remove locking

Added motor constants for ExtruderV3 to documentation.

.gitattributes

@@ -1,3 +0,0 @@
-.png filter=lfs diff=lfs merge=lfs -text
-.jpg filter=lfs diff=lfs merge=lfs -text
-.jpeg filter=lfs diff=lfs merge=lfs -text

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,40 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: 'BUG: '
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Navigate to '...'
+2. Select/Press '....'
+3. Execute operation '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots/Photos**
+If applicable, add screenshots from the HMI display or photos of the machine screen to help explain your problem.
+
+**Machine Information (please complete the following):**
+ - Machine Type: [Winder2, Laser, Aquapath...]
+ - Control Software Version: [e.g. 2.4.1]
+ - Settings: [e.g. Different Gear Ratios, PID Settings, …]
+
+**Device Information (if issue occurs on external device):**
+ - Device Type: [e.g. Tablet, PLC, Remote Control Panel]
+ - OS: [e.g. Windows 10, Linux, etc.]
+ - Connection Type: [e.g. Ethernet, USB]
+
+**Error Messages/Codes**
+If applicable, provide exact error codes or messages displayed or found in the troubleshooting terminal.
+
+**Additional context**
+Add any other context about the problem here (e.g., recent software updates, environmental factors).

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,33 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: 'Feat: '
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. During operation, I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions, workarounds, or features you've considered.
+
+**Use Case/Application:**
+ - Machine Type(s): [e.g. All machines, Winder, Aquapath, ...]
+ - Frequency of Use: [e.g. Daily, During setup, Occasionally]
+
+**Expected Benefits:**
+ - Efficiency Improvement: [e.g. Reduces setup time by X minutes, Eliminates manual steps]
+ - Safety Enhancement: [e.g. Prevents operator error, Adds safety checks]
+ - Production Impact: [e.g. Increases throughput, Reduces downtime, Improves quality]
+ - User Experience: [e.g. Simplifies workflow, Reduces training time]
+
+**Mockups/Sketches**
+If applicable, add sketches, mockups, or photos showing how the feature would appear on the HMI display or integrate with the machine.
+
+**Additional context**
+Add any other context, industry standards, or examples from other control systems about the feature request here.

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,14 @@
+## What does this PR do / add / change?
+
+<!-- Describe the purpose of this PR. What problem does it solve or what feature does it add? -->
+
+## Screenshots
+
+<!-- Include screenshots for any UI changes. Remove this section if not applicable. -->
+
+## Checklist before opening the pr
+
+- [ ] Tested locally
+- [ ] Tested on the machine (if hardware interaction is involved)
+- [ ] No format errors (`cargo fmt` / `npm run format`)
+- [ ] No build errors (`cargo build` / `npm run build`)

.github/workflows/issue-status-check.yml

@@ -0,0 +1,213 @@
+name: Stale Assigned Issue Check
+
+on:
+  schedule:
+    # Run every Sunday at 9:00 AM UTC
+    - cron: '0 9 * * 0'
+  workflow_dispatch: # Allow manual triggering for testing
+
+jobs:
+  check-stale-issues:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      issues: write
+      pull-requests: read
+    
+    steps:
+      - name: Check assigned issues for status updates
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const ONE_WEEK_MS = 7 * 24 * 60 * 60 * 1000;
+            const now = new Date();
+            
+            // Helper function to check rate limits
+            async function checkRateLimit() {
+              try {
+                const { data: rateLimit } = await github.rest.rateLimit.get();
+                const remaining = rateLimit.resources.core.remaining;
+                const reset = new Date(rateLimit.resources.core.reset * 1000);
+                console.log(`Rate limit: ${remaining} requests remaining (resets at ${reset.toISOString()})`);
+                return remaining > 10; // Stop if fewer than 10 requests remaining
+              } catch (error) {
+                console.log(`Could not check rate limit: ${error.message}`);
+                return true; // Continue on error
+              }
+            }
+            
+            // Get all open issues
+            const issues = await github.paginate(github.rest.issues.listForRepo, {
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              state: 'open',
+              per_page: 100
+            });
+            
+            console.log(`Found ${issues.length} open issues`);
+            
+            // Helper function to check if issue has linked PRs using GraphQL
+            async function hasLinkedPRs(issueNumber) {
+              try {
+                const query = `
+                  query($owner: String!, $repo: String!, $issueNumber: Int!) {
+                    repository(owner: $owner, name: $repo) {
+                      issue(number: $issueNumber) {
+                        timelineItems(first: 100, itemTypes: CONNECTED_EVENT) {
+                          nodes {
+                            ... on ConnectedEvent {
+                              subject {
+                                ... on PullRequest {
+                                  number
+                                  state
+                                }
+                              }
+                            }
+                          }
+                        }
+                      }
+                    }
+                  }
+                `;
+                
+                const result = await github.graphql(query, {
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  issueNumber: issueNumber
+                });
+                
+                const linkedPRs = result.repository.issue.timelineItems.nodes
+                  .filter(node => node.subject && node.subject.state === 'OPEN')
+                  .map(node => node.subject.number);
+                
+                return linkedPRs.length > 0;
+              } catch (error) {
+                console.log(`Could not check linked PRs for issue #${issueNumber}: ${error.message}`);
+                return false; // Assume no linked PRs on error to avoid false positives
+              }
+            }
+            
+            let processedCount = 0;
+            let commentedCount = 0;
+            let errorCount = 0;
+            
+            for (const issue of issues) {
+              try {
+                // Check rate limit periodically
+                if (processedCount % 10 === 0 && !(await checkRateLimit())) {
+                  console.log('Rate limit nearly exhausted, stopping to avoid hitting limit');
+                  break;
+                }
+                
+                // Skip pull requests (they appear in issues list too)
+                if (issue.pull_request) {
+                  continue;
+                }
+                
+                // Skip if not assigned
+                if (!issue.assignees || issue.assignees.length === 0) {
+                  console.log(`Issue #${issue.number}: Not assigned, skipping`);
+                  continue;
+                }
+                
+                console.log(`Checking issue #${issue.number}: ${issue.title}`);
+                processedCount++;
+                
+                // Check if issue has linked PRs
+                const hasOpenLinkedPR = await hasLinkedPRs(issue.number);
+                
+                if (hasOpenLinkedPR) {
+                  console.log(`Issue #${issue.number}: Has linked open PR, skipping`);
+                  continue;
+                }
+                
+                // Get all comments on the issue
+                let comments = [];
+                try {
+                  comments = await github.paginate(github.rest.issues.listComments, {
+                    owner: context.repo.owner,
+                    repo: context.repo.repo,
+                    issue_number: issue.number,
+                    per_page: 100
+                  });
+                } catch (commentError) {
+                  console.error(`Issue #${issue.number}: Could not fetch comments - ${commentError.message}`);
+                  errorCount++;
+                  continue;
+                }
+                
+                // Find the most recent comment or update
+                let lastActivity = new Date(issue.created_at);
+                
+                if (issue.updated_at) {
+                  lastActivity = new Date(issue.updated_at);
+                }
+                
+                if (comments.length > 0) {
+                  const lastComment = comments[comments.length - 1];
+                  const lastCommentDate = new Date(lastComment.created_at);
+                  if (lastCommentDate > lastActivity) {
+                    lastActivity = lastCommentDate;
+                  }
+                }
+                
+                // Check if last activity was more than a week ago
+                const daysSinceActivity = Math.floor((now - lastActivity) / (1000 * 60 * 60 * 24));
+                
+                if (daysSinceActivity >= 7) {
+                  console.log(`Issue #${issue.number}: No activity for ${daysSinceActivity} days`);
+                  
+                  // Check if we already posted a status request in the last 7 days
+                  const recentComments = comments.filter(comment => {
+                    const commentDate = new Date(comment.created_at);
+                    return (now - commentDate) < ONE_WEEK_MS;
+                  });
+                  
+                  const alreadyAsked = recentComments.some(comment => 
+                    comment.user.type === 'Bot' && 
+                    comment.body.includes('status update')
+                  );
+                  
+                  if (alreadyAsked) {
+                    console.log(`Issue #${issue.number}: Already requested status this week, skipping`);
+                    continue;
+                  }
+                  
+                  // Post a status request comment
+                  try {
+                    const assigneeNames = issue.assignees.map(a => `@${a.login}`).join(', ');
+                    await github.rest.issues.createComment({
+                      owner: context.repo.owner,
+                      repo: context.repo.repo,
+                      issue_number: issue.number,
+                      body: `Hi ${assigneeNames}! 👋\n\n` +
+                            `This issue has been assigned to you for ${daysSinceActivity} days with no recent activity or linked pull requests.\n\n` +
+                            `Could you please provide a status update? If you're:\n` +
+                            `- ✅ Working on it: Let us know your progress\n` +
+                            `- 🔄 Need help: Tag someone or describe what's blocking you\n` +
+                            `- 🚫 No longer working on it: Let us know so we can reassign\n\n` +
+                            `Thank you!`
+                    });
+                    
+                    console.log(`Issue #${issue.number}: Posted status request comment`);
+                    commentedCount++;
+                  } catch (commentError) {
+                    console.error(`Issue #${issue.number}: Could not post comment - ${commentError.message}`);
+                    errorCount++;
+                    // Continue to next issue
+                  }
+                } else {
+                  console.log(`Issue #${issue.number}: Activity ${daysSinceActivity} days ago, still fresh`);
+                }
+              } catch (error) {
+                console.error(`Issue #${issue.number}: Error processing - ${error.message}`);
+                errorCount++;
+                // Continue to next issue instead of failing the entire workflow
+                continue;
+              }
+            }
+            
+            console.log(`\nStale issue check complete!`);
+            console.log(`Processed: ${processedCount} issues`);
+            console.log(`Commented on: ${commentedCount} issues`);
+            console.log(`Errors: ${errorCount}`);

