diff --git a/software/pc/mainwindow.ui b/software/pc/mainwindow.ui
index 40948ac..c7e34ba 100644
--- a/software/pc/mainwindow.ui
+++ b/software/pc/mainwindow.ui
@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>500</width>
-    <height>400</height>
+    <width>587</width>
+    <height>560</height>
    </rect>
   </property>
   <property name="minimumSize">
    <size>
     <width>500</width>
-    <height>400</height>
+    <height>560</height>
    </size>
   </property>
   <property name="windowTitle">
@@ -26,311 +26,953 @@
   <widget class="QWidget" name="centralWidget">
    <layout class="QVBoxLayout" name="verticalLayout">
     <item>
-     <widget class="QGroupBox" name="groupBox_4">
+     <widget class="QTabWidget" name="tabWidget">
+      <property name="currentIndex">
+       <number>0</number>
+      </property>
+      <widget class="QWidget" name="tab">
+       <attribute name="title">
+        <string>WiFi</string>
+       </attribute>
+       <layout class="QVBoxLayout" name="verticalLayout_3">
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_5">
+          <item>
+           <widget class="QPushButton" name="button_Refresh">
+            <property name="text">
+             <string/>
+            </property>
+            <property name="icon">
+             <iconset>
+              <normaloff>res/arrows-rotate-solid.svg</normaloff>res/arrows-rotate-solid.svg</iconset>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QComboBox" name="comboBox_Interface">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+              <horstretch>1</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>100</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_2">
+            <property name="text">
+             <string>IP: </string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_LocalIP">
+            <property name="text">
+             <string>255.255.255.255</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_7">
+          <item>
+           <widget class="QLabel" name="label_targetIP">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="baseSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string>Robot IP:</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLineEdit" name="lineEdit_TcpClientTargetIP">
+            <property name="minimumSize">
+             <size>
+              <width>150</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>16777215</width>
+              <height>16777215</height>
+             </size>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_targetPort">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>0</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="text">
+             <string>Port:</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLineEdit" name="lineEdit_TcpClientTargetPort">
+            <property name="minimumSize">
+             <size>
+              <width>80</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>80</width>
+              <height>16777215</height>
+             </size>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="button_TcpClient">
+            <property name="text">
+             <string>Connect</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </widget>
+      <widget class="QWidget" name="tab_2">
+       <attribute name="title">
+        <string>Bluetooth</string>
+       </attribute>
+       <layout class="QVBoxLayout" name="verticalLayout_4">
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_4">
+          <item>
+           <widget class="QLabel" name="label">
+            <property name="text">
+             <string>Robot MAC:</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLineEdit" name="lineEdit">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+              <horstretch>1</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="minimumSize">
+             <size>
+              <width>150</width>
+              <height>0</height>
+             </size>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLabel" name="label_3">
+            <property name="text">
+             <string>Port:</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QLineEdit" name="lineEdit_2">
+            <property name="minimumSize">
+             <size>
+              <width>80</width>
+              <height>0</height>
+             </size>
+            </property>
+            <property name="maximumSize">
+             <size>
+              <width>80</width>
+              <height>16777215</height>
+             </size>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="pushButton">
+            <property name="text">
+             <string>Connect</string>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <spacer name="verticalSpacer">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>40</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+       </layout>
+      </widget>
+     </widget>
+    </item>
+    <item>
+     <widget class="QGroupBox" name="groupBox_Control">
+      <property name="font">
+       <font>
+        <bold>false</bold>
+       </font>
