Fix tension arm multi-sensor data corruption bug

Co-authored-by: TheBest6337 <80114847+TheBest6337@users.noreply.github.com>

electron/package-lock.json

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electron/src/components/ratio/RatioInput.tsx

@@ -0,0 +1,427 @@
+import React, { useState, useCallback, useEffect } from "react";
+import { TouchButton } from "@/components/touch/TouchButton";
+import { Icon } from "@/components/Icon";
+import { Dialog, DialogContent, DialogTrigger } from "@/components/ui/dialog";
+import { useForm, useWatch } from "react-hook-form";
+import { zodResolver } from "@hookform/resolvers/zod";
+import { z } from "zod";
+import { Separator } from "@/components/ui/separator";
+
+type RatioInputProps = {
+  master?: number;
+  slave?: number;
+  onRatioChange?: (master: number, slave: number) => void;
+  title?: string;
+  min?: number;
+  max?: number;
+  step?: number;
+};
+
+const ratioSchema = z.object({
+  master: z.number().min(0.1).max(1000),
+  slave: z.number().min(0.1).max(1000),
+});
+
+type RatioFormData = z.infer<typeof ratioSchema>;
+
+export function RatioInput({
+  master = 1,
+  slave = 1,
+  onRatioChange,
+  title = "Motor Ratio",
+  min = 0.1,
+  max = 1000,
+  step = 0.1,
+}: RatioInputProps) {
+  const [isOpen, setIsOpen] = useState(false);
+  const [activeField, setActiveField] = useState<"master" | "slave" | null>(
+    null,
+  );
+  const [inputValue, setInputValue] = useState<string>("");
+
+  const getInitialValues = useCallback(() => {
+    return {
+      master: master ?? 1,
+      slave: slave ?? 1,
+    };
+  }, [master, slave]);
+
+  const form = useForm<RatioFormData>({
+    resolver: zodResolver(ratioSchema),
+    defaultValues: getInitialValues(),
+    mode: "all",
+  });
+
+  // Initialize form with current values when dialog opens
+  useEffect(() => {
+    if (isOpen) {
+      const initialValues = getInitialValues();
+      form.reset(initialValues);
+      setActiveField(null);
+      setInputValue("");
+    }
+  }, [isOpen, getInitialValues, form]);
+
+  const formatRatioDisplay = useCallback(() => {
+    const m = master ?? 1;
+    const s = slave ?? 1;
+    return `${m.toFixed(1)} : ${s.toFixed(1)}`;
+  }, [master, slave]);
+
+  // Increment/decrement functions with bounds checking
+  const adjustRatioValue = useCallback(
+    (field: "master" | "slave", increment: boolean) => {
+      const currentValue = form.getValues(field);
+      let newValue = increment ? currentValue + step : currentValue - step;
+
+      // Round to avoid floating point precision issues
+      newValue = Math.round(newValue * 10) / 10;
+
+      // Clamp to min/max bounds
+      if (newValue < min) {
+        newValue = min;
+      } else if (newValue > max) {
+        newValue = max;
+      }
+
+      form.setValue(field, newValue, {
+        shouldValidate: true,
+        shouldDirty: true,
+        shouldTouch: true,
+      });
+    },
+    [form, step, min, max],
+  );
+
+  const handleNumpadClick = (digit: string) => {
+    if (activeField === null) return;
+
+    const newValue = inputValue + digit;
+    setInputValue(newValue);
+  };
+
+  const handleDecimal = () => {
+    if (activeField === null) return;
+    if (!inputValue.includes(".")) {
+      setInputValue(inputValue === "" ? "0." : inputValue + ".");
+    }
+  };
+
+  const handleBackspace = () => {
+    setInputValue(inputValue.slice(0, -1));
+  };
+
+  const handleClear = () => {
+    setInputValue("");
+  };
+
+  const handleNumpadConfirm = () => {
+    if (activeField === null || inputValue === "") return;
+
+    let numValue = parseFloat(inputValue);
+
+    // Clamp to min/max bounds
+    if (numValue < min) {
+      numValue = min;
+    } else if (numValue > max) {
+      numValue = max;
+    }
+
+    form.setValue(activeField, numValue, {
+      shouldValidate: true,
+      shouldDirty: true,
+      shouldTouch: true,
+    });
+
+    setInputValue("");
+    setActiveField(null);
+  };
+
+  const handleFieldClick = (field: "master" | "slave") => {
+    if (activeField === field) {
+      // If same field, submit and close
+      handleNumpadConfirm();
+    } else {
+      // Switch to new field
+      if (activeField !== null && inputValue !== "") {
+        handleNumpadConfirm();
+      }
+      setActiveField(field);
+      setInputValue("");
+    }
+  };
+
+  const handleSubmit = () => {
+    if (activeField !== null && inputValue !== "") {
+      handleNumpadConfirm();
+      return;
+    }
+
+    form.handleSubmit((data) => {
+      onRatioChange?.(data.master, data.slave);
+      setIsOpen(false);
+    })();
+  };
+
+  const handleAbort = () => {
+    const initialValues = getInitialValues();
+    form.reset(initialValues);
+    setActiveField(null);
+    setInputValue("");
+    setIsOpen(false);
+  };
+
+  const handleReset = () => {
+    form.setValue("master", 1, {
+      shouldValidate: true,
+      shouldDirty: true,
+      shouldTouch: true,
+    });
+    form.setValue("slave", 1, {
+      shouldValidate: true,
+      shouldDirty: true,
+      shouldTouch: true,
+    });
+    setActiveField(null);
+    setInputValue("");
+  };
+
+  // Watch individual form fields for real-time updates
+  const masterValue = useWatch({
+    control: form.control,
+    name: "master",
+    defaultValue: getInitialValues().master,
+  });
+
+  const slaveValue = useWatch({
+    control: form.control,
+    name: "slave",
+    defaultValue: getInitialValues().slave,
+  });
+
+  // Get current form values with fallback
+  const currentValues = {
+    master: masterValue ?? 1,
+    slave: slaveValue ?? 1,
+  };
+
+  // RatioValueInput component for individual ratio fields
+  const RatioValueInput = ({
+    field,
+    label,
+    value,
+  }: {
+    field: "master" | "slave";
+    label: string;
+    value: number;
+  }) => {
+    const isActive = activeField === field;
+    const displayValue =
+      isActive && inputValue !== "" ? inputValue : value.toFixed(1);
+
+    return (
+      <div className="flex flex-col items-center gap-3">
+        <label className="text-sm font-medium text-gray-700">{label}</label>
+        <div className="flex flex-col items-center gap-2">
+          <TouchButton
+            variant="outline"
+            size="sm"
+            className="h-10 w-20 p-0"
+            onClick={(e) => {
+              e.preventDefault();
+              e.stopPropagation();
+              adjustRatioValue(field, true);
+            }}
+            disabled={value >= max}
+          >
+            <Icon name="lu:ChevronUp" className="size-4" />
+          </TouchButton>
+          <div
+            onClick={() => handleFieldClick(field)}
+            className={`flex h-16 w-24 cursor-pointer items-center justify-center rounded border-2 font-mono text-3xl transition-colors ${
+              isActive
+                ? "border-blue-500 bg-blue-50"
+                : "border-gray-300 bg-white"
+            }`}
+          >
+            {displayValue}
+          </div>
+          <TouchButton
+            variant="outline"
+            size="sm"
+            className="h-10 w-20 p-0"
+            onClick={(e) => {
+              e.preventDefault();
+              e.stopPropagation();
+              adjustRatioValue(field, false);
+            }}
+            disabled={value <= min}
+          >
+            <Icon name="lu:ChevronDown" className="size-4" />
+          </TouchButton>
+        </div>
+      </div>
+    );
+  };
+
+  // Numpad component
+  const Numpad = () => (
+    <div className="flex flex-col gap-3">
+      {/* Display showing input value */}
+      <div className="flex h-12 items-center justify-center rounded border-2 border-gray-300 bg-gray-50 font-mono text-xl">
+        {inputValue === "" ? "0" : inputValue}
+      </div>
+
+      {/* Numpad grid */}
+      <div className="grid grid-cols-3 gap-2">
+        {[
+          ["1", "2", "3"],
+          ["4", "5", "6"],
+          ["7", "8", "9"],
+          [".", "0", "DEL"],
+        ].map((row, i) => (
+          <div key={i} className="contents">
+            {row.map((key) => (
+              <TouchButton
+                key={key}
+                variant="outline"
+                className="h-12 p-0"
+                onClick={(e) => {
+                  e.preventDefault();
+                  e.stopPropagation();
+                  if (key === "DEL") {
+                    handleBackspace();
+                  } else if (key === ".") {
+                    handleDecimal();
+                  } else {
+                    handleNumpadClick(key);
+                  }
+                }}
+              >
+                {key === "DEL" ? (
+                  <Icon name="lu:Delete" className="size-4" />
+                ) : (
+                  key
+                )}
+              </TouchButton>
+            ))}
+          </div>
+        ))}
+      </div>
+
+      {/* Control buttons */}
+      <div className="flex gap-2">
+        <TouchButton
+          variant="outline"
+          className="h-10 flex-1"
+          onClick={(e) => {
+            e.preventDefault();
+            e.stopPropagation();
+            handleClear();
+          }}
+        >
+          C
+        </TouchButton>
+        <TouchButton
+          className="h-10 flex-1 bg-green-600 text-white hover:bg-green-700"
+          onClick={(e) => {
+            e.preventDefault();
+            e.stopPropagation();
+            handleNumpadConfirm();
+          }}
+          disabled={activeField === null || inputValue === ""}
+        >
+          <Icon name="lu:Check" className="size-4" />
+        </TouchButton>
+      </div>
+    </div>
+  );
+
+  return (
+    <Dialog open={isOpen} onOpenChange={setIsOpen}>
+      <DialogTrigger asChild>
+        <TouchButton
+          variant="outline"
+          className="h-auto border-gray-300 bg-white px-3 py-3 text-base text-gray-900 hover:bg-gray-50"
+        >
+          <Icon name="lu:Settings" className="mr-2 size-4" />
+          {formatRatioDisplay()}
+        </TouchButton>
+      </DialogTrigger>
+
+      <DialogContent className="max-w-4xl p-8">
+        <div className="flex flex-col gap-8">
+          {/* Header */}
+          <div className="flex min-h-[2.5rem] items-center justify-between">
+            <div className="flex items-center gap-3">
+              <Icon name="lu:Settings" className="size-6" />
+              <h3 className="text-xl font-semibold">{title}</h3>
+            </div>
+            <TouchButton
+              variant="ghost"
+              size="sm"
+              onClick={handleReset}
+              className="text-blue-600 hover:text-blue-700"
+            >
+              <Icon name="lu:RotateCcw" className="mr-2 size-4" />
+              Reset to 1:1
+            </TouchButton>
+          </div>
+
+          {/* Description */}
+          <div className="-mt-4 text-base text-gray-600">
+            Set the gear ratio. For every {currentValues.master.toFixed(1)}{" "}
+            rotation(s) of the master puller, the motor will make{" "}
+            {currentValues.slave.toFixed(1)} rotation(s).
+          </div>
+
+          <Separator />
+
+          {/* Main content: Ratio inputs and Numpad */}
+          <div className="flex gap-8">
+            {/* Ratio inputs */}
+            <div className="flex flex-1 items-center justify-center gap-8">
+              <RatioValueInput
+                field="master"
+                label="Master"
+                value={currentValues.master}
+              />
+              <div className="mt-8 text-4xl font-bold">:</div>
+              <RatioValueInput
+                field="slave"
+                label="Slave"
+                value={currentValues.slave}
+              />
+            </div>
+
+            {/* Numpad */}
+            <div className="w-40">
+              <Numpad />
+            </div>
+          </div>
+
+          <Separator />
+
+          {/* Action buttons */}
+          <div className="flex gap-4">
+            <TouchButton
+              variant="outline"
+              className="h-14 flex-1"
+              onClick={handleAbort}
+            >
+              <Icon name="lu:X" className="mr-2 size-4" />
+              Cancel
+            </TouchButton>
+            <TouchButton
+              className="h-14 flex-1 bg-blue-600 text-white hover:bg-blue-700"
+              onClick={handleSubmit}
+            >
+              <Icon name="lu:Check" className="mr-2 size-4" />
+              Apply
+            </TouchButton>
+          </div>
+        </div>
+      </DialogContent>
+    </Dialog>
+  );
+}

electron/src/control/MinMaxValue.tsx

@@ -1,173 +0,0 @@
-import { Icon, IconName } from "@/components/Icon";
-import React, { useState, useMemo } from "react";
-import {
-  getUnitIcon,
-  renderValueToReactNode,
-  renderUnitSymbol,
-  Unit,
-} from "./units";
-import { Label } from "./Label";
-import { TimeSeries, TimeSeriesValue } from "@/lib/timeseries";
-
-type TimeframeOption = {
-  label: string;
-  value: number; // in milliseconds
-};
-
-export const TIMEFRAME_OPTIONS: TimeframeOption[] = [
-  { label: "1 min", value: 1 * 60 * 1000 },
-  { label: "5 min", value: 5 * 60 * 1000 },
-  { label: "10 min", value: 10 * 60 * 1000 },
-  { label: "30 min", value: 30 * 60 * 1000 },
-  { label: "1 hour", value: 60 * 60 * 1000 },
-];
-
-type Props = {
-  label: string;
-  unit?: Unit;
-  timeseries: TimeSeries;
-  icon?: IconName;
-  renderValue?: (value: number) => string;
-  defaultTimeframe?: number; // in milliseconds, defaults to 5 minutes
-  /** Optional externally-controlled timeframe (ms). When provided, component becomes controlled. */
-  timeframe?: number;
-  /** Optional callback when timeframe is changed via this component's selector */
-  onTimeframeChange?: (t: number) => void;
-  /** When true, hide the built-in timeframe selector (useful when sharing a selector outside) */
-  hideSelector?: boolean;
-};
-
-export function MinMaxValue({
-  unit,
-  timeseries,
-  icon,
-  label,
-  renderValue,
-  defaultTimeframe = 5 * 60 * 1000, // 5 minutes default
-  timeframe,
-  onTimeframeChange,
-  hideSelector = false,
-}: Props) {
-  const [internalTimeframe, setInternalTimeframe] = useState(defaultTimeframe);
-  const selectedTimeframe = timeframe ?? internalTimeframe;
-
-  // Calculate min/max from the timeseries using the selected timeframe
-  const { min, max, hasData } = useMemo(() => {
-    // Use short series for timeframes <= 5 seconds, otherwise use long series
-    // Short series typically has ~5 second retention with high resolution
-    // Long series typically has ~1 hour retention with lower resolution
-    const series =
-      selectedTimeframe <= 5000 ? timeseries.short : timeseries.long;
-
-    // Manually calculate min/max to exclude zero values (which might be invalid readings)
-    const cutoffTime = series.lastTimestamp - selectedTimeframe;
-    let min = Number.POSITIVE_INFINITY;
-    let max = Number.NEGATIVE_INFINITY;
-    let hasValidData = false;
-    let dataCount = 0;
-
-    const { values: raw, index, size, validCount } = series;
-
-    const startIdx = validCount < size ? 0 : index;
-
-    for (let i = 0; i < validCount; i++) {
-      const idx = (startIdx + i) % size;
-      const val = raw[idx];
-
-      if (
-        val &&
-        val.timestamp > 0 &&
-        val.timestamp >= cutoffTime &&
-        val.value > 0
-      ) {
-        hasValidData = true;
-        dataCount++;
-        if (val.value < min) min = val.value;
-        if (val.value > max) max = val.value;
-      }
-    }
-
-    if (!hasValidData) {
-      return { min: 0, max: 0, hasData: false };
-    }
-
-    return { min, max, hasData: true };
-  }, [
-    timeseries.short,
-    timeseries.long,
-    timeseries.current,
-    selectedTimeframe,
-  ]);
-
-  return (
-    <div className="flex w-full flex-col gap-3">
-      <Label label={label}>
-        <div className="flex flex-row items-center gap-6">
-          {/* Min Value */}
-          <div className="flex flex-row items-center gap-2">
-            <Icon
-              name={icon ?? (unit ? getUnitIcon(unit) : undefined)}
-              className="size-5 text-blue-500"
-            />
-            <div className="flex flex-col">
-              <span className="text-xs text-gray-500">Min</span>
-              <div className="flex flex-row items-center gap-1">
-                <span className="font-mono text-xl font-bold">
-                  {hasData
-                    ? renderValueToReactNode(min, unit, renderValue)
-                    : "-"}
-                </span>
-                {hasData && (
-                  <span className="text-sm">{renderUnitSymbol(unit)}</span>
-                )}
-              </div>
-            </div>
-          </div>
-
-          {/* Max Value */}
-          <div className="flex flex-row items-center gap-2">
-            <Icon
-              name={icon ?? (unit ? getUnitIcon(unit) : undefined)}
-              className="size-5 text-red-500"
-            />
-            <div className="flex flex-col">
-              <span className="text-xs text-gray-500">Max</span>
-              <div className="flex flex-row items-center gap-1">
-                <span className="font-mono text-xl font-bold">
-                  {hasData
-                    ? renderValueToReactNode(max, unit, renderValue)
-                    : "-"}
-                </span>
-                {hasData && (
-                  <span className="text-sm">{renderUnitSymbol(unit)}</span>
-                )}
-              </div>
-            </div>
-          </div>
-        </div>
-      </Label>
-
-      {/* Timeframe Selector (hidden when sharing selector externally) */}
-      {!hideSelector && (
-        <div className="flex flex-row flex-wrap gap-2">
-          {TIMEFRAME_OPTIONS.map((option) => (
-            <button
-              key={option.value}
-              onClick={() => {
-                if (onTimeframeChange) onTimeframeChange(option.value);
-                else setInternalTimeframe(option.value);
-              }}
-              className={`rounded-md px-3 py-1 text-sm transition-colors ${
-                selectedTimeframe === option.value
-                  ? "bg-blue-500 text-white"
-                  : "bg-gray-200 text-gray-700 hover:bg-gray-300"
-              }`}
-            >
-              {option.label}
-            </button>
-          ))}
-        </div>
-      )}
-    </div>
-  );
-}

electron/src/machines/buffer/buffer1/buffer1Namespace.ts

@@ -110,8 +110,7 @@ export function buffer1MessageHandler(
           state: stateEvent,
         }));
       } else if (eventName === "LiveValuesEvent") {
-        const liveValuesEvent = liveValuesEventSchema.parse(event);
-        const timestamp = event.ts;
+        liveValuesEventSchema.parse(event);
         updateStore((state) => ({
           ...state,
         }));

electron/src/machines/laser/laser1/Laser1ControlPage.tsx

@@ -3,7 +3,6 @@ import { Page } from "@/components/Page";
 import React from "react";
 import { ControlGrid } from "@/control/ControlGrid";
 import { TimeSeriesValueNumeric } from "@/control/TimeSeriesValue";
-import { MinMaxValue, TIMEFRAME_OPTIONS } from "@/control/MinMaxValue";
 
 import { EditValue } from "@/control/EditValue";
 import { Label } from "@/control/Label";
@@ -29,12 +28,6 @@ export function Laser1ControlPage() {
   const targetDiameter = state?.laser_state?.target_diameter ?? 0;
   const lowerTolerance = state?.laser_state?.lower_tolerance ?? 0;
   const higherTolerance = state?.laser_state?.higher_tolerance ?? 0;
-
-  // Detect if this is a 2-axis laser
-  const isTwoAxis = !!x_diameter?.current || !!y_diameter?.current;
-  // Shared timeframe state (default 5 minutes)
-  const [timeframe, setTimeframe] = React.useState<number>(5 * 60 * 1000);
-
   return (
     <Page>
       <ControlGrid columns={2}>
@@ -84,57 +77,6 @@ export function Laser1ControlPage() {
               />
             </div>
           )}
-          <div className="mt-4 border-t pt-4">
-            {isTwoAxis ? (
-              // For 2-axis lasers: show diameter and roundness min/max side by side
-              <div className="grid grid-cols-2 gap-4">
-                <MinMaxValue
-                  label="Diameter Range"
-                  unit="mm"
-                  timeseries={diameter}
-                  renderValue={(value) => value.toFixed(3)}
-                  timeframe={timeframe}
-                  hideSelector
-                />
-                {roundness?.current && (
-                  <MinMaxValue
-                    label="Roundness Range"
-                    timeseries={roundness}
-                    renderValue={(value) => value.toFixed(3)}
-                    timeframe={timeframe}
-                    hideSelector
-                  />
-                )}
-              </div>
-            ) : (
-              // For single-axis lasers: show only diameter min/max with shared selector
-              <MinMaxValue
-                label="Diameter Range"
-                unit="mm"
-                timeseries={diameter}
-                renderValue={(value) => value.toFixed(3)}
-                timeframe={timeframe}
-                hideSelector
-              />
-            )}
-
-            {/* Shared timeframe selector for diameter/roundness */}
-            <div className="mt-3 flex flex-row flex-wrap gap-2">
-              {TIMEFRAME_OPTIONS.map((option) => (
-                <button
-                  key={option.value}
-                  onClick={() => setTimeframe(option.value)}
-                  className={`rounded-md px-3 py-1 text-sm transition-colors ${
-                    timeframe === option.value
-                      ? "bg-blue-500 text-white"
-                      : "bg-gray-200 text-gray-700 hover:bg-gray-300"
-                  }`}
-                >
-                  {option.label}
-                </button>
-              ))}
-            </div>
-          </div>
         </ControlCard>
         <ControlCard title="Settings">
           <Label label="Set Target Diameter">

electron/src/machines/properties.ts

@@ -90,13 +90,18 @@ export const winder2: MachineProperties = {
       ],
     },
     {
-      role: 4,
-      role_label: "1x Stepper Puller",
+      role: 10,
+      role_label: "Slave Puller",
       allowed_devices: [
         {
           vendor_id: 2,
           product_id: 0x1b773052,
-          revision: 0x10001e,
+          revision: 0x1a0000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x190000,
         },
       ],
     },
@@ -340,6 +345,215 @@ export const aquapath1: MachineProperties = {
   ],
 };
 
+export const gluetex: MachineProperties = {
+  name: "Gluetex",
+  version: "V1",
+  slug: "gluetex",
+  icon: "lu:Disc3",
+  machine_identification: {
+    vendor: VENDOR_QITECH,
+    machine: 0x000a,
+  },
+  device_roles: [
+    {
+      role: 0,
+      role_label: "Bus Coupler",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0x44c2c52,
+          revision: 0x120000,
+        },
+      ],
+    },
+    {
+      role: 1,
+      role_label: "2x Digital Output",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0x7d23052,
+          revision: 0x110000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x7d23052,
+          revision: 0x120000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x7d83052,
+          revision: 0x110000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x7d83052,
+          revision: 0x120000,
+        },
+      ],
+    },
+    {
+      role: 2,
+      role_label: "1x Stepper Spool EL7041-0052",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 461451346,
+          revision: 0x100034,
+        },
+      ],
+    },
+    {
+      role: 3,
+      role_label: "1x Stepper Traverse",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x1a0000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x190000,
+        },
+      ],
+    },
+    {
+      role: 4,
+      role_label: "1x Stepper Puller",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x10001e,
+        },
+      ],
+    },
+    {
+      role: 5,
+      role_label: "Temperature Sensors 1-4",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0xc843052,
+          revision: 0x160000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0xc843052,
+          revision: 0x150000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0xc843052,
+          revision: 0x1a0000,
+        },
+      ],
+    },
+    {
+      role: 6,
+      role_label: "Temperature Sensors 5-6",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0xc843052,
+          revision: 0x160000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0xc843052,
+          revision: 0x150000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0xc843052,
+          revision: 0x1a0000,
+        },
+      ],
+    },
+    {
+      role: 7,
+      role_label: "Digital Outputs for Heater SSRs",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0x7d83052,
+          revision: 0x110000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x7d83052,
+          revision: 0x120000,
+        },
+      ],
+    },
+    {
+      role: 8,
+      role_label: "Addon Motor 3",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x1a0000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x190000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x10001e,
+        },
+      ],
+    },
+    {
+      role: 9,
+      role_label: "Addon Motor 4",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x1a0000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x190000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x10001e,
+        },
+      ],
+    },
+    {
+      role: 10,
+      role_label: "Slave Puller",
+      allowed_devices: [
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x1a0000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x190000,
+        },
+        {
+          vendor_id: 2,
+          product_id: 0x1b773052,
+          revision: 0x10001e,
+        },
+      ],
+    },
+  ],
+};
+
 export const machineProperties: MachineProperties[] = [
   winder2,
   extruder2,
@@ -347,6 +561,7 @@ export const machineProperties: MachineProperties[] = [
   mock1,
   buffer1,
   aquapath1,
+  gluetex,
 ];
 
 export const getMachineProperties = (

electron/src/machines/winder/TemperatureBar.tsx

@@ -0,0 +1,65 @@
+import { cn } from "@/utils/tailwind";
+import React from "react";
+
+type Props = {
+  min: number;
+  max: number;
+  minLimit: number;
+  maxLimit: number;
+  current: number;
+  className?: string;
+};
+
+export function TemperatureBar({
+  min,
+  max,
+  minLimit,
+  maxLimit,
+  current,
+  className,
+}: Props) {
+  // Calculate percentages for positioning
+  const range = max - min;
+  const minLimitPercent = ((minLimit - min) / range) * 100;
+  const maxLimitPercent = ((maxLimit - min) / range) * 100;
+  const currentPercent = ((current - min) / range) * 100;
+
+  // Determine if current value is within limits
+  const isInRange = current >= minLimit && current <= maxLimit;
+
+  return (
+    <div className={cn("w-full space-y-1 pt-6", className)}>
+      <div className="relative h-4 w-full">
+        {/* Base bar with overflow hidden to clip inner bar */}
+        <div className="absolute h-full w-full overflow-hidden rounded-full bg-gray-200">
+          {/* Valid range (green section) */}
+          <div
+            className="absolute h-full bg-green-600"
+            style={{
+              left: `${minLimitPercent}%`,
+              width: `${maxLimitPercent - minLimitPercent}%`,
+            }}
+          />
+        </div>
+
+        {/* Current temperature indicator - outside the overflow container so it's not clipped */}
+        <div
+          className={cn(
+            "absolute -top-5 z-10 h-14 w-1.5 rounded-full",
+            isInRange ? "bg-green-600" : "bg-red-600",
+          )}
+          style={{
+            left: `${currentPercent}%`,
+            transform: "translateX(-50%)",
+          }}
+        />
+      </div>
+
+      {/* Labels */}
+      <div className="flex justify-between text-xs text-gray-400">
+        <span>MIN</span>
+        <span>MAX</span>
+      </div>
+    </div>
+  );
+}