.github/workflows/update-npm-hash.yml

@@ -0,0 +1,80 @@
+name: Update npm deps hash
+
+on:
+  pull_request:
+    paths:
+      - 'electron/package-lock.json'
+      - 'electron/package.json'
+  workflow_dispatch:
+
+env:
+  NIX_PATH: nixpkgs=channel:nixos-25.05
+
+permissions:
+  contents: write
+  pull-requests: write
+  actions: write
+
+jobs:
+  update-hash:
+    runs-on: ubuntu-latest
+    if: github.event.pull_request.head.repo.full_name == github.repository
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.head_ref }}
+          token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Install Nix
+        uses: nixbuild/nix-quick-install-action@v34
+        with:
+          nix_conf: |
+            keep-env-derivations = true
+            keep-outputs = true
+
+      - name: Calculate new npm deps hash
+        id: calc-hash
+        run: |
+          # Calculate the hash using nix run with nixpkgs
+          NEW_HASH=$(nix run 'nixpkgs#prefetch-npm-deps' electron/package-lock.json)
+          echo "hash=$NEW_HASH" >> $GITHUB_OUTPUT
+          echo "Calculated hash: $NEW_HASH"
+
+      - name: Update npmDepsHash in electron.nix
+        run: |
+          NEW_HASH="${{ steps.calc-hash.outputs.hash }}"
+          sed -i "s|npmDepsHash = \".*\";|npmDepsHash = \"$NEW_HASH\";|" nixos/packages/electron.nix
+          
+      - name: Check if hash changed
+        id: check-changes
+        run: |
+          if git diff --quiet nixos/packages/electron.nix; then
+            echo "changed=false" >> $GITHUB_OUTPUT
+            echo "No changes needed - hash is already correct"
+          else
+            echo "changed=true" >> $GITHUB_OUTPUT
+            echo "Hash updated in electron.nix"
+          fi
+
+      - name: Commit and push if changed
+        if: steps.check-changes.outputs.changed == 'true'
+        run: |
+          git config --local user.email "github-actions[bot]@users.noreply.github.com"
+          git config --local user.name "github-actions[bot]"
+          git add nixos/packages/electron.nix
+          git commit -m "chore: update npmDepsHash to ${{ steps.calc-hash.outputs.hash }}"
+          git push
+
+      - name: Comment on PR
+        if: steps.check-changes.outputs.changed == 'true'
+        uses: actions/github-script@v7
+        with:
+          script: |
+            github.rest.issues.createComment({
+              issue_number: context.issue.number,
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              body: 'Automatically updated `npmDepsHash` to `${{ steps.calc-hash.outputs.hash }}`\n\n**Next step:** Trigger the checks by pushing an empty commit:\n```bash\ngit commit --allow-empty -m "trigger ci" && git push\n```'
+            })

.gitignore

@@ -1,11 +1,11 @@
 target/
 dist/
 .DS_Store
-Cargo.lock
 dhat-heap.json
 build.sh
 shell.nix
 node_modules/
 runtime_metrics.csv
 compile_metrics.csv
-.idea/
+.idea/
+electron/dist-electron/

Cargo.lock

@@ -204,7 +204,7 @@ checksum = "9035ad2d096bed7955a320ee7e2230574d28fd3c3a0f186cbea1ff3c7eed5dbb"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -221,7 +221,7 @@ checksum = "99e1aca718ea7b89985790c94aad72d77533063fe00bc497bb79a7c2dae6a661"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -232,9 +232,9 @@ checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
 
 [[package]]
 name = "axum"
-version = "0.8.7"
+version = "0.8.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b098575ebe77cb6d14fc7f32749631a6e44edbef6b796f89b020e99ba20d425"
+checksum = "8b52af3cb4058c895d37317bb27508dccc8e5f2d39454016b297bf4a400597b8"
 dependencies = [
  "axum-core",
  "axum-macros",
@@ -291,7 +291,7 @@ checksum = "604fde5e028fea851ce1d8570bbdc034bec850d157f7569d10f347d06808c05c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -390,9 +390,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.11.0"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b35204fbdc0b3f4446b89fc1ac2cf84a8a68971995d0bf2e925ec7cd960f9cb3"
+checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
 dependencies = [
  "serde",
 ]
@@ -539,7 +539,7 @@ version = "0.1.0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -682,7 +682,7 @@ dependencies = [
  "deluxe-macros",
  "once_cell",
  "proc-macro2",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -695,7 +695,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "strsim",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -710,7 +710,7 @@ dependencies = [
  "proc-macro-crate",
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -721,7 +721,7 @@ checksum = "1e567bd82dcff979e4b03460c307b3cdc9e96fde3d73bed1496d2bc75d9dd62a"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -962,14 +962,13 @@ dependencies = [
  "deluxe",
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
 name = "ethercrab"
 version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbb13becfa15713adb09b27fdb74468b827cdc78aa99aea638a89c1b0db3ce94"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
  "async-io",
  "atomic-waker",
@@ -998,8 +997,7 @@ dependencies = [
 [[package]]
 name = "ethercrab-wire"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d15828cb020fb44c92ca67e1ee3c122c9621c2e00d383d066e488f0619023ba2"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
  "ethercrab-wire-derive",
  "heapless",
@@ -1008,20 +1006,19 @@ dependencies = [
 [[package]]
 name = "ethercrab-wire-derive"
 version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e790b8011211ed70babfcacbd4277b91ee21402ad5ba6a2c293db02e2f12919"
+source = "git+https://github.com/v-morlock/ethercrab?branch=main#d297d13389d85a4edb4e69cc98f9dd7f12626cac"
 dependencies = [
  "criterion",
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
 name = "euclid"
-version = "0.22.11"
+version = "0.22.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad9cdb4b747e485a12abb0e6566612956c7a1bafa3bdb8d682c5b6d403589e48"
+checksum = "df61bf483e837f88d5c2291dcf55c67be7e676b3a51acc48db3a7b163b91ed63"
 dependencies = [
  "num-traits",
 ]
@@ -1878,7 +1875,7 @@ dependencies = [
  "pest_meta",
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -1908,7 +1905,7 @@ checksum = "6e918e4ff8c4549eb882f14b3a4bc8c8bc93de829416eacf579f1207a8fbf861"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -2221,7 +2218,7 @@ checksum = "22f968c5ea23d555e670b449c1c5e7b2fc399fdaec1d304a17cd48e288abc107"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -2251,20 +2248,20 @@ checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.145"
+version = "1.0.149"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "402a6f66d8c709116cf22f558eab210f5a50187f702eb4d7e5ef38d9a7f1c79c"
+checksum = "83fc039473c5595ace860d8c4fafa220ff474b3fc6bfdb4293327f1a37e94d86"
 dependencies = [
  "itoa",
  "memchr",
- "ryu",
  "serde",
  "serde_core",
+ "zmij",
 ]
 
 [[package]]
@@ -2332,6 +2329,7 @@ dependencies = [
  "smol",
  "socketioxide",
  "spin_sleep",
+ "ta",
  "textplots",
  "tokio",
  "tower-http",
@@ -2573,9 +2571,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.111"
+version = "2.0.114"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "390cc9a294ab71bdb1aa2e99d13be9c753cd2d7bd6560c77118597410c4d2e87"
+checksum = "d4d107df263a3013ef9b1879b0df87d706ff80f65a86ea879bd9c31f9b307c2a"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2588,6 +2586,12 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0bf256ce5efdfa370213c1dabab5935a12e49f2c58d15e9eac2870d3b4f27263"
 
+[[package]]
+name = "ta"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "609409d472a0a7d8d4dd9e19891bbdef546b9dce670c3057d0e02192dc541226"
+
 [[package]]
 name = "tap"
 version = "1.0.1"
@@ -2621,7 +2625,7 @@ checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -2681,7 +2685,7 @@ checksum = "af407857209536a95c8e56f8231ef2c2e2aff839b22e07a1ffcbc617e9db9fa5"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -2843,7 +2847,7 @@ checksum = "7490cfa5ec963746568740651ac6781f701c9c5ea257c58e057f3ba8cf69e8da"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -2880,9 +2884,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-subscriber"
-version = "0.3.20"
+version = "0.3.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2054a14f5307d601f88daf0553e1cbf472acc4f2c51afab632431cdcd72124d5"
+checksum = "2f30143827ddab0d256fd843b7a66d164e9f271cfa0dde49142c5ca0ca291f1e"
 dependencies = [
  "chrono",
  "matchers",
@@ -3074,7 +3078,7 @@ dependencies = [
  "bumpalo",
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
  "wasm-bindgen-shared",
 ]
 
@@ -3139,7 +3143,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -3150,7 +3154,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
 
 [[package]]
@@ -3426,5 +3430,11 @@ checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.111",
+ "syn 2.0.114",
 ]
+
+[[package]]
+name = "zmij"
+version = "1.0.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3ff05f8caa9038894637571ae6b9e29466c1f4f829d26c9b28f869a29cbe3445"

README.md

@@ -2,109 +2,76 @@
 
 # QiTech Control
 
-QiTech Control is an open-source framework designed to bring modern software paradigms to certified industrial hardware.
+QiTech Control is an open-source framework designed to bring modern software development practices to certified industrial hardware.
 