+      </property>
       <property name="title">
-       <string>Connect</string>
+       <string>Control</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+      <property name="flat">
+       <bool>false</bool>
       </property>
-      <layout class="QVBoxLayout" name="verticalLayout_6">
+      <layout class="QHBoxLayout" name="horizontalLayout">
        <item>
-        <layout class="QHBoxLayout" name="horizontalLayout_5">
-         <item>
-          <widget class="QComboBox" name="comboBox_Interface">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
+        <layout class="QGridLayout" name="gridLayout_3">
+         <property name="spacing">
+          <number>12</number>
+         </property>
+         <item row="3" column="1">
+          <widget class="QPushButton" name="pushButton_Twist">
            <property name="minimumSize">
             <size>
-             <width>100</width>
-             <height>0</height>
+             <width>50</width>
+             <height>50</height>
             </size>
            </property>
            <property name="maximumSize">
             <size>
-             <width>200</width>
-             <height>16777215</height>
+             <width>50</width>
+             <height>50</height>
             </size>
            </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-twist-solid.svg</normaloff>res/arrow-twist-solid.svg</iconset>
+           </property>
+           <property name="iconSize">
+            <size>
+             <width>32</width>
+             <height>32</height>
+            </size>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
           </widget>
          </item>
-         <item>
-          <widget class="Line" name="line">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
+         <item row="0" column="0" colspan="2">
+          <widget class="QPushButton" name="pushButton_7">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="flat">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item>
-          <widget class="QLabel" name="label_2">
+         <item row="5" column="0" colspan="2">
+          <widget class="QPushButton" name="pushButton_8">
+           <property name="enabled">
+            <bool>false</bool>
+           </property>
            <property name="text">
-            <string>IP: </string>
+            <string/>
+           </property>
+           <property name="flat">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item>
-          <widget class="QLabel" name="label_LocalIP">
+         <item row="4" column="0">
+          <widget class="QPushButton" name="pushButton_RotateZ">
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
            <property name="text">
-            <string>255.255.255.255</string>
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-circle-solid.svg</normaloff>res/arrow-circle-solid.svg</iconset>
+           </property>
+           <property name="iconSize">
+            <size>
+             <width>32</width>
+             <height>32</height>
+            </size>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item>
-          <spacer name="horizontalSpacer_5">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
+         <item row="4" column="1">
+          <widget class="QPushButton" name="pushButton_6">
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
            </property>
-           <property name="sizeHint" stdset="0">
+           <property name="maximumSize">
             <size>
-             <width>40</width>
-             <height>20</height>
+             <width>50</width>
+             <height>50</height>
             </size>
            </property>
-          </spacer>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/climb-down-solid.svg</normaloff>res/climb-down-solid.svg</iconset>
+           </property>
+           <property name="iconSize">
+            <size>
+             <width>32</width>
+             <height>32</height>
+            </size>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+          </widget>
          </item>
-         <item>
-          <widget class="QPushButton" name="button_Refresh">
+         <item row="2" column="1">
+          <widget class="QPushButton" name="pushButton_Climb">
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
            <property name="text">
-            <string>Refresh</string>
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/climb-up-solid.svg</normaloff>res/climb-up-solid.svg</iconset>
+           </property>
+           <property name="iconSize">
+            <size>
+             <width>32</width>
+             <height>32</height>
+            </size>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0">
+          <widget class="QPushButton" name="pushButton_RotateX">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-up-down-solid.svg</normaloff>res/arrow-up-down-solid.svg</iconset>
+           </property>
+           <property name="iconSize">
+            <size>
+             <width>32</width>
+             <height>32</height>