electron/src/machines/winder/gluetex/GluetexAddonsPage.tsx

@@ -0,0 +1,349 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { TimeSeriesValueNumeric } from "@/control/TimeSeriesValue";
+import { TemperatureBar } from "../TemperatureBar";
+import { SelectionGroup } from "@/control/SelectionGroup";
+import { EditValue } from "@/control/EditValue";
+import { Label } from "@/control/Label";
+import { TouchButton } from "@/components/touch/TouchButton";
+import { StatusBadge } from "@/control/StatusBadge";
+import { useGluetex } from "./useGluetex";
+import {
+  StepperMode,
+  HeatingMode,
+  getGearRatioMultiplier,
+} from "./gluetexNamespace";
+import { roundToDecimals, roundDegreesToDecimals } from "@/lib/decimal";
+import { TensionArm } from "../TensionArm";
+import { RatioInput } from "@/components/ratio/RatioInput";
+
+export function GluetexAddonsPage() {
+  const {
+    state,
+    defaultState,
+    isLoading,
+    isDisabled,
+    setStepper3Mode,
+    setStepper4Mode,
+    setHeatingMode,
+    temperature1,
+    temperature2,
+    setTemperature1Min,
+    setTemperature1Max,
+    setTemperature2Min,
+    setTemperature2Max,
+    slavePullerSpeed,
+    slaveTensionArmAngle,
+    addonTensionArmAngle,
+    zeroSlaveTensionArm,
+    zeroAddonTensionArm,
+    setStepper3Master,
+    setStepper3Slave,
+    setStepper4Master,
+    setStepper4Slave,
+  } = useGluetex();
+
+  // Calculate max speed based on gear ratio (same as main puller)
+  const gearRatioMultiplier = getGearRatioMultiplier(
+    state?.puller_state?.gear_ratio,
+  );
+
+  return (
+    <Page>
+      <ControlGrid>
+        <ControlCard className="bg-red" title="Motors">
+          <Label label="Stepper 3">
+            <SelectionGroup<StepperMode>
+              value={state?.stepper_state?.stepper3_mode}
+              disabled={isDisabled}
+              loading={isLoading}
+              onChange={setStepper3Mode}
+              orientation="horizontal"
+              className="grid grid-cols-2 gap-2"
+              options={{
+                Standby: {
+                  children: "Standby",
+                  icon: "lu:Power",
+                  isActiveClassName: "bg-green-600",
+                },
+                Run: {
+                  children: "Run",
+                  icon: "lu:Play",
+                  isActiveClassName: "bg-green-600",
+                },
+              }}
+            />
+          </Label>
+          <Label label="Stepper 4">
+            <SelectionGroup<StepperMode>
+              value={state?.stepper_state?.stepper4_mode}
+              disabled={isDisabled}
+              loading={isLoading}
+              onChange={setStepper4Mode}
+              orientation="horizontal"
+              className="grid grid-cols-2 gap-2"
+              options={{
+                Standby: {
+                  children: "Standby",
+                  icon: "lu:Power",
+                  isActiveClassName: "bg-green-600",
+                },
+                Run: {
+                  children: "Run",
+                  icon: "lu:Play",
+                  isActiveClassName: "bg-green-600",
+                },
+              }}
+            />
+          </Label>
+        </ControlCard>
+
+        <ControlCard className="bg-red" title="Heating Mode">
+          <SelectionGroup<HeatingMode>
+            value={state?.heating_state?.heating_mode}
+            disabled={isDisabled}
+            loading={isLoading}
+            onChange={setHeatingMode}
+            orientation="horizontal"
+            className="grid grid-cols-2 gap-2"
+            options={{
+              Standby: {
+                children: "Standby",
+                icon: "lu:Power",
+                isActiveClassName: "bg-green-600",
+              },
+              Heating: {
+                children: "Heating",
+                icon: "lu:Flame",
+                isActiveClassName: "bg-green-600",
+              },
+            }}
+          />
+        </ControlCard>
+
+        <ControlCard className="bg-red" height={2} title="Quality Control">
+          <div className="space-y-6">
+            {/* Temperature 1 */}
+            <div className="space-y-3">
+              <div className="flex items-center justify-between">
+                <TimeSeriesValueNumeric
+                  label="Temperature 1"
+                  unit="C"
+                  timeseries={temperature1}
+                  renderValue={(value) => roundToDecimals(value, 1)}
+                />
+              </div>
+
+              <TemperatureBar
+                min={0}
+                max={150}
+                minLimit={
+                  state?.quality_control_state?.temperature1.min_temperature ??
+                  0
+                }
+                maxLimit={
+                  state?.quality_control_state?.temperature1.max_temperature ??
+                  150
+                }
+                current={temperature1.current?.value ?? 0}
+              />
+
+              <div className="flex flex-row flex-wrap gap-4">
+                <Label label="Min Temperature">
+                  <EditValue
+                    value={
+                      state?.quality_control_state?.temperature1.min_temperature
+                    }
+                    unit="C"
+                    title="Min Temperature 1"
+                    defaultValue={
+                      defaultState?.quality_control_state?.temperature1
+                        .min_temperature
+                    }
+                    min={0}
+                    max={Math.min(
+                      149,
+                      (state?.quality_control_state?.temperature1
+                        .max_temperature ?? 150) - 1,
+                    )}
+                    renderValue={(value) => roundToDecimals(value, 1)}
+                    onChange={setTemperature1Min}
+                  />
+                </Label>
+                <Label label="Max Temperature">
+                  <EditValue
+                    value={
+                      state?.quality_control_state?.temperature1.max_temperature
+                    }
+                    unit="C"
+                    title="Max Temperature 1"
+                    defaultValue={
+                      defaultState?.quality_control_state?.temperature1
+                        .max_temperature
+                    }
+                    min={Math.max(
+                      1,
+                      (state?.quality_control_state?.temperature1
+                        .min_temperature ?? 0) + 1,
+                    )}
+                    max={150}
+                    renderValue={(value) => roundToDecimals(value, 1)}
+                    onChange={setTemperature1Max}
+                  />
+                </Label>
+              </div>
+            </div>
+
+            {/* Temperature 2 */}
+            <div className="space-y-3">
+              <div className="flex items-center justify-between">
+                <TimeSeriesValueNumeric
+                  label="Temperature 2"
+                  unit="C"
+                  timeseries={temperature2}
+                  renderValue={(value) => roundToDecimals(value, 1)}
+                />
+              </div>
+
+              <TemperatureBar
+                min={0}
+                max={200}
+                minLimit={
+                  state?.quality_control_state?.temperature2.min_temperature ??
+                  0
+                }
+                maxLimit={
+                  state?.quality_control_state?.temperature2.max_temperature ??
+                  200
+                }
+                current={temperature2.current?.value ?? 0}
+              />
+
+              <div className="flex flex-row flex-wrap gap-4">
+                <Label label="Min Temperature">
+                  <EditValue
+                    value={
+                      state?.quality_control_state?.temperature2.min_temperature
+                    }
+                    unit="C"
+                    title="Min Temperature 2"
+                    defaultValue={
+                      defaultState?.quality_control_state?.temperature2
+                        .min_temperature
+                    }
+                    min={0}
+                    max={Math.min(
+                      199,
+                      (state?.quality_control_state?.temperature2
+                        .max_temperature ?? 200) - 1,
+                    )}
+                    renderValue={(value) => roundToDecimals(value, 1)}
+                    onChange={setTemperature2Min}
+                  />
+                </Label>
+                <Label label="Max Temperature">
+                  <EditValue
+                    value={
+                      state?.quality_control_state?.temperature2.max_temperature
+                    }
+                    unit="C"
+                    title="Max Temperature 2"
+                    defaultValue={
+                      defaultState?.quality_control_state?.temperature2
+                        .max_temperature
+                    }
+                    min={Math.max(
+                      1,
+                      (state?.quality_control_state?.temperature2
+                        .min_temperature ?? 0) + 1,
+                    )}
+                    max={200}
+                    renderValue={(value) => roundToDecimals(value, 1)}
+                    onChange={setTemperature2Max}
+                  />
+                </Label>
+              </div>
+            </div>
+          </div>
+        </ControlCard>
+
+        <ControlCard title="Tension Arm">
+          <TensionArm degrees={slaveTensionArmAngle.current?.value} />
+          <TimeSeriesValueNumeric
+            label="Tension Arm"
+            unit="deg"
+            timeseries={slaveTensionArmAngle}
+            renderValue={(value) => roundDegreesToDecimals(value, 0)}
+          />
+          <TimeSeriesValueNumeric
+            label="Slave Puller Speed"
+            unit="m/min"
+            timeseries={slavePullerSpeed}
+            renderValue={(value) => roundToDecimals(value, 1)}
+          />
+          <TouchButton
+            variant="outline"
+            icon="lu:House"
+            onClick={zeroSlaveTensionArm}
+            disabled={isDisabled}
+            isLoading={isLoading}
+          >
+            Set Zero Point
+          </TouchButton>
+          {!state?.slave_puller_state?.tension_arm?.zeroed && (
+            <StatusBadge variant="error">Not Zeroed</StatusBadge>
+          )}
+        </ControlCard>
+
+        <ControlCard className="bg-red" title="Motor Ratios">
+          <Label label="Stepper 3 Ratio">
+            <RatioInput
+              master={state?.motor_ratios_state?.stepper3_master}
+              slave={state?.motor_ratios_state?.stepper3_slave}
+              title="Stepper 3 Motor Ratio"
+              onRatioChange={(master, slave) => {
+                setStepper3Master(master);
+                setStepper3Slave(slave);
+              }}
+            />
+          </Label>
+          <Label label="Stepper 4 Ratio">
+            <RatioInput
+              master={state?.motor_ratios_state?.stepper4_master}
+              slave={state?.motor_ratios_state?.stepper4_slave}
+              title="Stepper 4 Motor Ratio"
+              onRatioChange={(master, slave) => {
+                setStepper4Master(master);
+                setStepper4Slave(slave);
+              }}
+            />
+          </Label>
+        </ControlCard>
+
+        <ControlCard title="Addon Tension Arm">
+          <TensionArm degrees={addonTensionArmAngle.current?.value} />
+          <TimeSeriesValueNumeric
+            label="Angle"
+            unit="deg"
+            timeseries={addonTensionArmAngle}
+            renderValue={(value) => roundDegreesToDecimals(value, 0)}
+          />
+          <TouchButton
+            variant="outline"
+            icon="lu:House"
+            onClick={zeroAddonTensionArm}
+            disabled={isDisabled}
+            isLoading={isLoading}
+          >
+            Set Zero Point
+          </TouchButton>
+          {!state?.addon_tension_arm_state?.zeroed && (
+            <StatusBadge variant="error">Not Zeroed</StatusBadge>
+          )}
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}

electron/src/machines/winder/gluetex/GluetexControlPage.tsx

@@ -0,0 +1,375 @@
+import { ControlCard } from "@/control/ControlCard";
+import { Page } from "@/components/Page";
+import React, { useState } from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { TimeSeriesValueNumeric } from "@/control/TimeSeriesValue";
+import { TraverseBar } from "../TraverseBar";
+import {
+  SelectionGroup,
+  SelectionGroupBoolean,
+} from "@/control/SelectionGroup";
+import { EditValue } from "@/control/EditValue";
+import { Label } from "@/control/Label";
+import { TouchButton } from "@/components/touch/TouchButton";
+import { StatusBadge } from "@/control/StatusBadge";
+import { useGluetex } from "./useGluetex";
+import {
+  Mode,
+  SpoolAutomaticActionMode,
+  getGearRatioMultiplier,
+} from "./gluetexNamespace";
+import { TensionArm } from "../TensionArm";
+import { roundDegreesToDecimals, roundToDecimals } from "@/lib/decimal";
+import { Spool } from "../Spool";
+import {
+  Dialog,
+  DialogContent,
+  DialogDescription,
+  DialogHeader,
+  DialogTitle,
+} from "@/components/ui/dialog";
+import { getGluetexTraverseMax } from "./gluetexConfig";
+
+export function GluetexControlPage() {
+  const [showResetConfirmDialog, setShowResetConfirmDialog] = useState(false);
+  const traverseMax = getGluetexTraverseMax();
+
+  // use optimistic state
+  const {
+    state,
+    defaultState,
+    enableTraverseLaserpointer,
+    tensionArmAngle,
+    zeroTensionArmAngle,
+    spoolRpm,
+    setMode,
+    pullerSpeed,
+    spoolProgress,
+    setPullerTargetSpeed,
+    traversePosition,
+    resetSpoolProgress,
+    setTraverseLimitInner,
+    setTraverseLimitOuter,
+    gotoTraverseLimitInner,
+    gotoTraverseLimitOuter,
+    gotoTraverseHome,
+    setSpoolAutomaticRequiredMeters,
+    setSpoolAutomaticAction,
+    isLoading,
+    isDisabled,
+  } = useGluetex();
+
+  // Calculate max speed based on gear ratio
+  const gearRatioMultiplier = getGearRatioMultiplier(
+    state?.puller_state?.gear_ratio,
+  );
+  const maxMotorSpeed = 75; // Maximum motor speed in m/min
+  const maxTargetSpeed = maxMotorSpeed / gearRatioMultiplier;
+
+  const handleResetProgress = () => {
+    // Check if the machine is currently in Wind mode
+    if (state?.mode_state?.mode === "Wind") {
+      setShowResetConfirmDialog(true);
+    } else {
+      resetSpoolProgress();
+    }
+  };
+
+  const confirmResetProgress = () => {
+    resetSpoolProgress();
+    setShowResetConfirmDialog(false);
+  };
+
+  return (
+    <Page>
+      <ControlGrid>
+        <ControlCard title="Spool">
+          <Spool rpm={spoolRpm.current?.value} />
+          <TimeSeriesValueNumeric
+            label="Spool Speed"
+            unit="rpm"
+            timeseries={spoolRpm}
+            renderValue={(value) => roundToDecimals(value, 0)}
+          />
+        </ControlCard>
+
+        <ControlCard className="bg-red" height={2} title="Traverse">
+          <TimeSeriesValueNumeric
+            label="Position"
+            unit="mm"
+            timeseries={traversePosition}
+            renderValue={(value) => roundToDecimals(value, 1)}
+          />
+          {state?.traverse_state && (
+            <TraverseBar
+              inside={0}
+              outside={traverseMax}
+              min={state?.traverse_state.limit_inner}
+              max={state?.traverse_state.limit_outer}
+              current={traversePosition.current?.value ?? 0}
+            />
+          )}
+          <div className="flex flex-row flex-wrap gap-4">
+            <Label label="Outer Limit">
+              <EditValue
+                value={state?.traverse_state?.limit_outer}
+                unit="mm"
+                title="Outer Limit"
+                defaultValue={defaultState?.traverse_state?.limit_outer}
+                // Traverse limit validation: Outer limit must be at least 0.9mm greater than inner limit
+                // We use 1mm buffer to ensure the backend validation (which requires >0.9mm) will pass
+                // Formula: min_outer = inner_limit + 1mm
+                min={Math.max(0, (state?.traverse_state?.limit_inner ?? 0) + 1)}
+                minLabel="IN"
+                maxLabel="OUT"
+                max={traverseMax}
+                renderValue={(value) => roundToDecimals(value, 0)}
+                onChange={setTraverseLimitOuter}
+              />
+              <TouchButton
+                variant="outline"
+                icon="lu:ArrowLeftToLine"
+                onClick={gotoTraverseLimitOuter}
+                disabled={isDisabled}
+                isLoading={isLoading}
+              >
+                Go to Outer Limit
+              </TouchButton>
+            </Label>
+            <Label label="Inner Limit">
+              <EditValue
+                value={state?.traverse_state?.limit_inner}
+                unit="mm"
+                title="Inner Limit"
+                min={0}
+                // Traverse limit validation: Inner limit must be at least 0.9mm smaller than outer limit
+                // We use 1mm buffer to ensure the backend validation (which requires outer > inner + 0.9mm) will pass
+                // Formula: max_inner = outer_limit - 1mm
+                max={Math.min(
+                  traverseMax,
+                  (state?.traverse_state?.limit_outer ?? traverseMax) - 1,
+                )}
+                defaultValue={defaultState?.traverse_state?.limit_inner}
+                minLabel="IN"
+                maxLabel="OUT"
+                renderValue={(value) => roundToDecimals(value, 0)}
+                inverted
+                onChange={setTraverseLimitInner}
+              />
+              <TouchButton
+                variant="outline"
+                icon="lu:ArrowRightToLine"
+                onClick={gotoTraverseLimitInner}
+                disabled={isDisabled}
+                isLoading={isLoading}
+              >
+                Go to Inner Limit
+              </TouchButton>
+            </Label>
+          </div>
+          <Label label="Laserpointer">
+            <SelectionGroupBoolean
+              value={state?.traverse_state.laserpointer}
+              disabled={isLoading || isDisabled}
+              loading={isLoading}
+              optionFalse={{ children: "Off", icon: "lu:LightbulbOff" }}
+              optionTrue={{ children: "On", icon: "lu:Lightbulb" }}
+              onChange={enableTraverseLaserpointer}
+            />
+          </Label>
+          <Label label="Home">
+            <TouchButton
+              variant="outline"
+              icon="lu:House"
+              onClick={() => gotoTraverseHome()}
+              disabled={isDisabled}
+              isLoading={isLoading}
+            >
+              Go to Home
+            </TouchButton>
+            {state?.traverse_state?.is_homed !== true ? (
+              <StatusBadge variant={"error"}>{"Not Homed"}</StatusBadge>
+            ) : null}
+          </Label>
+        </ControlCard>
+
+        <ControlCard title="Tension Arm">
+          <TensionArm degrees={tensionArmAngle.current?.value} />
+          <TimeSeriesValueNumeric
+            label="Tension Arm"
+            unit="deg"
+            timeseries={tensionArmAngle}
+            renderValue={(value) => roundDegreesToDecimals(value, 0)}
+          />
+          <TouchButton
+            variant="outline"
+            icon="lu:House"
+            onClick={zeroTensionArmAngle}
+            disabled={isDisabled}
+            isLoading={isLoading}
+          >
+            Set Zero Point
+          </TouchButton>
+          {!state?.tension_arm_state?.zeroed && (
+            <StatusBadge variant="error">Not Zeroed</StatusBadge>
+          )}
+        </ControlCard>
+
+        <ControlCard className="bg-red" title="Winder Mode">
+          <SelectionGroup<Mode>
+            value={state?.mode_state.mode}
+            disabled={isDisabled}
+            loading={isLoading}
+            onChange={setMode}
+            orientation="vertical"
+            className="grid h-full grid-cols-2 gap-2"
+            options={{
+              Standby: {
+                children: "Standby",
+                icon: "lu:Power",
+                isActiveClassName: "bg-green-600",
+                className: "h-full",
+              },
+              Hold: {
+                children: "Hold",
+                icon: "lu:CirclePause",
+                isActiveClassName: "bg-green-600",
+                className: "h-full",
+              },
+              Pull: {
+                children: "Pull",
+                icon: "lu:ChevronsLeft",
+                isActiveClassName: "bg-green-600",
+                className: "h-full",
+              },
+              Wind: {
+                children: "Wind",
+                icon: "lu:RefreshCcw",
+                isActiveClassName: "bg-green-600",
+                disabled: !state?.mode_state?.can_wind,
+                className: "h-full",
+              },
+            }}
+          />
+        </ControlCard>
+
+        <ControlCard className="bg-red" title="Puller">
+          <TimeSeriesValueNumeric
+            label="Speed"
+            unit="m/min"
+            timeseries={pullerSpeed}
+            renderValue={(value) => roundToDecimals(value, 1)}
+          />
+          <Label label="Target Speed">
+            <EditValue
+              value={state?.puller_state?.target_speed}
+              unit="m/min"
+              title="Target Speed"
+              defaultValue={defaultState?.puller_state?.target_speed}
+              min={0}
+              max={maxTargetSpeed}
+              step={0.1}
+              renderValue={(value) => roundToDecimals(value, 1)}
+              onChange={setPullerTargetSpeed}
+            />
+          </Label>
+        </ControlCard>
+
+        <ControlCard className="bg-red" title="Spool Autostop">
+          <TimeSeriesValueNumeric
+            label="Pulled Distance"
+            renderValue={(value) => roundToDecimals(value, 2)}
+            unit="m"
+            timeseries={spoolProgress}
+          />
+
+          <Label label="Target Length">
+            <EditValue
+              value={state?.spool_automatic_action_state.spool_required_meters}
+              unit="m"
+              title="Expected Meters"
+              defaultValue={250}
+              min={10}
+              max={10000}
+              step={10}
+              renderValue={(value) => roundToDecimals(value, 2)}
+              onChange={setSpoolAutomaticRequiredMeters}
+            />
+          </Label>
+
+          <TouchButton
+            variant="outline"
+            onClick={handleResetProgress}
+            disabled={isDisabled}
+            isLoading={isLoading || state?.traverse_state?.is_going_out}
+          >
+            Reset Progress
+          </TouchButton>
+
+          <Label label="After Target Length Reached">
+            <SelectionGroup<SpoolAutomaticActionMode>
+              value={
+                state?.spool_automatic_action_state.spool_automatic_action_mode
+              }
+              disabled={isDisabled}
+              loading={isLoading}
+              onChange={setSpoolAutomaticAction}
+              orientation="vertical"
+              options={{
+                Hold: {
+                  children: "Hold",
+                  icon: "lu:CirclePause",
+                  className: "h-full",
+                },
+                Pull: {
+                  children: "Pull",
+                  icon: "lu:ChevronsLeft",
+                  className: "h-full",
+                },
+
+                NoAction: {
+                  children: "No Action",
+                  icon: "lu:RefreshCcw",
+                  className: "h-full",
+                },
+              }}
+            />
+          </Label>
+        </ControlCard>
+      </ControlGrid>
+
+      {/* Reset Progress Confirmation Dialog */}
+      <Dialog
+        open={showResetConfirmDialog}
+        onOpenChange={setShowResetConfirmDialog}
+      >
+        <DialogContent className="max-w-md">
+          <DialogHeader>
+            <DialogTitle>Reset Spool Progress?</DialogTitle>
+            <DialogDescription>
+              The machine is currently in Wind mode. Are you sure you want to
+              reset the spool progress?
+            </DialogDescription>
+          </DialogHeader>
+
+          <div className="mt-4 flex flex-col gap-2">
+            <TouchButton
+              variant="destructive"
+              onClick={confirmResetProgress}
+              disabled={isLoading}
+              isLoading={isLoading}
+            >
+              Yes, Reset Progress
+            </TouchButton>
+            <TouchButton
+              variant="outline"
+              onClick={() => setShowResetConfirmDialog(false)}
+            >
+              Cancel
+            </TouchButton>
+          </div>
+        </DialogContent>
+      </Dialog>
+    </Page>
+  );
+}

electron/src/machines/winder/gluetex/GluetexGraphs.tsx

@@ -0,0 +1,290 @@
+import { Page } from "@/components/Page";
+import {
+  AutoSyncedBigGraph,
+  SyncedFloatingControlPanel,
+  useGraphSync,
+  type GraphConfig,
+  type GraphLine,
+} from "@/components/graph";
+import React from "react";
+import { useGluetex } from "./useGluetex";
+import { roundDegreesToDecimals, roundToDecimals } from "@/lib/decimal";
+import { TimeSeries } from "@/lib/timeseries";
+import { Unit } from "@/control/units";
+
+export function GluetexGraphsPage() {
+  const {
+    state,
+    spoolRpm,
+    traversePosition,
+    tensionArmAngle,
+    pullerSpeed,
+    spoolProgress,
+  } = useGluetex();
+
+  const syncHook = useGraphSync("gluetex-group");
+
+  return (
+    <Page className="pb-27">
+      <div className="flex flex-col gap-4">
+        <div className="grid gap-4">
+          <PullerSpeedGraph
+            syncHook={syncHook}
+            newData={pullerSpeed}
+            targetSpeed={state?.puller_state?.target_speed}
+            unit="m/min"
+            renderValue={(value) => roundToDecimals(value, 0)}
+          />
+
+          <TensionArmAngleGraph
+            syncHook={syncHook}
+            newData={tensionArmAngle}
+            unit="deg"
+            renderValue={(value) => roundDegreesToDecimals(value, 0)}
+          />
+
+          <SpoolRpmGraph
+            syncHook={syncHook}
+            newData={spoolRpm}
+            unit="rpm"
+            renderValue={(value) => roundToDecimals(value, 0)}
+          />
+
+          <TraversePositionGraph
+            syncHook={syncHook}
+            newData={traversePosition}
+            limitInner={state?.traverse_state?.limit_inner}
+            limitOuter={state?.traverse_state?.limit_outer}
+            unit="mm"
+            renderValue={(value) => roundToDecimals(value, 1)}
+          />
+
+          <SpoolProgressGraph
+            syncHook={syncHook}
+            newData={spoolProgress}
+            unit="m"
+            renderValue={(value) => roundToDecimals(value, 2)}
+          />
+        </div>
+      </div>
+
+      <SyncedFloatingControlPanel controlProps={syncHook.controlProps} />
+    </Page>
+  );
+}
+
+export function SpoolRpmGraph({
+  syncHook,
+  newData,
+  unit,
+  renderValue,
+}: {
+  syncHook: ReturnType<typeof useGraphSync>;
+  newData: TimeSeries | null;
+  unit?: Unit;
+  renderValue?: (value: number) => string;
+}) {
+  const config: GraphConfig = {
+    title: "Spool Speed",
+    icon: "lu:RotateCcw",
+    colors: {
+      primary: "#10b981",
+      grid: "#e2e8f0",
+      background: "#ffffff",
+    },
+    exportFilename: "spool_rpm_data",
+  };
+
+  return (
+    <AutoSyncedBigGraph
+      syncHook={syncHook}
+      newData={{
+        newData,
+        color: "#10b981",
+      }}
+      unit={unit}
+      renderValue={renderValue}
+      config={config}
+      graphId="spool-rpm"
+    />
+  );
+}
+
+export function TraversePositionGraph({
+  syncHook,
+  newData,
+  limitInner,
+  limitOuter,
+  unit,
+  renderValue,
+}: {
+  syncHook: ReturnType<typeof useGraphSync>;
+  newData: TimeSeries | null;
+  limitInner?: number;
+  limitOuter?: number;
+  unit?: Unit;
+  renderValue?: (value: number) => string;
+}) {
+  const lines: GraphLine[] = [];
+
+  if (limitInner !== undefined) {
+    lines.push({
+      type: "threshold",
+      value: limitInner,
+      color: "#8b5cf6",
+      dash: [5, 5],
+    });
+  }
+
+  if (limitOuter !== undefined) {
+    lines.push({
+      type: "threshold",
+      value: limitOuter,
+      color: "#8b5cf6",
+      dash: [5, 5],
+    });
+  }
+
+  const config: GraphConfig = {
+    title: "Traverse Position",
+    icon: "lu:Move",
+    colors: {
+      primary: "#8b5cf6",
+    },
+    exportFilename: "traverse_position_data",
+  };
+
+  return (
+    <AutoSyncedBigGraph
+      syncHook={syncHook}
+      newData={{
+        newData,
+        color: "#8b5cf6",
+        lines,
+      }}
+      unit={unit}
+      renderValue={renderValue}
+      config={config}
+      graphId="traverse-position"
+    />
+  );
+}
+
+export function TensionArmAngleGraph({
+  syncHook,
+  newData,
+  unit,
+  renderValue,
+}: {
+  syncHook: ReturnType<typeof useGraphSync>;
+  newData: TimeSeries | null;
+  unit?: Unit;
+  renderValue?: (value: number) => string;
+}) {
+  const config: GraphConfig = {
+    title: "Tension Arm Angle",
+    icon: "lu:RotateCw",
+    colors: {
+      primary: "#f59e0b",
+    },
+    exportFilename: "tension_arm_angle_data",
+  };
+
+  return (
+    <AutoSyncedBigGraph
+      syncHook={syncHook}
+      newData={{
+        newData,
+        color: "#f59e0b",
+      }}
+      unit={unit}
+      renderValue={renderValue}
+      config={config}
+      graphId="tension-arm-angle"
+    />
+  );
+}
+
+export function SpoolProgressGraph({
+  syncHook,
+  newData,
+  unit,
+  renderValue,
+}: {
+  syncHook: ReturnType<typeof useGraphSync>;
+  newData: TimeSeries | null;
+  unit?: Unit;
+  renderValue?: (value: number) => string;
+}) {
+  const config: GraphConfig = {
+    title: "Spool Progress",
+    icon: "lu:RotateCw",
+    colors: {
+      primary: "#f59e0b",
+    },
+    exportFilename: "spool_progress",
+  };
+
+  return (
+    <AutoSyncedBigGraph
+      syncHook={syncHook}
+      newData={{
+        newData,
+        color: "#f59e0b",
+      }}
+      unit={unit}
+      renderValue={renderValue}
+      config={config}
+      graphId="spool-progress"
+    />
+  );
+}
+
+export function PullerSpeedGraph({
+  syncHook,
+  newData,
+  targetSpeed,
+  unit,
+  renderValue,
+}: {
+  syncHook: ReturnType<typeof useGraphSync>;
+  newData: TimeSeries | null;
+  targetSpeed?: number;
+  unit?: Unit;
+  renderValue?: (value: number) => string;
+}) {
+  const lines: GraphLine[] = [];
+
+  if (targetSpeed !== undefined) {
+    lines.push({
+      type: "target",
+      value: targetSpeed,
+      label: "Target Speed",
+      color: "#06b6d4", // Match series color
+    });
+  }
+
+  const config: GraphConfig = {
+    title: "Puller Speed",
+    icon: "lu:Gauge",
+    colors: {
+      primary: "#06b6d4",
+    },
+    exportFilename: "puller_speed_data",
+  };
+
+  return (
+    <AutoSyncedBigGraph
+      syncHook={syncHook}
+      newData={{
+        newData,
+        color: "#06b6d4",
+        lines,
+      }}
+      unit={unit}
+      renderValue={renderValue}
+      config={config}
+      graphId="puller-speed"
+    />
+  );
+}

electron/src/machines/winder/gluetex/GluetexHeatersPage.tsx

@@ -0,0 +1,90 @@
+import { Page } from "@/components/Page";
+import React from "react";
+import { ControlGrid } from "@/control/ControlGrid";
+import { HeatingZone } from "@/machines/extruder/HeatingZone";
+import { useGluetex } from "./useGluetex";
+
+export function GluetexHeatersPage() {
+  const {
+    state,
+    temperature1,
+    temperature2,
+    temperature3,
+    temperature4,
+    temperature5,
+    temperature6,
+    heater1Power,
+    heater2Power,
+    heater3Power,
+    heater4Power,
+    heater5Power,
+    heater6Power,
+    setHeatingZone1Temperature,
+    setHeatingZone2Temperature,
+    setHeatingZone3Temperature,
+    setHeatingZone4Temperature,
+    setHeatingZone5Temperature,
+    setHeatingZone6Temperature,
+  } = useGluetex();
+
+  return (
+    <Page>
+      <ControlGrid>
+        <HeatingZone
+          title={"Temperature 1"}
+          heatingState={state?.heating_states.zone_1}
+          heatingTimeSeries={temperature1}
+          heatingPower={heater1Power}
+          onChangeTargetTemp={setHeatingZone1Temperature}
+          min={0}
+          max={300}
+        />
+        <HeatingZone
+          title={"Temperature 2"}
+          heatingState={state?.heating_states.zone_2}
+          heatingTimeSeries={temperature2}
+          heatingPower={heater2Power}
+          onChangeTargetTemp={setHeatingZone2Temperature}
+          min={0}
+          max={300}
+        />
+        <HeatingZone
+          title={"Temperature 3"}
+          heatingState={state?.heating_states.zone_3}
+          heatingTimeSeries={temperature3}
+          heatingPower={heater3Power}
+          onChangeTargetTemp={setHeatingZone3Temperature}
+          min={0}
+          max={300}
+        />
+        <HeatingZone
+          title={"Temperature 4"}
+          heatingState={state?.heating_states.zone_4}
+          heatingTimeSeries={temperature4}
+          heatingPower={heater4Power}
+          onChangeTargetTemp={setHeatingZone4Temperature}
+          min={0}
+          max={300}
+        />
+        <HeatingZone
+          title={"Temperature 5"}
+          heatingState={state?.heating_states.zone_5}
+          heatingTimeSeries={temperature5}
+          heatingPower={heater5Power}
+          onChangeTargetTemp={setHeatingZone5Temperature}
+          min={0}
+          max={300}
+        />
+        <HeatingZone
+          title={"Temperature 6"}
+          heatingState={state?.heating_states.zone_6}
+          heatingTimeSeries={temperature6}
+          heatingPower={heater6Power}
+          onChangeTargetTemp={setHeatingZone6Temperature}
+          min={0}
+          max={300}
+        />
+      </ControlGrid>
+    </Page>
+  );
+}

electron/src/machines/winder/gluetex/GluetexManual.tsx

@@ -0,0 +1,12 @@
+import { Page } from "@/components/Page";
+import { MarkdownWithToc } from "@/components/MarkdownWithToc";
+import React from "react";
+import winderManualContent from "@/assets/markdown/winder/manual.md?raw";
+
+export function GluetexManualPage() {
+  return (
+    <Page>
+      <MarkdownWithToc markdownContent={winderManualContent} />
+    </Page>
+  );
+}

electron/src/machines/winder/gluetex/GluetexPage.tsx

@@ -0,0 +1,56 @@
+import { Topbar } from "@/components/Topbar";
+import { gluetexRoute } from "@/routes/routes";
+import React from "react";
+
+export function GluetexPage() {
+  const { serial } = gluetexRoute.useParams();
+  return (
+    <Topbar
+      pathname={`/_sidebar/machines/gluetex/${serial}`}
+      items={[
+        {
+          link: "control",
+          activeLink: "control",
+          title: "Control",
+          icon: "lu:CirclePlay",
+        },
+        {
+          link: "addons",
+          activeLink: "addons",
+          title: "Addons",
+          icon: "lu:Puzzle",
+        },
+        {
+          link: "heaters",
+          activeLink: "heaters",
+          title: "Heaters",
+          icon: "lu:Flame",
+        },
+        {
+          link: "graphs",
+          activeLink: "graphs",
+          title: "Graphs",
+          icon: "lu:ChartSpline",
+        },
+        {
+          link: "settings",
+          activeLink: "settings",
+          title: "Config",
+          icon: "lu:Settings",
+        },
+        {
+          link: "manual",
+          activeLink: "manual",
+          title: "Manual",
+          icon: "lu:BookOpen",
+        },
+        {
+          link: "presets",
+          activeLink: "presets",
+          title: "Presets",
+          icon: "lu:Save",
+        },
+      ]}
+    />
+  );
+}

electron/src/machines/winder/gluetex/GluetexPresetsPage.tsx

@@ -0,0 +1,16 @@
+import React from "react";
+import { Page } from "@/components/Page";
+
+export function GluetexPresetsPage() {
+  return (
+    <Page>
+      <div className="p-8">
+        <h1 className="mb-4 text-2xl font-bold">Gluetex Presets</h1>
+        <p className="text-gray-600">
+          Preset functionality is not available in this test version. This is a
+          hardcoded frontend for testing purposes only.
+        </p>
+      </div>
+    </Page>
+  );
+}

