diff --git a/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt b/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
index 2d4a385..ff1c62b 100644
--- a/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
+++ b/software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
@@ -147,7 +147,7 @@ class ControlActivity : AppCompatActivity() {
 
         controlWindowInsets(true)
 
-        controlImage = findViewById<ImageView>(R.id.control_image)
+        controlImage = findViewById<ImageView>(R.id.right_control_image)
         progressBar = findViewById<ConstraintLayout>(R.id.progressBar)
 
         buttonRotateX = findViewById(R.id.button_rotatex)
diff --git a/software/android/app/src/main/res/drawable/control_left.xml b/software/android/app/src/main/res/drawable/ic_control_left.xml
similarity index 99%
rename from software/android/app/src/main/res/drawable/control_left.xml
rename to software/android/app/src/main/res/drawable/ic_control_left.xml
index 8a0f3c5..0132185 100644
--- a/software/android/app/src/main/res/drawable/control_left.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_left.xml
@@ -8,7 +8,7 @@
         android:translateY="-33.9187">
         <path
             android:pathData="M17.62795 33.9187H184.2946A16.66667 16.66667 0 0 1 200.9613 50.58537V317.252A16.66667 16.66667 0 0 1 184.2946 333.9187H17.62795A16.66667 16.66667 0 0 1 0.961289 317.252V50.58537A16.66667 16.66667 0 0 1 17.62795 33.9187Z"
-            android:fillColor="#323232" />
+            android:fillColor="#646464" />
         <path
             android:pathData="M0.96128899 134.4187H200.96129"
             android:strokeColor="#C8C8C8"
diff --git a/software/android/app/src/main/res/drawable/control_left_climb_backward.xml b/software/android/app/src/main/res/drawable/ic_control_left_climb_backward.xml
similarity index 99%
rename from software/android/app/src/main/res/drawable/control_left_climb_backward.xml
rename to software/android/app/src/main/res/drawable/ic_control_left_climb_backward.xml
index 204c3dc..d982a11 100644
--- a/software/android/app/src/main/res/drawable/control_left_climb_backward.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_left_climb_backward.xml
@@ -8,7 +8,7 @@
         android:translateY="-33.9187">
         <path
             android:pathData="M17.62795 33.9187H184.2946A16.66667 16.66667 0 0 1 200.9613 50.58537V317.252A16.66667 16.66667 0 0 1 184.2946 333.9187H17.62795A16.66667 16.66667 0 0 1 0.961289 317.252V50.58537A16.66667 16.66667 0 0 1 17.62795 33.9187Z"
-            android:fillColor="#323232" />
+            android:fillColor="#646464" />
         <group>
             <clip-path
                 android:pathData="M101.4563 234.4138H200.4662V333.4237H101.4563V234.4138Z" />
diff --git a/software/android/app/src/main/res/drawable/control_left_climb_forward.xml b/software/android/app/src/main/res/drawable/ic_control_left_climb_forward.xml
similarity index 99%
rename from software/android/app/src/main/res/drawable/control_left_climb_forward.xml
rename to software/android/app/src/main/res/drawable/ic_control_left_climb_forward.xml
index c2d6ef8..4a803a8 100644
--- a/software/android/app/src/main/res/drawable/control_left_climb_forward.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_left_climb_forward.xml
@@ -8,7 +8,7 @@
         android:translateY="-33.9187">
         <path
             android:pathData="M17.62795 33.9187H184.2946A16.66667 16.66667 0 0 1 200.9613 50.58537V317.252A16.66667 16.66667 0 0 1 184.2946 333.9187H17.62795A16.66667 16.66667 0 0 1 0.961289 317.252V50.58537A16.66667 16.66667 0 0 1 17.62795 33.9187Z"
-            android:fillColor="#323232" />
+            android:fillColor="#646464" />
         <group>
             <clip-path
                 android:pathData="M101.4563 34.41375H200.4662V133.4237H101.4563V34.41375Z" />
diff --git a/software/android/app/src/main/res/drawable/control_left_rotatex.xml b/software/android/app/src/main/res/drawable/ic_control_left_rotatex.xml
similarity index 99%
rename from software/android/app/src/main/res/drawable/control_left_rotatex.xml
rename to software/android/app/src/main/res/drawable/ic_control_left_rotatex.xml
index 1caba59..cc08c9d 100644