 It frees developers from proprietary, license-heavy PLC ecosystems and rigid "point-and-click" workflows that are no longer adequate for today's complex automation challenges.
 
 QiTech Control combines the modularity and reliability of standard EtherCAT terminals (e.g., WAGO, Beckhoff) with the power of a modern Rust & React stack.
 
+## Documentation
 
-[![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)
-*Click here to watch a video demo of our software.*
+**[View Full Documentation Wiki](https://github.com/qitechgmbh/control/wiki)**
 
-[![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM) 
-*Click here to watch a full explainer Video of our Software.*
+- [Getting Started](https://github.com/qitechgmbh/control/wiki/Getting-Started)
+- [Architecture Overview](https://github.com/qitechgmbh/control/wiki/Architecture-Overview)
+- [EtherCAT Basics](https://github.com/qitechgmbh/control/wiki/Ethercat-Basics)
+- [Device Examples](https://github.com/qitechgmbh/control/wiki/Hardware-Examples)
+- [REST API Reference](https://github.com/qitechgmbh/control/wiki/Rest-Api)
 
-# Repo Structure
+## Videos
 
-**Frontend**
+| Software Demo | Full Explainer |
+|---------------|----------------|
+| [![](https://img.youtube.com/vi/KI3YeBwfV-s/maxresdefault.jpg)](https://www.youtube.com/watch?v=KI3YeBwfV-s)<br/>*Watch a demo of the control software in action* | [![](https://img.youtube.com/vi/55egCAkQgyM/maxresdefault.jpg)](https://youtu.be/55egCAkQgyM)<br/>*Watch a complete overview of QiTech Control* |
 
-- `/electron`: Frontend code for the control software built with React and Electron.
+## Repository Structure
 
-**Backend**
+- **`/electron`** - React + Electron frontend
+- **`/server`** - Rust backend implementing machine logic
+- **`/ethercat-hal`** - Hardware abstraction layer for EtherCAT devices
+- **`/control-core`** - Core control logic
+- **`/nixos`** - Custom Linux OS with realtime kernel
 
-- `/server`: Glue between Beckhoff and Electron. Implements machine logic.
-- `/ethercat-hal`: Hardware abstraction layer for Beckhoff (and possibly other EtherCat) devices and protocols.
-- `/ethercat-hal-derive`: Macros for `ethercat-hal`
-- `/control-core`: Core control logic for the server.
+## Technology Stack
 
-**Operating System**
+**Backend:** Rust with [Ethercrab](https://github.com/ethercrab-rs/ethercrab) for EtherCAT, [SocketIO](https://socket.io/) for real-time communication, [axum](https://docs.rs/axum/latest/axum/) for REST API
 
-- `/nixos`: Custom Linux with realtime kernel & preconfigured for touchscreens.
-
-**Other**
-
-- `/docs`: Documentation for the project.
-
-# Technology Choices
-
-## Backend
-
-To interface with Beckhoff and other EtherCAT devices we need an EtherCAT master software. Possibilities are [PySOEM](https://github.com/bnjmnp/pysoem) (Python), [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (C) and [Ethercrab](https://github.com/ethercrab-rs/ethercrab) (Rust). For realtime operation only C and Rust are suitable. We chose Rust because of safety and confidence in the written code.
-
-[SocketIO](https://socket.io/) was chosen for performant event driven communication from the backend to the server. But we still use REST with [axum](https://docs.rs/axum/latest/axum/) for the communication thet benefits from the request/response model.
-
-We use [Smol](https://github.com/smol-rs/smol) for EtherCAT IO in the control loop for it's performance and [Tokio](https://tokio.rs/) for server IO because of it's ecosystem and maturity.
-
-## Frontend
-
-We could combine the code of the frontend and backend using [Doxius](https://dioxuslabs.com/) but it lacks good Linux support. We chose [Electron](https://www.electronjs.org/) with [React](https://react.dev/) for it's maturity and ecosystem. For the UI we use [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) for styling. For routing we use [TanStack Router](https://tanstack.com/router/v1).
-
-# Dev Setup
-
-[Developer Documentation](./docs/developer-docs/)
-
-[API Documentation](https://github.com/qitechgmbh/control/blob/master/docs/rest-api.md)
-
--> Backend
-- Rust stable 1.86^ toolchain (install via [rustup](https://rustup.rs/))
-- `rust-analyzer` extension for VSCode
-- Set your interface in `server/src/ethercat/init.rs` like `en10`
-- Connect a Beckhoff EK1100 to your interface
-- run `cd server && cargo run` to start the server (localhost:3001)
-
--> Frontend
-- nodejs and npm installed
-- run `cd electron && npm i && npm run start` to start the frontend
+**Frontend:** [Electron](https://www.electronjs.org/) + [React](https://react.dev/) with [Shadcn](https://ui.shadcn.com/) components and [Tailwind](https://tailwindcss.com/) styling
 
 
-## Minimal Hardware Examples
+## Hardware Examples
 
-For complete step-by-step tutorials on setting up your first hardware, including wiring diagrams and software configuration, see the [Getting Started Guide](./docs/developer-docs/getting-started.md#minimal-hardware-examples).
+QiTech Control supports a wide range of EtherCAT hardware from WAGO and Beckhoff. We provide complete step-by-step tutorials with wiring diagrams and software configuration for many common modules.
 
-| Example            | Vendor   | Hardware      | Description                             | How-To Video | Docs                          |
-| :----------------- | :------- | :------------ | :-------------------------------------- | :----------- | :---------------------------- |
-| **Digital Input** | WAGO     | 750-402       | 4-Channel Digital Input                 | [ ]          | -                             |
-| **Digital Output** | WAGO     | 750-753       | 8-Channel Digital Output                | [ ]          | -                             |
-| **Analog Input** | WAGO     | 750-455       | 4-Channel Analog Input                  | [ ]          | -                             |
-| **Analog Output** | WAGO     | 750-553       | 4-Channel Analog Output                 | [ ]          | -                             |
-| **Serial Comms** | WAGO     | 750-652       | RS-485 Modbus Module                    | [ ]          | -                             |
-| **Stepper Drive** | WAGO     | 750-67x       | Stepper Controller                      | [ ]          | -                             |
-| **Power Supply** | WAGO     | 2787-214      | Power Supply Unit                       | [ ]          | -                             |
-| **LED Control** | Beckhoff | EL2004        | Digital output control (simplest setup) | [ ]          | [](./docs/hardware/el2004.md) |
-| **Analog Input** | Beckhoff | EL3021        | Reading analog current measurements     | [ ]          | [](./docs/hardware/el3021.md) |
+**[View all hardware examples and tutorials on the wiki](https://github.com/qitechgmbh/control/wiki/Hardware-Examples)**
 
-# QiTech Machines
+Quick links to popular examples:
+- [EL2004 - LED Control](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El2004) (simplest setup for beginners)
+- [EL3021 - Analog Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El3021)
+- [EL7031 - Stepper Motor Control](https://github.com/qitechgmbh/control/wiki/Minimal-Example-El7031-Motor)
+- [WAGO 750-402 - Digital Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-Wago750-402)
+- [WAGO 750-455 - Analog Input](https://github.com/qitechgmbh/control/wiki/Minimal-Example-Wago-750-455)
 