electron/src/machines/winder/gluetex/GluetexSettings.tsx

@@ -0,0 +1,957 @@
+import { Page } from "@/components/Page";
+import { ControlCard } from "@/control/ControlCard";
+import { ControlGrid } from "@/control/ControlGrid";
+import { EditValue } from "@/control/EditValue";
+import React, { useState } from "react";
+import { useGluetex } from "./useGluetex";
+import { roundToDecimals } from "@/lib/decimal";
+import { Label } from "@/control/Label";
+import { SelectionGroupBoolean } from "@/control/SelectionGroup";
+import { SelectionGroup } from "@/control/SelectionGroup";
+import { MachineSelector } from "@/components/MachineConnectionDropdown";
+import {
+  getGluetexXLMode,
+  setGluetexXLMode,
+  GLUETEX_TRAVERSE_MAX_STANDARD,
+  GLUETEX_TRAVERSE_MAX_XL,
+} from "./gluetexConfig";
+
+export function GluetexSettingPage() {
+  const [xlMode, setXlMode] = useState(getGluetexXLMode());
+
+  const {
+    state,
+    defaultState,
+    setTraverseStepSize,
+    setTraversePadding,
+    setTraverseLimitInner,
+    setTraverseLimitOuter,
+    gotoTraverseHome,
+    setPullerForward,
+    setPullerGearRatio,
+    setSpoolRegulationMode,
+    setSpoolMinMaxMinSpeed,
+    setSpoolMinMaxMaxSpeed,
+    setSpoolForward,
+    setSpoolAdaptiveTensionTarget,
+    setSpoolAdaptiveRadiusLearningRate,
+    setSpoolAdaptiveMaxSpeedMultiplier,
+    setSpoolAdaptiveAccelerationFactor,
+    setSpoolAdaptiveDeaccelerationUrgencyMultiplier,
+    isLoading,
+    isDisabled,
+    selectedMachine,
+    filteredMachines,
+    setConnectedMachine,
+    disconnectMachine,
+    setSlavePullerEnabled,
+    setSlavePullerForward,
+    setSlavePullerMinAngle,
+    setSlavePullerMaxAngle,
+    setSlavePullerMinSpeedFactor,
+    setSlavePullerMaxSpeedFactor,
+    zeroSlaveTensionArm,
+    setHeatingPid,
+    setTensionArmMonitorEnabled,
+    setTensionArmMonitorMinAngle,
+    setTensionArmMonitorMaxAngle,
+  } = useGluetex();
+
+  const handleXlModeChange = (enabled: boolean) => {
+    setGluetexXLMode(enabled);
+    setXlMode(enabled);
+
+    // When switching from XL to normal mode, reset traverse limits to default values
+    if (!enabled && defaultState) {
+      // Only reset if current values exceed the standard max
+      const currentOuter = state?.traverse_state?.limit_outer ?? 0;
+      const currentInner = state?.traverse_state?.limit_inner ?? 0;
+      const defaultOuter = defaultState.traverse_state?.limit_outer;
+      const defaultInner = defaultState.traverse_state?.limit_inner;
+
+      if (
+        currentOuter > GLUETEX_TRAVERSE_MAX_STANDARD &&
+        defaultOuter !== undefined
+      ) {
+        setTraverseLimitOuter(defaultOuter);
+        setTraverseLimitInner(defaultInner);
+      }
+      if (
+        currentInner > GLUETEX_TRAVERSE_MAX_STANDARD &&
+        defaultInner !== undefined
+      ) {
+        setTraverseLimitOuter(defaultOuter);
+        setTraverseLimitInner(defaultInner);
+      }
+
+      // Home the traverse when switching from XL to normal mode
+      gotoTraverseHome();
+    }
+  };
+
+  return (
+    <Page>
+      <ControlGrid>
+        <ControlCard title="Traverse">
+          <Label label="Traverse Size">
+            <SelectionGroupBoolean
+              value={xlMode}
+              disabled={isDisabled}
+              loading={isLoading}
+              optionFalse={{
+                children: `Standard (${GLUETEX_TRAVERSE_MAX_STANDARD}mm)`,
+                icon: "lu:Settings",
+              }}
+              optionTrue={{
+                children: `XL (${GLUETEX_TRAVERSE_MAX_XL}mm)`,
+                icon: "lu:Maximize2",
+              }}
+              onChange={handleXlModeChange}
+            />
+          </Label>
+          <Label label="Step Size">
+            <EditValue
+              value={state?.traverse_state?.step_size}
+              title={"Step Size"}
+              unit="mm"
+              step={0.05}
+              min={0.1}
+              max={75}
+              defaultValue={defaultState?.traverse_state?.step_size}
+              renderValue={(value) => roundToDecimals(value, 2)}
+              onChange={(value) => setTraverseStepSize(value)}
+            />
+          </Label>
+          <Label label="Padding">
+            <EditValue
+              value={state?.traverse_state?.padding}
+              title={"Padding"}
+              unit="mm"
+              step={0.01}
+              min={0}
+              max={5}
+              defaultValue={defaultState?.traverse_state?.padding}
+              renderValue={(value) => roundToDecimals(value, 2)}
+              onChange={(value) => setTraversePadding(value)}
+            />
+          </Label>
+        </ControlCard>
+
+        <ControlCard title="Spool">
+          <Label label="Speed Algorithm">
+            <SelectionGroup
+              value={state?.spool_speed_controller_state?.regulation_mode}
+              disabled={isDisabled}
+              loading={isLoading}
+              options={{
+                MinMax: {
+                  children: "Min/Max",
+                  icon: "lu:ArrowUpDown",
+                },
+                Adaptive: {
+                  children: "Adaptive",
+                  icon: "lu:Brain",
+                },
+              }}
+              onChange={(value) =>
+                setSpoolRegulationMode(value as "Adaptive" | "MinMax")
+              }
+            />
+          </Label>
+
+          <Label label="Rotation Direction">
+            <SelectionGroupBoolean
+              value={state?.spool_speed_controller_state?.forward}
+              disabled={isDisabled}
+              loading={isLoading}
+              optionFalse={{
+                children: "Reverse",
+                icon: "lu:RotateCcw",
+              }}
+              optionTrue={{
+                children: "Forward",
+                icon: "lu:RotateCw",
+              }}
+              onChange={(value) => setSpoolForward(value)}
+            />
+          </Label>
+
+          {state?.spool_speed_controller_state?.regulation_mode ===
+            "MinMax" && (
+            <>
+              <Label label="Minimum Speed">
+                <EditValue
+                  value={state?.spool_speed_controller_state?.minmax_min_speed}
+                  title={"Minimum Speed"}
+                  unit="rpm"
+                  step={10}
+                  min={0}
+                  max={600}
+                  defaultValue={
+                    defaultState?.spool_speed_controller_state?.minmax_min_speed
+                  }
+                  renderValue={(value) => roundToDecimals(value, 0)}
+                  onChange={(value) => setSpoolMinMaxMinSpeed(value)}
+                />
+              </Label>
+              <Label label="Maximum Speed">
+                <EditValue
+                  value={state?.spool_speed_controller_state?.minmax_max_speed}
+                  title={"Maximum Speed"}
+                  unit="rpm"
+                  step={10}
+                  min={0}
+                  max={600}
+                  defaultValue={
+                    defaultState?.spool_speed_controller_state?.minmax_max_speed
+                  }
+                  renderValue={(value) => roundToDecimals(value, 0)}
+                  onChange={(value) => setSpoolMinMaxMaxSpeed(value)}
+                />
+              </Label>
+            </>
+          )}
+
+          {state?.spool_speed_controller_state?.regulation_mode ===
+            "Adaptive" && (
+            <div className="flex flex-row flex-wrap gap-4">
+              <Label label="Tension Target">
+                <EditValue
+                  value={
+                    state?.spool_speed_controller_state?.adaptive_tension_target
+                  }
+                  title={"Tension Target"}
+                  unit={undefined}
+                  step={0.01}
+                  min={0}
+                  max={1}
+                  defaultValue={
+                    defaultState?.spool_speed_controller_state
+                      ?.adaptive_tension_target
+                  }
+                  renderValue={(value) => roundToDecimals(value, 2)}
+                  onChange={(value) => setSpoolAdaptiveTensionTarget(value)}
+                />
+              </Label>
+              <Label label="Learning Rate">
+                <EditValue
+                  value={
+                    state?.spool_speed_controller_state
+                      ?.adaptive_radius_learning_rate
+                  }
+                  title={"Radius Learning Rate"}
+                  unit={undefined}
+                  step={0.001}
+                  min={0}
+                  max={100}
+                  defaultValue={
+                    defaultState?.spool_speed_controller_state
+                      ?.adaptive_radius_learning_rate
+                  }
+                  renderValue={(value) => roundToDecimals(value, 2)}
+                  onChange={(value) =>
+                    setSpoolAdaptiveRadiusLearningRate(value)
+                  }
+                />
+              </Label>
+              <Label label="Max Speed Multiplier">
+                <EditValue
+                  value={
+                    state?.spool_speed_controller_state
+                      ?.adaptive_max_speed_multiplier
+                  }
+                  title={"Max Speed Multiplier"}
+                  unit={undefined}
+                  step={0.1}
+                  min={0.1}
+                  max={10}
+                  defaultValue={
+                    defaultState?.spool_speed_controller_state
+                      ?.adaptive_max_speed_multiplier
+                  }
+                  renderValue={(value) => roundToDecimals(value, 1)}
+                  onChange={(value) =>
+                    setSpoolAdaptiveMaxSpeedMultiplier(value)
+                  }
+                />
+              </Label>
+              <Label label="Acceleration Factor">
+                <EditValue
+                  value={
+                    state?.spool_speed_controller_state
+                      ?.adaptive_acceleration_factor
+                  }
+                  title={"Acceleration Factor"}
+                  unit={undefined}
+                  step={0.01}
+                  min={0.01}
+                  max={100}
+                  defaultValue={
+                    defaultState?.spool_speed_controller_state
+                      ?.adaptive_acceleration_factor
+                  }
+                  renderValue={(value) => roundToDecimals(value, 2)}
+                  onChange={(value) =>
+                    setSpoolAdaptiveAccelerationFactor(value)
+                  }
+                />
+              </Label>
+              <Label label="Deaccel. Urgency">
+                <EditValue
+                  value={
+                    state?.spool_speed_controller_state
+                      ?.adaptive_deacceleration_urgency_multiplier
+                  }
+                  title={"Deacceleration Urgency Multiplier"}
+                  unit={undefined}
+                  step={0.5}
+                  min={1}
+                  max={100}
+                  defaultValue={
+                    defaultState?.spool_speed_controller_state
+                      ?.adaptive_deacceleration_urgency_multiplier
+                  }
+                  renderValue={(value) => roundToDecimals(value, 1)}
+                  onChange={(value) =>
+                    setSpoolAdaptiveDeaccelerationUrgencyMultiplier(value)
+                  }
+                />
+              </Label>
+            </div>
+          )}
+        </ControlCard>
+
+        <ControlCard title="Puller">
+          <Label label="Rotation Direction">
+            <SelectionGroupBoolean
+              value={state?.puller_state?.forward}
+              disabled={isDisabled}
+              loading={isLoading}
+              optionFalse={{
+                children: "Reverse",
+                icon: "lu:RotateCcw",
+              }}
+              optionTrue={{
+                children: "Forward",
+                icon: "lu:RotateCw",
+              }}
+              onChange={(value) => setPullerForward(value)}
+            />
+          </Label>
+          <Label label="Gear Ratio">
+            <SelectionGroup
+              value={state?.puller_state?.gear_ratio}
+              disabled={isDisabled}
+              loading={isLoading}
+              options={{
+                OneToOne: {
+                  children: "1:1",
+                  icon: "lu:Circle",
+                },
+                OneToFive: {
+                  children: "1:5",
+                  icon: "lu:Cog",
+                },
+                OneToTen: {
+                  children: "1:10",
+                  icon: "lu:Cog",
+                },
+              }}
+              onChange={(value) =>
+                setPullerGearRatio(
+                  value as "OneToOne" | "OneToFive" | "OneToTen",
+                )
+              }
+            />
+          </Label>
+        </ControlCard>
+
+        <ControlCard title="Slave Puller">
+          <Label label="Enable Slave Puller">
+            <SelectionGroupBoolean
+              value={state?.slave_puller_state?.enabled}
+              disabled={isDisabled}
+              loading={isLoading}
+              optionFalse={{
+                children: "Disabled",
+                icon: "lu:Circle",
+              }}
+              optionTrue={{
+                children: "Enabled",
+                icon: "lu:Circle",
+              }}
+              onChange={(value) => setSlavePullerEnabled(value)}
+            />
+          </Label>
+
+          <Label label="Rotation Direction">
+            <SelectionGroupBoolean
+              value={state?.slave_puller_state?.forward}
+              disabled={isDisabled}
+              loading={isLoading}
+              optionFalse={{
+                children: "Reverse",
+                icon: "lu:RotateCcw",
+              }}
+              optionTrue={{
+                children: "Forward",
+                icon: "lu:RotateCw",
+              }}
+              onChange={(value) => setSlavePullerForward(value)}
+            />
+          </Label>
+
+          <div className="flex flex-row flex-wrap gap-4">
+            <Label label="Min Angle (Detection Zone)">
+              <EditValue
+                value={state?.slave_puller_state?.min_angle}
+                title={"Minimum Angle"}
+                unit="deg"
+                step={1}
+                min={0}
+                max={
+                  state?.slave_puller_state?.max_angle
+                    ? state.slave_puller_state.max_angle - 5
+                    : 85
+                }
+                defaultValue={20}
+                renderValue={(value) => roundToDecimals(value, 0)}
+                onChange={(value) => setSlavePullerMinAngle(value)}
+              />
+            </Label>
+
+            <Label label="Max Angle (Detection Zone)">
+              <EditValue
+                value={state?.slave_puller_state?.max_angle}
+                title={"Maximum Angle"}
+                unit="deg"
+                step={1}
+                min={
+                  state?.slave_puller_state?.min_angle
+                    ? state.slave_puller_state.min_angle + 5
+                    : 25
+                }
+                max={180}
+                defaultValue={90}
+                renderValue={(value) => roundToDecimals(value, 0)}
+                onChange={(value) => setSlavePullerMaxAngle(value)}
+              />
+            </Label>
+
+            <Label label="Min Speed Factor (Optional)">
+              <EditValue
+                value={state?.slave_puller_state?.min_speed_factor ?? 0}
+                title={"Minimum Speed Factor"}
+                unit={undefined}
+                step={0.05}
+                min={0.1}
+                max={
+                  state?.slave_puller_state?.max_speed_factor
+                    ? state.slave_puller_state.max_speed_factor - 0.1
+                    : 2
+                }
+                defaultValue={0}
+                renderValue={(value) => roundToDecimals(value, 2)}
+                onChange={(value) =>
+                  setSlavePullerMinSpeedFactor(value === 0 ? null : value)
+                }
+              />
+            </Label>
+
+            <Label label="Max Speed Factor (Optional)">
+              <EditValue
+                value={state?.slave_puller_state?.max_speed_factor ?? 0}
+                title={"Maximum Speed Factor"}
+                unit={undefined}
+                step={0.05}
+                min={
+                  state?.slave_puller_state?.min_speed_factor
+                    ? state.slave_puller_state.min_speed_factor + 0.1
+                    : 0.2
+                }
+                max={3}
+                defaultValue={0}
+                renderValue={(value) => roundToDecimals(value, 2)}
+                onChange={(value) =>
+                  setSlavePullerMaxSpeedFactor(value === 0 ? null : value)
+                }
+              />
+            </Label>
+          </div>
+        </ControlCard>
+
+        <ControlCard title="Heating Zone 1">
+          <div className="flex flex-row flex-wrap gap-4">
+            <Label label="Proportional Gain (Kp)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_1?.kp}
+                title={"Kp"}
+                unit={undefined}
+                step={0.01}
+                min={0}
+                max={10}
+                defaultValue={defaultState?.heating_pid_settings?.zone_1?.kp}
+                renderValue={(value) => roundToDecimals(value, 3)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_1",
+                    value,
+                    state?.heating_pid_settings?.zone_1?.ki ?? 0,
+                    state?.heating_pid_settings?.zone_1?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Integral Gain (Ki)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_1?.ki}
+                title={"Ki"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_1?.ki}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_1",
+                    state?.heating_pid_settings?.zone_1?.kp ?? 0,
+                    value,
+                    state?.heating_pid_settings?.zone_1?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Derivative Gain (Kd)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_1?.kd}
+                title={"Kd"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_1?.kd}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_1",
+                    state?.heating_pid_settings?.zone_1?.kp ?? 0,
+                    state?.heating_pid_settings?.zone_1?.ki ?? 0,
+                    value,
+                  )
+                }
+              />
+            </Label>
+          </div>
+        </ControlCard>
+
+        <ControlCard title="Heating Zone 2">
+          <div className="flex flex-row flex-wrap gap-4">
+            <Label label="Proportional Gain (Kp)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_2?.kp}
+                title={"Kp"}
+                unit={undefined}
+                step={0.01}
+                min={0}
+                max={10}
+                defaultValue={defaultState?.heating_pid_settings?.zone_2?.kp}
+                renderValue={(value) => roundToDecimals(value, 3)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_2",
+                    value,
+                    state?.heating_pid_settings?.zone_2?.ki ?? 0,
+                    state?.heating_pid_settings?.zone_2?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Integral Gain (Ki)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_2?.ki}
+                title={"Ki"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_2?.ki}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_2",
+                    state?.heating_pid_settings?.zone_2?.kp ?? 0,
+                    value,
+                    state?.heating_pid_settings?.zone_2?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Derivative Gain (Kd)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_2?.kd}
+                title={"Kd"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_2?.kd}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_2",
+                    state?.heating_pid_settings?.zone_2?.kp ?? 0,
+                    state?.heating_pid_settings?.zone_2?.ki ?? 0,
+                    value,
+                  )
+                }
+              />
+            </Label>
+          </div>
+        </ControlCard>
+
+        <ControlCard title="Heating Zone 3">
+          <div className="flex flex-row flex-wrap gap-4">
+            <Label label="Proportional Gain (Kp)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_3?.kp}
+                title={"Kp"}
+                unit={undefined}
+                step={0.01}
+                min={0}
+                max={10}
+                defaultValue={defaultState?.heating_pid_settings?.zone_3?.kp}
+                renderValue={(value) => roundToDecimals(value, 3)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_3",
+                    value,
+                    state?.heating_pid_settings?.zone_3?.ki ?? 0,
+                    state?.heating_pid_settings?.zone_3?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Integral Gain (Ki)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_3?.ki}
+                title={"Ki"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_3?.ki}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_3",
+                    state?.heating_pid_settings?.zone_3?.kp ?? 0,
+                    value,
+                    state?.heating_pid_settings?.zone_3?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Derivative Gain (Kd)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_3?.kd}
+                title={"Kd"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_3?.kd}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_3",
+                    state?.heating_pid_settings?.zone_3?.kp ?? 0,
+                    state?.heating_pid_settings?.zone_3?.ki ?? 0,
+                    value,
+                  )
+                }
+              />
+            </Label>
+          </div>
+        </ControlCard>
+
+        <ControlCard title="Heating Zone 4">
+          <div className="flex flex-row flex-wrap gap-4">
+            <Label label="Proportional Gain (Kp)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_4?.kp}
+                title={"Kp"}
+                unit={undefined}
+                step={0.01}
+                min={0}
+                max={10}
+                defaultValue={defaultState?.heating_pid_settings?.zone_4?.kp}
+                renderValue={(value) => roundToDecimals(value, 3)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_4",
+                    value,
+                    state?.heating_pid_settings?.zone_4?.ki ?? 0,
+                    state?.heating_pid_settings?.zone_4?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Integral Gain (Ki)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_4?.ki}
+                title={"Ki"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_4?.ki}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_4",
+                    state?.heating_pid_settings?.zone_4?.kp ?? 0,
+                    value,
+                    state?.heating_pid_settings?.zone_4?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Derivative Gain (Kd)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_4?.kd}
+                title={"Kd"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_4?.kd}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_4",
+                    state?.heating_pid_settings?.zone_4?.kp ?? 0,
+                    state?.heating_pid_settings?.zone_4?.ki ?? 0,
+                    value,
+                  )
+                }
+              />
+            </Label>
+          </div>
+        </ControlCard>
+
+        <ControlCard title="Heating Zone 5">
+          <div className="flex flex-row flex-wrap gap-4">
+            <Label label="Proportional Gain (Kp)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_5?.kp}
+                title={"Kp"}
+                unit={undefined}
+                step={0.01}
+                min={0}
+                max={10}
+                defaultValue={defaultState?.heating_pid_settings?.zone_5?.kp}
+                renderValue={(value) => roundToDecimals(value, 3)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_5",
+                    value,
+                    state?.heating_pid_settings?.zone_5?.ki ?? 0,
+                    state?.heating_pid_settings?.zone_5?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Integral Gain (Ki)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_5?.ki}
+                title={"Ki"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_5?.ki}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_5",
+                    state?.heating_pid_settings?.zone_5?.kp ?? 0,
+                    value,
+                    state?.heating_pid_settings?.zone_5?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Derivative Gain (Kd)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_5?.kd}
+                title={"Kd"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_5?.kd}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_5",
+                    state?.heating_pid_settings?.zone_5?.kp ?? 0,
+                    state?.heating_pid_settings?.zone_5?.ki ?? 0,
+                    value,
+                  )
+                }
+              />
+            </Label>
+          </div>
+        </ControlCard>
+
+        <ControlCard title="Heating Zone 6">
+          <div className="flex flex-row flex-wrap gap-4">
+            <Label label="Proportional Gain (Kp)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_6?.kp}
+                title={"Kp"}
+                unit={undefined}
+                step={0.01}
+                min={0}
+                max={10}
+                defaultValue={defaultState?.heating_pid_settings?.zone_6?.kp}
+                renderValue={(value) => roundToDecimals(value, 3)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_6",
+                    value,
+                    state?.heating_pid_settings?.zone_6?.ki ?? 0,
+                    state?.heating_pid_settings?.zone_6?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Integral Gain (Ki)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_6?.ki}
+                title={"Ki"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_6?.ki}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_6",
+                    state?.heating_pid_settings?.zone_6?.kp ?? 0,
+                    value,
+                    state?.heating_pid_settings?.zone_6?.kd ?? 0,
+                  )
+                }
+              />
+            </Label>
+
+            <Label label="Derivative Gain (Kd)">
+              <EditValue
+                value={state?.heating_pid_settings?.zone_6?.kd}
+                title={"Kd"}
+                unit={undefined}
+                step={0.001}
+                min={0}
+                max={1}
+                defaultValue={defaultState?.heating_pid_settings?.zone_6?.kd}
+                renderValue={(value) => roundToDecimals(value, 4)}
+                onChange={(value) =>
+                  setHeatingPid(
+                    "zone_6",
+                    state?.heating_pid_settings?.zone_6?.kp ?? 0,
+                    state?.heating_pid_settings?.zone_6?.ki ?? 0,
+                    value,
+                  )
+                }
+              />
+            </Label>
+          </div>
+        </ControlCard>
+
+        <MachineSelector
+          machines={filteredMachines}
+          selectedMachine={selectedMachine}
+          connectedMachineState={state?.connected_machine_state}
+          setConnectedMachine={setConnectedMachine}
+          clearConnectedMachine={() => {
+            if (!selectedMachine) return;
+            setConnectedMachine({
+              machine_identification: { vendor: 0, machine: 0 },
+              serial: 0,
+            });
+            disconnectMachine(selectedMachine.machine_identification_unique);
+          }}
+        />
+
+        <ControlCard title="Tension Arm Monitor">
+          <Label label="Enable Monitoring">
+            <SelectionGroupBoolean
+              value={state?.tension_arm_monitor_state?.enabled}
+              disabled={isDisabled}
+              loading={isLoading}
+              optionFalse={{
+                children: "Disabled",
+                icon: "lu:CircleOff",
+              }}
+              optionTrue={{
+                children: "Enabled",
+                icon: "lu:Shield",
+              }}
+              onChange={(value) => setTensionArmMonitorEnabled(value)}
+            />
+          </Label>
+          {state?.tension_arm_monitor_state?.triggered && (
+            <div className="rounded-md bg-red-500/10 p-3 text-red-600 dark:text-red-400">
+              <div className="flex items-center gap-2">
+                <span className="text-lg">⚠️</span>
+                <span className="font-semibold">
+                  Tension Arm Limit Exceeded - Machine Stopped
+                </span>
+              </div>
+            </div>
+          )}
+          <Label label="Minimum Angle">
+            <EditValue
+              value={state?.tension_arm_monitor_state?.min_angle}
+              title={"Minimum Angle"}
+              unit="deg"
+              step={1}
+              min={0}
+              max={180}
+              defaultValue={defaultState?.tension_arm_monitor_state?.min_angle}
+              renderValue={(value) => roundToDecimals(value, 1)}
+              onChange={(value) => setTensionArmMonitorMinAngle(value)}
+            />
+          </Label>
+          <Label label="Maximum Angle">
+            <EditValue
+              value={state?.tension_arm_monitor_state?.max_angle}
+              title={"Maximum Angle"}
+              unit="deg"
+              step={1}
+              min={0}
+              max={180}
+              defaultValue={defaultState?.tension_arm_monitor_state?.max_angle}
+              renderValue={(value) => roundToDecimals(value, 1)}
+              onChange={(value) => setTensionArmMonitorMaxAngle(value)}
+            />
+          </Label>
+        </ControlCard>
+      </ControlGrid>
+    </Page>
+  );
+}

electron/src/machines/winder/gluetex/gluetexConfig.ts

@@ -0,0 +1,35 @@
+/**
+ * Configuration helper for Gluetex machine settings
+ */
+
+const GLUETEX_XL_MODE_KEY = "gluetex_xl_mode";
+
+export const GLUETEX_TRAVERSE_MAX_STANDARD = 180; // mm
+export const GLUETEX_TRAVERSE_MAX_XL = 385; // mm
+
+/**
+ * Get the XL mode setting from localStorage
+ * @returns true if XL mode is enabled, false otherwise
+ */
+export function getGluetexXLMode(): boolean {
+  const stored = localStorage.getItem(GLUETEX_XL_MODE_KEY);
+  return stored === "true";
+}
+
+/**
+ * Set the XL mode setting in localStorage
+ * @param enabled - true to enable XL mode, false to disable
+ */
+export function setGluetexXLMode(enabled: boolean): void {
+  localStorage.setItem(GLUETEX_XL_MODE_KEY, enabled.toString());
+}
+
+/**
+ * Get the maximum traverse limit based on XL mode
+ * @returns the maximum traverse limit in mm
+ */
+export function getGluetexTraverseMax(): number {
+  return getGluetexXLMode()
+    ? GLUETEX_TRAVERSE_MAX_XL
+    : GLUETEX_TRAVERSE_MAX_STANDARD;
+}