+            </size>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QPushButton" name="pushButton_RotateY">
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-left-right-solid.svg</normaloff>res/arrow-left-right-solid.svg</iconset>
+           </property>
+           <property name="iconSize">
+            <size>
+             <width>32</width>
+             <height>32</height>
+            </size>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
         </layout>
        </item>
        <item>
-        <widget class="Line" name="line_6">
+        <spacer name="horizontalSpacer_2">
          <property name="orientation">
           <enum>Qt::Horizontal</enum>
          </property>
-        </widget>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>40</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
        </item>
        <item>
-        <layout class="QHBoxLayout" name="horizontalLayout_7">
-         <item>
-          <widget class="QLabel" name="label_targetIP">
+        <layout class="QGridLayout" name="gridLayout">
+         <property name="spacing">
+          <number>12</number>
+         </property>
+         <item row="3" column="3">
+          <widget class="QPushButton" name="buttonShiftRight">
            <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
              <horstretch>0</horstretch>
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
            <property name="minimumSize">
             <size>
-             <width>0</width>
-             <height>0</height>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
             </size>
            </property>
-           <property name="baseSize">
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-right-solid.svg</normaloff>res/arrow-right-solid.svg</iconset>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0" rowspan="3">
+          <widget class="QPushButton" name="buttonTurnLeft">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
             <size>
-             <width>0</width>
-             <height>0</height>
+             <width>40</width>
+             <height>150</height>
             </size>
            </property>
            <property name="text">
-            <string>Target IP:</string>
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-turn-left-solid.svg</normaloff>res/arrow-turn-left-solid.svg</iconset>
+           </property>
+           <property name="iconSize">
+            <size>
+             <width>24</width>
+             <height>64</height>
+            </size>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item>
-          <widget class="QLineEdit" name="lineEdit_TcpClientTargetIP">
+         <item row="4" column="2">
+          <widget class="QPushButton" name="buttonBackward">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
            <property name="minimumSize">
             <size>
-             <width>150</width>
-             <height>0</height>
+             <width>50</width>
+             <height>50</height>
             </size>
            </property>
            <property name="maximumSize">
             <size>
-             <width>200</width>
-             <height>16777215</height>
+             <width>50</width>
+             <height>50</height>
             </size>
            </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-down-solid.svg</normaloff>res/arrow-down-solid.svg</iconset>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
           </widget>
          </item>
-         <item>
-          <widget class="Line" name="line_4">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
+         <item row="4" column="3">
+          <widget class="QPushButton" name="buttonRight135">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-down-right-solid.svg</normaloff>res/arrow-down-right-solid.svg</iconset>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="4" column="1">
+          <widget class="QPushButton" name="buttonLeft135">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-down-left-solid.svg</normaloff>res/arrow-down-left-solid.svg</iconset>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="4" rowspan="3">
+          <widget class="QPushButton" name="buttonTurnRight">
+           <property name="minimumSize">
+            <size>
+             <width>40</width>
+             <height>150</height>
+            </size>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-turn-right-solid.svg</normaloff>res/arrow-turn-right-solid.svg</iconset>
+           </property>
+           <property name="iconSize">
+            <size>
+             <width>24</width>
+             <height>64</height>
+            </size>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item>
-          <widget class="QLabel" name="label_targetPort">
+         <item row="2" column="3">
+          <widget class="QPushButton" name="buttonRight45">
+           <property name="enabled">
+            <bool>true</bool>
+           </property>
            <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
              <horstretch>0</horstretch>