--- a/software/android/app/src/main/res/drawable/control_left_rotatex.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_left_rotatex.xml
@@ -8,7 +8,7 @@
         android:translateY="-33.9187">
         <path
             android:pathData="M17.62795 33.9187H184.2946A16.66667 16.66667 0 0 1 200.9613 50.58537V317.252A16.66667 16.66667 0 0 1 184.2946 333.9187H17.62795A16.66667 16.66667 0 0 1 0.961289 317.252V50.58537A16.66667 16.66667 0 0 1 17.62795 33.9187Z"
-            android:fillColor="#323232" />
+            android:fillColor="#646464" />
         <group>
             <clip-path
                 android:pathData="M1.456339 134.4138H100.4662V233.4237H1.456339V134.4138Z" />
diff --git a/software/android/app/src/main/res/drawable/control_left_rotatey.xml b/software/android/app/src/main/res/drawable/ic_control_left_rotatey.xml
similarity index 99%
rename from software/android/app/src/main/res/drawable/control_left_rotatey.xml
rename to software/android/app/src/main/res/drawable/ic_control_left_rotatey.xml
index 2995af5..d25e008 100644
--- a/software/android/app/src/main/res/drawable/control_left_rotatey.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_left_rotatey.xml
@@ -8,7 +8,7 @@
         android:translateY="-33.9187">
         <path
             android:pathData="M17.62795 33.9187H184.2946A16.66667 16.66667 0 0 1 200.9613 50.58537V317.252A16.66667 16.66667 0 0 1 184.2946 333.9187H17.62795A16.66667 16.66667 0 0 1 0.961289 317.252V50.58537A16.66667 16.66667 0 0 1 17.62795 33.9187Z"
-            android:fillColor="#323232" />
+            android:fillColor="#646464" />
         <group>
             <clip-path
                 android:pathData="M1.456339 34.41375H100.4662V133.4237H1.456339V34.41375Z" />
diff --git a/software/android/app/src/main/res/drawable/control_left_rotatez.xml b/software/android/app/src/main/res/drawable/ic_control_left_rotatez.xml
similarity index 99%
rename from software/android/app/src/main/res/drawable/control_left_rotatez.xml
rename to software/android/app/src/main/res/drawable/ic_control_left_rotatez.xml
index 3219f2e..ebb7515 100644
--- a/software/android/app/src/main/res/drawable/control_left_rotatez.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_left_rotatez.xml
@@ -8,7 +8,7 @@
         android:translateY="-33.9187">
         <path
             android:pathData="M17.62795 33.9187H184.2946A16.66667 16.66667 0 0 1 200.9613 50.58537V317.252A16.66667 16.66667 0 0 1 184.2946 333.9187H17.62795A16.66667 16.66667 0 0 1 0.961289 317.252V50.58537A16.66667 16.66667 0 0 1 17.62795 33.9187Z"
-            android:fillColor="#323232" />
+            android:fillColor="#646464" />
         <group>
             <clip-path
                 android:pathData="M1.456339 234.4138H100.4662V333.4237H1.456339V234.4138Z" />
diff --git a/software/android/app/src/main/res/drawable/control_left_twist.xml b/software/android/app/src/main/res/drawable/ic_control_left_twist.xml
similarity index 99%
rename from software/android/app/src/main/res/drawable/control_left_twist.xml
rename to software/android/app/src/main/res/drawable/ic_control_left_twist.xml
index 9616de3..c22a08d 100644
--- a/software/android/app/src/main/res/drawable/control_left_twist.xml
+++ b/software/android/app/src/main/res/drawable/ic_control_left_twist.xml
@@ -8,7 +8,7 @@
         android:translateY="-33.9187">
         <path
             android:pathData="M17.62795 33.9187H184.2946A16.66667 16.66667 0 0 1 200.9613 50.58537V317.252A16.66667 16.66667 0 0 1 184.2946 333.9187H17.62795A16.66667 16.66667 0 0 1 0.961289 317.252V50.58537A16.66667 16.66667 0 0 1 17.62795 33.9187Z"
-            android:fillColor="#323232" />
+            android:fillColor="#646464" />
         <group>
             <clip-path
                 android:pathData="M101.4563 134.4138H200.4662V233.4237H101.4563V134.4138Z" />
diff --git a/software/android/app/src/main/res/layout/activity_control.xml b/software/android/app/src/main/res/layout/activity_control.xml
index 74fe607..99fd217 100644
--- a/software/android/app/src/main/res/layout/activity_control.xml
+++ b/software/android/app/src/main/res/layout/activity_control.xml
@@ -17,126 +17,21 @@
             android:layout_height="match_parent"
             android:layout_weight="1">
 