-| Machine Name      | Description                 | Machine ID | Implemented | Video                                                           | Docs                            |
-| :---------------- | :-------------------------- | :--------- | :---------- | :-------------------------------------------------------------- | :------------------------------ |
-| Winder V1         | Winding Filaments & Similar | 1          | Legacy      | [Video](https://youtu.be/4aE4cFhioKA?si=Xdj_LVnFrAYWnLm6)       | -                               |
-| Winder V2         | Winding Filaments & Similar | 2          | Yes         | [Video](https://youtu.be/f2kzh6kpQWE?si=HEYcLOaC9gWSp2Wo)       | [](./docs/machines/winder-1.md) |
-| XL Winder V1      | Large Scale Winder          | 3          | Yes         | [Video](https://youtu.be/ynI6ioWIQQY?si=4EDVKXbgIqrvGGtY)       | -                               |
-| Buffer V1         | Filament buffering system   | 4          | In Progress | [Video](https://youtu.be/VR5mEdZDPA0?si=eip7dQXU4zaXK7Ev)       | -                               |
-| Extruder V1       | Single Screw Extruder       | 5          | Legacy      | [Video](https://youtu.be/gchoG-yGczI?si=bEM4daf5eOVaU5_2)       | -                               |
-| Extruder V2       | Single Screw Extruder       | 6          | Yes         | [Video](https://youtu.be/mexRYGDNWa4?si=h7JBz_XKMwKLPenG)       |                                 |
-| Waterway V1       | Filament Water Cooling      | 7          | In Progress | [Video](https://youtu.be/_T5z1J8bl_k?si=uOC1hIQ1EAP0cHIF)       |                                 |
-| Laser V1          | Diameter Measuring Laser    | 8          | Yes         | [Video](https://youtu.be/WDM34lj4afM?si=MZzUKkHCrzH4P0aA)       |                                 |
-| 2-Axis-Laser V1   | Dual Axis Laser             | 9          | Yes         | [Video](https://youtu.be/WDM34lj4afM?si=MZzUKkHCrzH4P0aA)       | -                               |
-| Mock              | Mock Machine for Testing    | 10         | Yes         |                                                                 | -                               |
-| Extruder V3       | Single Screw Extruder       | 11         | Yes         | [Video](https://youtu.be/ipHHuPzCvn4?si=hkZ1b93rVuwDxhFD)       |                                 |
-| Mini Schredder V1 | mini plastic crusher        | 12         | Legacy      | [Video](https://youtu.be/m8NplNqdu2Q?si=x6zjDktJtpbSMSmu)       | -                               |
-| Pro Schredder V1  | large plastic crusher       | 13         | Legacy      | [Video](https://youtu.be/pSaVMqp06pU?si=y61enutRpxKscBm4)       | -                               |
-| Dryer V1          | polymer dryer               | 14         | Reserved    | [Video](https://youtu.be/6hdmUUAdZp0?si=eKOW1WlgkqTpnfdS)       | -                               |
-| Pelletizier V1    | Filament chopper            | 15         | Reserved    |                                                                 | -                               |
+## QiTech Machines
 
-# Current Restructuring Efforts
+QiTech Control powers 10+ production machines for filament extrusion, winding, measurement, and material processing.
 
-[![](https://img.youtube.com/vi/UlbnSVIhfLI/maxresdefault.jpg)](https://www.youtube.com/live/UlbnSVIhfLI?si=ZTotC5B7gd87tUim)
-*Video: Live stream of software dev meeting*
+**[View complete machine catalog on the wiki](https://github.com/qitechgmbh/control/wiki/QiTech-Machines)**
+
+
+## Contributing
+
+This is an open-source project. Contributions are welcome! Please see the [wiki](https://github.com/qitechgmbh/control/wiki) for development guidelines.
+
+
+
+## Additional Videos
+
+| Episode Highlights |  |
+|--------------------|--------------------|
+| [![](https://img.youtube.com/vi/U2wNN6sF4to/maxresdefault.jpg)](https://www.youtube.com/watch?v=U2wNN6sF4to&t=163s)<br/>**Day in the Software Team**<br/>*Behind the scenes with Robin and how the team ships control software.* | [![](https://img.youtube.com/vi/R5WGAY3WRWA/maxresdefault.jpg)](https://www.youtube.com/watch?v=R5WGAY3WRWA&t=1s)<br/>**Software Stack Day**<br/>*A fast tour through the tools, stack, and daily workflow.* |
+| [![](https://img.youtube.com/vi/xyaHwxXguw4/maxresdefault.jpg)](https://www.youtube.com/watch?v=xyaHwxXguw4&t=32s)<br/>**First Client**<br/>*A milestone week building the first real client project.* | [![](https://img.youtube.com/vi/moI7z2PVdF4/maxresdefault.jpg)](https://www.youtube.com/watch?v=moI7z2PVdF4)<br/>**Steelworks Week**<br/>*A deep-dive week on a demanding steelworks order.* |
+
+## License
+
+See [LICENSE](LICENSE) file for details.

control-core/Cargo.toml

@@ -9,11 +9,11 @@ workspace = true
 [dependencies]
 anyhow = "1.0.100"
 
-axum = "0.8.6"
+axum = "0.8.8"
 
 ethercat_hal = { path = "../ethercat-hal" }
 units = { path = "../units" }
-ethercrab = "0.6"
+ethercrab = { git = "https://github.com/v-morlock/ethercrab", branch = "main" }
 interfaces = "0.0.9"
 serde = "1.0.219"
 serialport = "4.7.3"

credentials.sh

@@ -0,0 +1,24 @@
+#!/bin/sh
+
+# Generate 18 random alphanumeric characters base64 encode It
+password=$(head -c 18 /dev/urandom | base64)
+
+echo "Basic Authentication; user=machine password=$password"
+echo $password > /tmp/machine_password
+
+caddy_hash=$(caddy hash-password --plaintext $password)
+
+echo "(machine_basic_auth) {
+    basic_auth {
+        machine $caddy_hash
+    }
+}" | sudo tee /var/lib/caddy/auth_snippet.conf
+
+# Transfer ownership to caddy user
+sudo chown caddy:caddy /var/lib/caddy/auth_snippet.conf
+
+# Tigther permissions (Only readable by root or caddy user)
+sudo chmod 600 /var/lib/caddy/auth_snippet.conf
+
+sudo systemctl restart caddy.service
+