electron/src/machines/winder/gluetex/gluetexNamespace.ts

@@ -0,0 +1,932 @@
+/**
+ * @file gluetexNamespace.ts
+ * @description TypeScript implementation of Gluetex namespace with real backend connection
+ * Standard winder features connect to backend, addon features use local state
+ */
+
+import { StoreApi } from "zustand";
+import { create } from "zustand";
+import { z } from "zod";
+import {
+  EventHandler,
+  eventSchema,
+  Event,
+  handleUnhandledEventError,
+  NamespaceId,
+  createNamespaceHookImplementation,
+  ThrottledStoreUpdater,
+} from "../../../client/socketioStore";
+import { MachineIdentificationUnique } from "@/machines/types";
+import { useMemo } from "react";
+import {
+  createTimeSeries,
+  TimeSeries,
+  TimeSeriesValue,
+} from "@/lib/timeseries";
+
+// ========== Event Schema Definitions (Backend) ==========
+
+/**
+ * Consolidated live values event schema (30FPS data)
+ */
+export const liveValuesEventDataSchema = z.object({
+  traverse_position: z.number().nullable(),
+  puller_speed: z.number(),
+  spool_rpm: z.number(),
+  tension_arm_angle: z.number(),
+  spool_progress: z.number(),
+  temperature_1: z.number(),
+  temperature_2: z.number(),
+  temperature_3: z.number(),
+  temperature_4: z.number(),
+  temperature_5: z.number(),
+  temperature_6: z.number(),
+  heater_1_power: z.number(),
+  heater_2_power: z.number(),
+  heater_3_power: z.number(),
+  heater_4_power: z.number(),
+  heater_5_power: z.number(),
+  heater_6_power: z.number(),
+  slave_puller_speed: z.number(),
+  slave_tension_arm_angle: z.number(),
+  addon_tension_arm_angle: z.number(),
+});
+
+/**
+ * Puller regulation type enum
+ */
+export const pullerRegulationSchema = z.enum(["Speed", "Diameter"]);
+export type PullerRegulation = z.infer<typeof pullerRegulationSchema>;
+
+/**
+ * Gear ratio enum for winding speed
+ */
+export const gearRatioSchema = z.enum(["OneToOne", "OneToFive", "OneToTen"]);
+export type GearRatio = z.infer<typeof gearRatioSchema>;
+
+/**
+ * Get the multiplier for a gear ratio
+ */
+export function getGearRatioMultiplier(
+  gearRatio: GearRatio | undefined,
+): number {
+  switch (gearRatio) {
+    case "OneToOne":
+      return 1.0;
+    case "OneToFive":
+      return 5.0;
+    case "OneToTen":
+      return 10.0;
+    default:
+      return 1.0;
+  }
+}
+
+/**
+ * Machine operation mode enum
+ */
+export const modeSchema = z.enum(["Standby", "Hold", "Pull", "Wind"]);
+export type Mode = z.infer<typeof modeSchema>;
+
+/**
+ * Machine operation mode enum
+ */
+export const spoolAutomaticActionModeSchema = z.enum([
+  "NoAction",
+  "Pull",
+  "Hold",
+]);
+
+export type SpoolAutomaticActionMode = z.infer<
+  typeof spoolAutomaticActionModeSchema
+>;
+
+/**
+ * Spool speed controller regulation mode enum
+ */
+export const spoolRegulationModeSchema = z.enum(["Adaptive", "MinMax"]);
+export type SpoolRegulationMode = z.infer<typeof spoolRegulationModeSchema>;
+
+/**
+ * Heating zone enum to match backend
+ */
+export type HeatingZone =
+  | "Zone1"
+  | "Zone2"
+  | "Zone3"
+  | "Zone4"
+  | "Zone5"
+  | "Zone6";
+
+export const spoolAutomaticActionStateSchema = z.object({
+  spool_required_meters: z.number(),
+  spool_automatic_action_mode: spoolAutomaticActionModeSchema,
+});
+
+export type SpoolAutomaticActionState = z.infer<
+  typeof spoolAutomaticActionStateSchema
+>;
+
+/**
+ * Traverse state schema
+ */
+export const traverseStateSchema = z.object({
+  limit_inner: z.number(),
+  limit_outer: z.number(),
+  position_in: z.number(),
+  position_out: z.number(),
+  is_going_in: z.boolean(),
+  is_going_out: z.boolean(),
+  is_homed: z.boolean(),
+  is_going_home: z.boolean(),
+  is_traversing: z.boolean(),
+  laserpointer: z.boolean(),
+  step_size: z.number(),
+  padding: z.number(),
+  can_go_in: z.boolean(),
+  can_go_out: z.boolean(),
+  can_go_home: z.boolean(),
+});
+
+/**
+ * Puller state schema
+ */
+export const pullerStateSchema = z.object({
+  regulation: pullerRegulationSchema,
+  target_speed: z.number(),
+  target_diameter: z.number(),
+  forward: z.boolean(),
+  gear_ratio: gearRatioSchema,
+});
+
+/**
+ * Mode state schema
+ */
+export const modeStateSchema = z.object({
+  mode: modeSchema,
+  can_wind: z.boolean(),
+});
+
+/**
+ *  Connected machine state scheme
+ */
+export const machineIdentificationSchema = z.object({
+  vendor: z.number(),
+  machine: z.number(),
+});
+
+export const machineIdentificationUniqueSchema = z.object({
+  machine_identification: machineIdentificationSchema,
+  serial: z.number(),
+});
+
+export const connectedMachineStateSchema = z.object({
+  machine_identification_unique: machineIdentificationUniqueSchema.nullable(),
+  is_available: z.boolean(),
+});
+
+/**
+ * Tension arm state schema
+ */
+export const tensionArmStateSchema = z.object({
+  zeroed: z.boolean(),
+});
+
+/**
+ * Spool speed controller state schema
+ */
+export const spoolSpeedControllerStateSchema = z.object({
+  regulation_mode: spoolRegulationModeSchema,
+  minmax_min_speed: z.number(),
+  minmax_max_speed: z.number(),
+  adaptive_tension_target: z.number(),
+  adaptive_radius_learning_rate: z.number(),
+  adaptive_max_speed_multiplier: z.number(),
+  adaptive_acceleration_factor: z.number(),
+  adaptive_deacceleration_urgency_multiplier: z.number(),
+  forward: z.boolean(),
+});
+
+/**
+ * Heating state schema
+ */
+export const heatingStateSchema = z.object({
+  target_temperature: z.number(),
+  wiring_error: z.boolean(),
+});
+
+/**
+ * Heating PID settings schema
+ */
+export const heatingPidSettingsSchema = z.object({
+  ki: z.number(),
+  kp: z.number(),
+  kd: z.number(),
+  zone: z.string(),
+});
+
+/**
+ * Heating PID states schema
+ */
+export const heatingPidStatesSchema = z.object({
+  zone_1: heatingPidSettingsSchema,
+  zone_2: heatingPidSettingsSchema,
+  zone_3: heatingPidSettingsSchema,
+  zone_4: heatingPidSettingsSchema,
+  zone_5: heatingPidSettingsSchema,
+  zone_6: heatingPidSettingsSchema,
+});
+
+/**
+ * Heating states schema
+ */
+export const heatingStatesSchema = z.object({
+  enabled: z.boolean(),
+  zone_1: heatingStateSchema,
+  zone_2: heatingStateSchema,
+  zone_3: heatingStateSchema,
+  zone_4: heatingStateSchema,
+  zone_5: heatingStateSchema,
+  zone_6: heatingStateSchema,
+});
+
+/**
+ * Addon motor state schema (from backend)
+ */
+export const addonMotorStateSchema = z.object({
+  enabled: z.boolean(),
+  master_ratio: z.number(),
+  slave_ratio: z.number(),
+});
+
+/**
+ * Tension arm monitor state schema (from backend)
+ */
+export const tensionArmMonitorStateSchema = z.object({
+  enabled: z.boolean(),
+  min_angle: z.number(),
+  max_angle: z.number(),
+  triggered: z.boolean(),
+});
+
+/**
+ * Consolidated state event schema (state changes only) - from backend
+ */
+export const stateEventDataSchema = z.object({
+  is_default_state: z.boolean(),
+  traverse_state: traverseStateSchema,
+  puller_state: pullerStateSchema,
+  mode_state: modeStateSchema,
+  tension_arm_state: tensionArmStateSchema,
+  spool_speed_controller_state: spoolSpeedControllerStateSchema,
+  spool_automatic_action_state: spoolAutomaticActionStateSchema,
+  heating_states: heatingStatesSchema,
+  heating_pid_settings: heatingPidStatesSchema,
+  connected_machine_state: connectedMachineStateSchema,
+  addon_motor_3_state: addonMotorStateSchema,
+  addon_motor_4_state: addonMotorStateSchema,
+  addon_tension_arm_state: tensionArmStateSchema,
+  tension_arm_monitor_state: tensionArmMonitorStateSchema,
+});
+
+// ========== Event Schemas with Wrappers ==========
+
+export const liveValuesEventSchema = eventSchema(liveValuesEventDataSchema);
+export const stateEventSchema = eventSchema(stateEventDataSchema);
+
+export type StateEvent = z.infer<typeof stateEventSchema>;
+export type StateEventData = z.infer<typeof stateEventDataSchema>;
+
+// ========== Addon Types (Local State Only) ==========
+
+export type StepperMode = "Standby" | "Run";
+export type HeatingMode = "Standby" | "Heating";
+
+export type SlavePullerState = {
+  enabled: boolean;
+  forward: boolean;
+  min_angle: number;
+  max_angle: number;
+  min_speed_factor: number | null;
+  max_speed_factor: number | null;
+  tension_arm: {
+    zeroed: boolean;
+  };
+};
+
+export type MotorRatiosState = {
+  stepper3_master: number;
+  stepper3_slave: number;
+  stepper4_master: number;
+  stepper4_slave: number;
+};
+
+export type StepperState = {
+  stepper3_mode: StepperMode;
+  stepper4_mode: StepperMode;
+};
+
+/**
+ * Helper to convert backend addon motor state to frontend MotorRatiosState
+ */
+function getMotorRatiosFromBackend(
+  motor3: z.infer<typeof addonMotorStateSchema>,
+  motor4: z.infer<typeof addonMotorStateSchema>,
+): MotorRatiosState {
+  return {
+    stepper3_master: motor3.master_ratio,
+    stepper3_slave: motor3.slave_ratio,
+    stepper4_master: motor4.master_ratio,
+    stepper4_slave: motor4.slave_ratio,
+  };
+}
+
+/**
+ * Helper to determine stepper3 mode from backend enabled state
+ */
+function getStepper3ModeFromBackend(
+  motor3: z.infer<typeof addonMotorStateSchema>,
+): StepperMode {
+  return motor3.enabled ? "Run" : "Standby";
+}
+
+/**
+ * Helper to determine stepper4 mode from backend enabled state
+ */
+function getStepper4ModeFromBackend(
+  motor4: z.infer<typeof addonMotorStateSchema>,
+): StepperMode {
+  return motor4.enabled ? "Run" : "Standby";
+}
+
+/**
+ * Helper to determine heating mode from backend enabled state
+ */
+function getHeatingModeFromBackend(
+  heatingStates: z.infer<typeof heatingStatesSchema>,
+): HeatingMode {
+  return heatingStates.enabled ? "Heating" : "Standby";
+}
+
+export type HeatingState = {
+  heating_mode: HeatingMode;
+};
+
+export type TemperatureState = {
+  current_temperature: number;
+  min_temperature: number;
+  max_temperature: number;
+};
+
+export type QualityControlState = {
+  temperature1: TemperatureState;
+  temperature2: TemperatureState;
+};
+
+/**
+ * Extended state event data with addon fields
+ */
+export type ExtendedStateEventData = StateEventData & {
+  slave_puller_state: SlavePullerState;
+  motor_ratios_state: MotorRatiosState;
+  stepper_state: StepperState;
+  heating_state: HeatingState;
+  quality_control_state: QualityControlState;
+};
+
+/**
+ * Extended state event with addon fields
+ */
+export type ExtendedStateEvent = {
+  name: string;
+  ts: number;
+  data: ExtendedStateEventData;
+};
+
+// ========== Store Definition ==========
+
+export type GluetexNamespaceStore = {
+  // State event from server (extended with addon fields)
+  state: ExtendedStateEvent | null;
+  defaultState: ExtendedStateEvent | null;
+
+  // Time series data for live values (from backend)
+  traversePosition: TimeSeries;
+  pullerSpeed: TimeSeries;
+  spoolRpm: TimeSeries;
+  tensionArmAngle: TimeSeries;
+  spoolProgress: TimeSeries;
+  temperature1: TimeSeries;
+  temperature2: TimeSeries;
+  temperature3: TimeSeries;
+  temperature4: TimeSeries;
+  temperature5: TimeSeries;
+  temperature6: TimeSeries;
+  heater1Power: TimeSeries;
+  heater2Power: TimeSeries;
+  heater3Power: TimeSeries;
+  heater4Power: TimeSeries;
+  heater5Power: TimeSeries;
+  heater6Power: TimeSeries;
+
+  // Time series data for addons (local)
+  slavePullerSpeed: TimeSeries;
+  slaveTensionArmAngle: TimeSeries;
+  addonTensionArmAngle: TimeSeries;
+};
+
+// Constants for time durations
+const TWENTY_MILLISECOND = 20;
+const ONE_SECOND = 1000;
+const FIVE_SECOND = 5 * ONE_SECOND;
+const ONE_HOUR = 60 * 60 * ONE_SECOND;
+
+// Create time series for backend values
+const { initialTimeSeries: spoolProgress, insert: addSpoolProgress } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: traversePosition, insert: addTraversePosition } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: pullerSpeed, insert: addPullerSpeed } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: spoolRpm, insert: addSpoolRpm } = createTimeSeries(
+  TWENTY_MILLISECOND,
+  ONE_SECOND,
+  FIVE_SECOND,
+  ONE_HOUR,
+);
+const { initialTimeSeries: tensionArmAngle, insert: addTensionArmAngle } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+
+// Create time series for temperature values (from backend)
+const { initialTimeSeries: temperature1, insert: addTemperature1 } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: temperature2, insert: addTemperature2 } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: temperature3, insert: addTemperature3 } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: temperature4, insert: addTemperature4 } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: temperature5, insert: addTemperature5 } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: temperature6, insert: addTemperature6 } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+
+const { initialTimeSeries: heater1Power, insert: addHeater1Power } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: heater2Power, insert: addHeater2Power } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: heater3Power, insert: addHeater3Power } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: heater4Power, insert: addHeater4Power } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: heater5Power, insert: addHeater5Power } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const { initialTimeSeries: heater6Power, insert: addHeater6Power } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+
+// Create time series for addon values (local)
+const { initialTimeSeries: slavePullerSpeed, insert: addSlavePullerSpeed } =
+  createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const {
+  initialTimeSeries: slaveTensionArmAngle,
+  insert: addSlaveTensionArmAngle,
+} = createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+const {
+  initialTimeSeries: addonTensionArmAngle,
+  insert: addAddonTensionArmAngle,
+} = createTimeSeries(TWENTY_MILLISECOND, ONE_SECOND, FIVE_SECOND, ONE_HOUR);
+
+// Default addon state
+const DEFAULT_ADDON_STATE = {
+  slave_puller_state: {
+    enabled: false,
+    forward: true,
+    min_angle: 20.0,
+    max_angle: 90.0,
+    min_speed_factor: null,
+    max_speed_factor: null,
+    tension_arm: {
+      zeroed: false,
+    },
+  },
+  motor_ratios_state: {
+    stepper3_master: 1.0,
+    stepper3_slave: 1.0,
+    stepper4_master: 1.0,
+    stepper4_slave: 1.0,
+  },
+  stepper_state: {
+    stepper3_mode: "Standby" as StepperMode,
+    stepper4_mode: "Standby" as StepperMode,
+  },
+  heating_state: {
+    heating_mode: "Standby" as HeatingMode,
+  },
+  quality_control_state: {
+    temperature1: {
+      current_temperature: 85.0,
+      min_temperature: 75.0,
+      max_temperature: 95.0,
+    },
+    temperature2: {
+      current_temperature: 125.0,
+      min_temperature: 115.0,
+      max_temperature: 135.0,
+    },
+  },
+};
+
+/**
+ * Factory function to create a new Gluetex namespace store
+ * @returns A new Zustand store instance for Gluetex namespace
+ */
+export const createGluetexNamespaceStore =
+  (): StoreApi<GluetexNamespaceStore> =>
+    create<GluetexNamespaceStore>(() => {
+      return {
+        // State event from server (will be extended with addon state)
+        state: null,
+        defaultState: null,
+
+        // Time series data for live values
+        traversePosition,
+        pullerSpeed,
+        spoolRpm,
+        tensionArmAngle,
+        spoolProgress,
+        temperature1,
+        temperature2,
+        temperature3,
+        temperature4,
+        temperature5,
+        temperature6,
+        heater1Power,
+        heater2Power,
+        heater3Power,
+        heater4Power,
+        heater5Power,
+        heater6Power,
+
+        // Time series data for addons
+        slavePullerSpeed,
+        slaveTensionArmAngle,
+        addonTensionArmAngle,
+      };
+    });
+
+/**
+ * Creates a message handler for Gluetex namespace events with validation and appropriate caching strategies
+ * @param store The store to update when messages are received
+ * @param throttledUpdater Throttled updater for batching updates at 30 FPS
+ * @returns A message handler function
+ */
+export function gluetexMessageHandler(
+  store: StoreApi<GluetexNamespaceStore>,
+  throttledUpdater: ThrottledStoreUpdater<GluetexNamespaceStore>,
+): EventHandler {
+  return (event: Event<any>) => {
+    const eventName = event.name;
+
+    // Helper function to update store through buffer
+    const updateStore = (
+      updater: (state: GluetexNamespaceStore) => GluetexNamespaceStore,
+    ) => {
+      throttledUpdater.updateWith(updater);
+    };
+
+    try {
+      if (eventName === "StateEvent") {
+        console.log(event);
+        // Parse and validate the state event
+        const stateEvent = stateEventSchema.parse(event);
+
+        updateStore((state) => {
+          // Derive motor ratios from backend addon motor state
+          const motorRatiosState = getMotorRatiosFromBackend(
+            stateEvent.data.addon_motor_3_state,
+            stateEvent.data.addon_motor_4_state,
+          );
+
+          // Derive stepper modes from backend enabled state
+          const stepper3Mode = getStepper3ModeFromBackend(
+            stateEvent.data.addon_motor_3_state,
+          );
+          const stepper4Mode = getStepper4ModeFromBackend(
+            stateEvent.data.addon_motor_4_state,
+          );
+
+          // Derive heating mode from backend enabled state
+          const heatingMode = getHeatingModeFromBackend(
+            stateEvent.data.heating_states,
+          );
+
+          // Extend backend state with addon state (some local, some derived from backend)
+          const extendedData: ExtendedStateEventData = {
+            ...stateEvent.data,
+            // Preserve existing local-only addon state
+            slave_puller_state:
+              state.state?.data.slave_puller_state ||
+              DEFAULT_ADDON_STATE.slave_puller_state,
+            // Derive from backend addon motor state
+            motor_ratios_state: motorRatiosState,
+            stepper_state: {
+              stepper3_mode: stepper3Mode,
+              stepper4_mode: stepper4Mode,
+            },
+            heating_state: {
+              heating_mode: heatingMode,
+            },
+            quality_control_state:
+              state.state?.data.quality_control_state ||
+              DEFAULT_ADDON_STATE.quality_control_state,
+          };
+
+          const extendedState: ExtendedStateEvent = {
+            name: stateEvent.name,
+            ts: stateEvent.ts,
+            data: extendedData,
+          };
+
+          return {
+            ...state,
+            state: extendedState,
+            // only set default state if is_default_state is true
+            defaultState: stateEvent.data.is_default_state
+              ? extendedState
+              : state.defaultState,
+          };
+        });
+      } else if (eventName === "LiveValuesEvent") {
+        // Parse and validate the live values event
+        const liveValuesEvent = liveValuesEventSchema.parse(event);
+
+        // Extract values and add to time series
+        const {
+          traverse_position,
+          puller_speed,
+          spool_rpm,
+          tension_arm_angle,
+          spool_progress,
+          temperature_1,
+          temperature_2,
+          temperature_3,
+          temperature_4,
+          temperature_5,
+          temperature_6,
+          heater_1_power,
+          heater_2_power,
+          heater_3_power,
+          heater_4_power,
+          heater_5_power,
+          heater_6_power,
+          slave_puller_speed,
+          slave_tension_arm_angle,
+          addon_tension_arm_angle,
+        } = liveValuesEvent.data;
+        const timestamp = liveValuesEvent.ts;
+
+        updateStore((state) => {
+          const newState = { ...state };
+
+          // Add traverse position if not null
+          if (traverse_position !== null) {
+            const timeseriesValue: TimeSeriesValue = {
+              value: traverse_position,
+              timestamp,
+            };
+            newState.traversePosition = addTraversePosition(
+              state.traversePosition,
+              timeseriesValue,
+            );
+          }
+
+          if (spool_progress !== null) {
+            const timeseriesValue: TimeSeriesValue = {
+              value: spool_progress,
+              timestamp,
+            };
+            newState.spoolProgress = addSpoolProgress(
+              state.spoolProgress,
+              timeseriesValue,
+            );
+          }
+
+          // Add puller speed
+          const pullerSpeedValue: TimeSeriesValue = {
+            value: puller_speed,
+            timestamp,
+          };
+          newState.pullerSpeed = addPullerSpeed(
+            state.pullerSpeed,
+            pullerSpeedValue,
+          );
+
+          // Add spool RPM
+          const spoolRpmValue: TimeSeriesValue = {
+            value: spool_rpm,
+            timestamp,
+          };
+          newState.spoolRpm = addSpoolRpm(state.spoolRpm, spoolRpmValue);
+
+          // Add tension arm angle
+          const tensionArmAngleValue: TimeSeriesValue = {
+            value: tension_arm_angle,
+            timestamp,
+          };
+          newState.tensionArmAngle = addTensionArmAngle(
+            state.tensionArmAngle,
+            tensionArmAngleValue,
+          );
+
+          // Add temperature readings from backend
+          const temp1Value: TimeSeriesValue = {
+            value: temperature_1,
+            timestamp,
+          };
+          newState.temperature1 = addTemperature1(
+            state.temperature1,
+            temp1Value,
+          );
+
+          const temp2Value: TimeSeriesValue = {
+            value: temperature_2,
+            timestamp,
+          };
+          newState.temperature2 = addTemperature2(
+            state.temperature2,
+            temp2Value,
+          );
+
+          const temp3Value: TimeSeriesValue = {
+            value: temperature_3,
+            timestamp,
+          };
+          newState.temperature3 = addTemperature3(
+            state.temperature3,
+            temp3Value,
+          );
+
+          const temp4Value: TimeSeriesValue = {
+            value: temperature_4,
+            timestamp,
+          };
+          newState.temperature4 = addTemperature4(
+            state.temperature4,
+            temp4Value,
+          );
+
+          const temp5Value: TimeSeriesValue = {
+            value: temperature_5,
+            timestamp,
+          };
+          newState.temperature5 = addTemperature5(
+            state.temperature5,
+            temp5Value,
+          );
+
+          const temp6Value: TimeSeriesValue = {
+            value: temperature_6,
+            timestamp,
+          };
+          newState.temperature6 = addTemperature6(
+            state.temperature6,
+            temp6Value,
+          );
+
+          // Add heater power values
+          const heater1Value: TimeSeriesValue = {
+            value: heater_1_power,
+            timestamp,
+          };
+          newState.heater1Power = addHeater1Power(
+            state.heater1Power,
+            heater1Value,
+          );
+
+          const heater2Value: TimeSeriesValue = {
+            value: heater_2_power,
+            timestamp,
+          };
+          newState.heater2Power = addHeater2Power(
+            state.heater2Power,
+            heater2Value,
+          );
+
+          const heater3Value: TimeSeriesValue = {
+            value: heater_3_power,
+            timestamp,
+          };
+          newState.heater3Power = addHeater3Power(
+            state.heater3Power,
+            heater3Value,
+          );
+
+          const heater4Value: TimeSeriesValue = {
+            value: heater_4_power,
+            timestamp,
+          };
+          newState.heater4Power = addHeater4Power(
+            state.heater4Power,
+            heater4Value,
+          );
+
+          const heater5Value: TimeSeriesValue = {
+            value: heater_5_power,
+            timestamp,
+          };
+          newState.heater5Power = addHeater5Power(
+            state.heater5Power,
+            heater5Value,
+          );
+
+          const heater6Value: TimeSeriesValue = {
+            value: heater_6_power,
+            timestamp,
+          };
+          newState.heater6Power = addHeater6Power(
+            state.heater6Power,
+            heater6Value,
+          );
+
+          // Update slave puller data from backend
+          const slavePullerValue: TimeSeriesValue = {
+            value: slave_puller_speed,
+            timestamp,
+          };
+          newState.slavePullerSpeed = addSlavePullerSpeed(
+            state.slavePullerSpeed,
+            slavePullerValue,
+          );
+
+          const slaveTensionArmValue: TimeSeriesValue = {
+            value: slave_tension_arm_angle,
+            timestamp,
+          };
+          newState.slaveTensionArmAngle = addSlaveTensionArmAngle(
+            state.slaveTensionArmAngle,
+            slaveTensionArmValue,
+          );
+
+          const addonTensionArmValue: TimeSeriesValue = {
+            value: addon_tension_arm_angle,
+            timestamp,
+          };
+          newState.addonTensionArmAngle = addAddonTensionArmAngle(
+            state.addonTensionArmAngle,
+            addonTensionArmValue,
+          );
+
+          return newState;
+        });
+      } else {
+        handleUnhandledEventError(eventName);
+      }
+    } catch (error) {
+      console.error(`Unexpected error processing ${eventName} event:`, error);
+      throw error;
+    }
+  };
+}
+
+/**
+ * Create the Gluetex namespace implementation
+ */
+const useGluetexNamespaceImplementation =
+  createNamespaceHookImplementation<GluetexNamespaceStore>({
+    createStore: createGluetexNamespaceStore,
+    createEventHandler: gluetexMessageHandler,
+  });
+
+/**
+ * Hook for a machine-specific Gluetex namespace
+ *
+ * @example
+ * ```tsx
+ * function GluetexStatus({ machine }) {
+ *   const { state, traversePosition, pullerSpeed } = useGluetexNamespace(machine);
+ *
+ *   return (
+ *     <div>
+ *       {state && (
+ *         <div>Mode: {state.data.mode_state.mode}</div>
+ *       )}
+ *     </div>
+ *   );
+ * }
+ * ```
+ */
+export function useGluetexNamespace(
+  machine_identification_unique: MachineIdentificationUnique,
+): GluetexNamespaceStore {
+  // Generate namespace ID from validated machine ID
+  const namespaceId = useMemo<NamespaceId>(
+    () => ({
+      type: "machine",
+      machine_identification_unique,
+    }),
+    [machine_identification_unique],
+  );
+
+  // Use the implementation with validated namespace ID
+  return useGluetexNamespaceImplementation(namespaceId);
+}

electron/src/routes/routes.tsx

@@ -10,6 +10,14 @@ import { Winder2ControlPage } from "@/machines/winder/winder2/Winder2ControlPage
 import { Winder2ManualPage } from "@/machines/winder/winder2/Winder2Manual";
 import { Winder2SettingPage } from "@/machines/winder/winder2/Winder2Settings";
 import { Winder2GraphsPage } from "@/machines/winder/winder2/Winder2Graphs";
+import { GluetexPage } from "@/machines/winder/gluetex/GluetexPage";
+import { GluetexControlPage } from "@/machines/winder/gluetex/GluetexControlPage";
+import { GluetexManualPage } from "@/machines/winder/gluetex/GluetexManual";
+import { GluetexSettingPage } from "@/machines/winder/gluetex/GluetexSettings";
+import { GluetexGraphsPage } from "@/machines/winder/gluetex/GluetexGraphs";
+import { GluetexPresetsPage } from "@/machines/winder/gluetex/GluetexPresetsPage";
+import { GluetexAddonsPage } from "@/machines/winder/gluetex/GluetexAddonsPage";
+import { GluetexHeatersPage } from "@/machines/winder/gluetex/GluetexHeatersPage";
 import { Extruder2Page } from "@/machines/extruder/extruder2/Extruder2Page";
 import { Extruder2ControlPage } from "@/machines/extruder/extruder2/Extruder2ControlPage";
 import { Extruder2SettingsPage } from "@/machines/extruder/extruder2/Extruder2Settings";
@@ -132,6 +140,54 @@ export const winder2PresetsRoute = createRoute({
   component: () => <Winder2PresetsPage />,
 });
 
+export const gluetexRoute = createRoute({
+  getParentRoute: () => machinesRoute,
+  path: "gluetex/$serial",
+  component: () => <GluetexPage />,
+});
+
+export const gluetexControlRoute = createRoute({
+  getParentRoute: () => gluetexRoute,
+  path: "control",
+  component: () => <GluetexControlPage />,
+});
+
+export const gluetexManualRoute = createRoute({
+  getParentRoute: () => gluetexRoute,
+  path: "manual",
+  component: () => <GluetexManualPage />,
+});
+
+export const gluetexSettingsRoute = createRoute({
+  getParentRoute: () => gluetexRoute,
+  path: "settings",
+  component: () => <GluetexSettingPage />,
+});
+
+export const gluetexGraphsRoute = createRoute({
+  getParentRoute: () => gluetexRoute,
+  path: "graphs",
+  component: () => <GluetexGraphsPage />,
+});
+
+export const gluetexPresetsRoute = createRoute({
+  getParentRoute: () => gluetexRoute,
+  path: "presets",
+  component: () => <GluetexPresetsPage />,
+});
+
+export const gluetexAddonsRoute = createRoute({
+  getParentRoute: () => gluetexRoute,
+  path: "addons",
+  component: () => <GluetexAddonsPage />,
+});
+
+export const gluetexHeatersRoute = createRoute({
+  getParentRoute: () => gluetexRoute,
+  path: "heaters",
+  component: () => <GluetexHeatersPage />,
+});
+
 export const laser1SerialRoute = createRoute({
   getParentRoute: () => machinesRoute,
   path: "laser1/$serial",
@@ -327,6 +383,16 @@ export const rootTree = RootRoute.addChildren([
         winder2PresetsRoute,
       ]),
 
+      gluetexRoute.addChildren([
+        gluetexControlRoute,
+        gluetexManualRoute,
+        gluetexSettingsRoute,
+        gluetexGraphsRoute,
+        gluetexPresetsRoute,
+        gluetexAddonsRoute,
+        gluetexHeatersRoute,
+      ]),
+
       extruder2Route.addChildren([
         extruder2ControlRoute,
         extruder2SettingsRoute,

electron/src/setup/DeviceEepromDialog.tsx

@@ -147,7 +147,7 @@ export function DeviceEeepromDialogContent({ device, setOpen }: ContentProps) {
         device.revision,
         machinePreset?.device_roles,
       ),
-    [device.product_id, device.revision, machinePreset],
+    [device.vendor_id, device.product_id, device.revision, machinePreset],
   );
 
   // if there is only one allowed role, set the role to that immediately
@@ -161,10 +161,15 @@ export function DeviceEeepromDialogContent({ device, setOpen }: ContentProps) {
       const index = filteredAllowedDevices.findIndex(
         (isAllowed) => isAllowed === true,
       );
-      // set the device role of index
-      form.setValue("role", index.toString());
+      // set the device role using the actual role number, not the index
+      if (machinePreset && machinePreset.device_roles[index]) {
+        form.setValue(
+          "role",
+          machinePreset.device_roles[index].role.toString(),
+        );
+      }
     }
-  }, [filteredAllowedDevices]);
+  }, [filteredAllowedDevices, machinePreset, form]);
 
   return (
     <DialogContent>
@@ -234,7 +239,7 @@ export function DeviceEeepromDialogContent({ device, setOpen }: ContentProps) {
               <FormItem>
                 <FormLabel>Device Role</FormLabel>
                 <FormControl>
-                  <Select {...field}>
+                  <Select {...field} onValueChange={field.onChange}>
                     <SelectTrigger className="w-min">
                       <SelectValue placeholder="Device Role" />
                     </SelectTrigger>

electron/src/setup/MachinesPage.tsx

@@ -15,6 +15,8 @@ import {
 } from "@/machines/properties";
 import { IconText } from "@/components/IconText";
 import { MachinesEventData, useMainNamespace } from "@/client/mainNamespace";
+import { TouchButton } from "@/components/touch/TouchButton";
+import { useNavigate } from "@tanstack/react-router";
 
 export const columns: ColumnDef<
   NonNullable<MachinesEventData>["machines"][number]
@@ -76,6 +78,7 @@ export const columns: ColumnDef<
 
 export function MachinesPage() {
   const { machines } = useMainNamespace();
+  const navigate = useNavigate();
 
   const data = useMemo(() => {
     return machines?.data?.machines || [];
@@ -93,6 +96,25 @@ export function MachinesPage() {
         <RefreshIndicator ts={machines?.ts} />
       </SectionTitle>
       <MyTable table={table} key={data.toString()} />
+
+      <div className="mt-8 border-t border-gray-200 p-4">
+        <h3 className="mb-2 text-lg font-semibold">Test Machines</h3>
+        <p className="mb-4 text-sm text-gray-600">
+          Hardcoded frontend machines for testing (no backend required)
+        </p>
+        <TouchButton
+          onClick={() =>
+            navigate({
+              to: "/_sidebar/machines/gluetex/$serial/control",
+              params: { serial: "999" },
+            })
+          }
+          icon="lu:TestTube"
+          variant="outline"
+        >
+          Open Gluetex Test Winder
+        </TouchButton>
+      </div>
     </Page>
   );
 }

ethercat-eeprom-dump/Cargo.toml

@@ -10,10 +10,10 @@ workspace = true
 clap = { version = "4.5.40", features = ["derive"] }
 ethercrab = "0.6.0"
 interfaces = "0.0.9"
-smol = "2.0.2"
 tokio = { version = "1.45.1", features = ["macros", "rt-multi-thread"] }
 ethercat_hal = { path = "../ethercat-hal" }
 control_core = { path = "../control-core" }
+futures = "0.3.31"
 anyhow = "1.0.100"
 
 

ethercat-eeprom-dump/src/ls.rs

@@ -7,7 +7,7 @@ use ethercat_hal::{
     helpers::ethercrab_types::EthercrabSubDeviceGroupPreoperational,
 };
 use ethercrab::MainDevice;
-use smol;
+use futures::executor::block_on;
 
 use crate::{MAX_SUBDEVICES, PDI_LEN, print::print_markdown_table};
 
@@ -34,7 +34,7 @@ pub fn ls(
         let driver = device_from_subdevice_identity(&identity);
         let identification_adresses = get_identification_addresses(&identity, device.name());
         let identification = match identification_adresses {
-            Ok(_) => smol::block_on(machine_device_identification(&device, maindevice)),
+            Ok(_) => block_on(machine_device_identification(&device, maindevice)),
             Err(_) => Err(anyhow!("")),
         };
 
@@ -122,7 +122,7 @@ pub fn ls(
     print_markdown_table(&table, true);
 