-            <TableLayout
-                android:layout_width="0dp"
-                android:layout_height="wrap_content"
+            <ImageView
+                android:id="@+id/left_control_image"
+                android:layout_width="match_parent"
+                android:layout_height="match_parent"
+                android:layout_marginStart="32dp"
+                android:layout_marginTop="32dp"
+                android:layout_marginEnd="32dp"
+                android:layout_marginBottom="32dp"
+                android:scaleType="fitStart"
                 app:layout_constraintBottom_toBottomOf="parent"
-                app:layout_constraintEnd_toEndOf="parent"
                 app:layout_constraintStart_toStartOf="parent"
                 app:layout_constraintTop_toTopOf="parent"
-                android:layout_marginRight="32dp"
-                android:layout_marginLeft="32dp">
-
-                <TableRow
-                    android:layout_width="match_parent"
-                    android:layout_height="wrap_content">
-
-                    <Button
-                        android:id="@+id/button_rotatex"
-                        android:layout_width="match_parent"
-                        android:layout_height="wrap_content"
-                        android:layout_weight="1"
-                        android:paddingTop="24dp"
-                        android:paddingBottom="24dp"
-                        android:layout_margin="16dp"
-                        android:theme="@style/Theme.Hexapod.ButtonInactive"
-                        android:text="Rotate X"
-                        app:layout_constraintBottom_toTopOf="@+id/button_rotatey"
-                        app:layout_constraintEnd_toStartOf="@+id/button_climb"
-                        app:layout_constraintHorizontal_chainStyle="packed"
-                        app:layout_constraintStart_toStartOf="parent"
-                        app:layout_constraintTop_toTopOf="parent"
-                        app:layout_constraintVertical_chainStyle="packed" />
-
-                    <Button
-                        android:id="@+id/button_climb"
-                        android:layout_width="match_parent"
-                        android:layout_height="wrap_content"
-                        android:layout_weight="1"
-                        android:paddingTop="24dp"
-                        android:paddingBottom="24dp"
-                        android:layout_margin="16dp"
-                        android:theme="@style/Theme.Hexapod.ButtonInactive"
-                        android:text="Climb"
-                        app:layout_constraintBottom_toTopOf="@+id/button_twist"
-                        app:layout_constraintStart_toEndOf="@+id/button_rotatex"
-                        app:layout_constraintTop_toTopOf="parent"
-                        app:layout_constraintVertical_chainStyle="packed" />
-
-                </TableRow>
-
-                <TableRow
-                    android:layout_width="match_parent"
-                    android:layout_height="wrap_content">
-
-                    <Button
-                        android:id="@+id/button_rotatey"
-                        android:layout_width="match_parent"
-                        android:layout_height="wrap_content"
-                        android:layout_weight="1"
-                        android:paddingTop="24dp"
-                        android:paddingBottom="24dp"
-                        android:layout_margin="16dp"
-                        android:theme="@style/Theme.Hexapod.ButtonInactive"
-                        android:text="Rotate Y"
-                        app:layout_constraintBottom_toTopOf="@+id/button_rotatez"
-                        app:layout_constraintEnd_toStartOf="@+id/button_twist"
-                        app:layout_constraintStart_toStartOf="parent"
-                        app:layout_constraintTop_toBottomOf="@+id/button_rotatex" />
-
-                    <Button
-                        android:id="@+id/button_twist"
-                        android:layout_width="match_parent"
-                        android:layout_height="wrap_content"
-                        android:layout_weight="1"
-                        android:paddingTop="24dp"
-                        android:paddingBottom="24dp"
-                        android:layout_margin="16dp"
-                        android:theme="@style/Theme.Hexapod.ButtonInactive"
-                        android:text="Twist"
-                        app:layout_constraintBottom_toTopOf="@+id/button6"
-                        app:layout_constraintStart_toEndOf="@+id/button_rotatey"
-                        app:layout_constraintTop_toBottomOf="@+id/button_climb" />
-
-                </TableRow>
-
-                <TableRow
-                    android:layout_width="match_parent"
-                    android:layout_height="wrap_content">
-
-                    <Button
-                        android:id="@+id/button_rotatez"
-                        android:layout_width="match_parent"
-                        android:layout_height="wrap_content"
-                        android:layout_weight="1"
-                        android:paddingTop="24dp"
-                        android:paddingBottom="24dp"
-                        android:layout_margin="16dp"
-                        android:theme="@style/Theme.Hexapod.ButtonInactive"
-                        android:text="Rotate Z"
-                        app:layout_constraintBottom_toBottomOf="parent"
-                        app:layout_constraintEnd_toStartOf="@+id/button6"
-                        app:layout_constraintStart_toStartOf="parent"
-                        app:layout_constraintTop_toBottomOf="@+id/button_rotatey" />
-
-                    <Button
-                        android:id="@+id/button6"
-                        android:layout_width="match_parent"
-                        android:layout_height="wrap_content"
-                        android:layout_weight="1"
-                        android:paddingTop="24dp"
-                        android:paddingBottom="24dp"
-                        android:layout_margin="16dp"
-                        android:theme="@style/Theme.Hexapod.ButtonInactive"
-                        android:text="Button"
-                        android:visibility="invisible"
-                        app:layout_constraintBottom_toBottomOf="parent"
-                        app:layout_constraintStart_toEndOf="@+id/button_rotatez"
-                        app:layout_constraintTop_toBottomOf="@+id/button_twist" />
+                app:srcCompat="@drawable/ic_control_left" />
 
-                </TableRow>
 
-            </TableLayout>
         </androidx.constraintlayout.widget.ConstraintLayout>
 
         <androidx.constraintlayout.widget.ConstraintLayout
@@ -145,7 +40,7 @@
             android:layout_weight="1">
 
             <ImageView
-                android:id="@+id/control_image"
+                android:id="@+id/right_control_image"
                 android:layout_width="match_parent"
                 android:layout_height="match_parent"
                 android:layout_marginStart="32dp"