docs/developer-docs/Wago-Stepper-Documentation.md

@@ -0,0 +1,931 @@
+# Wago Stepper Controller - Developer Documentation
+
+**Models:** 750-671 & 750-672  
+**Last Updated:** February 2026  
+
+## Table of Contents
+
+1. [Overview](#overview)
+2. [Hardware Quick Reference](#hardware-quick-reference)
+3. [Architecture & Code Organization](#architecture--code-organization)
+4. [Control & Status Bytes](#control--status-bytes)
+5. [Implementation Details](#implementation-details)
+6. [Prescalers & Calculations](#prescalers--calculations)
+7. [Common Pitfalls & Debug Tips](#common-pitfalls--debug-tips)
+
+---
+
+## Overview
+
+The Wago Stepper Controllers (750-671 and 750-672) drive stepper motors via EtherCAT. This documentation focuses on **velocity/speed control mode** implementation.
+
+### Key Differences Between Models
+
+| Feature         | 750-671                                    | 750-672                              |
+| --------------- | ------------------------------------------ | ------------------------------------ |
+| Max Voltage     | 50 VDC                                     | 70 VDC                               |
+| Max Current     | 5 A                                        | 7.5 A                                |
+| Speed Control   | Via Application Selector in config         | Via Control Byte C1 command          |
+| Control Byte C1 | Different bit layout (M_Speed_Control bit) | Command field (0x18 = Speed Control) |
+
+**For 750-671:** Must set `Application_Selector = 2` and `PWM_Period = 0` in WAGO I/O CHECK before using speed control.
+
+**For 750-672:** Speed control is selected directly via command in Control Byte C1 (no config needed).
+
+### Process Image
+
+Both models use **12 bytes bidirectional** (96 bits each way):
+
+```
+Input (TxPDO - Controller → PLC):
+ [0] S0 (status)
+ [1] Reserved
+ [2-3] Actual Velocity (i16)
+ [4-5] Reserved
+ [6-8] Actual Position (24-bit: L, M, H)
+ [9] S3 (digital inputs, warnings)
+ [10] S2 (busy, error, on_speed, etc.)
+ [11] S1 (acknowledgments)
+
+Output (RxPDO - PLC → Controller):
+ [0] C0 (control)
+ [1] Reserved
+ [2-3] Target Velocity (i16, clamped to ±25000)
+ [4-5] Acceleration (u16)
+ [6-8] Position (24-bit: L, M, H)
+ [9] C3 (position/reset control)
+ [10] C2 (prescalers, error quit)
+ [11] C1 (main control: enable, start, mode)
+```
+
+---
+
+## Hardware Quick Reference
+
+### Connections
+
+| Pin | Name | Purpose |
+|-----|------|---------|
+| DI1+ | Digital Input 1 | Enable input (connect to 24V or control via software) |
+| DI2+ | Digital Input 2 | Referencing input |
+| DI- | Ground | Reference potential for DI1/DI2 |
+| A1, A2 | Motor Winding A | Connect to motor phase A |
+| B1, B2 | Motor Winding B | Connect to motor phase B |
+
+### Status LEDs
+
+- **LED H:** Shows error codes via blink patterns (see Wago manual section 3.3 for error codes)
+- Other LEDs show Ready, Enable, Busy states (see manual section 2.1.2.3)
+
+---
+
+## Architecture & Code Organization
+
+### File Structure
+
+```
+devices/
+  wago_modules/
+    wago_750_672.rs          # Device struct, EtherCAT interface
+    
+io/
+  stepper_velocity_wago_750_672.rs  # High-level wrapper & byte helpers
+```
+
+### Key Components
+
+#### 1. `Wago750_672` Struct (EtherCAT Device)
+
+Located in `devices/wago_modules/wago_750_672.rs`
+
+```rust
+pub struct Wago750_672 {
+    is_used: bool,
+    tx_bit_offset: usize,  // Input data offset
+    rx_bit_offset: usize,  // Output data offset
+    pub rxpdo: Wago750_672RxPdo,  // Data we send
+    pub txpdo: Wago750_672TxPdo,  // Data we receive
+    module: Option<Module>,
+    pub state: InitState,
+    pub initialized: bool,
+}
+```
+
+**Responsibilities:**
+- Implements EtherCAT device traits
+- Handles bit-level I/O with process image
+- Runs state machine in `input()` method
+- Thread-safe (used via `Arc<RwLock<>>`)
+
+#### 2. `StepperVelocityWago750672` Wrapper
+
+Located in `io/stepper_velocity_wago_750_672.rs`
+
+```rust
+pub struct StepperVelocityWago750672 {
+    pub device: Arc<RwLock<Wago750_672>>,
+    pub state: InitState,
+    pub target_velocity: i16,
+    pub target_acceleration: u16,
+    pub enabled: bool,
+    pub freq_range_sel: u8,
+    pub acc_range_sel: u8,
+}
+```
+
+**Responsibilities:**
+- Provides high-level API (`set_velocity()`, `set_enabled()`)
+- Manages prescaler settings
+- Abstracts away state machine complexity
+
+### Why Two Layers?
+
+1. **`Wago750_672`:** Low-level EtherCAT device that handles cycle-by-cycle I/O
+2. **`StepperVelocityWago750672`:** High-level wrapper for application logic
+
+This separation allows:
+- EtherCAT device to run in tight real-time loop
+- Application code to use simple API without worrying about cycles/acknowledgments
+- Easy testing of each layer independently
+
+---
+
+## Control & Status Bytes
+
+### Design Pattern: Type-Safe Byte Construction
+
+Instead of hardcoding hex values like `0x1B`, we use builder pattern with enums:
+
+```rust
+// ❌ BAD - magic numbers, error-prone
+dev.rxpdo.c1 = 0x1B;
+
+// ✅ GOOD - explicit, self-documenting
+let c1 = ControlByteC1::new()
+    .with_flag(C1Flag::Enable)
+    .with_flag(C1Flag::Stop2N)
+    .with_command(C1Command::SpeedControl)
+    .bits();
+dev.rxpdo.c1 = c1;
+```
+
+### Wago 750-672 Control Bytes
+
+#### Control Byte C1 (Offset 11) - Main Control
+
+```rust
+pub struct ControlByteC1(u8);
+
+pub enum C1Flag {
+    Enable = 0b0000_0001,  // Bit 0: Must be 1 to enable
+    Stop2N = 0b0000_0010,  // Bit 1: Must be 1 for normal operation
+    Start  = 0b0000_0100,  // Bit 2: Rising edge triggers action
+}
+
+pub enum C1Command {
+    Idle          = 0b0000_0000,  // Bits 3-7: Operating mode
+    SinglePosition = 0b0000_1000,
+    RunProgram    = 0b0001_0000,
+    SpeedControl  = 0b0001_1000,  // ← We use this
+    Reference     = 0b0010_0000,
+    JogMode       = 0b0010_1000,
+    Mailbox       = 0b0011_0000,
+}
+```
+
+**Implementation:**
+
+```rust
+impl ControlByteC1 {
+    pub const fn new() -> Self {
+        Self(0)
+    }
+
+    pub const fn with_flag(mut self, flag: C1Flag) -> Self {
+        self.0 |= flag as u8;  // OR in the bit
+        self
+    }
+
+    pub const fn with_command(mut self, cmd: C1Command) -> Self {
+        self.0 = (self.0 & 0b0000_0111) | (cmd as u8);  // Mask lower 3 bits, set upper 5
+        self
+    }
+
+    pub const fn bits(self) -> u8 {
+        self.0
+    }
+}
+```
+
+**Key Points:**
+- `const fn` allows compile-time evaluation
+- Chainable builder pattern
+- Command overwrites bits 3-7 while preserving 0-2
+- Flags are additive (multiple can be set)
+
+#### Control Byte C2 (Offset 10) - Prescalers & Error Handling
+
+```rust
+pub struct ControlByteC2(u8);
+
+pub enum C2Flag {
+    FreqRangeSelL = 0b0000_0001,  // Bit 0: Freq prescaler LSB
+    FreqRangeSelH = 0b0000_0010,  // Bit 1: Freq prescaler MSB
+    AccRangeSelL  = 0b0000_0100,  // Bit 2: Acc prescaler LSB
+    AccRangeSelH  = 0b0000_1000,  // Bit 3: Acc prescaler MSB
+    PreCalc       = 0b0100_0000,  // Bit 6: Pre-calculation
+    ErrorQuit     = 0b1000_0000,  // Bit 7: Acknowledge error
+}
+
+impl ControlByteC2 {
+    pub const fn with_freq_range(mut self, sel: u8) -> Self {
+        self.0 = (self.0 & 0b1111_1100) | (sel & 0b0000_0011);
+        self
+    }
+
+    pub const fn with_acc_range(mut self, sel: u8) -> Self {
+        self.0 = (self.0 & 0b1111_0011) | ((sel & 0b0000_0011) << 2);
+        self
+    }
+}
+```
+
+**Critical:** Prescalers can only be changed when controller is **disabled** (before Enable state).
+
+#### Control Byte C3 (Offset 9) - Position & Reset
+
+```rust
+pub struct ControlByteC3(u8);
+
+pub enum C3Flag {
+    SetActualPos = 0b0000_0001,  // Bit 0: Set current position
+    DirectionPos = 0b0000_0010,  // Bit 2: Force positive direction
+    DirectionNeg = 0b0000_0100,  // Bit 3: Force negative direction
+    ResetQuit    = 0b1000_0000,  // Bit 7: Acknowledge reset
+}
+```
+
+### Status Bytes (Read-Only)
+
+#### Status Byte S1 (Offset 11) - Acknowledgments
+
+```rust
+pub struct StatusByteS1(u8);
+
+pub enum S1Flag {
+    Ready      = 0b0000_0001,  // Bit 0: Acknowledges Enable
+    Stop2NAck  = 0b0000_0010,  // Bit 1: Acknowledges Stop2_N
+    StartAck   = 0b0000_0100,  // Bit 2: Acknowledges Start
+}
+// Bits 3-7: Mirrors C1 command when acknowledged
+
+impl StatusByteS1 {
+    pub const fn has_flag(self, flag: S1Flag) -> bool {
+        (self.0 & flag as u8) != 0
+    }
+}
+```
+
+**Usage Pattern:**
+```rust
+// Wait for acknowledgment
+if self.txpdo.s1 == c1 {
+    // All bits acknowledged, proceed
+}
+```
+
+#### Status Byte S2 (Offset 10) - Operation Status
+
+```rust
+pub struct StatusByteS2(u8);
+
+pub enum S2Flag {
+    OnTarget    = 0b0000_0001,  // Bit 0: Position reached (positioning mode)
