1.Pose3d? cameraToTarget,
+    $0.Pose3d? cameraToTarget,
     $core.double? reprojectionError,
   }) {
     final $result = create();
@@ -37,7 +37,7 @@ class PnpResult extends $pb.GeneratedMessage {
   factory PnpResult.fromJson($core.String i, [$pb.ExtensionRegistry r = $pb.ExtensionRegistry.EMPTY]) => create()..mergeFromJson(i, r);
 
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(_omitMessageNames ? '' : 'PnpResult', createEmptyInstance: create)
-    ..aOM<$1.Pose3d>(1, _omitFieldNames ? '' : 'cameraToTarget', protoName: 'cameraToTarget', subBuilder: $1.Pose3d.create)
+    ..aOM<$0.Pose3d>(1, _omitFieldNames ? '' : 'cameraToTarget', protoName: 'cameraToTarget', subBuilder: $0.Pose3d.create)
     ..a<$core.double>(2, _omitFieldNames ? '' : 'reprojectionError', $pb.PbFieldType.OD, protoName: 'reprojectionError')
     ..hasRequiredFields = false
   ;
@@ -64,15 +64,15 @@ class PnpResult extends $pb.GeneratedMessage {
   static PnpResult? _defaultInstance;
 
   @$pb.TagNumber(1)
-  $1.Pose3d get cameraToTarget => $_getN(0);
+  $0.Pose3d get cameraToTarget => $_getN(0);
   @$pb.TagNumber(1)
-  set cameraToTarget($1.Pose3d v) { setField(1, v); }
+  set cameraToTarget($0.Pose3d v) { setField(1, v); }
   @$pb.TagNumber(1)
   $core.bool hasCameraToTarget() => $_has(0);
   @$pb.TagNumber(1)
   void clearCameraToTarget() => clearField(1);
   @$pb.TagNumber(1)
-  $1.Pose3d ensureCameraToTarget() => $_ensure(0);
+  $0.Pose3d ensureCameraToTarget() => $_ensure(0);
 
   @$pb.TagNumber(2)
   $core.double get reprojectionError => $_getN(1);
diff --git a/video/lib/src/isolates/opencv.dart b/video/lib/src/isolates/opencv.dart
index 06b22652..bc66b3c5 100644
--- a/video/lib/src/isolates/opencv.dart
+++ b/video/lib/src/isolates/opencv.dart
@@ -90,8 +90,11 @@ class OpenCVCameraIsolate extends CameraIsolate {
   @override
   Future<void> sendFrames() async {
     if (camera == null) return;
-    final (success, matrix) = camera!.read();
-    if (!success || matrix.width <= 0 || matrix.height <= 0) return;
+    final (success, originalMatrix) = camera!.read();
+    if (!success || originalMatrix.width <= 0 || originalMatrix.height <= 0) {
+      return;
+    }
+    var matrix = originalMatrix;
 
     final detectedMarkers = await arucoDetector.process(
       matrix,
@@ -102,6 +105,21 @@ class OpenCVCameraIsolate extends CameraIsolate {
       ObjectDetectionPayload(details: details, tags: detectedMarkers),
     );
 
+    if (details.hasRotationQuarters() && details.rotationQuarters != 0) {
+      Mat rotatedMatrix;
+      if (details.rotationQuarters == 1) {
+        rotatedMatrix = rotate(matrix, ROTATE_90_CLOCKWISE);
+      } else if (details.rotationQuarters == 2) {
+        rotatedMatrix = rotate(matrix, ROTATE_180);
+      } else if (details.rotationQuarters == 3) {
+        rotatedMatrix = rotate(matrix, ROTATE_90_COUNTERCLOCKWISE);
+      } else {
+        rotatedMatrix = matrix.clone();
+      }
+      matrix.dispose();
+      matrix = rotatedMatrix;
+    }
+
     // await matrix.drawCrosshair(center: frameProperties!.center);
 
     if (details.resolutionWidth != matrix.width ||
diff --git a/video/lib/src/isolates/realsense.dart b/video/lib/src/isolates/realsense.dart
index d0e85a33..377dd7ed 100644
--- a/video/lib/src/isolates/realsense.dart
+++ b/video/lib/src/isolates/realsense.dart
@@ -2,8 +2,7 @@ import "dart:ffi";
 
 import "package:burt_network/burt_network.dart";
 import "package:dartcv4/dartcv.dart" hide LogLevel;
-import "package:protobuf/protobuf.dart";
-
+import "package:protobuf/protobuf.dart" show GeneratedMessageGenericExtensions;
 import "package:video/utils.dart";
 import "package:video/video.dart";