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
            <property name="minimumSize">
             <size>
-             <width>0</width>
-             <height>0</height>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
             </size>
            </property>
            <property name="text">
-            <string>Port:</string>
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-up-right-solid.svg</normaloff>res/arrow-up-right-solid.svg</iconset>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
-         <item>
-          <widget class="QLineEdit" name="lineEdit_TcpClientTargetPort">
+         <item row="1" column="1" colspan="3">
+          <layout class="QHBoxLayout" name="horizontalLayout_2">
+           <property name="spacing">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QPushButton" name="buttonFastForward">
+             <property name="minimumSize">
+              <size>
+               <width>150</width>
+               <height>40</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>150</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="text">
+              <string/>
+             </property>
+             <property name="icon">
+              <iconset>
+               <normaloff>res/arrow-up-up-solid.svg</normaloff>res/arrow-up-up-solid.svg</iconset>
+             </property>
+             <property name="iconSize">
+              <size>
+               <width>24</width>
+               <height>24</height>
+              </size>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+             <property name="checked">
+              <bool>false</bool>
+             </property>
+             <property name="flat">
+              <bool>false</bool>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item row="3" column="2">
+          <widget class="QPushButton" name="buttonStandby">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
            <property name="minimumSize">
             <size>
-             <width>80</width>
-             <height>0</height>
+             <width>50</width>
+             <height>50</height>
             </size>
            </property>
            <property name="maximumSize">
             <size>
-             <width>80</width>
-             <height>16777215</height>
+             <width>50</width>
+             <height>50</height>
             </size>
            </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/pause-solid.svg</normaloff>res/pause-solid.svg</iconset>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
           </widget>
          </item>
-         <item>
-          <spacer name="horizontalSpacer">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
+         <item row="3" column="1">
+          <widget class="QPushButton" name="buttonShiftLeft">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
            </property>
-           <property name="sizeHint" stdset="0">
+           <property name="minimumSize">
             <size>
-             <width>40</width>
-             <height>20</height>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-left-solid.svg</normaloff>res/arrow-left-solid.svg</iconset>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QPushButton" name="buttonLeft45">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
             </size>
            </property>
-          </spacer>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-up-left-solid.svg</normaloff>res/arrow-up-left-solid.svg</iconset>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
+           </property>
+          </widget>
          </item>
-         <item>
-          <widget class="QPushButton" name="button_TcpClient">
+         <item row="2" column="2">
+          <widget class="QPushButton" name="buttonForward">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="minimumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
+           <property name="maximumSize">
+            <size>
+             <width>50</width>
+             <height>50</height>
+            </size>
+           </property>
            <property name="text">
-            <string>Connect</string>
+            <string/>
+           </property>
+           <property name="icon">
+            <iconset>
+             <normaloff>res/arrow-up-solid.svg</normaloff>res/arrow-up-solid.svg</iconset>
+           </property>
+           <property name="checkable">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
+         <item row="5" column="1" colspan="3">
+          <layout class="QHBoxLayout" name="horizontalLayout_3">
+           <property name="spacing">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QPushButton" name="buttonFastBackward">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>40</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>150</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="text">
+              <string/>
+             </property>
+             <property name="icon">
+              <iconset>
+               <normaloff>res/arrow-down-down-solid.svg</normaloff>res/arrow-down-down-solid.svg</iconset>