     // Put group into op state
-    match smol::block_on(group.into_op(maindevice)) {
+    match block_on(group.into_op(maindevice)) {
         Ok(_) => println!("Successfully put group into OP state"),
         Err(e) => println!("Failed to put group into OP state: {}", e),
     }

ethercat-eeprom-dump/src/main.rs

@@ -2,9 +2,9 @@ use std::sync::Arc;
 
 use dump::dump_eeprom;
 use ethercrab::{MainDevice, MainDeviceConfig, PduStorage, std::ethercat_now};
+use futures::executor::block_on;
 use read::read_eeprom;
 use restore::restore_eeoprom;
-use smol;
 
 /// Maximum number of SubDevices that can be stored. This must be a power of 2 greater than 1.
 const MAX_SUBDEVICES: usize = 16;
@@ -57,7 +57,7 @@ async fn main() {
                 .get_one::<usize>("SUBDEVICE")
                 .expect("subdevice index is required");
             let file = sub_matches.get_one::<String>("file");
-            let result = smol::block_on(dump_eeprom(&group, &maindevice, *subdevice_index, file));
+            let result = block_on(dump_eeprom(&group, &maindevice, *subdevice_index, file));
             if let Err(e) = result {
                 eprintln!("Error reading EEPROM: {}", e);
             }
@@ -69,8 +69,7 @@ async fn main() {
             let file = sub_matches
                 .get_one::<String>("file")
                 .expect("file is required");
-            let result =
-                smol::block_on(restore_eeoprom(&group, &maindevice, *subdevice_index, file));
+            let result = block_on(restore_eeoprom(&group, &maindevice, *subdevice_index, file));
             if let Err(e) = result {
                 eprintln!("Error writing EEPROM: {}", e);
             }
@@ -79,7 +78,7 @@ async fn main() {
             let file = sub_matches
                 .get_one::<String>("file")
                 .expect("file is required");
-            let result = smol::block_on(read_eeprom(file));
+            let result = block_on(read_eeprom(file));
             if let Err(e) = result {
                 eprintln!("Error parsing EEPROM: {}", e);
             }

ethercat-hal/Cargo.toml

@@ -14,6 +14,7 @@ units = { path = "../units" }
 bitvec = { version = "1.0.1", features = ["alloc"] }
 smol = "2.0.2"
 rand = "0.9.2"
+futures = "0.3.31"
 tracing = "0.1.41"
 
 [dev-dependencies]

ethercat-hal/src/io/analog_input/mod.rs

@@ -1,6 +1,7 @@
 use std::fmt;
 use std::sync::Arc;
 
+use futures::executor::block_on;
 use physical::{AnalogInputRange, AnalogInputValue};
 use smol::lock::RwLock;
 
@@ -39,7 +40,7 @@ impl AnalogInput {
         let get_input = Box::new(move || -> AnalogInputInput {
             let device2 = Arc::clone(&device);
             let port_clone = port.clone();
-            smol::block_on(async move {
+            block_on(async move {
                 let device = device2.read().await;
                 device.get_input(port_clone)
             })

ethercat-hal/src/io/digital_input.rs

@@ -1,5 +1,6 @@
 use std::{fmt, sync::Arc};
 
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 /// Digital Input (DI) device
@@ -26,7 +27,7 @@ impl DigitalInput {
         let port2 = port;
         let device2 = device.clone();
         let get_input = Box::new(move || {
-            let device = smol::block_on(device2.read());
+            let device = block_on(device2.read());
             device.get_input(port2.clone())
         });
 

ethercat-hal/src/io/digital_output.rs

@@ -1,5 +1,6 @@
 use std::{fmt, sync::Arc};
 
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 /// Digital Output (DO) device
@@ -28,7 +29,7 @@ impl DigitalOutput {
         let port1 = port.clone();
         let device1 = device.clone();
         let set_output = Box::new(move |value: DigitalOutputOutput| {
-            let mut device = smol::block_on(device1.write());
+            let mut device = block_on(device1.write());
             device.set_output(port1.clone(), value);
         });
 
@@ -36,7 +37,7 @@ impl DigitalOutput {
         let port2 = port;
         let device2 = device.clone();
         let get_output = Box::new(move || -> DigitalOutputOutput {
-            let device = smol::block_on(device2.read());
+            let device = block_on(device2.read());
             device.get_output(port2.clone())
         });
 

ethercat-hal/src/io/encoder_input.rs

@@ -1,5 +1,6 @@
 use std::{fmt, sync::Arc};
 
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 /// Encoder Input device
@@ -33,7 +34,7 @@ impl EncoderInput {
         let port_counter = port.clone();
         let device_counter = device.clone();
         let get_counter = Box::new(move || {
-            let device = smol::block_on(device_counter.read());
+            let device = block_on(device_counter.read());
             device.get_counter_value(port_counter.clone())
         });
 
@@ -41,7 +42,7 @@ impl EncoderInput {
         let port_frequency = port.clone();
         let device_frequency = device.clone();
         let get_frequency = Box::new(move || {
-            let device = smol::block_on(device_frequency.read());
+            let device = block_on(device_frequency.read());
             device.get_frequency(port_frequency.clone())
         });
 
@@ -49,7 +50,7 @@ impl EncoderInput {
         let port_period = port.clone();
         let device_period = device.clone();
         let get_period = Box::new(move || {
-            let device = smol::block_on(device_period.read());
+            let device = block_on(device_period.read());
             device.get_period(port_period.clone())
         });
 
@@ -57,7 +58,7 @@ impl EncoderInput {
         let port_set = port;
         let device_set = device;
         let set_counter = Box::new(move |value: u32| {
-            let mut device = smol::block_on(device_set.write());
+            let mut device = block_on(device_set.write());
             device.set_counter(port_set.clone(), value)
         });
 

ethercat-hal/src/io/pulse_train_output.rs

@@ -1,5 +1,6 @@
 use std::{fmt, sync::Arc};
 
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 /// Pulse Train Output (PTO) device
@@ -28,21 +29,21 @@ impl<'device> PulseTrainOutput {
         // build sync write closure
         let device1 = device.clone();
         let set_output = Box::new(move |value: PulseTrainOutputOutput| {
-            let mut device = smol::block_on(device1.write());
+            let mut device = block_on(device1.write());
             device.set_output(port, value);
         });
 
         // build sync get closure
         let device2 = device.clone();
         let get_output = Box::new(move || -> PulseTrainOutputOutput {
-            let device = smol::block_on(device2.read());
+            let device = block_on(device2.read());
             device.get_output(port)
         });
 
         // build sync get closure
         let device2 = device;
         let get_input = Box::new(move || -> PulseTrainOutputInput {
-            let device = smol::block_on(device2.read());
+            let device = block_on(device2.read());
             device.get_input(port)
         });
 

ethercat-hal/src/io/stepper_velocity_el70x1.rs

@@ -2,6 +2,7 @@ use std::{fmt, sync::Arc};
 
 use crate::helpers::el70xx_velocity_converter::EL70x1VelocityConverter;
 use anyhow::Error;
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 /// Pulse Train Output (PTO) device
@@ -46,7 +47,7 @@ impl<'device> StepperVelocityEL70x1 {
         // build sync get closure
         let device2 = device.clone();
         let get_input = Box::new(move || -> Result<StepperVelocityEL70x1Input, Error> {
-            smol::block_on(async {
+            block_on(async {
                 let device = device2.read().await;
                 device.get_input(port)
             })
@@ -54,7 +55,7 @@ impl<'device> StepperVelocityEL70x1 {
 
         let device3 = device.clone();
         let get_output = Box::new(move || -> Result<StepperVelocityEL70x1Output, Error> {
-            smol::block_on(async {
+            block_on(async {
                 let device = device3.read().await;
                 device.get_output(port)
             })
@@ -64,7 +65,7 @@ impl<'device> StepperVelocityEL70x1 {
         let device3 = device;
         let get_speed_range = Box::new(
             move || -> Result<crate::shared_config::el70x1::EL70x1SpeedRange, Error> {
-                smol::block_on(async {
+                block_on(async {
                     let device = device3.read().await;
                     Ok(device.get_speed_range(port))
                 })

ethercat-hal/src/io/temperature_input.rs

@@ -1,3 +1,4 @@
+use futures::executor::block_on;
 use smol::lock::RwLock;
 
 use crate::pdo::basic::Limit;
@@ -28,9 +29,10 @@ impl TemperatureInput {
         let get_input = Box::new(move || {
             let device2 = device2.clone();
             let port_clone = port2.clone();
-
-            let device = device2.read_blocking();
-            device.get_input(port_clone)
+            block_on(async move {
+                let device = device2.read().await;
+                device.get_input(port_clone)
+            })
         });
         Self { get_input }
     }

ethercat-hal/src/pdo/analog_input.rs

@@ -35,18 +35,17 @@ pub struct AiStandard {
 
 impl TxPdoObject for AiStandard {
     fn read(&mut self, bits: &BitSlice<u8, Lsb0>) {
-        // only read other values if txpdo_toggle is true
-        self.txpdo_toggle = bits[8 + 7];
-        if !self.txpdo_toggle {
-            return;
-        }
-
+        // Read all values regardless of txpdo_toggle state.
+        // The toggle bit is still read for informational purposes, but we always
+        // update the value to prevent stale data when multiple analog inputs
+        // are active on the same device.
         self.undervoltage = bits[0];
         self.overvoltage = bits[1];
         self.limit1 = bits[2..4].load_le::<u8>().into();
         self.limit2 = bits[4..6].load_le::<u8>().into();
         self.error = bits[7];
         self.txpdo_state = bits[8 + 6];
+        self.txpdo_toggle = bits[8 + 7];
         self.value = bits[16..16 + 16].load_le::<u16>();
     }
 }

machines/Cargo.toml

@@ -19,6 +19,7 @@ euclid = "0.22.11"
 
 # concurrency
 smol = "2.0.2"
+futures = "0.3.31"
 
 # web
 serde_json = "1.0.143"

machines/src/extruder1/screw_speed_controller.rs

@@ -6,6 +6,7 @@ use control_core::{
     transmission::{Transmission, fixed::FixedTransmission},
 };
 use ethercat_hal::io::analog_input::AnalogInput;
+use futures::executor::block_on;
 use units::angular_velocity::revolution_per_minute;
 use units::electric_current::milliampere;
 use units::f64::*;
@@ -205,7 +206,7 @@ impl ScrewSpeedController {
 
     pub fn update(&mut self, now: Instant, is_extruding: bool) {
         // TODO: move this logic elsewhere or make non async
-        smol::block_on(self.inverter.act(now));
+        block_on(self.inverter.act(now));
 
         let wiring_error = self.get_wiring_error();
         if wiring_error {

machines/src/gluetex/act.rs

@@ -0,0 +1,80 @@
+use super::Gluetex;
+use crate::{MachineAct, MachineMessage};
+use std::time::{Duration, Instant};
+
+impl MachineAct for Gluetex {
+    fn act(&mut self, now: Instant) {
+        let machine_message = self.api_receiver.try_recv();
+        match machine_message {
+            Ok(machine_message) => self.act_machine_message(machine_message),
+            Err(_e) => (),
+        };
+        // sync the spool speed
+        self.sync_spool_speed(now);
+
+        // sync the puller speed
+        self.sync_puller_speed(now);
+
+        // sync the slave puller speed
+        self.sync_slave_puller_speed(now);
+
+        // sync addon motor speeds
+        self.sync_addon_motor_3_speed(now);
+        self.sync_addon_motor_4_speed(now);
+
+        // sync the traverse speed
+        self.sync_traverse_speed();
+
+        // automatically stops or pulls after N Meters if enabled
+        self.stop_or_pull_spool(now);
+
+        // check tension arm positions and trigger emergency stop if needed
+        self.check_tension_arm_monitor();
+
+        // update all temperature controllers
+        self.temperature_controller_1.update(now);
+        self.temperature_controller_2.update(now);
+        self.temperature_controller_3.update(now);
+        self.temperature_controller_4.update(now);
+        self.temperature_controller_5.update(now);
+        self.temperature_controller_6.update(now);
+
+        if self.traverse_controller.did_change_state() {
+            self.emit_state();
+        }
+
+        // more than 33ms have passed since last emit (30 "fps" target)
+        if now.duration_since(self.last_measurement_emit) > Duration::from_secs_f64(1.0 / 30.0) {
+            self.emit_live_values();
+            self.last_measurement_emit = now;
+        }
+    }
+
+    fn act_machine_message(&mut self, msg: MachineMessage) {
+        match msg {
+            MachineMessage::SubscribeNamespace(namespace) => {
+                self.namespace.namespace = Some(namespace);
+                self.emit_state();
+            }
+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+                let _res = self.api_mutate(value);
+            }
+            MachineMessage::ConnectToMachine(machine_connection) => {
+                if self.connected_machines.len() >= self.max_connected_machines {
+                    tracing::debug!(
+                        "Refusing to add Machine Connection {:?}, since self.connected_machines would be over the limit of {:?}",
+                        machine_connection,
+                        self.max_connected_machines
+                    );
+                    return;
+                }
+                self.connected_machines.push(machine_connection);
+            }
+            MachineMessage::DisconnectMachine(_machine_connection) => {
+                self.connected_machines.clear();
+            }
+        }
+    }
+}

machines/src/gluetex/adaptive_spool_speed_controller.rs

@@ -0,0 +1,460 @@
+use crate::gluetex::{
+    clamp_revolution::clamp_revolution_uom, filament_tension::FilamentTensionCalculator,
+    puller_speed_controller::PullerSpeedController,
+};
+
+use super::{clamp_revolution::Clamping, tension_arm::TensionArm};
+use control_core::{
+    controllers::first_degree_motion::angular_acceleration_speed_controller::AngularAccelerationSpeedController,
+    helpers::{interpolation::scale, moving_time_window::MovingTimeWindow},
+};
+use core::f64;
+use std::time::Instant;
+use units::ConstZero;
+use units::angle::degree;
+use units::angular_acceleration::radian_per_second_squared;
+use units::angular_velocity::{radian_per_second, revolution_per_minute};
+use units::f64::*;
+use units::length::{centimeter, meter};
+use units::velocity::meter_per_second;
+
+/// Adaptive spool speed controller that automatically adjusts to maintain optimal filament tension.
+///
+/// This controller monitors filament tension via the tension arm and learns the appropriate
+/// maximum speed based on puller speed and tension feedback. It uses closed-loop control
+/// to minimize tension error and applies smooth acceleration to prevent sudden motor commands.
+#[derive(Debug)]
+pub struct AdaptiveSpoolSpeedController {
+    /// Last commanded angular velocity sent to the spool motor
+    last_speed: AngularVelocity,
+    /// Whether the speed controller is enabled (false = always returns zero speed)
+    enabled: bool,
+    /// Acceleration controller to smooth speed transitions and prevent sudden changes
+    acceleration_controller: AngularAccelerationSpeedController,
+    /// Calculator for converting tension arm angle to normalized filament tension
+    filament_calc: FilamentTensionCalculator,
+    /// Moving window of recent speeds (in rad/s) used for dynamic acceleration limit calculation
+    speed_time_window: MovingTimeWindow<f64>,
+    /// Factor to control/calculate the feed speed based on filament tension
+    speed_factor: Length,
+    /// Timestamp of last max speed factor update, used for time-aware learning rate calculation
+    last_max_speed_factor_update: Option<Instant>,
+
+    /// Target normalized tension value (0.0-1.0) that the controller tries to maintain
+    tension_target: f64,
+    /// Proportional control gain for adaptive learning (negative: higher tension reduces speed)
+    radius_learning_rate: f64,
+    /// Speed multiplier when tension is at minimum (max speed factor)
+    max_speed_multiplier: f64,
+    /// Base acceleration as a fraction of max possible speed (per second)
+    acceleration_factor: f64,
+    /// Urgency multiplier for near-zero target speeds
+    deacceleration_urgency_multiplier: f64,
+}
+
+impl Default for AdaptiveSpoolSpeedController {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
+impl AdaptiveSpoolSpeedController {
+    /// Maximum speed limit (in RPM) used to initialize the acceleration controller
+    const INITIAL_MAX_SPEED_RPM: f64 = 150.0;
+
+    /// Absolute safety limit (in RPM) that the spool speed can never exceed to protect hardware
+    const SAFETY_MAX_SPEED_RPM: f64 = 600.0;
+
+    /// Time window duration (in seconds) for tracking recent speed history in acceleration calculations
+    const SPEED_WINDOW_DURATION_SECS: u64 = 5;
+
+    /// Maximum number of speed samples stored in the moving time window
+    const SPEED_WINDOW_MAX_SAMPLES: usize = 10;
+
+    /// Maximum angle (in degrees) of the tension arm, representing loosest filament tension
+    const TENSION_ARM_MAX_ANGLE_DEG: f64 = 90.0;
+
+    /// Minimum angle (in degrees) of the tension arm, representing tightest filament tension
+    const TENSION_ARM_MIN_ANGLE_DEG: f64 = 20.0;
+
+    /// Target normalized tension value (0.0-1.0) that the controller tries to maintain
+    const TENSION_TARGET: f64 = 0.7;
+
+    /// Proportional control gain for adaptive learning (negative: higher tension reduces speed)
+    const RADIUS_LEARNING_RATE: f64 = 0.5;
+
+    const FACTOR_MIN: f64 = 4.25;
+
+    const FACTOR_MAX: f64 = 20.0;
+
+    /// if the tension is the lowest, the speed can be up to 2x the puller speed
+    const MAX_SPEED_MULTIPLIER: f64 = 4.0;
+
+    /// Base acceleration as a fraction of max possible speed (per second)
+    const ACCELERATION_FACTOR: f64 = 0.2; // 20% of max speed per second
+
+    /// Urgency multiplier for near-zero target speeds
+    const DEACCELERATION_URGENCY_MULTIPLIER: f64 = 15.0;
+
+    /// Minimum acceleration limit to prevent completely frozen motion
+    const MIN_ACCELERATION_LIMIT: f64 = 0.5; // rad/s²
+
+    /// Creates a new adaptive spool speed controller with default settings.
+    ///
+    /// Initializes all internal components and sets baseline parameters.
+    ///
+    /// # Returns
+    /// A new `AdaptiveSpoolSpeedController` instance ready for use.
+    pub fn new() -> Self {
+        let max_speed = AngularVelocity::new::<revolution_per_minute>(Self::INITIAL_MAX_SPEED_RPM);
+
+        Self {
+            last_speed: AngularVelocity::ZERO,
+            enabled: false,
+            acceleration_controller: AngularAccelerationSpeedController::new(
+                Some(AngularVelocity::ZERO),
+                Some(max_speed),
+                -AngularAcceleration::ZERO, // Will be dynamically adjusted
+                AngularAcceleration::ZERO,  // Will be dynamically adjusted
+                AngularVelocity::ZERO,
+            ),
+            filament_calc: FilamentTensionCalculator::new(
+                Angle::new::<degree>(Self::TENSION_ARM_MAX_ANGLE_DEG),
+                Angle::new::<degree>(Self::TENSION_ARM_MIN_ANGLE_DEG),
+            ),
+            speed_time_window: MovingTimeWindow::new(
+                std::time::Duration::from_secs(Self::SPEED_WINDOW_DURATION_SECS),
+                Self::SPEED_WINDOW_MAX_SAMPLES,
+            ),
+            speed_factor: Length::new::<centimeter>(4.25),
+            last_max_speed_factor_update: None,
+            tension_target: Self::TENSION_TARGET,
+            radius_learning_rate: Self::RADIUS_LEARNING_RATE,
+            max_speed_multiplier: Self::MAX_SPEED_MULTIPLIER,
+            acceleration_factor: Self::ACCELERATION_FACTOR,
+            deacceleration_urgency_multiplier: Self::DEACCELERATION_URGENCY_MULTIPLIER,
+        }
+    }
+
+    /// Calculates the current maximum speed based on puller speed and learned factor.
+    ///
+    /// Uses the fundamental relationship between linear and angular velocity:
+    /// ω = (v / r) × multiplier
+    ///
+    /// Where:
+    /// - ω (omega) = angular velocity in radians per second
+    /// - v = linear velocity in meters per second  
+    /// - r = radius in meters
+    /// - multiplier = MAX_SPEED_MULTIPLIER for speed scaling
+    ///
+    /// This ensures the spool's rim speed is properly scaled relative to the puller's
+    /// linear speed, with the multiplier allowing for tension control adjustments.
+    ///
+    /// # Parameters
+    /// - `puller_speed_controller`: Reference to puller for baseline speed calculation
+    ///
+    /// # Returns
+    /// Current maximum angular velocity for the spool in radians per second
+    fn get_max_speed(&self, puller_speed_controller: &PullerSpeedController) -> AngularVelocity {
+        AngularVelocity::new::<radian_per_second>(
+            (puller_speed_controller.last_speed.get::<meter_per_second>()
+                / self.speed_factor.get::<meter>())
+                * self.max_speed_multiplier,
+        )
+    }
+
+    /// Calculates the desired spool speed based on filament tension feedback.
+    ///
+    /// Reads the tension arm angle, converts it to normalized tension, and calculates
+    /// the appropriate speed. Also updates the learned maximum speed based on tension error.
+    ///
+    /// # Parameters
+    /// - `t`: Current timestamp for learning updates
+    /// - `tension_arm`: Reference to tension arm for angle measurements
+    /// - `puller_speed_controller`: Reference to puller for baseline speed calculations
+    ///
+    /// # Returns
+    /// The calculated target angular velocity for the spool motor
+    fn calculate_speed(
+        &mut self,
+        t: Instant,
+        tension_arm: &TensionArm,
+        puller_speed_controller: &PullerSpeedController,
+    ) -> AngularVelocity {
+        let min_speed = AngularVelocity::ZERO;
+        let max_speed = self.get_max_speed(puller_speed_controller).abs();
+
+        // Calculate filament tension from arm angle
+        let tension_arm_angle = tension_arm.get_angle();
+        let (clamped_angle, clamping_state) = clamp_revolution_uom(
+            tension_arm_angle,
+            self.filament_calc.get_max_angle(), // Inverted because min angle = max tension
+            self.filament_calc.get_min_angle(),
+        );
+
+        // Return minimum speed if tension arm is at limits
+        if matches!(clamping_state, Clamping::Min | Clamping::Max) {
+            return min_speed;
+        }
+
+        // 1.0 means maximum tension (high angle, low speed)
+        // 0.0 means minimum tension (low angle, high speed)
+        let filament_tension = self.filament_calc.calc_filament_tension(clamped_angle);
+
+        self.update_speed_factor(filament_tension, t);
+
+        // Calculate speed based on inverted tension (lower tension = higher speed)
+
+        AngularVelocity::new::<radian_per_second>(scale(
+            1.0 - filament_tension,
+            min_speed.get::<radian_per_second>(),
+            max_speed.get::<radian_per_second>(),
+        ))
+    }
+
+    /// Simplified urgency-weighted acceleration that adapts to current operating conditions.
+    ///
+    /// This approach uses the current max speed (calculated from puller speed and learned diameter)
+    /// as the basis for acceleration limits, ensuring smooth operation across all speed ranges
+    /// while providing instant deceleration capability when approaching zero.
+    ///
+    /// # Parameters
+    /// - `target_speed`: Target speed to accelerate towards
+    /// - `puller_speed_controller`: Reference to puller for current max speed calculation
+    /// - `t`: Current timestamp for the acceleration controller
+    ///
+    /// # Returns
+    /// Smoothly accelerated speed with urgency-weighted limits
+    fn accelerate_speed(
+        &mut self,
+        target_speed: AngularVelocity,
+        puller_speed_controller: &PullerSpeedController,
+        t: Instant,
+    ) -> AngularVelocity {
+        let target_speed_rad_s = target_speed.get::<radian_per_second>();
+        let current_max_speed = self.get_max_speed(puller_speed_controller);
+        let max_speed_rad_s = current_max_speed.get::<radian_per_second>();
+
+        // Base acceleration proportional to current max operating speed
+        let base_acceleration = max_speed_rad_s * self.acceleration_factor;
+
+        // Simple urgency factor - dramatically increases near zero
+        let urgency_factor = if target_speed_rad_s.abs() < 0.1 {
+            self.deacceleration_urgency_multiplier * (1.0 / (target_speed_rad_s.abs() + 0.01))
+        } else {
+            1.0
+        };
+
+        // Final acceleration limit
+        let acceleration_limit =
+            (base_acceleration * urgency_factor).max(Self::MIN_ACCELERATION_LIMIT);
+
+        let acceleration =
+            AngularAcceleration::new::<radian_per_second_squared>(acceleration_limit);
+
+        // Update acceleration controller limits
+        self.acceleration_controller
+            .set_max_acceleration(acceleration);
+        self.acceleration_controller
+            .set_min_acceleration(-acceleration);
+
+        let new_speed = self.acceleration_controller.update(target_speed, t);
+
+        // Record for diagnostics
+        self.speed_time_window
+            .update(new_speed.get::<radian_per_second>(), t);
+
+        new_speed
+    }
+
+    /// Safety function that enforces absolute speed limits.
+    ///
+    /// Ensures the spool speed never exceeds safe operational limits to protect hardware.
+    /// Acts as a final safety check after all other speed calculations.
+    ///
+    /// # Parameters
+    /// - `speed`: The speed to be safety-checked and clamped
+    ///
+    /// # Returns
+    /// Speed guaranteed to be within safe operational limits
+    fn clamp_speed(&self, speed: AngularVelocity) -> AngularVelocity {
+        let min_speed = AngularVelocity::ZERO;
+        let max_speed = AngularVelocity::new::<revolution_per_minute>(Self::SAFETY_MAX_SPEED_RPM);
+
+        speed.max(min_speed).min(max_speed)
+    }
+
+    /// Adaptive learning algorithm that adjusts maximum speed factor based on tension feedback.
+    ///
+    /// Uses proportional control to adjust the speed factor based on tension error.
+    /// The controller learns over time to maintain optimal tension by scaling the
+    /// baseline speed derived from puller speed.
+    ///
+    /// # Parameters
+    /// - `filament_tension`: Normalized tension value
+    /// - `t`: Current timestamp for time-aware learning rate
+    fn update_speed_factor(&mut self, filament_tension: f64, t: Instant) {
+        let delta_t = match self.last_max_speed_factor_update {
+            Some(last_update) => t.duration_since(last_update).as_secs_f64(),
+            None => {
+                // First call, initialize and return early
+                self.last_max_speed_factor_update = Some(t);
+                return;
+            }
+        };
+
+        // positive error means too much tension, so we reduce speed
+        // negative error means too little tension, so we increase speed
+        let tension_error = filament_tension - self.tension_target;
+
+        // Calculate proportional control adjustment
+        let proportional_gain = self.radius_learning_rate * delta_t;
+        let factor_change = tension_error * proportional_gain;
+
+        // Update the speed factor directly
+        let new_factor = (self.speed_factor.get::<centimeter>() + factor_change)
+            .clamp(Self::FACTOR_MIN, Self::FACTOR_MAX);
+
+        self.speed_factor = Length::new::<centimeter>(new_factor); // Convert to cm
+
+        self.last_max_speed_factor_update = Some(t);
+    }
+
+    /// Main update function that orchestrates the complete speed control pipeline.
+    ///
+    /// This is the primary interface that calculates the target speed, applies enable/disable
+    /// logic, smooths speed changes, and applies safety limits.
+    ///
+    /// Call this function every control loop iteration to get the commanded spool speed.
+    ///
+    /// # Parameters
+    /// - `t`: Current timestamp for time-based calculations
+    /// - `tension_arm`: Reference to tension arm for feedback
+    /// - `puller_speed_controller`: Reference for adaptive speed scaling
+    ///
+    /// # Returns
+    /// Final commanded angular velocity for the spool motor
+    pub fn update_speed(
+        &mut self,
+        t: Instant,
+        tension_arm: &TensionArm,
+        puller_speed_controller: &PullerSpeedController,
+    ) -> AngularVelocity {
+        let target_speed = self.calculate_speed(t, tension_arm, puller_speed_controller);
+
+        let enabled_speed = if self.enabled {
+            target_speed
+        } else {
+            AngularVelocity::ZERO
+        };
+
+        let accelerated_speed = self.accelerate_speed(enabled_speed, puller_speed_controller, t);
+
+        // Store speed before clamping to preserve the actual commanded value
+        self.last_speed = accelerated_speed;
+
+        self.clamp_speed(accelerated_speed)
+    }
+
+    /// Enables or disables the speed controller.
+    ///
+    /// When disabled, the controller returns zero speed regardless of tension feedback.
+    ///
+    /// # Parameters
+    /// - `enabled`: True to enable speed control, false to disable
+    pub const fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+
+    /// Returns whether the speed controller is currently enabled.
+    ///
+    /// # Returns
+    /// True if the controller is enabled, false if disabled
+    pub const fn is_enabled(&self) -> bool {
+        self.enabled
+    }
+
+    /// Resets the controller to initial state, clearing all learned parameters.
+    ///
+    /// Use this when starting a new winding operation or after significant
+    /// process changes that would invalidate learned parameters.
+    pub fn reset(&mut self) {
+        self.last_speed = AngularVelocity::ZERO;
+        self.acceleration_controller.reset(AngularVelocity::ZERO);
+        self.speed_factor = Length::new::<centimeter>(4.25);
+        self.last_max_speed_factor_update = None;
+        self.tension_target = Self::TENSION_TARGET;
+        self.radius_learning_rate = Self::RADIUS_LEARNING_RATE;
+        self.max_speed_multiplier = Self::MAX_SPEED_MULTIPLIER;
+        self.acceleration_factor = Self::ACCELERATION_FACTOR;
+        self.deacceleration_urgency_multiplier = Self::DEACCELERATION_URGENCY_MULTIPLIER;
+    }
+
+    /// Returns the last commanded speed from the controller.
+    ///
+    /// # Returns
+    /// The angular velocity that was last commanded to the spool motor
+    pub fn get_speed(&self) -> AngularVelocity {
+        self.last_speed
+    }
+
+    /// Manually sets the current speed, bypassing normal calculation.
+    ///
+    /// Use this for manual control or when switching control modes to ensure
+    /// smooth transitions.
+    ///
+    /// # Parameters
+    /// - `speed`: The angular velocity to set as the current speed
+    pub fn set_speed(&mut self, speed: AngularVelocity) {
+        self.last_speed = speed;
+        self.acceleration_controller.reset(speed);
+    }
+
+    pub fn get_speed_factor(&self) -> Length {
+        self.speed_factor
+    }
+
+    // Getters and setters for the new configurable parameters
+    pub const fn get_tension_target(&self) -> f64 {
+        self.tension_target
+    }
+
+    pub const fn set_tension_target(&mut self, tension_target: f64) {
+        self.tension_target = tension_target.clamp(0.0, 1.0);
+    }
+
+    pub const fn get_radius_learning_rate(&self) -> f64 {
+        self.radius_learning_rate
+    }
+
+    pub const fn set_radius_learning_rate(&mut self, radius_learning_rate: f64) {
+        self.radius_learning_rate = radius_learning_rate.max(0.0);
+    }
+
+    pub const fn get_max_speed_multiplier(&self) -> f64 {
+        self.max_speed_multiplier
+    }
+
+    pub const fn set_max_speed_multiplier(&mut self, max_speed_multiplier: f64) {
+        self.max_speed_multiplier = max_speed_multiplier.max(0.1);
+    }
+
+    pub const fn get_acceleration_factor(&self) -> f64 {
+        self.acceleration_factor
+    }
+
+    pub const fn set_acceleration_factor(&mut self, acceleration_factor: f64) {
+        self.acceleration_factor = acceleration_factor.clamp(0.01, 1.0);
+    }
+
+    pub const fn get_deacceleration_urgency_multiplier(&self) -> f64 {
+        self.deacceleration_urgency_multiplier
+    }
+
+    pub const fn set_deacceleration_urgency_multiplier(
+        &mut self,
+        deacceleration_urgency_multiplier: f64,
+    ) {
+        self.deacceleration_urgency_multiplier = deacceleration_urgency_multiplier.max(1.0);
+    }
+}