+    Busy        = 0b0000_0010,  // Bit 1: Executing command
+    StandStill  = 0b0000_0100,  // Bit 2: Motor not moving
+    OnSpeed     = 0b0000_1000,  // Bit 3: Target velocity reached
+    Direction   = 0b0001_0000,  // Bit 4: Rotation direction (0=neg, 1=pos)
+    ReferenceOk = 0b0010_0000,  // Bit 5: Referencing complete
+    PreCalcAck  = 0b0100_0000,  // Bit 6: Pre-calc acknowledged
+    Error       = 0b1000_0000,  // Bit 7: Error occurred (check LED H)
+}
+```
+
+**Critical for velocity control:** Monitor `OnSpeed` bit to know when target velocity is reached.
+
+#### Status Byte S3 (Offset 9) - Digital Inputs & Warnings
+
+```rust
+pub struct StatusByteS3(u8);
+
+pub enum S3Flag {
+    Input1  = 0b0000_0001,  // Bits 0-5: Digital input states
+    Input2  = 0b0000_0010,
+    Input3  = 0b0000_0100,
+    Input4  = 0b0000_1000,
+    Input5  = 0b0001_0000,
+    Input6  = 0b0010_0000,
+    Warning = 0b0100_0000,  // Bit 6: Warning condition
+    Reset   = 0b1000_0000,  // Bit 7: Reset requested
+}
+```
+
+---
+
+## Implementation Details
+
+### Critical Initialization Sequence
+
+⚠️ **This sequence MUST be followed exactly or the controller won't work:**
+
+1. **Set non-zero acceleration** (before enabling)
+2. **Set Enable + Stop2_N** (wait for ack)
+3. **Set operating mode** (0x18 for speed control, wait for ack)
+4. **Issue Start pulse** (set to 1, wait for ack, set to 0, wait for ack clear)
+5. **Running** (repeat step 4 every time velocity changes)
+
+### State Machine (Why It Exists)
+
+The state machine exists because **acknowledgments happen in different EtherCAT cycles**. You can't just set everything in one cycle.
+
+```rust
+#[derive(Debug, Clone)]
+pub enum InitState {
+    Off,               // Controller disabled
+    Enable,            // Setting Enable + Stop2_N, waiting for ack
+    SetMode,           // Setting speed control mode, waiting for ack
+    StartPulseStart,   // Setting Start bit, waiting for ack
+    StartPulseEnd,     // Clearing Start bit, waiting for ack clear
+    Running,           // Normal operation
+    ErrorQuit,         // Handling error
+    ResetQuit,         // Handling reset
+}
+```
+
+### State Machine Implementation
+
+Located in `Wago750_672::input()` method (runs every EtherCAT cycle):
+
+```rust
+fn input(&mut self, input: &BitSlice) -> Result<(), anyhow::Error> {
+    // 1. Read process image from controller
+    let base = self.tx_bit_offset;
+    let mut b = [0u8; 12];
+    for i in 0..12 {
+        b[i] = input[base + i * 8..base + (i + 1) * 8].load_le();
+    }
+    
+    self.txpdo = Wago750_672TxPdo {
+        s0: b[0],
+        actual_velocity: i16::from_le_bytes([b[2], b[3]]),
+        position_l: b[6],
+        position_m: b[7],
+        position_h: b[8],
+        s3: b[9],
+        s2: b[10],
+        s1: b[11],
+    };
+
+    // 2. State machine logic
+    match self.state {
+        InitState::Off => {
+            self.initialized = false;
+            // Do nothing until external enable request
+        }
+        
+        InitState::Enable => {
+            // Build C1 byte with Enable and Stop2_N
+            let c1 = ControlByteC1::new()
+                .with_flag(C1Flag::Enable)
+                .with_flag(C1Flag::Stop2N)
+                .bits();
+            self.rxpdo.c1 = c1;
+            
+            // Wait for acknowledgment
+            if self.txpdo.s1 == c1 {
+                self.state = InitState::SetMode;
+            }
+        }
+        
+        InitState::SetMode => {
+            // Add speed control command
+            let c1 = ControlByteC1::new()
+                .with_flag(C1Flag::Enable)
+                .with_flag(C1Flag::Stop2N)
+                .with_command(C1Command::SpeedControl)
+                .bits();
+            self.rxpdo.c1 = c1;
+            
+            // Wait for mode acknowledgment
+            if self.txpdo.s1 == c1 {
+                self.initialized = true;
+                self.state = InitState::StartPulseStart;
+            }
+        }
+        
+        InitState::StartPulseStart => {
+            // Set Start bit
+            let c1 = ControlByteC1::new()
+                .with_flag(C1Flag::Enable)
+                .with_flag(C1Flag::Stop2N)
+                .with_flag(C1Flag::Start)  // ← Rising edge
+                .with_command(C1Command::SpeedControl)
+                .bits();
+            self.rxpdo.c1 = c1;
+            
+            // Wait for Start acknowledgment
+            if self.txpdo.s1 == c1 {
+                self.state = InitState::StartPulseEnd;
+            }
+        }
+        
+        InitState::StartPulseEnd => {
+            // Clear Start bit
+            let c1 = ControlByteC1::new()
+                .with_flag(C1Flag::Enable)
+                .with_flag(C1Flag::Stop2N)
+                .with_command(C1Command::SpeedControl)
+                .bits();
+            self.rxpdo.c1 = c1;
+            
+            // Wait for acknowledgment to clear
+            if self.txpdo.s1 == c1 {
+                self.state = InitState::Running;
+            }
+        }
+        
+        InitState::Running => {
+            // Monitor for errors and resets
+            let c2_error_mask = ControlByteC2::new().with_flag(C2Flag::ErrorQuit).bits();
+            let c3_reset_mask = ControlByteC3::new().with_flag(C3Flag::ResetQuit).bits();
+            
+            if self.txpdo.s2 & c2_error_mask != 0 {
+                self.state = InitState::ErrorQuit;
+            } else if self.txpdo.s3 & c3_reset_mask != 0 {
+                self.state = InitState::ResetQuit;
+            }
+        }
+        
+        InitState::ErrorQuit => {
+            // Set Error_Quit bit to acknowledge
+            self.rxpdo.c2 |= ControlByteC2::new().with_flag(C2Flag::ErrorQuit).bits();
+            tracing::error!("Stepper Controller Errored. Trying to reenable...");
+            self.state = InitState::Enable;  // Restart initialization
+        }
+        
+        InitState::ResetQuit => {
+            // Set Reset_Quit bit to acknowledge
+            self.rxpdo.c3 |= ControlByteC3::new().with_flag(C3Flag::ResetQuit).bits();
+            tracing::error!("Stepper Controller Reset. Trying to reenable...");
+            self.state = InitState::Enable;  // Restart initialization
+        }
+    }
+    
+    Ok(())
+}
+```
+
+**Key Implementation Notes:**
+
+1. **State changes happen AFTER acknowledgment:** We wait for `self.txpdo.s1 == c1` before moving to next state
+2. **Enable and Stop2_N stay high:** They're included in every C1 byte after Enable state
+3. **Start pulse is a rising edge:** Must go 1 → 0, not just stay at 1
+4. **Error recovery:** Automatically attempts to re-enable on error/reset
+
+### High-Level API Implementation
+
+Located in `StepperVelocityWago750672`:
+
+```rust
+pub fn set_enabled(&mut self, enabled: bool) {
+    // Prevent redundant enables
+    if self.enabled && enabled {
+        return;
+    }
+    
+    // Safety check: acceleration must be non-zero
+    if self.get_target_acceleration() == 0 {
+        return;
+    }
+    
+    self.enabled = enabled;
+    if enabled {
+        self.change_init_state(InitState::Enable);
+    } else {
+        self.change_init_state(InitState::Off);
+        self.write_control_byte(ControlByte::C1, 0b00000000);
+    }
+}
+
+pub fn set_velocity(&mut self, velocity: i16) {
+    self.target_velocity = velocity;
+    
+    let mut dev = block_on(self.device.write());
+    
+    // Clamp to valid range
+    dev.rxpdo.velocity = velocity.clamp(-25000, 25000);
+    
+    // Trigger Start pulse if already initialized
+    if dev.initialized {
+        dev.state = InitState::StartPulseStart;
+    }
+}
+
+pub fn set_acceleration(&mut self, acceleration: u16) {
+    self.target_acceleration = acceleration;
+    
+    let mut dev = block_on(self.device.write());
+    dev.rxpdo.acceleration = acceleration;
+}
+```
+
+**Why the wrapper?**
+- Application code doesn't need to know about state machine
+- Handles common errors (zero acceleration check)
+- Thread-safe access to device
+- Clamping and validation in one place
+
+### Changing Velocity at Runtime
+
+⚠️ **Critical:** Must issue a **new Start pulse** for every velocity change:
+
+```rust
+// User calls this
+stepper.set_velocity(15000);
+
+// Internally, set_velocity() does:
+dev.rxpdo.velocity = 15000;
+if dev.initialized {
+    dev.state = InitState::StartPulseStart;  // ← Triggers new pulse
+}
+
+// State machine then handles:
+// StartPulseStart → StartPulseEnd → Running
+// (Takes 2-3 EtherCAT cycles)
+```
+
+**Common mistake:** Setting velocity without triggering Start pulse - motor won't change speed.
+
+---
+
+## Prescalers & Calculations
+
+Prescalers scale the velocity and acceleration values. They **can only be changed when disabled**.