+             </property>
+             <property name="iconSize">
+              <size>
+               <width>24</width>
+               <height>24</height>
+              </size>
+             </property>
+             <property name="checkable">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
         </layout>
        </item>
       </layout>
      </widget>
     </item>
     <item>
-     <widget class="QGroupBox" name="groupBox_Control">
+     <widget class="QGroupBox" name="groupBox">
       <property name="title">
-       <string>Control</string>
+       <string/>
       </property>
-      <layout class="QGridLayout" name="gridLayout_2">
-       <item row="4" column="5">
-        <widget class="QPushButton" name="pushButton_TurnRight">
-         <property name="text">
-          <string>Turn Right (→)</string>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="4">
-        <widget class="QPushButton" name="pushButton_Forward">
-         <property name="text">
-          <string>Forward (↑W)</string>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="2">
-        <spacer name="horizontalSpacer_6">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item row="6" column="4">
-        <widget class="QPushButton" name="pushButton_Backward">
-         <property name="text">
-          <string>Backward (↓S)</string>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="4">
-        <widget class="QPushButton" name="pushButton_FastForward">
-         <property name="text">
-          <string>Fast Forward</string>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="0">
-        <widget class="QPushButton" name="pushButton_RotateY">
-         <property name="text">
-          <string>Rotate Y</string>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="3">
-        <widget class="QPushButton" name="pushButton_ShiftLeft">
-         <property name="text">
-          <string>Shift Left (A)</string>
-         </property>
-        </widget>
-       </item>
-       <item row="4" column="3">
-        <widget class="QPushButton" name="pushButton_TurnLeft">
-         <property name="text">
-          <string>Turn Left (←)</string>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="5">
-        <widget class="QPushButton" name="pushButton_ShiftRight">
-         <property name="text">
-          <string>Shift Right (D)</string>
-         </property>
-        </widget>
-       </item>
-       <item row="4" column="4">
-        <widget class="QPushButton" name="pushButton_Standby">
-         <property name="text">
-          <string>Standby ( )</string>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="0">
-        <widget class="QPushButton" name="pushButton_RotateX">
-         <property name="text">
-          <string>Rotate X</string>
-         </property>
-        </widget>
-       </item>
-       <item row="4" column="0">
-        <widget class="QPushButton" name="pushButton_RotateZ">
-         <property name="text">
-          <string>Rotate Z</string>
-         </property>
-        </widget>
-       </item>
-       <item row="6" column="0">
-        <widget class="QPushButton" name="pushButton_Twist">
-         <property name="text">
-          <string>Twist</string>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="3">
-        <widget class="QPushButton" name="pushButton_Climb">
-         <property name="text">
-          <string>Climb</string>
-         </property>
-        </widget>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QTextBrowser" name="textBrowser_TcpClientMessage"/>
        </item>
       </layout>
      </widget>
     </item>
-    <item>
-     <widget class="QTextBrowser" name="textBrowser_TcpClientMessage"/>
-    </item>
    </layout>
   </widget>
   <widget class="QMenuBar" name="menuBar">
@@ -338,7 +980,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>500</width>
+     <width>587</width>
      <height>22</height>
     </rect>
    </property>
diff --git a/software/pc/res/arrow-circle-solid.svg b/software/pc/res/arrow-circle-solid.svg
new file mode 100644
index 0000000..6a76a0b
--- /dev/null
+++ b/software/pc/res/arrow-circle-solid.svg
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   viewBox="0 0 512 512"
+   version="1.1"
+   id="svg4"
+   sodipodi:docname="arrow-circle-solid.svg"
+   width="512"
+   height="512"
+   inkscape:version="1.1.2 (b8e25be833, 2022-02-05)"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg">
+  <defs
+     id="defs8" />
+  <sodipodi:namedview
+     id="namedview6"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageshadow="2"
+     inkscape:pageopacity="0.0"
+     inkscape:pagecheckerboard="0"
+     showgrid="false"
+     inkscape:zoom="0.7890625"
+     inkscape:cx="156.51485"
+     inkscape:cy="448"
+     inkscape:window-width="1920"
+     inkscape:window-height="1001"
+     inkscape:window-x="-1929"
+     inkscape:window-y="-9"
+     inkscape:window-maximized="1"
+     inkscape:current-layer="svg4" />
+  <!--! Font Awesome Pro 6.0.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license (Commercial License) Copyright 2022 Fonticons, Inc. -->