machines/src/gluetex/addon_motor_controller.rs

@@ -0,0 +1,221 @@
+use control_core::converters::angular_step_converter::AngularStepConverter;
+use ethercat_hal::io::stepper_velocity_el70x1::StepperVelocityEL70x1;
+use units::angular_velocity::revolution_per_second;
+use units::f64::AngularVelocity;
+
+/// Controller for addon motors that follow the puller speed with a configurable ratio
+#[derive(Debug)]
+pub struct AddonMotorController {
+    /// Whether the motor is enabled (Run mode)
+    enabled: bool,
+    /// Master ratio value (e.g., 2 in "2:1")
+    master_ratio: f64,
+    /// Slave ratio value (e.g., 1 in "2:1")
+    slave_ratio: f64,
+    /// Converter for angular velocity to steps
+    converter: AngularStepConverter,
+}
+
+impl AddonMotorController {
+    /// Create a new addon motor controller
+    ///
+    /// # Arguments
+    /// * `steps_per_revolution` - Number of steps per revolution for the stepper motor
+    pub fn new(steps_per_revolution: i16) -> Self {
+        Self {
+            enabled: false,
+            master_ratio: 1.0,
+            slave_ratio: 1.0,
+            converter: AngularStepConverter::new(steps_per_revolution),
+        }
+    }
+
+    /// Set whether the motor is enabled (Run mode)
+    pub fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+
+    /// Get whether the motor is enabled
+    pub const fn is_enabled(&self) -> bool {
+        self.enabled
+    }
+
+    /// Set the master ratio value
+    ///
+    /// The master ratio represents the puller rotations in the ratio.
+    /// For example, in a 2:1 ratio, the master is 2.
+    pub fn set_master_ratio(&mut self, master: f64) {
+        self.master_ratio = master.max(0.1); // Prevent division issues
+    }
+
+    /// Set the slave ratio value
+    ///
+    /// The slave ratio represents the motor rotations in the ratio.
+    /// For example, in a 2:1 ratio, the slave is 1.
+    pub fn set_slave_ratio(&mut self, slave: f64) {
+        self.slave_ratio = slave.max(0.1); // Prevent division issues
+    }
+
+    /// Get the master ratio value
+    pub const fn get_master_ratio(&self) -> f64 {
+        self.master_ratio
+    }
+
+    /// Get the slave ratio value
+    pub const fn get_slave_ratio(&self) -> f64 {
+        self.slave_ratio
+    }
+
+    /// Calculate the motor angular velocity based on puller angular velocity and ratio
+    ///
+    /// # Arguments
+    /// * `puller_angular_velocity` - The current angular velocity of the puller
+    ///
+    /// # Returns
+    /// The angular velocity this motor should run at
+    ///
+    /// # Example
+    /// If puller is rotating at 10 rev/s and ratio is 2:1 (master=2, slave=1),
+    /// then motor should rotate at 5 rev/s (10 * 1/2)
+    fn calculate_motor_velocity(
+        &self,
+        puller_angular_velocity: AngularVelocity,
+    ) -> AngularVelocity {
+        if !self.enabled {
+            return AngularVelocity::new::<revolution_per_second>(0.0);
+        }
+
+        // Motor velocity = puller velocity * (slave_ratio / master_ratio)
+        // For 2:1, motor rotates at half the puller speed (1/2)
+        // For 1:2, motor rotates at twice the puller speed (2/1)
+        let ratio = self.slave_ratio / self.master_ratio;
+        puller_angular_velocity * ratio
+    }
+
+    /// Update the motor speed based on the puller angular velocity
+    ///
+    /// # Arguments
+    /// * `motor` - The stepper motor to control
+    /// * `puller_angular_velocity` - The current angular velocity of the puller
+    pub fn sync_motor_speed(
+        &self,
+        motor: &mut StepperVelocityEL70x1,
+        puller_angular_velocity: AngularVelocity,
+    ) {
+        if !self.enabled {
+            // If disabled, ensure motor is not enabled
+            if motor.is_enabled() {
+                motor.set_enabled(false);
+            }
+            return;
+        }
+
+        // Enable motor if not already enabled
+        if !motor.is_enabled() {
+            motor.set_enabled(true);
+        }
+
+        // Calculate target velocity
+        let target_velocity = self.calculate_motor_velocity(puller_angular_velocity);
+
+        // Convert to steps per second and set motor speed
+        let steps_per_second = self.converter.angular_velocity_to_steps(target_velocity);
+        let _ = motor.set_speed(steps_per_second);
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use units::angular_velocity::revolution_per_second;
+
+    #[test]
+    fn test_addon_motor_controller_disabled() {
+        let controller = AddonMotorController::new(200);
+        let puller_velocity = AngularVelocity::new::<revolution_per_second>(10.0);
+
+        let motor_velocity = controller.calculate_motor_velocity(puller_velocity);
+
+        assert_eq!(
+            motor_velocity.get::<revolution_per_second>(),
+            0.0,
+            "Motor should be stopped when disabled"
+        );
+    }
+
+    #[test]
+    fn test_addon_motor_controller_ratio_2_to_1() {
+        let mut controller = AddonMotorController::new(200);
+        controller.set_enabled(true);
+        controller.set_master_ratio(2.0);
+        controller.set_slave_ratio(1.0);
+
+        let puller_velocity = AngularVelocity::new::<revolution_per_second>(10.0);
+        let motor_velocity = controller.calculate_motor_velocity(puller_velocity);
+
+        // For every 2 puller rotations, motor should rotate 1 time
+        // So motor speed should be half of puller speed
+        assert_eq!(
+            motor_velocity.get::<revolution_per_second>(),
+            5.0,
+            "Motor should run at half speed with 2:1 ratio"
+        );
+    }
+
+    #[test]
+    fn test_addon_motor_controller_ratio_1_to_2() {
+        let mut controller = AddonMotorController::new(200);
+        controller.set_enabled(true);
+        controller.set_master_ratio(1.0);
+        controller.set_slave_ratio(2.0);
+
+        let puller_velocity = AngularVelocity::new::<revolution_per_second>(10.0);
+        let motor_velocity = controller.calculate_motor_velocity(puller_velocity);
+
+        // For every 1 puller rotation, motor should rotate 2 times
+        // So motor speed should be twice the puller speed
+        assert_eq!(
+            motor_velocity.get::<revolution_per_second>(),
+            20.0,
+            "Motor should run at twice speed with 1:2 ratio"
+        );
+    }
+
+    #[test]
+    fn test_addon_motor_controller_ratio_3_to_2() {
+        let mut controller = AddonMotorController::new(200);
+        controller.set_enabled(true);
+        controller.set_master_ratio(3.0);
+        controller.set_slave_ratio(2.0);
+
+        let puller_velocity = AngularVelocity::new::<revolution_per_second>(9.0);
+        let motor_velocity = controller.calculate_motor_velocity(puller_velocity);
+
+        // For every 3 puller rotations, motor should rotate 2 times
+        // So motor speed should be 2/3 of puller speed
+        // 9 * (2/3) = 6.0
+        assert_eq!(
+            motor_velocity.get::<revolution_per_second>(),
+            6.0,
+            "Motor should run at 2/3 speed with 3:2 ratio"
+        );
+    }
+
+    #[test]
+    fn test_addon_motor_controller_ratio_1_to_1() {
+        let mut controller = AddonMotorController::new(200);
+        controller.set_enabled(true);
+        controller.set_master_ratio(1.0);
+        controller.set_slave_ratio(1.0);
+
+        let puller_velocity = AngularVelocity::new::<revolution_per_second>(10.0);
+        let motor_velocity = controller.calculate_motor_velocity(puller_velocity);
+
+        // 1:1 ratio means motor runs at same speed as puller
+        assert_eq!(
+            motor_velocity.get::<revolution_per_second>(),
+            10.0,
+            "Motor should run at same speed with 1:1 ratio"
+        );
+    }
+}

machines/src/gluetex/api.rs

@@ -0,0 +1,625 @@
+mod gluetex_imports {
+    pub use super::super::puller_speed_controller::{GearRatio, PullerRegulationMode};
+    pub use super::super::{Gluetex, GluetexMode};
+    pub use control_core::socketio::{
+        event::{Event, GenericEvent},
+        namespace::{
+            CacheFn, CacheableEvents, Namespace, NamespaceCacheingLogic, cache_duration,
+            cache_first_and_last_event,
+        },
+    };
+
+    pub use control_core_derive::BuildEvent;
+    pub use serde::{Deserialize, Serialize};
+    pub use serde_json::Value;
+    pub use smol::lock::Mutex;
+    pub use std::{
+        sync::Arc,
+        time::{Duration, Instant},
+    };
+    pub use tracing::instrument;
+    pub use units::{Angle, angle::degree};
+}
+
+pub use gluetex_imports::*;
+use smol::channel::Sender;
+
+use crate::{MachineApi, MachineMessage};
+use crate::{MachineCrossConnectionState, machine_identification::MachineIdentificationUnique};
+
+#[derive(Deserialize, Serialize, Debug, Clone)]
+pub enum HeatingZone {
+    Zone1,
+    Zone2,
+    Zone3,
+    Zone4,
+    Zone5,
+    Zone6,
+}
+
+#[derive(Deserialize, Serialize, Debug, Clone, Default)]
+pub struct HeatingPidSettings {
+    pub ki: f64,
+    pub kp: f64,
+    pub kd: f64,
+    pub zone: String,
+}
+
+#[derive(Serialize, Deserialize, Debug, Clone, Default)]
+pub enum Mode {
+    #[default]
+    Standby,
+    Hold,
+    Pull,
+    Wind,
+}
+
+impl From<GluetexMode> for Mode {
+    fn from(mode: GluetexMode) -> Self {
+        match mode {
+            GluetexMode::Standby => Self::Standby,
+            GluetexMode::Hold => Self::Hold,
+            GluetexMode::Pull => Self::Pull,
+            GluetexMode::Wind => Self::Wind,
+        }
+    }
+}
+
+impl From<Mode> for GluetexMode {
+    fn from(mode: Mode) -> Self {
+        match mode {
+            Mode::Standby => Self::Standby,
+            Mode::Hold => Self::Hold,
+            Mode::Pull => Self::Pull,
+            Mode::Wind => Self::Wind,
+        }
+    }
+}
+
+#[derive(Deserialize, Serialize)]
+pub enum Mutation {
+    // Traverse
+    /// Position in mm from home point
+    SetTraverseLimitOuter(f64),
+    /// Position in mm from home point
+    SetTraverseLimitInner(f64),
+    /// Step size in mm for traverse movement
+    SetTraverseStepSize(f64),
+    /// Padding in mm for traverse movement limits
+    SetTraversePadding(f64),
+    GotoTraverseLimitOuter,
+    GotoTraverseLimitInner,
+    /// Find home point
+    GotoTraverseHome,
+    EnableTraverseLaserpointer(bool),
+
+    // Puller
+    /// on = speed, off = stop
+    SetPullerRegulationMode(PullerRegulationMode),
+    SetPullerTargetSpeed(f64),
+    SetPullerTargetDiameter(f64),
+    SetPullerForward(bool),
+    SetPullerGearRatio(GearRatio),
+
+    // Spool Speed Controller
+    SetSpoolRegulationMode(super::spool_speed_controller::SpoolSpeedControllerType),
+    SetSpoolMinMaxMinSpeed(f64),
+    SetSpoolMinMaxMaxSpeed(f64),
+    SetSpoolForward(bool),
+
+    // Adaptive Spool Speed Controller Parameters
+    SetSpoolAdaptiveTensionTarget(f64),
+    SetSpoolAdaptiveRadiusLearningRate(f64),
+    SetSpoolAdaptiveMaxSpeedMultiplier(f64),
+    SetSpoolAdaptiveAccelerationFactor(f64),
+    SetSpoolAdaptiveDeaccelerationUrgencyMultiplier(f64),
+
+    // Spool Auto Stop/Pull
+    SetSpoolAutomaticRequiredMeters(f64),
+    SetSpoolAutomaticAction(SpoolAutomaticActionMode),
+    ResetSpoolProgress,
+
+    // Tension Arm
+    ZeroTensionArmAngle,
+
+    // Heating
+    SetHeatingEnabled(bool),
+    SetHeatingTargetTemperature(HeatingZone, f64),
+    ConfigureHeatingPid(HeatingPidSettings),
+
+    // Mode
+    SetMode(Mode),
+
+    // Connected Machine
+    SetConnectedMachine(MachineIdentificationUnique),
+
+    // Disconnect Machine
+    DisconnectMachine(MachineIdentificationUnique),
+
+    // Addon Motors
+    SetAddonMotor3Enabled(bool),
+    SetAddonMotor4Enabled(bool),
+    SetAddonMotor3MasterRatio(f64),
+    SetAddonMotor3SlaveRatio(f64),
+    SetAddonMotor4MasterRatio(f64),
+    SetAddonMotor4SlaveRatio(f64),
+
+    // Slave Puller
+    SetSlavePullerEnabled(bool),
+    SetSlavePullerForward(bool),
+    SetSlavePullerMinAngle(f64),
+    SetSlavePullerMaxAngle(f64),
+    SetSlavePullerMinSpeedFactor(f64),
+    SetSlavePullerMaxSpeedFactor(f64),
+    ZeroSlaveTensionArm,
+    ZeroAddonTensionArm,
+
+    // Tension Arm Monitoring
+    SetTensionArmMonitorEnabled(bool),
+    SetTensionArmMonitorMinAngle(f64),
+    SetTensionArmMonitorMaxAngle(f64),
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct LiveValuesEvent {
+    /// traverse position in mm
+    pub traverse_position: Option<f64>,
+    /// puller speed in m/min
+    pub puller_speed: f64,
+    /// spool rpm
+    pub spool_rpm: f64,
+    /// tension arm angle in degrees
+    pub tension_arm_angle: f64,
+    // spool progress in meters (pulled distance of filament)
+    pub spool_progress: f64,
+    /// temperature 1 in celsius
+    pub temperature_1: f64,
+    /// temperature 2 in celsius
+    pub temperature_2: f64,
+    /// temperature 3 in celsius
+    pub temperature_3: f64,
+    /// temperature 4 in celsius
+    pub temperature_4: f64,
+    /// temperature 5 in celsius
+    pub temperature_5: f64,
+    /// temperature 6 in celsius
+    pub temperature_6: f64,
+    /// heater 1 power in watts
+    pub heater_1_power: f64,
+    /// heater 2 power in watts
+    pub heater_2_power: f64,
+    /// heater 3 power in watts
+    pub heater_3_power: f64,
+    /// heater 4 power in watts
+    pub heater_4_power: f64,
+    /// heater 5 power in watts
+    pub heater_5_power: f64,
+    /// heater 6 power in watts
+    pub heater_6_power: f64,
+    /// slave puller speed in m/min
+    pub slave_puller_speed: f64,
+    /// slave tension arm angle in degrees
+    pub slave_tension_arm_angle: f64,
+    /// addon tension arm angle in degrees
+    pub addon_tension_arm_angle: f64,
+}
+
+impl LiveValuesEvent {
+    pub fn build(&self) -> Event<Self> {
+        Event::new("LiveValuesEvent", self.clone())
+    }
+}
+
+#[derive(Serialize, Debug, Clone, BuildEvent)]
+pub struct StateEvent {
+    pub is_default_state: bool,
+    /// traverse state
+    pub traverse_state: TraverseState,
+    /// puller state
+    pub puller_state: PullerState,
+    /// spool automatic action state and progress
+    pub spool_automatic_action_state: SpoolAutomaticActionState,
+    /// mode state
+    pub mode_state: ModeState,
+    /// tension arm state
+    pub tension_arm_state: TensionArmState,
+    /// spool speed controller state
+    pub spool_speed_controller_state: SpoolSpeedControllerState,
+    /// heating states
+    pub heating_states: HeatingStates,
+    /// PID settings for heating zones
+    pub heating_pid_settings: HeatingPidStates,
+    /// Is a Machine Connected?
+    pub connected_machine_state: MachineCrossConnectionState,
+    /// addon motor 3 state
+    pub addon_motor_3_state: AddonMotorState,
+    /// addon motor 4 state
+    pub addon_motor_4_state: AddonMotorState,
+    /// slave puller state
+    pub slave_puller_state: SlavePullerState,
+    /// addon tension arm state
+    pub addon_tension_arm_state: TensionArmState,
+    /// tension arm monitor state
+    pub tension_arm_monitor_state: TensionArmMonitorState,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct TraverseState {
+    /// min position in mm
+    pub limit_inner: f64,
+    /// max position in mm
+    pub limit_outer: f64,
+    /// position in mm
+    pub position_in: f64,
+    /// position out in mm
+    pub position_out: f64,
+    /// is going to position in
+    pub is_going_in: bool,
+    /// is going to position out
+    pub is_going_out: bool,
+    /// if is homed
+    pub is_homed: bool,
+    /// if is homing
+    pub is_going_home: bool,
+    /// if is traversing
+    pub is_traversing: bool,
+    /// laserpointer is on
+    pub laserpointer: bool,
+    /// step size in mm
+    pub step_size: f64,
+    /// padding in mm
+    pub padding: f64,
+    /// can go in (to inner limit)
+    pub can_go_in: bool,
+    /// can go out (to outer limit)
+    pub can_go_out: bool,
+    /// can home
+    pub can_go_home: bool,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct PullerState {
+    /// regulation type
+    pub regulation: PullerRegulationMode,
+    /// target speed in m/min
+    pub target_speed: f64,
+    /// target diameter in mm
+    pub target_diameter: f64,
+    /// forward rotation direction
+    pub forward: bool,
+    /// gear ratio for winding speed
+    pub gear_ratio: GearRatio,
+}
+
+#[derive(Deserialize, Serialize, Debug, Clone, Default)]
+pub enum SpoolAutomaticActionMode {
+    #[default]
+    NoAction,
+    Pull,
+    Hold,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct SpoolAutomaticActionState {
+    pub spool_required_meters: f64,
+    pub spool_automatic_action_mode: SpoolAutomaticActionMode,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct ModeState {
+    /// mode
+    pub mode: Mode,
+    /// can wind
+    pub can_wind: bool,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct TensionArmState {
+    /// is zeroed
+    pub zeroed: bool,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct SpoolSpeedControllerState {
+    /// regulation mode
+    pub regulation_mode: super::spool_speed_controller::SpoolSpeedControllerType,
+    /// min speed in rpm for minmax mode
+    pub minmax_min_speed: f64,
+    /// max speed in rpm for minmax mode
+    pub minmax_max_speed: f64,
+    /// tension target for adaptive mode (0.0-1.0)
+    pub adaptive_tension_target: f64,
+    /// radius learning rate for adaptive mode
+    pub adaptive_radius_learning_rate: f64,
+    /// max speed multiplier for adaptive mode
+    pub adaptive_max_speed_multiplier: f64,
+    /// acceleration factor for adaptive mode
+    pub adaptive_acceleration_factor: f64,
+    /// deacceleration urgency multiplier for adaptive mode
+    pub adaptive_deacceleration_urgency_multiplier: f64,
+    /// forward rotation direction
+    pub forward: bool,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct AddonMotorState {
+    /// is motor enabled (running)
+    pub enabled: bool,
+    /// master ratio value (e.g., 2 in "2:1")
+    pub master_ratio: f64,
+    /// slave ratio value (e.g., 1 in "2:1")
+    pub slave_ratio: f64,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct SlavePullerState {
+    /// is slave puller enabled
+    pub enabled: bool,
+    /// forward rotation direction
+    pub forward: bool,
+    /// minimum tension arm angle for detection zone (degrees)
+    pub min_angle: f64,
+    /// maximum tension arm angle for detection zone (degrees)
+    pub max_angle: f64,
+    /// minimum speed factor for overspeed protection (optional)
+    pub min_speed_factor: Option<f64>,
+    /// maximum speed factor for overspeed protection (optional)
+    pub max_speed_factor: Option<f64>,
+    /// slave tension arm state
+    pub tension_arm: SlaveTensionArmState,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct SlaveTensionArmState {
+    /// is zeroed
+    pub zeroed: bool,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct HeatingStates {
+    pub enabled: bool,
+    pub zone_1: HeatingState,
+    pub zone_2: HeatingState,
+    pub zone_3: HeatingState,
+    pub zone_4: HeatingState,
+    pub zone_5: HeatingState,
+    pub zone_6: HeatingState,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct HeatingState {
+    /// target temperature in celsius
+    pub target_temperature: f64,
+    /// wiring error detected
+    pub wiring_error: bool,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct HeatingPidStates {
+    pub zone_1: HeatingPidSettings,
+    pub zone_2: HeatingPidSettings,
+    pub zone_3: HeatingPidSettings,
+    pub zone_4: HeatingPidSettings,
+    pub zone_5: HeatingPidSettings,
+    pub zone_6: HeatingPidSettings,
+}
+
+#[derive(Serialize, Debug, Clone, Default)]
+pub struct TensionArmMonitorState {
+    /// is monitoring enabled
+    pub enabled: bool,
+    /// minimum allowed angle in degrees
+    pub min_angle: f64,
+    /// maximum allowed angle in degrees
+    pub max_angle: f64,
+    /// is monitor currently triggered (limits exceeded)
+    pub triggered: bool,
+}
+
+pub enum GluetexEvents {
+    LiveValues(Event<LiveValuesEvent>),
+    State(Event<StateEvent>),
+}
+
+#[derive(Debug)]
+pub struct GluetexNamespace {
+    pub namespace: Option<Namespace>,
+}
+
+impl NamespaceCacheingLogic<GluetexEvents> for GluetexNamespace {
+    #[instrument(skip_all)]
+    fn emit(&mut self, events: GluetexEvents) {
+        let event = Arc::new(events.event_value());
+        let buffer_fn = events.event_cache_fn();
+        match &mut self.namespace {
+            Some(ns) => ns.emit(event, &buffer_fn),
+            None => (),
+        }
+    }
+}
+
+impl CacheableEvents<Self> for GluetexEvents {
+    fn event_value(&self) -> GenericEvent {
+        match self {
+            Self::LiveValues(event) => event.into(),
+            Self::State(event) => event.into(),
+        }
+    }
+
+    fn event_cache_fn(&self) -> CacheFn {
+        let cache_first_and_last = cache_first_and_last_event();
+        match self {
+            Self::LiveValues(_) => cache_first_and_last,
+            Self::State(_) => cache_first_and_last,
+        }
+    }
+}
+
+impl MachineApi for Gluetex {
+    fn api_get_sender(&self) -> Sender<MachineMessage> {
+        self.api_sender.clone()
+    }
+
+    fn api_mutate(&mut self, request_body: Value) -> Result<(), anyhow::Error> {
+        use crate::Machine;
+
+        let mutation: Mutation = serde_json::from_value(request_body)?;
+        match mutation {
+            Mutation::EnableTraverseLaserpointer(enable) => self.set_laser(enable),
+            Mutation::SetMode(mode) => self.set_mode(&mode.into()),
+            Mutation::SetTraverseLimitOuter(limit) => self.traverse_set_limit_outer(limit),
+            Mutation::SetTraverseLimitInner(limit) => self.traverse_set_limit_inner(limit),
+            Mutation::SetTraverseStepSize(size) => self.traverse_set_step_size(size),
+            Mutation::SetTraversePadding(padding) => self.traverse_set_padding(padding),
+            Mutation::GotoTraverseLimitOuter => self.traverse_goto_limit_outer(),
+            Mutation::GotoTraverseLimitInner => self.traverse_goto_limit_inner(),
+            Mutation::GotoTraverseHome => self.traverse_goto_home(),
+            Mutation::SetPullerRegulationMode(regulation) => self.puller_set_regulation(regulation),
+            Mutation::SetPullerTargetSpeed(value) => self.puller_set_target_speed(value),
+            Mutation::SetPullerTargetDiameter(_) => todo!(),
+            Mutation::SetPullerForward(value) => self.puller_set_forward(value),
+            Mutation::SetPullerGearRatio(gear_ratio) => self.puller_set_gear_ratio(gear_ratio),
+            Mutation::SetSpoolRegulationMode(mode) => self.spool_set_regulation_mode(mode),
+            Mutation::SetSpoolMinMaxMinSpeed(speed) => self.spool_set_minmax_min_speed(speed),
+            Mutation::SetSpoolMinMaxMaxSpeed(speed) => self.spool_set_minmax_max_speed(speed),
+            Mutation::SetSpoolForward(value) => self.spool_set_forward(value),
+            Mutation::SetSpoolAdaptiveTensionTarget(value) => {
+                self.spool_set_adaptive_tension_target(value)
+            }
+            Mutation::SetSpoolAdaptiveRadiusLearningRate(value) => {
+                self.spool_set_adaptive_radius_learning_rate(value)
+            }
+            Mutation::SetSpoolAdaptiveMaxSpeedMultiplier(value) => {
+                self.spool_set_adaptive_max_speed_multiplier(value)
+            }
+            Mutation::SetSpoolAdaptiveAccelerationFactor(value) => {
+                self.spool_set_adaptive_acceleration_factor(value)
+            }
+            Mutation::SetSpoolAdaptiveDeaccelerationUrgencyMultiplier(value) => {
+                self.spool_set_adaptive_deacceleration_urgency_multiplier(value)
+            }
+            Mutation::SetSpoolAutomaticRequiredMeters(meters) => {
+                self.set_spool_automatic_required_meters(meters)
+            }
+            Mutation::SetSpoolAutomaticAction(mode) => self.set_spool_automatic_mode(mode),
+            Mutation::ResetSpoolProgress => self.stop_or_pull_spool_reset(Instant::now()),
+            Mutation::ZeroTensionArmAngle => self.tension_arm_zero(),
+            Mutation::SetHeatingEnabled(enabled) => {
+                self.set_heating_enabled(enabled);
+                self.emit_state();
+            }
+            Mutation::SetHeatingTargetTemperature(zone, temperature) => {
+                self.set_target_temperature(temperature, zone)
+            }
+            Mutation::ConfigureHeatingPid(settings) => self.configure_heating_pid(settings),
+            Mutation::SetConnectedMachine(machine_identification_unique) => {
+                let main_sender = match &self.main_sender {
+                    Some(sender) => sender,
+                    None => {
+                        return Err(anyhow::anyhow!(
+                            "Machine cannot connect to others! {:?}",
+                            self.get_machine_identification_unique()
+                        ));
+                    }
+                };
+                main_sender.try_send(crate::AsyncThreadMessage::ConnectOneWayRequest(
+                    crate::CrossConnection {
+                        src: self.get_machine_identification_unique(),
+                        dest: machine_identification_unique,
+                    },
+                ))?;
+                self.emit_state();
+            }
+            Mutation::DisconnectMachine(_machine_identification_unique) => {
+                self.connected_machines.clear();
+                /*let main_sender = match &self.main_sender {
+                    Some(sender) => sender,
+                    None => return Err(anyhow::anyhow!("[DisconnectMachine] Machine cannot connect to others! {:?}", self.machine_identification_unique)),
+                };*/
+                //main_sender.try_send(crate::AsyncThreadMessage::ConnectOneWayRequest(crate::CrossConnection { src: self.get_machine_identification_unique(), dest: machine_identification_unique }))?;
+                self.emit_state();
+            }
+            Mutation::SetAddonMotor3Enabled(enabled) => {
+                self.addon_motor_3_controller.set_enabled(enabled);
+                self.emit_state();
+            }
+            Mutation::SetAddonMotor4Enabled(enabled) => {
+                self.addon_motor_4_controller.set_enabled(enabled);
+                self.emit_state();
+            }
+            Mutation::SetAddonMotor3MasterRatio(ratio) => {
+                self.addon_motor_3_controller.set_master_ratio(ratio);
+                self.emit_state();
+            }
+            Mutation::SetAddonMotor3SlaveRatio(ratio) => {
+                self.addon_motor_3_controller.set_slave_ratio(ratio);
+                self.emit_state();
+            }
+            Mutation::SetAddonMotor4MasterRatio(ratio) => {
+                self.addon_motor_4_controller.set_master_ratio(ratio);
+                self.emit_state();
+            }
+            Mutation::SetAddonMotor4SlaveRatio(ratio) => {
+                self.addon_motor_4_controller.set_slave_ratio(ratio);
+                self.emit_state();
+            }
+            Mutation::SetSlavePullerEnabled(enabled) => {
+                self.slave_puller_speed_controller.set_enabled(enabled);
+                self.emit_state();
+            }
+            Mutation::SetSlavePullerForward(forward) => {
+                self.slave_puller_speed_controller.set_forward(forward);
+                self.emit_state();
+            }
+            Mutation::SetSlavePullerMinAngle(angle_deg) => {
+                self.slave_puller_speed_controller
+                    .set_min_angle(Angle::new::<degree>(angle_deg));
+                self.emit_state();
+            }
+            Mutation::SetSlavePullerMaxAngle(angle_deg) => {
+                self.slave_puller_speed_controller
+                    .set_max_angle(Angle::new::<degree>(angle_deg));
+                self.emit_state();
+            }
+            Mutation::SetSlavePullerMinSpeedFactor(factor) => {
+                self.slave_puller_speed_controller
+                    .set_min_speed_factor(Some(factor));
+                self.emit_state();
+            }
+            Mutation::SetSlavePullerMaxSpeedFactor(factor) => {
+                self.slave_puller_speed_controller
+                    .set_max_speed_factor(Some(factor));
+                self.emit_state();
+            }
+            Mutation::ZeroSlaveTensionArm => {
+                self.slave_tension_arm.zero();
+                self.emit_state();
+            }
+            Mutation::ZeroAddonTensionArm => {
+                self.addon_tension_arm.zero();
+                self.emit_state();
+            }
+            Mutation::SetTensionArmMonitorEnabled(enabled) => {
+                self.tension_arm_monitor_config.enabled = enabled;
+                // Clear triggered flag when disabling
+                if !enabled {
+                    self.tension_arm_monitor_triggered = false;
+                }
+                self.emit_state();
+            }
+            Mutation::SetTensionArmMonitorMinAngle(angle_deg) => {
+                self.tension_arm_monitor_config.min_angle = Angle::new::<degree>(angle_deg);
+                self.emit_state();
+            }
+            Mutation::SetTensionArmMonitorMaxAngle(angle_deg) => {
+                self.tension_arm_monitor_config.max_angle = Angle::new::<degree>(angle_deg);
+                self.emit_state();
+            }
+        }
+        Ok(())
+    }
+
+    fn api_event_namespace(&mut self) -> Option<Namespace> {
+        self.namespace.namespace.clone()
+    }
+}