+
+### Frequency Prescaler (Bits 0-1 of C2)
+
+Controls velocity scaling:
+
+| Freq_Range_Sel | Prescaler | Max Frequency | Resolution |
+|----------------|-----------|---------------|------------|
+| 00 | 200 (default) | 10 kHz | Configurable |
+| 01 | 80 | 25 kHz | 1 Hz |
+| 10 | 20 | 100 kHz | 20 Hz |
+| 11 | 4 | 500 kHz | 20 Hz |
+
+**Formula:**
+```
+Output Frequency (fp) = Velocity × 80 / Freq_Prescaler [Hz]
+```
+
+**Example:**
+```rust
+// Freq_Range_Sel = 01 (prescaler = 80)
+// Velocity = 10000
+// Output: 10000 × 80 / 80 = 10000 Hz
+
+stepper.set_freq_range_sel(1);  // Must be done BEFORE enable
+stepper.set_velocity(10000);
+```
+
+### Acceleration Prescaler (Bits 2-3 of C2)
+
+Controls acceleration scaling:
+
+| Acc_Range_Sel | Multiplier | Time to Max Speed |
+|---------------|------------|-------------------|
+| 00 | 8 (default) | 7600 ms |
+| 01 | 80 | 760 ms |
+| 10 | 800 | 76 ms |
+| 11 | 8000 | 7.6 ms |
+
+**Formula:**
+```
+Acceleration (a) = Acceleration_Value × Acc_Multiplier / Freq_Prescaler [Hz/s]
+```
+
+**Example:**
+```rust
+// Acc_Range_Sel = 01 (multiplier = 80)
+// Freq_Range_Sel = 01 (prescaler = 80)
+// Acceleration_Value = 10000
+// Output: 10000 × 80 / 80 = 10000 Hz/s
+
+stepper.set_acc_range_sel(1);   // Must be done BEFORE enable
+stepper.set_acceleration(10000);
+```
+
+### Setting Prescalers (Implementation)
+
+```rust
+pub fn set_freq_range_sel(&mut self, factor: u8) {
+    // Safety checks
+    if self.enabled || factor > 3 {
+        return;  // Can't change while enabled
+    }
+    
+    self.freq_range_sel = factor;
+    
+    let mut dev = block_on(self.device.write());
+    let c2 = ControlByteC2::from_bits(dev.rxpdo.c2)
+        .with_freq_range(factor)
+        .bits();
+    dev.rxpdo.c2 = c2;
+}
+
+pub fn set_acc_range_sel(&mut self, factor: u8) {
+    if self.enabled || factor > 3 {
+        return;
+    }
+    
+    self.acc_range_sel = factor;
+    
+    let mut dev = block_on(self.device.write());
+    let c2 = ControlByteC2::from_bits(dev.rxpdo.c2)
+        .with_acc_range(factor)
+        .bits();
+    dev.rxpdo.c2 = c2;
+}
+```
+
+**Usage:**
+```rust
+let mut stepper = StepperVelocityWago750672::new(device);
+
+// Set prescalers FIRST (before enabling)
+stepper.set_freq_range_sel(1);
+stepper.set_acc_range_sel(1);
+stepper.set_acceleration(10000);
+
+// Then enable
+stepper.set_enabled(true);
+
+// Now can set velocity
+stepper.set_velocity(15000);
+```
+
+---
+
+## Common Pitfalls & Debug Tips
+
+### 1. Controller Won't Enable
+
+**Symptoms:**
+- State stuck in `Enable`
+- `initialized` never becomes true
+- Motor doesn't move
+
+**Debug checklist:**
+```rust
+// Check acceleration is non-zero
+println!("Acceleration: {}", dev.rxpdo.acceleration);  // Must be > 0
+
+// Check DI1 if hardware enable is configured
+println!("DI1 state: {}", (dev.txpdo.s3 & 0x01) != 0);  // Should be 1
+
+// Check status byte acknowledgment
+println!("C1: {:#010b}", dev.rxpdo.c1);
+println!("S1: {:#010b}", dev.txpdo.s1);  // Should match C1
+```
+
+**Common causes:**
+```rust
+// ❌ Forgot to set acceleration
+stepper.set_acceleration(0);  // Won't enable!
+
+// ✅ Always set non-zero acceleration
+stepper.set_acceleration(10000);
+stepper.set_enabled(true);
+```
+
+### 2. Velocity Won't Change
+
+**Symptoms:**
+	- Motor running but won't change speed
+- `set_velocity()` called but no effect
+
+**Debug:**
+```rust
+// Check initialized flag
+println!("Initialized: {}", dev.initialized);
+
+// Check state after velocity change
+println!("State: {:?}", dev.state);  // Should become StartPulseStart
+
+// Manually trigger Start pulse (bypass wrapper)
+dev.state = InitState::StartPulseStart;
+```
+
+**Common causes:**
+```rust
+// ❌ Setting velocity before initialization
+stepper.set_velocity(10000);  // Controller not ready yet
+
+// ✅ Check initialized first
+if stepper.device.read().initialized {
+    stepper.set_velocity(10000);
+}
+```
+
+### 3. Prescaler Not Working
+
+**Symptoms:**
+- Velocity calculation seems wrong
+- Can't reach expected frequency
+
+**Debug:**
+```rust
+// Check prescalers were set BEFORE enabling
+println!("Freq prescaler: {}", stepper.freq_range_sel);
+println!("Acc prescaler: {}", stepper.acc_range_sel);
+println!("Enabled: {}", stepper.enabled);
+
+// Check C2 byte
+let dev = stepper.device.read();
+println!("C2: {:#010b}", dev.rxpdo.c2);
+// Bits 0-1: freq, Bits 2-3: acc
+```
+
+**Common causes:**
+```rust
+// ❌ Setting prescaler after enable
+stepper.set_enabled(true);
+stepper.set_freq_range_sel(1);  // Too late! Ignored.
+
+// ✅ Set prescalers FIRST
+stepper.set_freq_range_sel(1);
+stepper.set_acc_range_sel(1);
+stepper.set_enabled(true);
+```
+
+### 4. State Machine Stuck
+
+**Symptoms:**
+- State doesn't progress
+- Acknowledgments not received
+
+**Debug:**
+```rust
+// Add logging to state machine
+match self.state {
+    InitState::Enable => {
+        println!("Enable state: C1={:#010b}, S1={:#010b}", self.rxpdo.c1, self.txpdo.s1);
+        // ...
+    }
+}
+
+// Check EtherCAT communication
+// - Is cycle running?
+// - Are other devices working?
+// - Check bus topology
+```
+
+### 5. Error Bit Set
+
+**Symptoms:**
+- Error bit (S2 bit 7) is 1
+- LED H blinking
+- Controller stops
+
+**Debug:**
+```rust
+// Check error state
+let s2 = StatusByteS2::from_bits(dev.txpdo.s2);
+if s2.has_flag(S2Flag::Error) {
+    println!("ERROR DETECTED");
+    
+    // Count LED H blinks for error code
+    // See Wago manual section 3.3
+    
+    // Check other status flags for clues
+    println!("Busy: {}", s2.has_flag(S2Flag::Busy));
+    println!("StandStill: {}", s2.has_flag(S2Flag::StandStill));
+}
+```
+
+**Common error codes:**
+- **2 blinks:** Overcurrent
+- **3 blinks:** Position error
+- **4 blinks:** Encoder fault
+- See Wago manual for complete list
+	
+---
+
+### Supporting Wago 750-671
+
+The 750-671 uses different C1 bit layout:
+
+1. **Create separate enum:**
+```rust
+// For 750-671
+pub enum C1Flag671 {
+    Enable         = 0b0000_0001,  // Bit 0
+    Stop2N         = 0b0000_0010,  // Bit 1
+    Start          = 0b0000_0100,  // Bit 2
+    MSpeedControl  = 0b0000_1000,  // Bit 3 (instead of command field)
+    MProgram       = 0b0001_0000,  // Bit 4
+    MReference     = 0b0010_0000,  // Bit 5
+    MJog           = 0b0100_0000,  // Bit 6
+    MDriveByMBX    = 0b1000_0000,  // Bit 7
+}
+```
+
+---
+
+## Quick Reference Card
+
+### Initialization Checklist
+```rust
+// 1. Create and configure
+let stepper = StepperVelocityWago750672::new(device);
+
+// 2. Set prescalers (optional, before enable)
+stepper.set_freq_range_sel(1);   // 0-3
+stepper.set_acc_range_sel(1);    // 0-3
+
+// 3. Set non-zero acceleration (REQUIRED)
+stepper.set_acceleration(10000);
+
+// 4. Enable
+stepper.set_enabled(true);
+
+// 5. Set velocity (after initialized)
+stepper.set_velocity(15000);     // ±25000 max
+```
+
+### Key Constants
+```rust
+const SPEED_CONTROL_CMD: u8 = 0x18;  // C1 command for 750-672
+const MAX_VELOCITY: i16 = 25000;
+const MIN_VELOCITY: i16 = -25000;
+const DEFAULT_ACCELERATION: u16 = 10000;
+```
+
+### Critical Rules
+1. ⚠️ **Never enable with zero acceleration**
+2. ⚠️ **Always wait for acknowledgments**
+3. ⚠️ **Issue Start pulse for every velocity change**
+4. ⚠️ **Prescalers can only be changed when disabled**
+5. ⚠️ **Keep Enable and Stop2_N high during operation**
+
+### Common Bit Patterns
+```rust
+// Enable + Stop2_N
+0b0000_0011
+
+// Enable + Stop2_N + Speed Control
+0b0001_1011
+
+// Enable + Stop2_N + Speed Control + Start
+0b0001_1111
+```
+
+### Debug Commands
+```bash
+# View byte values
+println!("C1: {:#010b}", dev.rxpdo.c1);
+println!("S1: {:#010b}", dev.txpdo.s1);
+
+# Check specific flags
+let s2 = StatusByteS2::from_bits(dev.txpdo.s2);
+println!("Error: {}", s2.has_flag(S2Flag::Error));
+println!("OnSpeed: {}", s2.has_flag(S2Flag::OnSpeed));
+
+# Monitor state
+println!("State: {:?}", dev.state);
+println!("Initialized: {}", dev.initialized);
+```
+
+---
+
+## Additional Resources
+
+- **Wago Manual:** Section 2.1.2.3 (LEDs), 3.3 (Error Codes)
+- **WAGO I/O CHECK:** Configuration software for 750-671 application selector
+- **EtherCAT Specification:** www.ethercat.org
+- **Code Location:** 
+  - Device: `devices/wago_modules/wago_750_672.rs`
+  - Wrapper: `io/stepper_velocity_wago_750_672.rs`
+
+---
+
+## Changelog
+
+| Version | Date    | Changes                                     |
+| ------- | ------- | ------------------------------------------- |
+| 1.0     | 2025    | Initial implementation with state machine   |
+| 2.0     | 2026-02 | Added comprehensive developer documentation |
+
+---
+
+**Need help?** Check the troubleshooting section or add debug logging using the template above.