+  <g
+     id="path2403"
+     transform="matrix(9.2020101,9.2020101,-9.2020101,9.2020101,-407.18593,-3438.8137)"
+     style="fill:#646464;fill-opacity:1">
+    <path
+       style="color:#000000;fill:#646464;fill-opacity:1;stroke-linecap:round;-inkscape-stroke:none"
+       d="m 237.90625,150.18359 c -4.4959,-0.42653 -9.05202,1.13992 -12.34961,4.4375 -4.39678,4.39679 -5.71741,11.03267 -3.33789,16.77735 2.37952,5.74467 8.00467,9.50195 14.22266,9.50195 a 3.000005,3.000005 0 0 0 3,-3 3.000005,3.000005 0 0 0 -3,-3 c -3.80845,0 -7.22226,-2.28028 -8.67969,-5.79883 -1.45743,-3.51854 -0.65587,-7.5453 2.03711,-10.23828 2.69298,-2.69298 6.71973,-3.49454 10.23828,-2.03711 3.51855,1.45743 5.80078,4.87124 5.80078,8.67969 a 3.000005,3.000005 0 0 0 3,3 3.000005,3.000005 0 0 0 3,-3 c 0,-6.21799 -3.75923,-11.84313 -9.50391,-14.22266 -1.43616,-0.59488 -2.9291,-0.95743 -4.42773,-1.09961 z"
+       id="path1735" />
+    <g
+       id="g1725"
+       style="fill:#646464;fill-opacity:1">
+      <g
+         id="path1727"
+         style="fill:#646464;fill-opacity:1">
+        <path
+           style="color:#000000;fill:#646464;fill-opacity:1;fill-rule:evenodd;stroke-width:1.2pt;-inkscape-stroke:none"
+           d="m 248.83697,172.43057 -6.00001,-10.38001 h 12.00002 z"
+           id="path1731" />
+        <path
+           style="color:#000000;fill:#646464;fill-opacity:1;fill-rule:evenodd;-inkscape-stroke:none"
+           d="m 241.45117,161.25 7.38672,12.7793 0.69141,-1.19922 6.69336,-11.58008 z m 2.77149,1.59961 h 9.22851 l -4.61523,7.98242 z"
+           id="path1733" />
+      </g>
+    </g>
+  </g>
+</svg>
diff --git a/software/pc/res/arrow-down-down-solid.svg b/software/pc/res/arrow-down-down-solid.svg
new file mode 100644
index 0000000..cfdd931
--- /dev/null
+++ b/software/pc/res/arrow-down-down-solid.svg
@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   viewBox="0 0 512 512"
+   version="1.1"
+   id="svg4"
+   sodipodi:docname="arrow-down-down-solid.svg"
+   width="512"
+   height="512"
+   inkscape:version="1.1.2 (b8e25be833, 2022-02-05)"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg">
+  <defs
+     id="defs8" />
+  <sodipodi:namedview
+     id="namedview6"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageshadow="2"
+     inkscape:pageopacity="0.0"
+     inkscape:pagecheckerboard="0"
+     showgrid="false"
+     inkscape:zoom="0.39453125"
+     inkscape:cx="-250.93069"
+     inkscape:cy="514.53465"
+     inkscape:window-width="1465"
+     inkscape:window-height="1030"
+     inkscape:window-x="-1920"
+     inkscape:window-y="0"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg4" />
+  <!--! Font Awesome Pro 6.0.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license (Commercial License) Copyright 2022 Fonticons, Inc. -->
+  <g
+     id="g975-9"
+     transform="matrix(-21.462,0,0,-21.462,3475.2999,819.74861)"
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+    <path
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+       inkscape:flatsided="true"
+       sodipodi:sides="3"
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+       inkscape:randomized="0"
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+       d="m 20.388983,231.47607 -73.955888,0 36.977945,-64.04768 z" />
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+       sodipodi:type="star"
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+       inkscape:flatsided="true"
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+</svg>
diff --git a/software/pc/res/arrow-down-left-solid.svg b/software/pc/res/arrow-down-left-solid.svg
new file mode 100644
index 0000000..73d5243
--- /dev/null
+++ b/software/pc/res/arrow-down-left-solid.svg
@@ -0,0 +1,53 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   viewBox="0 0 512 512"
+   version="1.1"
+   id="svg4"
+   sodipodi:docname="arrow-down-left-solid.svg"
+   width="512"
+   height="512"
+   inkscape:version="1.1.2 (b8e25be833, 2022-02-05)"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:svg="http://www.w3.org/2000/svg">
+  <defs
+     id="defs8" />
+  <sodipodi:namedview
+     id="namedview6"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageshadow="2"
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+     inkscape:pagecheckerboard="0"
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+     inkscape:zoom="0.7890625"
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+     inkscape:window-x="-1920"
+     inkscape:window-y="0"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg4" />
+  <!--! Font Awesome Pro 6.0.0 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license (Commercial License) Copyright 2022 Fonticons, Inc. -->
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+     sodipodi:type="star"
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diff --git a/software/pc/res/arrow-down-right-solid.svg b/software/pc/res/arrow-down-right-solid.svg
new file mode 100644
index 0000000..fd3284b
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