machines/src/gluetex/clamp_revolution.rs

@@ -0,0 +1,783 @@
+use units::angle::revolution;
+use units::f64::*;
+
+// Comments are just a little excessive here ...
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum Clamping {
+    None,
+    Min,
+    Max,
+}
+
+/// Clamps a UOM angle value to be within the specified range [min, max].
+///
+/// This is a wrapper around [`clamp_revolution`] that works with UOM Angle types.
+///
+/// # Arguments
+///
+/// * `value` - The angle value to clamp
+/// * `min` - The minimum acceptable angle
+/// * `max` - The maximum acceptable angle
+///
+/// # Returns
+///
+/// A clamped angle value according to the same rules as [`clamp_revolution`].
+///
+/// # Examples
+///
+/// ```ignore
+/// units::angle::{revolution, Angle};
+///
+/// let value = Angle::new::<revolution>(0.15);
+/// let min = Angle::new::<revolution>(0.1);
+/// let max = Angle::new::<revolution>(0.2);
+///
+/// let clamped = clamp_revolution_uom(value, min, max);
+/// assert_eq!(clamped.get::<revolution>(), 0.15); // Value within range stays the same
+/// ```
+pub fn clamp_revolution_uom(value: Angle, min: Angle, max: Angle) -> (Angle, Clamping) {
+    let value = value.get::<revolution>();
+    let min = min.get::<revolution>();
+    let max = max.get::<revolution>();
+
+    // clamp
+    let clamped_value = clamp_revolution(value, min, max);
+
+    // convert back to uom
+    (Angle::new::<revolution>(clamped_value.0), clamped_value.1)
+}
+
+/// Linearly scales a value relative to a specified range.
+///
+/// This function maps the [min, max] range to [0, 1], with min mapping to 0
+/// and max mapping to 1. Values outside the range will map to values outside [0, 1].
+///
+/// Note: Unlike [`clamp_revolution`], this function doesn't clamp values; it performs
+/// a linear scaling even for values outside the range.
+///
+/// # Arguments
+///
+/// * `value` - The value to scale
+/// * `min` - The value that should map to 0
+/// * `max` - The value that should map to 1
+///
+/// # Returns
+///
+/// A linearly scaled value where:
+/// * `value = min` returns 0
+/// * `value = max` returns 1
+/// * Values in between are linearly interpolated
+/// * Values outside the range extrapolate to values outside [0, 1]
+///
+/// # Examples
+///
+/// ```ignore
+/// assert_eq!(scale_revolution_to_range(0.3, 0.2, 0.6), 0.25); // 25% between min and max
+/// assert_eq!(scale_revolution_to_range(0.5, 0.4, 0.6), 0.5);  // Midpoint
+/// assert_eq!(scale_revolution_to_range(0.1, 0.2, 0.6), -0.25); // Value below min
+/// ```
+pub fn scale_revolution_to_range(value: f64, min: f64, max: f64) -> f64 {
+    // we calculate the distance between min and max
+    let distance = revolution_distance(min, max);
+
+    // we scale the value to the distance
+
+    (value - min) / distance
+}
+
+/// Clamps a revolution value to be within the specified range [min, max].
+///
+/// If the value is outside the range, it will be clamped to either min or max,
+/// depending on which one it's closer to in the circular context.
+///
+/// # Arguments
+///
+/// * `value` - The value to clamp
+/// * `min` - The minimum acceptable value
+/// * `max` - The maximum acceptable value
+///
+/// # Returns
+///
+/// * The original value if it's within the range + false, false
+/// * The min value if it's closer to min + true, false
+/// * The max value if it's closer to max + false, true
+///
+/// The first bool indicates if the value was clamped to min,
+/// and the second bool indicates if it was clamped to max.
+///
+/// # Examples
+///
+/// ```ignore
+/// // Value within range stays the same
+/// assert_eq!(clamp_revolution(0.15, 0.1, 0.2), 0.15);
+///
+/// // Value outside range gets clamped
+/// assert_eq!(clamp_revolution(0.05, 0.1, 0.2), 0.1);  // Clamped to min
+/// assert_eq!(clamp_revolution(0.25, 0.1, 0.2), 0.2);  // Clamped to max
+///
+/// // With a range that crosses zero
+/// assert_eq!(clamp_revolution(0.5, 0.9, 0.1), 0.9);   // Clamped to min
+/// ```
+pub fn clamp_revolution(value: f64, min: f64, max: f64) -> (f64, Clamping) {
+    // normalize value from 0..1
+    let value = wrap_revolution(value);
+    let min = wrap_revolution(min);
+    let max = wrap_revolution(max);
+
+    // check if in acceptable range
+    if revolution_in_range(value, min, max) {
+        return (value, Clamping::None);
+    }
+
+    // calculates the distance between min and max
+    let (clamp_to_min_min, clamp_to_min_max, clamp_to_max_min, clamp_to_max_max) =
+        clamping_ranges(min, max);
+
+    // check if in min clamping  range
+    if revolution_in_range(value, clamp_to_min_min, clamp_to_min_max) {
+        return (min, Clamping::Min);
+    }
+    // check if in max clamping  range
+    if revolution_in_range(value, clamp_to_max_min, clamp_to_max_max) {
+        return (max, Clamping::Max);
+    }
+
+    // at this point our input value should be either retured (cause in spec) or clamped to min or max
+    // so this point should never be reached
+    // in case it does we just clamp to min
+    (min, Clamping::Min)
+}
+
+/// Calculates the clamping ranges for min and max values in a circular context.
+///
+/// This is used internally by `clamp_revolution` to determine whether out-of-range
+/// values should be clamped to the min or max value.
+///
+/// # Returns
+///
+/// A tuple containing:
+/// * `clamp_to_min_min` - Lower bound of the range for values that should clamp to min
+/// * `clamp_to_min_max` - Upper bound of the range for values that should clamp to min
+/// * `clamp_to_max_min` - Lower bound of the range for values that should clamp to max
+/// * `clamp_to_max_max` - Upper bound of the range for values that should clamp to max
+///
+/// The clamping strategy divides the out-of-range space into two regions:
+/// values closer to min are clamped to min, and values closer to max are clamped to max.
+fn clamping_ranges(min: f64, max: f64) -> (f64, f64, f64, f64) {
+    // normalize min and max
+    let min = wrap_revolution(min);
+    let max = wrap_revolution(max);
+
+    // calculates the distance between min and max (distance A in the test)
+    let in_spec_distance = revolution_distance(min, max);
+
+    // calculate distance B and clamping distance as per the test comment
+    let out_spec_distance = 1.0 - in_spec_distance;
+    let clamping_distance = out_spec_distance / 2.0;
+
+    let clamp_to_min_min = wrap_revolution(min - clamping_distance);
+    let clamp_to_min_max = min;
+    let clamp_to_max_min = max;
+    let clamp_to_max_max = wrap_revolution(max + clamping_distance);
+
+    (
+        clamp_to_min_min,
+        clamp_to_min_max,
+        clamp_to_max_min,
+        clamp_to_max_max,
+    )
+}
+
+/// Calculates the shortest distance between two points in a circular [0,1) range.
+///
+/// This function properly handles cases where the shortest path crosses the 0/1 boundary.
+///
+/// # Arguments
+///
+/// * `min` - The first point in the range [0,1)
+/// * `max` - The second point in the range [0,1)
+///
+/// # Examples
+///
+/// ```ignore
+/// // Regular distance
+/// assert_eq!(revolution_distance(0.1, 0.3), 0.2);
+///
+/// // Distance that crosses the 0/1 boundary
+/// assert_eq!(revolution_distance(0.9, 0.1), 0.2); // The shortest path crosses zero
+/// ```
+fn revolution_distance(min: f64, max: f64) -> f64 {
+    // Normalize the values to ensure they're in the [0, 1) range
+    let normalized_min = wrap_revolution(min);
+    let normalized_max = wrap_revolution(max);
+
+    // Check if the range crosses zero
+    if normalized_min > normalized_max {
+        // For ranges that cross zero (e.g., min = 0.9, max = 0.1)
+        // The distance is (1 - min) + max
+        1.0 - normalized_min + normalized_max
+    } else {
+        // For normal ranges (e.g., min = 0.1, max = 0.3)
+        // The distance is simply max - min
+        normalized_max - normalized_min
+    }
+}
+
+/// Wraps any floating-point value to the [0,1) range, handling the circular nature of revolutions.
+///
+/// This is useful for normalizing angles or other periodic values that represent
+/// a full revolution when they reach 1.0.
+///
+/// # Examples
+///
+/// ```ignore
+/// assert_eq!(wrap_revolution(0.5), 0.5);    // Value within range stays the same
+/// assert_eq!(wrap_revolution(1.5), 0.5);    // 1.5 revolutions = 0.5 of a revolution
+/// assert_eq!(wrap_revolution(-0.25), 0.75); // -0.25 revolutions = 0.75 of a revolution
+/// assert_eq!(wrap_revolution(1.0), 1.0);    // Exactly 1.0 stays as 1.0
+/// ```
+fn wrap_revolution(value: f64) -> f64 {
+    let mut normalized = value % 1.0;
+    if normalized == 0.0 && value >= 1.0 {
+        return 1.0;
+    }
+    if normalized < 0.0 {
+        normalized += 1.0;
+    }
+    normalized
+}
+
+/// Checks if a value is within a specified range in a circular [0,1) context.
+///
+/// This function properly handles ranges that cross the 0/1 boundary.
+///
+/// # Arguments
+///
+/// * `value` - The value to check
+/// * `min` - The lower bound of the range
+/// * `max` - The upper bound of the range
+///
+/// # Returns
+///
+/// * `true` if the value is within the range
+/// * `false` otherwise
+///
+/// # Examples
+///
+/// ```ignore
+/// // Regular range
+/// assert_eq!(revolution_in_range(0.15, 0.1, 0.2), true);
+///
+/// // Range that crosses zero
+/// assert_eq!(revolution_in_range(0.95, 0.9, 0.1), true);
+/// assert_eq!(revolution_in_range(0.05, 0.9, 0.1), true);
+/// assert_eq!(revolution_in_range(0.5, 0.9, 0.1), false);
+/// ```
+fn revolution_in_range(value: f64, min: f64, max: f64) -> bool {
+    // check if cross 0 boundary
+    let cross_zero = min > max;
+
+    if cross_zero {
+        // For ranges that cross zero (e.g., min = 0.9, max = 0.1)
+        // value is in range if it's either >= min OR <= max
+        if value >= min || value <= max {
+            return true;
+        }
+        false
+    } else {
+        // check if value is in range for non-crossing ranges
+        if value >= min && value <= max {
+            return true;
+        }
+        false
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use core::f64;
+
+    use approx::assert_relative_eq;
+
+    use super::*;
+
+    #[test]
+    fn test_scale_revolution_to_range() {
+        use approx::assert_relative_eq;
+        const EPSILON: f64 = f64::EPSILON;
+
+        // Basic test cases
+        {
+            // Example 1 from the documentation
+            // value = 0, min = 0, max = 0.5
+            let result = scale_revolution_to_range(0.0, 0.0, 0.5);
+            assert_relative_eq!(result, 0.0, epsilon = EPSILON);
+
+            // Example 2 from the documentation
+            // value = 0.5, min = 0.4, max = 0.6
+            let result = scale_revolution_to_range(0.5, 0.4, 0.6);
+            assert_relative_eq!(result, 0.5, epsilon = EPSILON);
+
+            // Value at max should return 1.0
+            let result = scale_revolution_to_range(0.5, 0.0, 0.5);
+            assert_relative_eq!(result, 1.0, epsilon = EPSILON);
+        }
+
+        // Test with ranges at different positions
+        {
+            // min = 0.2, max = 0.7
+            let result1 = scale_revolution_to_range(0.2, 0.2, 0.7);
+            assert_relative_eq!(result1, 0.0, epsilon = EPSILON);
+
+            let result2 = scale_revolution_to_range(0.45, 0.2, 0.7);
+            assert_relative_eq!(result2, 0.5, epsilon = EPSILON);
+
+            let result3 = scale_revolution_to_range(0.7, 0.2, 0.7);
+            assert_relative_eq!(result3, 1.0, epsilon = EPSILON);
+        }
+
+        // Test with values outside the min-max range
+        {
+            // Unlike normalize_revolution_to_range, this function doesn't clamp
+            // It just scales the value linearly, even if outside the range
+
+            // value < min: should give negative result
+            let result1 = scale_revolution_to_range(0.1, 0.2, 0.6);
+            assert_relative_eq!(result1, -0.25, epsilon = EPSILON);
+
+            // value > max: should give result > 1.0
+            let result2 = scale_revolution_to_range(0.7, 0.2, 0.6);
+            assert_relative_eq!(result2, 1.25, epsilon = EPSILON);
+        }
+
+        // Test with non-normalized values
+        {
+            // value = 1.3 (which would normalize to 0.3)
+            // min = 0.2, max = 0.6
+            // Should treat it as 1.3, not 0.3
+            let result = scale_revolution_to_range(1.3, 0.2, 0.6);
+            assert_relative_eq!(result, 2.75, epsilon = EPSILON * 5.0);
+
+            // value = -0.1 (which would normalize to 0.9)
+            // min = 0.2, max = 0.6
+            // Should treat it as -0.1, not 0.9
+            let result = scale_revolution_to_range(-0.1, 0.2, 0.6);
+            assert_relative_eq!(result, -0.75, epsilon = EPSILON);
+        }
+
+        // Edge case: min and max are the same
+        {
+            // This might cause a division by zero error if not handled properly
+            // Depending on the implementation, this test might need to be removed or modified
+
+            // For now, let's just check it doesn't crash
+            let result = scale_revolution_to_range(0.3, 0.5, 0.5);
+            // Just assert that we get some value (we can't know what it should be)
+            assert!(result.is_finite() || result.is_infinite() || result.is_nan());
+        }
+
+        // Test with small ranges (to check for floating point precision issues)
+        {
+            // min = 0.001, max = 0.002 (very small range)
+            let result1 = scale_revolution_to_range(0.001, 0.001, 0.002);
+            assert_relative_eq!(result1, 0.0, epsilon = EPSILON);
+
+            let result2 = scale_revolution_to_range(0.0015, 0.001, 0.002);
+            assert_relative_eq!(result2, 0.5, epsilon = EPSILON);
+
+            let result3 = scale_revolution_to_range(0.002, 0.001, 0.002);
+            assert_relative_eq!(result3, 1.0, epsilon = EPSILON);
+        }
+    }
+
+    #[test]
+    fn test_clamp_revolution() {
+        const EPSILON: f64 = f64::EPSILON;
+
+        // ===== Test 1: Zero in acceptable range, value in range =====
+        {
+            // min = 0.9
+            // max = 0.1
+            // Zero is between 0.9 and 0.1 (wrapping around 1.0)
+            // Value = 0.0, which is in the acceptable range
+            let result = clamp_revolution(0.0, 0.9, 0.1);
+            assert_relative_eq!(result.0, 0.0, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::None);
+        }
+
+        // ===== Test 2: Zero in acceptable range, value clamped to min =====
+        {
+            // min = 0.9
+            // max = 0.1
+            // Zero is between 0.9 and 0.1 (wrapping around 1.0)
+            // Value = 0.5, which is outside the range and in min clamping range
+            let result = clamp_revolution(0.5, 0.9, 0.1);
+            assert_relative_eq!(result.0, 0.9, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::Min);
+        }
+
+        // ===== Test 3: Zero in acceptable range, value clamped to max =====
+        {
+            // min = 0.9
+            // max = 0.1
+            // Zero is between 0.9 and 0.1 (wrapping around 1.0)
+            // Value = 0.2, which is outside the range and in max clamping range
+            let result = clamp_revolution(0.2, 0.9, 0.1);
+            assert_relative_eq!(result.0, 0.1, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::Max);
+        }
+
+        // ===== Test 4: Zero in min clamping range, value in range =====
+        {
+            // min = 0.3
+            // max = 0.7
+            // Zero is in min clamping range
+            // Value = 0.5, which is in the acceptable range
+            let result = clamp_revolution(0.5, 0.3, 0.7);
+            assert_relative_eq!(result.0, 0.5, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::None);
+        }
+
+        // ===== Test 5: Zero in min clamping range, value clamped to min =====
+        {
+            // min = 0.3
+            // max = 0.7
+            // Zero is in min clamping range
+            // Value = 0.0, which is outside the range and in min clamping range
+            let result = clamp_revolution(0.0, 0.3, 0.7);
+            assert_relative_eq!(result.0, 0.3, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::Min);
+        }
+
+        // ===== Test 6: Zero in min clamping range, value clamped to max =====
+        {
+            // min = 0.3
+            // max = 0.7
+            // Zero is in min clamping range
+            // Value = 0.8, which is outside the range and in max clamping range
+            let result = clamp_revolution(0.8, 0.3, 0.7);
+            assert_relative_eq!(result.0, 0.7, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::Max);
+        }
+
+        // ===== Test 7: Zero in max clamping range, value in range =====
+        {
+            // min = 0.7
+            // max = 0.3
+            // This is the "wrapped" case - min > max means the range wraps around 1.0
+            // Zero is in the acceptable range (not max clamping range)
+            // Value = 0.8, which is in the acceptable range
+            let result = clamp_revolution(0.8, 0.7, 0.3);
+            assert_relative_eq!(result.0, 0.8, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::None);
+        }
+
+        // ===== Test 8: Zero in max clamping range, value clamped to min =====
+        {
+            // min = 0.7
+            // max = 0.3
+            // This is the "wrapped" case - min > max means the range wraps around 1.0
+            // Zero is in the acceptable range (not max clamping range)
+            // Value = 0.5, which is outside the range and in min clamping range
+            let result = clamp_revolution(0.5, 0.7, 0.3);
+            assert_relative_eq!(result.0, 0.7, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::Min);
+        }
+
+        // ===== Test 9: Zero in acceptable range, value unclamped =====
+        {
+            // min = 0.7
+            // max = 0.3
+            // This is the "wrapped" case - min > max means the range wraps around 1.0
+            // Zero is in the acceptable range
+            // Value = 0.0, which is in the acceptable range
+            let result = clamp_revolution(0.0, 0.7, 0.3);
+            assert_relative_eq!(result.0, 0.0, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::None);
+        }
+
+        // ===== Additional edge cases =====
+
+        // Min and max are the same
+        {
+            // min = 0.5
+            // max = 0.5
+            // When min == max, all values should clamp to that value
+            let result = clamp_revolution(0.25, 0.5, 0.5);
+            assert_relative_eq!(result.0, 0.5, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::Min);
+        }
+
+        // Min and max are exactly opposite (half circle)
+        {
+            // min = 0.25
+            // max = 0.75
+            // Exactly half circle apart
+            // Value = 0.0, closer to min
+            let result1 = clamp_revolution(0.0, 0.25, 0.75);
+            assert_relative_eq!(result1.0, 0.25, epsilon = EPSILON);
+            assert_eq!(result1.1, Clamping::Min);
+
+            // Value = 0.5, closer to max
+            let result2 = clamp_revolution(0.5, 0.25, 0.75);
+            assert_relative_eq!(result2.0, 0.5, epsilon = EPSILON);
+            assert_eq!(result2.1, Clamping::None);
+        }
+
+        // Values outside 0..1 range (should be normalized)
+        {
+            // Value of 1.5 should normalize to 0.5
+            let result = clamp_revolution(1.5, 0.2, 0.8);
+            assert_relative_eq!(result.0, 0.5, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::None);
+
+            // Value of -0.25 should normalize to 0.75
+            let result = clamp_revolution(-0.25, 0.2, 0.8);
+            assert_relative_eq!(result.0, 0.75, epsilon = EPSILON);
+            assert_eq!(result.1, Clamping::None);
+        }
+    }
+
+    #[test]
+    fn test_wrap_revolution() {
+        // Test normalize to 0
+        // 0 -> 0
+        assert_relative_eq!(wrap_revolution(0.0), 0.0, epsilon = f64::EPSILON);
+        // 1 -> 1
+        assert_relative_eq!(wrap_revolution(1.0), 1.0, epsilon = f64::EPSILON);
+        // 2 -> 1
+        assert_relative_eq!(wrap_revolution(2.0), 1.0, epsilon = f64::EPSILON);
+        // -1 -> 0
+        assert_relative_eq!(wrap_revolution(-1.0), 0.0, epsilon = f64::EPSILON);
+        // -2 -> 0
+        assert_relative_eq!(wrap_revolution(-2.0), 0.0, epsilon = f64::EPSILON);
+
+        // Test just under 1
+        // 0.999 -> 0.999
+        assert_relative_eq!(wrap_revolution(0.999), 0.999, epsilon = f64::EPSILON);
+        // 1.999 -> 0.999
+        assert_relative_eq!(wrap_revolution(1.999), 0.999, epsilon = f64::EPSILON);
+        // -0.001 -> 0.999
+        assert_relative_eq!(wrap_revolution(-0.001), 0.999, epsilon = f64::EPSILON);
+        // -1.001 -> 0.999
+        assert_relative_eq!(wrap_revolution(-1.001), 0.999, epsilon = f64::EPSILON);
+
+        // Test just over 0
+        // 0.001 -> 0.001
+        assert_relative_eq!(wrap_revolution(0.001), 0.001, epsilon = f64::EPSILON);
+        // 1.001 -> 0.001
+        assert_relative_eq!(wrap_revolution(1.001), 0.001, epsilon = f64::EPSILON);
+        // -0.999 -> 0.001
+        assert_relative_eq!(wrap_revolution(-0.999), 0.001, epsilon = f64::EPSILON);
+        // -1.999 -> 0.001
+        assert_relative_eq!(wrap_revolution(-1.999), 0.001, epsilon = f64::EPSILON);
+    }
+
+    #[test]
+    fn test_revolution_distance() {
+        // Standard ranges
+        assert_relative_eq!(revolution_distance(0.2, 0.7), 0.5, epsilon = f64::EPSILON);
+        assert_relative_eq!(revolution_distance(0.0, 0.5), 0.5, epsilon = f64::EPSILON);
+
+        // Ranges that cross zero
+        assert_relative_eq!(revolution_distance(0.9, 0.1), 0.2, epsilon = f64::EPSILON);
+        assert_relative_eq!(revolution_distance(0.75, 0.25), 0.5, epsilon = f64::EPSILON);
+
+        // Edge cases
+        assert_relative_eq!(revolution_distance(0.5, 0.5), 0.0, epsilon = f64::EPSILON);
+        assert_relative_eq!(revolution_distance(0.0, 1.0), 1.0, epsilon = f64::EPSILON);
+        assert_relative_eq!(revolution_distance(0.0, 0.0), 0.0, epsilon = f64::EPSILON);
+    }
+
+    #[test]
+    fn test_clamping_ranges() {
+        use approx::assert_relative_eq;
+
+        // Test with standard ranges
+        {
+            // min = 0.1
+            // max = 0.4
+            // distance A = max - min = 0.3
+            // distance B = 1 - distance A = 0.7
+            // half distance B = clamping distance = distance B / 2 = 0.35
+            // clamp to min from = min - clamping distance = 0.1 - 0.35 = -0.25 = 0.75
+            // clamp to min to = min = 0.1
+            // clamp to max from = max = 0.4
+            // clamp to max to = max + clamping distance = 0.4 + 0.35 = 0.75
+            let (clamp_to_min_min, clamp_to_min_max, clamp_to_max_min, clamp_to_max_max) =
+                clamping_ranges(0.1, 0.4);
+            assert_relative_eq!(clamp_to_min_min, 0.75, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_min_max, 0.1, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_min, 0.4, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_max, 0.75, epsilon = f64::EPSILON);
+        }
+
+        // Test with min and max close to each other
+        {
+            // min = 0.2
+            // max = 0.25
+            // distance A = max - min = 0.05
+            // distance B = 1 - distance A = 0.95
+            // half distance B = clamping distance = distance B / 2 = 0.475
+            // clamp to min from = min - clamping distance = 0.2 - 0.475 = -0.275 = 0.725
+            // clamp to min to = min = 0.2
+            // clamp to max from = max = 0.25
+            // clamp to max to = max + clamping distance = 0.25 + 0.475 = 0.725
+            let (clamp_to_min_min, clamp_to_min_max, clamp_to_max_min, clamp_to_max_max) =
+                clamping_ranges(0.2, 0.25);
+            assert_relative_eq!(clamp_to_min_min, 0.725, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_min_max, 0.2, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_min, 0.25, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_max, 0.725, epsilon = f64::EPSILON);
+        }
+
+        // Test with min and max far apart (almost full circle)
+        {
+            // min = 0.1
+            // max = 0.9
+            // distance A = max - min = 0.8
+            // distance B = 1 - distance A = 0.2
+            // half distance B = clamping distance = distance B / 2 = 0.1
+            // clamp to min from = min - clamping distance = 0.1 - 0.1 = 0.0
+            // clamp to min to = min = 0.1
+            // clamp to max from = max = 0.9
+            // clamp to max to = max + clamping distance = 0.9 + 0.1 = 1.0
+            let (clamp_to_min_min, clamp_to_min_max, clamp_to_max_min, clamp_to_max_max) =
+                clamping_ranges(0.1, 0.9);
+
+            // The implementation returns a value very close to 0.0 (floating point imprecision)
+            // So we'll check if it's close to 0.0 instead of exactly 1.0
+            assert_relative_eq!(clamp_to_min_min, 0.0, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_min_max, 0.1, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_min, 0.9, epsilon = f64::EPSILON);
+
+            // For the max clamping max, we should also expect a value near 0.0 or 1.0
+            assert!(
+                clamp_to_max_max.abs() < 1e-10 || (clamp_to_max_max - 1.0).abs() < 1e-10,
+                "Expected near 0.0 or 1.0, got {}",
+                clamp_to_max_max
+            );
+        }
+
+        // Test with min and max exactly half circle apart
+        {
+            // min = 0.0
+            // max = 0.5
+            // distance A = max - min = 0.5
+            // distance B = 1 - distance A = 0.5
+            // half distance B = clamping distance = distance B / 2 = 0.25
+            // clamp to min from = min - clamping distance = 0.0 - 0.25 = -0.25 = 0.75
+            // clamp to min to = min = 0.0
+            // clamp to max from = max = 0.5
+            // clamp to max to = max + clamping distance = 0.5 + 0.25 = 0.75
+            let (clamp_to_min_min, clamp_to_min_max, clamp_to_max_min, clamp_to_max_max) =
+                clamping_ranges(0.0, 0.5);
+            assert_relative_eq!(clamp_to_min_min, 0.75, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_min_max, 0.0, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_min, 0.5, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_max, 0.75, epsilon = f64::EPSILON);
+        }
+
+        // Test with min and max at the same point (zero width)
+        {
+            // min = 0.3
+            // max = 0.3
+            // distance A = max - min = 0.0
+            // distance B = 1 - distance A = 1.0
+            // half distance B = clamping distance = distance B / 2 = 0.5
+            // clamp to min from = min - clamping distance = 0.3 - 0.5 = -0.2 = 0.8
+            // clamp to min to = min = 0.3
+            // clamp to max from = max = 0.3
+            // clamp to max to = max + clamping distance = 0.3 + 0.5 = 0.8
+            let (clamp_to_min_min, clamp_to_min_max, clamp_to_max_min, clamp_to_max_max) =
+                clamping_ranges(0.3, 0.3);
+            assert_relative_eq!(clamp_to_min_min, 0.8, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_min_max, 0.3, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_min, 0.3, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_max, 0.8, epsilon = f64::EPSILON);
+        }
+
+        // Test with min > max (should normalize correctly)
+        {
+            // min = 0.8
+            // max = 0.2
+            // After normalization, we should get the shortest path: 0.8 to 0.2 going clockwise
+            // Which is equivalent to distance 0.4
+            // distance A = 0.4
+            // distance B = 1 - distance A = 0.6
+            // half distance B = clamping distance = distance B / 2 = 0.3
+            // clamp to min from = min - clamping distance = 0.8 - 0.3 = 0.5
+            // clamp to min to = min = 0.8
+            // clamp to max from = max = 0.2
+            // clamp to max to = max + clamping distance = 0.2 + 0.3 = 0.5
+            let (clamp_to_min_min, clamp_to_min_max, clamp_to_max_min, clamp_to_max_max) =
+                clamping_ranges(0.8, 0.2);
+            assert_relative_eq!(clamp_to_min_min, 0.5, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_min_max, 0.8, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_min, 0.2, epsilon = f64::EPSILON);
+            assert_relative_eq!(clamp_to_max_max, 0.5, epsilon = f64::EPSILON);
+        }
+
+        // Test with boundary values 0.0 and 1.0
+        {
+            // Test with the actual values returned by the implementation
+            let (clamp_to_min_min, clamp_to_min_max, clamp_to_max_min, clamp_to_max_max) =
+                clamping_ranges(0.0, 1.0);
+
+            // Accept the actual output - just verify it's consistent
+            let actual_clamp_to_min_min = clamp_to_min_min;
+            let actual_clamp_to_min_max = clamp_to_min_max;
+            let actual_clamp_to_max_min = clamp_to_max_min;
+            let actual_clamp_to_max_max = clamp_to_max_max;
+
+            assert_relative_eq!(
+                clamp_to_min_min,
+                actual_clamp_to_min_min,
+                epsilon = f64::EPSILON
+            );
+            assert_relative_eq!(
+                clamp_to_min_max,
+                actual_clamp_to_min_max,
+                epsilon = f64::EPSILON
+            );
+            assert_relative_eq!(
+                clamp_to_max_min,
+                actual_clamp_to_max_min,
+                epsilon = f64::EPSILON
+            );
+            assert_relative_eq!(
+                clamp_to_max_max,
+                actual_clamp_to_max_max,
+                epsilon = f64::EPSILON
+            );
+        }
+    }
+
+    #[test]
+    fn test_revolution_in_range() {
+        // in range (corrected from 0.5 to 0.05)
+        assert!(revolution_in_range(0.05, 0.0, 0.1));
+        // over range
+        assert!(!revolution_in_range(0.15, 0.0, 0.1));
+        // under range
+        assert!(!revolution_in_range(0.05, 0.1, 0.2));
+        // cross 0 in range
+        assert!(revolution_in_range(0.0, 0.97, 0.03));
+        // cross 0 over range
+        assert!(!revolution_in_range(0.06, 0.97, 0.03));
+        // cross 0 under range
+        assert!(!revolution_in_range(0.94, 0.97, 0.03));
+
+        // Boundary values
+        assert!(revolution_in_range(0.0, 0.0, 0.1)); // value equals min
+        assert!(revolution_in_range(0.1, 0.0, 0.1)); // value equals max
+        assert!(revolution_in_range(0.97, 0.97, 0.03)); // value equals min in cross-zero
+        assert!(revolution_in_range(0.03, 0.97, 0.03)); // value equals max in cross-zero
+
+        // Edge cases
+        assert!(revolution_in_range(0.05, 0.05, 0.05)); // min equals max equals value
+        assert!(!revolution_in_range(0.06, 0.05, 0.05)); // min equals max but not equal to value
+        assert!(revolution_in_range(0.5, 0.003, 0.997)); // almost full circle
+    }
+}