docs/mitsubishi_inverter.md

@@ -136,7 +136,7 @@ A slave recognizes message data as one message when a **3.5 character long no-da
 
 # Inverter settings
 
-## Motor Constants
+## Motor Constants for ExtruderV2:
 
 The following is a table that shows which Registers need to be set on the Inverter for the safe operation of the Motor.
 
@@ -151,6 +151,22 @@ The following is a table that shows which Registers need to be set on the Invert
 | `3`                   | Base frequency               | 5000 (50 Hz)  |
 | `19`                  | Base frequency voltage       | 400 (Volt)    |
 
+
+## Motor Constants for ExtruderV3:
+
+The following is a table that shows which Registers need to be set on the Inverter for the safe operation of the Motor.
+
+| Parameter number (Pr) | Name                         | Value         |
+| --------------------- | ---------------------------- | ------------- |
+| `71`                  | Applied Motor                | 0             |
+| `80`                  | Motor Capacity               | 22 (2.2 kw)   |
+| `96`                  | Auto tuning setting/status   | 1             |
+| `1`                   | Max Frequency                | 5000          |
+| `2`                   | Min Frequency                | 0             |
+| `9`                   | Electronic Thermal O/L Relay | 4.40 (Ampere) |
+| `3`                   | Base frequency               | 5000 (50 Hz)  |
+| `19`                  | Base frequency voltage       | 400 (Volt)    |
+
 ## All Settings needed for the Inverter Communication/Operation with Extruder
 
 The Following settings are required to get the inverter Communication and Operation working properly

electron/package-lock.json

@@ -1,12 +1,12 @@
 {
   "name": "qitech-control-electron",
-  "version": "1.0.0",
+  "version": "2.4.1",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "qitech-control-electron",
-      "version": "1.0.0",
+      "version": "2.4.1",
       "dependencies": {
         "@hookform/resolvers": "^5.2.2",
         "@icons-pack/react-simple-icons": "^11.2.0",
@@ -40,12 +40,12 @@
         "react": "^19.0.0",
         "react-dom": "^19.0.0",
         "react-hook-form": "^7.57.0",
-        "react-i18next": "^15.4.1",
+        "react-i18next": "^16.5.4",
         "react-markdown": "^10.1.0",
         "react-virtualized": "^9.22.6",
         "rehype-raw": "^7.0.0",
         "remark-gfm": "^4.0.1",
-        "socket.io-client": "^4.8.1",
+        "socket.io-client": "^4.8.3",
         "socket.io-msgpack-parser": "^3.0.2",
         "sonner": "^2.0.1",
         "tailwind-merge": "^3.0.1",
@@ -54,7 +54,7 @@
         "xlsx": "https://cdn.sheetjs.com/xlsx-0.20.3/xlsx-0.20.3.tgz",
         "zod": "^4.3.5",
         "zod-validation-error": "^5.0.0",
-        "zustand": "^5.0.8"
+        "zustand": "^5.0.11"
       },
       "devDependencies": {
         "@electron/fuses": "^1.8.0",
@@ -73,7 +73,7 @@
         "@types/react-virtualized": "^9.22.2",
         "electron": "^37.3.1",
         "electron-playwright-helpers": "^1.7.1",
-        "eslint": "^9.20.1",
+        "eslint": "^9.39.2",
         "eslint-config-prettier": "^10.1.2",
         "eslint-plugin-prettier": "^5.5.4",
         "eslint-plugin-react": "^7.37.4",
@@ -90,7 +90,7 @@
         "vite": "^6.4.1",
         "vite-plugin-electron": "^0.29.0",
         "vite-plugin-electron-renderer": "^0.14.6",
-        "vitest": "^3.0.6"
+        "vitest": "^4.0.18"
       }
     },
     "node_modules/@adobe/css-tools": {
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-        "magic-string": "^0.30.17",
+        "@vitest/expect": "4.0.18",
+        "@vitest/mocker": "4.0.18",
+        "@vitest/pretty-format": "4.0.18",
+        "@vitest/runner": "4.0.18",
+        "@vitest/snapshot": "4.0.18",
+        "@vitest/spy": "4.0.18",
+        "@vitest/utils": "4.0.18",
+        "es-module-lexer": "^1.7.0",
+        "expect-type": "^1.2.2",
+        "magic-string": "^0.30.21",
+        "obug": "^2.1.1",
         "pathe": "^2.0.3",
-        "picomatch": "^4.0.2",
-        "std-env": "^3.9.0",
+        "picomatch": "^4.0.3",
+        "std-env": "^3.10.0",
         "tinybench": "^2.9.0",
-        "tinyexec": "^0.3.2",
-        "tinyglobby": "^0.2.14",
-        "tinypool": "^1.1.1",
-        "tinyrainbow": "^2.0.0",
-        "vite": "^5.0.0 || ^6.0.0 || ^7.0.0-0",
-        "vite-node": "3.2.4",
+        "tinyexec": "^1.0.2",
+        "tinyglobby": "^0.2.15",
+        "tinyrainbow": "^3.0.3",
+        "vite": "^6.0.0 || ^7.0.0",
         "why-is-node-running": "^2.3.0"
       },
       "bin": {
         "vitest": "vitest.mjs"
       },
       "engines": {
-        "node": "^18.0.0 || ^20.0.0 || >=22.0.0"
+        "node": "^20.0.0 || ^22.0.0 || >=24.0.0"
       },
       "funding": {
         "url": "https://opencollective.com/vitest"
       },
       "peerDependencies": {
         "@edge-runtime/vm": "*",
-        "@types/debug": "^4.1.12",
-        "@types/node": "^18.0.0 || ^20.0.0 || >=22.0.0",
-        "@vitest/browser": "3.2.4",
-        "@vitest/ui": "3.2.4",
+        "@opentelemetry/api": "^1.9.0",
+        "@types/node": "^20.0.0 || ^22.0.0 || >=24.0.0",
+        "@vitest/browser-playwright": "4.0.18",
+        "@vitest/browser-preview": "4.0.18",
+        "@vitest/browser-webdriverio": "4.0.18",
+        "@vitest/ui": "4.0.18",
         "happy-dom": "*",
         "jsdom": "*"
       },
@@ -11813,13 +11614,19 @@
         "@edge-runtime/vm": {
           "optional": true
         },
-        "@types/debug": {
+        "@opentelemetry/api": {
           "optional": true
         },
         "@types/node": {
           "optional": true
         },
-        "@vitest/browser": {
+        "@vitest/browser-playwright": {
+          "optional": true
+        },
+        "@vitest/browser-preview": {
+          "optional": true
+        },
+        "@vitest/browser-webdriverio": {
           "optional": true
         },
         "@vitest/ui": {
@@ -12187,7 +11994,6 @@
       "resolved": "https://registry.npmjs.org/zod/-/zod-4.3.5.tgz",
       "integrity": "sha512-k7Nwx6vuWx1IJ9Bjuf4Zt1PEllcwe7cls3VNzm4CQ1/hgtFUK2bRNG3rvnpPUhFjmqJKAKtjV576KnUkHocg/g==",
       "license": "MIT",
-      "peer": true,
       "funding": {
         "url": "https://github.com/sponsors/colinhacks"
       }
@@ -12205,9 +12011,9 @@
       }
     },
     "node_modules/zustand": {
-      "version": "5.0.9",
-      "resolved": "https://registry.npmjs.org/zustand/-/zustand-5.0.9.tgz",
-      "integrity": "sha512-ALBtUj0AfjJt3uNRQoL1tL2tMvj6Gp/6e39dnfT6uzpelGru8v1tPOGBzayOWbPJvujM8JojDk3E1LxeFisBNg==",
+      "version": "5.0.11",
+      "resolved": "https://registry.npmjs.org/zustand/-/zustand-5.0.11.tgz",
+      "integrity": "sha512-fdZY+dk7zn/vbWNCYmzZULHRrss0jx5pPFiOuMZ/5HJN6Yv3u+1Wswy/4MpZEkEGhtNH+pwxZB8OKgUBPzYAGg==",
       "license": "MIT",
       "engines": {
         "node": ">=12.20.0"

electron/package.json

@@ -1,8 +1,8 @@
 {
   "name": "qitech-control-electron",
   "productName": "QiTech Control",
-  "version": "1.0.0",
-  "description": "",
+  "version": "2.4.1",
+  "description": "Next Generation Machine Interface ",
   "main": ".vite/build/main.js",
   "private": true,
   "scripts": {
@@ -36,7 +36,7 @@
     "@types/react-virtualized": "^9.22.2",
     "electron": "^37.3.1",