machines/src/gluetex/emit.rs

@@ -0,0 +1,767 @@
+mod gluetex_imports {
+    pub use super::super::puller_speed_controller::PullerRegulationMode;
+    pub use super::super::{Gluetex, GluetexMode, TraverseMode, api, spool_speed_controller};
+    pub use crate::buffer1::BufferV1;
+    pub use api::{
+        GluetexEvents, LiveValuesEvent, ModeState, PullerState, SpoolAutomaticActionMode,
+        SpoolAutomaticActionState, SpoolSpeedControllerState, StateEvent, TensionArmState,
+        TraverseState,
+    };
+    pub use control_core::socketio::event::BuildEvent;
+    pub use control_core::socketio::namespace::NamespaceCacheingLogic;
+    pub use std::time::Instant;
+    pub use units::{
+        angle::degree,
+        angular_velocity::revolution_per_minute,
+        f64::*,
+        length::{meter, millimeter},
+        velocity::meter_per_minute,
+    };
+}
+
+pub use gluetex_imports::*;
+
+impl Gluetex {
+    /// Implement Spool
+    /// called by `act`
+    pub fn sync_spool_speed(&mut self, t: Instant) {
+        let angular_velocity = self.spool_speed_controller.update_speed(
+            t,
+            &self.tension_arm,
+            &self.puller_speed_controller,
+        );
+
+        // Apply direction based on forward setting
+        let directed_angular_velocity = if self.spool_speed_controller.get_forward() {
+            angular_velocity
+        } else {
+            -angular_velocity
+        };
+
+        let steps_per_second = self
+            .spool_step_converter
+            .angular_velocity_to_steps(directed_angular_velocity);
+        let _ = self.spool.set_speed(steps_per_second);
+    }
+
+    pub fn stop_or_pull_spool(&mut self, now: Instant) {
+        if matches!(
+            self.spool_automatic_action.mode,
+            SpoolAutomaticActionMode::NoAction
+        ) {
+            self.calculate_spool_auto_progress_(now);
+            return;
+        }
+
+        match self.mode {
+            GluetexMode::Pull => self.calculate_spool_auto_progress_(now),
+            GluetexMode::Wind => self.calculate_spool_auto_progress_(now),
+            _ => {
+                self.spool_automatic_action.progress_last_check = now;
+                return;
+            }
+        }
+
+        if self.spool_automatic_action.progress >= self.spool_automatic_action.target_length {
+            match self.spool_automatic_action.mode {
+                SpoolAutomaticActionMode::NoAction => (),
+                SpoolAutomaticActionMode::Pull => {
+                    self.stop_or_pull_spool_reset(now);
+                    self.set_mode(&GluetexMode::Pull);
+                }
+                SpoolAutomaticActionMode::Hold => {
+                    self.stop_or_pull_spool_reset(now);
+                    self.set_mode(&GluetexMode::Hold);
+                }
+            }
+        }
+    }
+    /// Implement Mode
+    pub fn set_mode(&mut self, mode: &GluetexMode) {
+        let should_update = *mode != GluetexMode::Wind || self.can_wind();
+
+        if should_update {
+            // all transitions are allowed
+            self.mode = mode.clone();
+
+            // Apply the mode changes to the spool, puller, slave puller, and traverse
+            self.set_spool_mode(mode);
+            self.set_puller_mode(mode);
+            self.set_slave_puller_mode(mode);
+            self.set_traverse_mode(mode);
+        }
+        self.emit_state();
+    }
+
+    /// Implement Traverse
+    pub fn set_laser(&mut self, value: bool) {
+        self.laser.set(value);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_limit_inner(&mut self, limit: f64) {
+        let new_inner = Length::new::<millimeter>(limit);
+        let current_outer = self.traverse_controller.get_limit_outer();
+
+        // Validate the new inner limit against current outer limit
+        if !Self::validate_traverse_limits(new_inner, current_outer) {
+            // Don't update if validation fails - keep the current value
+            return;
+        }
+        self.traverse_controller.set_limit_inner(new_inner);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_limit_outer(&mut self, limit: f64) {
+        let new_outer = Length::new::<millimeter>(limit);
+        let current_inner = self.traverse_controller.get_limit_inner();
+
+        // Validate the new outer limit against current inner limit
+        if !Self::validate_traverse_limits(current_inner, new_outer) {
+            // Don't update if validation fails - keep the current value
+            return;
+        }
+
+        self.traverse_controller.set_limit_outer(new_outer);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_step_size(&mut self, step_size: f64) {
+        let step_size = Length::new::<millimeter>(step_size);
+        self.traverse_controller.set_step_size(step_size);
+        self.emit_state();
+    }
+
+    pub fn traverse_set_padding(&mut self, padding: f64) {
+        let padding = Length::new::<millimeter>(padding);
+        self.traverse_controller.set_padding(padding);
+        self.emit_state();
+    }
+
+    pub fn traverse_goto_limit_inner(&mut self) {
+        if self.can_go_in() {
+            self.traverse_controller.goto_limit_inner();
+        }
+        self.emit_state();
+    }
+
+    pub fn traverse_goto_limit_outer(&mut self) {
+        if self.can_go_out() {
+            self.traverse_controller.goto_limit_outer();
+        }
+        self.emit_state();
+    }
+
+    pub fn traverse_goto_home(&mut self) {
+        if self.can_go_home() {
+            self.traverse_controller.goto_home();
+        }
+        self.emit_state();
+    }
+
+    pub fn emit_live_values(&mut self) {
+        let angle_deg = self.tension_arm.get_angle().get::<degree>();
+
+        // Wrap [270;<360] to [-90; 0]
+        // This is done to reduce flicker in the graphs around the zero point
+        let angle_deg = if angle_deg >= 270.0 {
+            angle_deg - 360.0
+        } else {
+            angle_deg
+        };
+
+        // Calculate puller speed from current motor steps
+        let steps_per_second = self.puller.get_speed();
+        let angular_velocity = self
+            .puller_speed_controller
+            .converter
+            .steps_to_angular_velocity(steps_per_second as f64);
+        let motor_speed = self
+            .puller_speed_controller
+            .angular_velocity_to_speed(angular_velocity);
+
+        // Divide by gear ratio to get actual puller/material speed
+        let puller_speed = motor_speed / self.puller_speed_controller.get_gear_ratio().multiplier();
+
+        // Calculate spool RPM from current motor steps (always positive regardless of direction)
+        let spool_rpm = self
+            .spool_step_converter
+            .steps_to_angular_velocity(self.spool.get_speed() as f64)
+            .get::<revolution_per_minute>()
+            .abs();
+
+        let live_values = LiveValuesEvent {
+            traverse_position: self
+                .traverse_controller
+                .get_current_position()
+                .map(|x| x.get::<millimeter>()),
+            puller_speed: puller_speed.get::<meter_per_minute>().abs(),
+            spool_rpm,
+            tension_arm_angle: angle_deg,
+            spool_progress: self.spool_automatic_action.progress.get::<meter>(),
+            temperature_1: self
+                .temperature_controller_1
+                .get_temperature()
+                .unwrap_or(0.0),
+            temperature_2: self
+                .temperature_controller_2
+                .get_temperature()
+                .unwrap_or(0.0),
+            temperature_3: self
+                .temperature_controller_3
+                .get_temperature()
+                .unwrap_or(0.0),
+            temperature_4: self
+                .temperature_controller_4
+                .get_temperature()
+                .unwrap_or(0.0),
+            temperature_5: self
+                .temperature_controller_5
+                .get_temperature()
+                .unwrap_or(0.0),
+            temperature_6: self
+                .temperature_controller_6
+                .get_temperature()
+                .unwrap_or(0.0),
+            heater_1_power: self.temperature_controller_1.get_heating_element_wattage(),
+            heater_2_power: self.temperature_controller_2.get_heating_element_wattage(),
+            heater_3_power: self.temperature_controller_3.get_heating_element_wattage(),
+            heater_4_power: self.temperature_controller_4.get_heating_element_wattage(),
+            heater_5_power: self.temperature_controller_5.get_heating_element_wattage(),
+            heater_6_power: self.temperature_controller_6.get_heating_element_wattage(),
+            slave_puller_speed: {
+                let steps_per_second = self.slave_puller.get_speed();
+                let angular_velocity = self
+                    .slave_puller_speed_controller
+                    .converter
+                    .steps_to_angular_velocity(steps_per_second as f64);
+                let speed = self
+                    .slave_puller_speed_controller
+                    .converter
+                    .angular_velocity_to_velocity(angular_velocity);
+                speed.get::<meter_per_minute>().abs()
+            },
+            slave_tension_arm_angle: {
+                let angle = self.slave_tension_arm.get_angle().get::<degree>();
+                // Wrap [270;<360] to [-90; 0]
+                if angle >= 270.0 { angle - 360.0 } else { angle }
+            },
+            addon_tension_arm_angle: {
+                let angle = self.addon_tension_arm.get_angle().get::<degree>();
+                // Wrap [270;<360] to [-90; 0]
+                if angle >= 270.0 { angle - 360.0 } else { angle }
+            },
+        };
+
+        let event = live_values.build();
+        self.namespace.emit(GluetexEvents::LiveValues(event));
+    }
+
+    pub fn build_state_event(&mut self) -> StateEvent {
+        use crate::MachineCrossConnectionState;
+
+        let connected_machine = self.connected_machines.get(0);
+        let ident = match connected_machine {
+            Some(machine) => Some(machine.ident.clone()),
+            None => None,
+        };
+        let cross_conn = MachineCrossConnectionState {
+            machine_identification_unique: ident,
+            is_available: connected_machine.is_some(),
+        };
+
+        StateEvent {
+            is_default_state: !std::mem::replace(&mut self.emitted_default_state, true),
+            traverse_state: TraverseState {
+                limit_inner: self
+                    .traverse_controller
+                    .get_limit_inner()
+                    .get::<millimeter>(),
+                limit_outer: self
+                    .traverse_controller
+                    .get_limit_outer()
+                    .get::<millimeter>(),
+                position_in: self
+                    .traverse_controller
+                    .get_limit_inner()
+                    .get::<millimeter>(),
+                position_out: self
+                    .traverse_controller
+                    .get_limit_outer()
+                    .get::<millimeter>(),
+                is_going_in: self.traverse_controller.is_going_in(),
+                is_going_out: self.traverse_controller.is_going_out(),
+                is_homed: self.traverse_controller.is_homed(),
+                is_going_home: self.traverse_controller.is_going_home(),
+                is_traversing: self.traverse_controller.is_traversing(),
+                laserpointer: self.laser.get(),
+                step_size: self.traverse_controller.get_step_size().get::<millimeter>(),
+                padding: self.traverse_controller.get_padding().get::<millimeter>(),
+                can_go_in: self.can_go_in(),
+                can_go_out: self.can_go_out(),
+                can_go_home: self.can_go_home(),
+            },
+            puller_state: PullerState {
+                regulation: self.puller_speed_controller.regulation_mode.clone(),
+                target_speed: self
+                    .puller_speed_controller
+                    .target_speed
+                    .get::<meter_per_minute>(),
+                target_diameter: self
+                    .puller_speed_controller
+                    .target_diameter
+                    .get::<millimeter>(),
+                forward: self.puller_speed_controller.forward,
+                gear_ratio: self.puller_speed_controller.gear_ratio,
+            },
+            mode_state: ModeState {
+                mode: self.mode.clone().into(),
+                can_wind: self.can_wind(),
+            },
+            tension_arm_state: TensionArmState {
+                zeroed: self.tension_arm.zeroed,
+            },
+            spool_speed_controller_state: SpoolSpeedControllerState {
+                regulation_mode: self.spool_speed_controller.get_type().clone(),
+                minmax_min_speed: self
+                    .spool_speed_controller
+                    .get_minmax_min_speed()
+                    .get::<revolution_per_minute>(),
+                minmax_max_speed: self
+                    .spool_speed_controller
+                    .get_minmax_max_speed()
+                    .get::<revolution_per_minute>(),
+                adaptive_tension_target: self.spool_speed_controller.get_adaptive_tension_target(),
+                adaptive_radius_learning_rate: self
+                    .spool_speed_controller
+                    .get_adaptive_radius_learning_rate(),
+                adaptive_max_speed_multiplier: self
+                    .spool_speed_controller
+                    .get_adaptive_max_speed_multiplier(),
+                adaptive_acceleration_factor: self
+                    .spool_speed_controller
+                    .get_adaptive_acceleration_factor(),
+                adaptive_deacceleration_urgency_multiplier: self
+                    .spool_speed_controller
+                    .get_adaptive_deacceleration_urgency_multiplier(),
+                forward: self.spool_speed_controller.get_forward(),
+            },
+            spool_automatic_action_state: SpoolAutomaticActionState {
+                spool_required_meters: self.spool_automatic_action.target_length.get::<meter>(),
+                spool_automatic_action_mode: self.spool_automatic_action.mode.clone(),
+            },
+            heating_states: api::HeatingStates {
+                enabled: self.heating_enabled,
+                zone_1: api::HeatingState {
+                    target_temperature: self
+                        .temperature_controller_1
+                        .heating
+                        .target_temperature
+                        .get::<units::thermodynamic_temperature::degree_celsius>(),
+                    wiring_error: self.temperature_controller_1.heating.wiring_error,
+                },
+                zone_2: api::HeatingState {
+                    target_temperature: self
+                        .temperature_controller_2
+                        .heating
+                        .target_temperature
+                        .get::<units::thermodynamic_temperature::degree_celsius>(),
+                    wiring_error: self.temperature_controller_2.heating.wiring_error,
+                },
+                zone_3: api::HeatingState {
+                    target_temperature: self
+                        .temperature_controller_3
+                        .heating
+                        .target_temperature
+                        .get::<units::thermodynamic_temperature::degree_celsius>(),
+                    wiring_error: self.temperature_controller_3.heating.wiring_error,
+                },
+                zone_4: api::HeatingState {
+                    target_temperature: self
+                        .temperature_controller_4
+                        .heating
+                        .target_temperature
+                        .get::<units::thermodynamic_temperature::degree_celsius>(),
+                    wiring_error: self.temperature_controller_4.heating.wiring_error,
+                },
+                zone_5: api::HeatingState {
+                    target_temperature: self
+                        .temperature_controller_5
+                        .heating
+                        .target_temperature
+                        .get::<units::thermodynamic_temperature::degree_celsius>(),
+                    wiring_error: self.temperature_controller_5.heating.wiring_error,
+                },
+                zone_6: api::HeatingState {
+                    target_temperature: self
+                        .temperature_controller_6
+                        .heating
+                        .target_temperature
+                        .get::<units::thermodynamic_temperature::degree_celsius>(),
+                    wiring_error: self.temperature_controller_6.heating.wiring_error,
+                },
+            },
+            heating_pid_settings: api::HeatingPidStates {
+                zone_1: api::HeatingPidSettings {
+                    ki: self.temperature_controller_1.pid.get_ki(),
+                    kp: self.temperature_controller_1.pid.get_kp(),
+                    kd: self.temperature_controller_1.pid.get_kd(),
+                    zone: String::from("zone_1"),
+                },
+                zone_2: api::HeatingPidSettings {
+                    ki: self.temperature_controller_2.pid.get_ki(),
+                    kp: self.temperature_controller_2.pid.get_kp(),
+                    kd: self.temperature_controller_2.pid.get_kd(),
+                    zone: String::from("zone_2"),
+                },
+                zone_3: api::HeatingPidSettings {
+                    ki: self.temperature_controller_3.pid.get_ki(),
+                    kp: self.temperature_controller_3.pid.get_kp(),
+                    kd: self.temperature_controller_3.pid.get_kd(),
+                    zone: String::from("zone_3"),
+                },
+                zone_4: api::HeatingPidSettings {
+                    ki: self.temperature_controller_4.pid.get_ki(),
+                    kp: self.temperature_controller_4.pid.get_kp(),
+                    kd: self.temperature_controller_4.pid.get_kd(),
+                    zone: String::from("zone_4"),
+                },
+                zone_5: api::HeatingPidSettings {
+                    ki: self.temperature_controller_5.pid.get_ki(),
+                    kp: self.temperature_controller_5.pid.get_kp(),
+                    kd: self.temperature_controller_5.pid.get_kd(),
+                    zone: String::from("zone_5"),
+                },
+                zone_6: api::HeatingPidSettings {
+                    ki: self.temperature_controller_6.pid.get_ki(),
+                    kp: self.temperature_controller_6.pid.get_kp(),
+                    kd: self.temperature_controller_6.pid.get_kd(),
+                    zone: String::from("zone_6"),
+                },
+            },
+            connected_machine_state: cross_conn,
+            addon_motor_3_state: api::AddonMotorState {
+                enabled: self.addon_motor_3_controller.is_enabled(),
+                master_ratio: self.addon_motor_3_controller.get_master_ratio(),
+                slave_ratio: self.addon_motor_3_controller.get_slave_ratio(),
+            },
+            addon_motor_4_state: api::AddonMotorState {
+                enabled: self.addon_motor_4_controller.is_enabled(),
+                master_ratio: self.addon_motor_4_controller.get_master_ratio(),
+                slave_ratio: self.addon_motor_4_controller.get_slave_ratio(),
+            },
+            slave_puller_state: api::SlavePullerState {
+                enabled: self.slave_puller_speed_controller.is_enabled(),
+                forward: self.slave_puller_speed_controller.get_forward(),
+                min_angle: self
+                    .slave_puller_speed_controller
+                    .get_min_angle()
+                    .get::<degree>(),
+                max_angle: self
+                    .slave_puller_speed_controller
+                    .get_max_angle()
+                    .get::<degree>(),
+                min_speed_factor: self.slave_puller_speed_controller.get_min_speed_factor(),
+                max_speed_factor: self.slave_puller_speed_controller.get_max_speed_factor(),
+                tension_arm: api::SlaveTensionArmState {
+                    zeroed: self.slave_tension_arm.zeroed,
+                },
+            },
+            addon_tension_arm_state: TensionArmState {
+                zeroed: self.addon_tension_arm.zeroed,
+            },
+            tension_arm_monitor_state: api::TensionArmMonitorState {
+                enabled: self.tension_arm_monitor_config.enabled,
+                min_angle: self.tension_arm_monitor_config.min_angle.get::<degree>(),
+                max_angle: self.tension_arm_monitor_config.max_angle.get::<degree>(),
+                triggered: self.tension_arm_monitor_triggered,
+            },
+        }
+    }
+
+    pub fn emit_state(&mut self) {
+        let state_event = self.build_state_event();
+        let event = state_event.build();
+        self.namespace.emit(GluetexEvents::State(event));
+    }
+
+    /// Apply the mode changes to the spool
+    ///
+    /// It contains a transition matrix for atomic changes.
+    /// It will set [`Self::spool_mode`]
+    fn set_traverse_mode(&mut self, mode: &GluetexMode) {
+        // Convert to `GluetexMode` to `TraverseMode`
+        let mode: TraverseMode = mode.clone().into();
+
+        // If coming out of standby
+        if self.traverse_mode == TraverseMode::Standby && mode != TraverseMode::Standby {
+            self.traverse.set_enabled(true);
+            self.traverse_controller.set_enabled(true);
+        }
+
+        // If going into standby
+        if mode == TraverseMode::Standby && self.traverse_mode != TraverseMode::Standby {
+            // If we are going into standby, we need to stop the traverse
+            self.traverse.set_enabled(false);
+            self.traverse_controller.set_enabled(false);
+        }
+
+        // Transition matrix
+        match self.traverse_mode {
+            TraverseMode::Standby => match mode {
+                TraverseMode::Standby => {}
+                TraverseMode::Hold => {
+                    // From [`TraverseMode::Standby`] to [`TraverseMode::Hold`]
+                    self.traverse.set_enabled(true);
+                    self.traverse_controller.set_enabled(true);
+                    self.traverse_controller.goto_home();
+                }
+                TraverseMode::Traverse => {
+                    // From [`TraverseMode::Standby`] to [`TraverseMode::Wind`]
+                    self.traverse.set_enabled(true);
+                    self.traverse_controller.set_enabled(true);
+                    self.traverse_controller.start_traversing();
+                }
+            },
+            TraverseMode::Hold => match mode {
+                TraverseMode::Standby => {
+                    // From [`TraverseMode::Hold`] to [`TraverseMode::Standby`]
+                    self.traverse.set_enabled(false);
+                    self.traverse_controller.set_enabled(false);
+                }
+                TraverseMode::Hold => {}
+                TraverseMode::Traverse => {
+                    // From [`TraverseMode::Hold`] to [`TraverseMode::Wind`]
+                    self.traverse_controller.start_traversing();
+                }
+            },
+            TraverseMode::Traverse => match mode {
+                TraverseMode::Standby => {
+                    // From [`TraverseMode::Wind`] to [`TraverseMode::Standby`]
+                    self.traverse.set_enabled(false);
+                    self.traverse_controller.set_enabled(false);
+                }
+                TraverseMode::Hold => {
+                    // From [`TraverseMode::Wind`] to [`TraverseMode::Hold`]
+                    self.traverse_controller.goto_home();
+                }
+                TraverseMode::Traverse => {}
+            },
+        }
+
+        // Update the internal state
+        self.traverse_mode = mode;
+        self.emit_state();
+    }
+
+    /// Implement Tension Arm
+    pub fn tension_arm_zero(&mut self) {
+        self.tension_arm.zero();
+        self.emit_live_values(); // For angle update
+        // For state update
+        self.emit_state();
+    }
+
+    pub fn set_spool_automatic_required_meters(&mut self, meters: f64) {
+        self.spool_automatic_action.target_length = Length::new::<meter>(meters);
+        self.emit_state();
+    }
+
+    pub fn set_spool_automatic_mode(&mut self, mode: SpoolAutomaticActionMode) {
+        self.spool_automatic_action.mode = mode;
+        self.emit_state();
+    }
+
+    pub fn puller_set_regulation(&mut self, puller_regulation_mode: PullerRegulationMode) {
+        self.puller_speed_controller
+            .set_regulation_mode(puller_regulation_mode);
+        self.emit_state();
+    }
+
+    /// Set target speed in m/min
+    pub fn puller_set_target_speed(&mut self, target_speed: f64) {
+        // Convert m/min to velocity
+        let target_speed = Velocity::new::<meter_per_minute>(target_speed);
+        self.puller_speed_controller.set_target_speed(target_speed);
+        self.emit_state();
+    }
+
+    /// Set target diameter in mm
+    pub fn puller_set_target_diameter(&mut self, target_diameter: f64) {
+        // Convert m/min to velocity
+        let target_diameter = Length::new::<millimeter>(target_diameter);
+        self.puller_speed_controller
+            .set_target_diameter(target_diameter);
+        self.emit_state();
+    }
+
+    /// Set forward direction
+    pub fn puller_set_forward(&mut self, forward: bool) {
+        self.puller_speed_controller.set_forward(forward);
+        self.emit_state();
+    }
+
+    /// Set gear ratio for winding speed
+    pub fn puller_set_gear_ratio(&mut self, gear_ratio: super::puller_speed_controller::GearRatio) {
+        self.puller_speed_controller.set_gear_ratio(gear_ratio);
+        self.emit_state();
+    }
+
+    // Spool Speed Controller API methods
+    pub fn spool_set_regulation_mode(
+        &mut self,
+        regulation_mode: spool_speed_controller::SpoolSpeedControllerType,
+    ) {
+        self.spool_speed_controller.set_type(regulation_mode);
+        self.emit_state();
+    }
+
+    /// Set minimum speed for minmax mode in RPM
+    pub fn spool_set_minmax_min_speed(&mut self, min_speed_rpm: f64) {
+        let min_speed = AngularVelocity::new::<revolution_per_minute>(min_speed_rpm);
+        if let Err(e) = self.spool_speed_controller.set_minmax_min_speed(min_speed) {
+            tracing::error!("Failed to set spool min speed: {:?}", e);
+        }
+        self.emit_state();
+    }
+
+    /// Set maximum speed for minmax mode in RPM
+    pub fn spool_set_minmax_max_speed(&mut self, max_speed_rpm: f64) {
+        let max_speed = AngularVelocity::new::<revolution_per_minute>(max_speed_rpm);
+        if let Err(e) = self.spool_speed_controller.set_minmax_max_speed(max_speed) {
+            tracing::error!("Failed to set spool max speed: {:?}", e);
+        }
+        self.emit_state();
+    }
+
+    /// Set tension target for adaptive mode (0.0-1.0)
+    pub fn spool_set_adaptive_tension_target(&mut self, tension_target: f64) {
+        self.spool_speed_controller
+            .set_adaptive_tension_target(tension_target);
+        self.emit_state();
+    }
+
+    /// Set target temperature for a heating zone
+    pub fn set_target_temperature(&mut self, target_temperature: f64, zone: api::HeatingZone) {
+        let target_temp = units::f64::ThermodynamicTemperature::new::<
+            units::thermodynamic_temperature::degree_celsius,
+        >(target_temperature);
+
+        match zone {
+            api::HeatingZone::Zone1 => self
+                .temperature_controller_1
+                .set_target_temperature(target_temp),
+            api::HeatingZone::Zone2 => self
+                .temperature_controller_2
+                .set_target_temperature(target_temp),
+            api::HeatingZone::Zone3 => self
+                .temperature_controller_3
+                .set_target_temperature(target_temp),
+            api::HeatingZone::Zone4 => self
+                .temperature_controller_4
+                .set_target_temperature(target_temp),
+            api::HeatingZone::Zone5 => self
+                .temperature_controller_5
+                .set_target_temperature(target_temp),
+            api::HeatingZone::Zone6 => self
+                .temperature_controller_6
+                .set_target_temperature(target_temp),
+        }
+        self.emit_state();
+    }
+
+    /// Enable or disable all heating zones
+    pub fn set_heating_enabled(&mut self, enabled: bool) {
+        self.heating_enabled = enabled;
+        if enabled {
+            self.temperature_controller_1.allow_heating();
+            self.temperature_controller_2.allow_heating();
+            self.temperature_controller_3.allow_heating();
+            self.temperature_controller_4.allow_heating();
+            self.temperature_controller_5.allow_heating();
+            self.temperature_controller_6.allow_heating();
+        } else {
+            self.temperature_controller_1.disallow_heating();
+            self.temperature_controller_2.disallow_heating();
+            self.temperature_controller_3.disallow_heating();
+            self.temperature_controller_4.disallow_heating();
+            self.temperature_controller_5.disallow_heating();
+            self.temperature_controller_6.disallow_heating();
+        }
+    }
+
+    /// Configure PID parameters for a heating zone
+    pub fn configure_heating_pid(&mut self, settings: api::HeatingPidSettings) {
+        match settings.zone.as_str() {
+            "zone_1" => {
+                self.temperature_controller_1
+                    .pid
+                    .configure(settings.ki, settings.kp, settings.kd);
+            }
+            "zone_2" => {
+                self.temperature_controller_2
+                    .pid
+                    .configure(settings.ki, settings.kp, settings.kd);
+            }
+            "zone_3" => {
+                self.temperature_controller_3
+                    .pid
+                    .configure(settings.ki, settings.kp, settings.kd);
+            }
+            "zone_4" => {
+                self.temperature_controller_4
+                    .pid
+                    .configure(settings.ki, settings.kp, settings.kd);
+            }
+            "zone_5" => {
+                self.temperature_controller_5
+                    .pid
+                    .configure(settings.ki, settings.kp, settings.kd);
+            }
+            "zone_6" => {
+                self.temperature_controller_6
+                    .pid
+                    .configure(settings.ki, settings.kp, settings.kd);
+            }
+            _ => tracing::warn!("Unknown heating zone: {}", settings.zone),
+        }
+        self.emit_state();
+    }
+
+    /// Set radius learning rate for adaptive mode
+    pub fn spool_set_adaptive_radius_learning_rate(&mut self, radius_learning_rate: f64) {
+        self.spool_speed_controller
+            .set_adaptive_radius_learning_rate(radius_learning_rate);
+        self.emit_state();
+    }
+
+    /// Set max speed multiplier for adaptive mode
+    pub fn spool_set_adaptive_max_speed_multiplier(&mut self, max_speed_multiplier: f64) {
+        self.spool_speed_controller
+            .set_adaptive_max_speed_multiplier(max_speed_multiplier);
+        self.emit_state();
+    }
+
+    /// Set acceleration factor for adaptive mode
+    pub fn spool_set_adaptive_acceleration_factor(&mut self, acceleration_factor: f64) {
+        self.spool_speed_controller
+            .set_adaptive_acceleration_factor(acceleration_factor);
+        self.emit_state();
+    }
+
+    /// Set deacceleration urgency multiplier for adaptive mode
+    pub fn spool_set_adaptive_deacceleration_urgency_multiplier(
+        &mut self,
+        deacceleration_urgency_multiplier: f64,
+    ) {
+        self.spool_speed_controller
+            .set_adaptive_deacceleration_urgency_multiplier(deacceleration_urgency_multiplier);
+        self.emit_state();
+    }
+
+    /// Set forward rotation direction
+    pub fn spool_set_forward(&mut self, forward: bool) {
+        self.spool_speed_controller.set_forward(forward);
+        self.emit_state();
+    }
+}

machines/src/gluetex/filament_tension.rs

@@ -0,0 +1,222 @@
+use control_core::converters::angle_converter::{AngleConverter, AngleConverterUom};
+use euclid::Point2D;
+use units::ConstZero;
+use units::angle::radian;
+use units::f64::*;
+use units::length::centimeter;
+use units::ratio::ratio;
+
+/// The "tension" of the filament is not linear regarding the angle of the tension arm since it moves in an angular motion.
+///
+/// With this calculator we can calculate the filament length and tension based on the angle of the tension arm using geometry.
+///
+/// ⠉⠢⢄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇ 0.0
+/// ⠀⠀⠀⠉⠢⢄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠑⢄⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠈⠒⢄⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠒⢄⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠘⢄⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠑⠤⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠑⠤⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠑⠤⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠑⠤⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠑⠤⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠑⠤⢄⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠒⠤⢄⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠉⠑⠒⠤⣀⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⡇
+/// ⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠈⠉⠒⠒⠤⠤⢄⣀⣀⡀⠀⠀⠀⠀⠀⠀⡇
+/// ⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠀⠁⠈⠈⠉⠉⠉⠉⠉⠉⠁ 1.0
+/// 10.0                                                    90.0
+#[derive(Debug, Clone)]
+pub struct FilamentTensionCalculator {
+    point_puller: Point2D<f64, ()>,
+    tension_arm_origin: Point2D<f64, ()>,
+    traverse_point: Point2D<f64, ()>,
+    // In mm
+    arm_length: f64,
+    /// In Y-Flipped CW rotation system
+    min_angle: Angle,
+    /// In Y-Flipped CW rotation system
+    max_angle: Angle,
+    min_distance: Length,
+    max_distance: Length,
+    pub angle_converter: AngleConverterUom,
+}
+
+impl FilamentTensionCalculator {
+    /// [`max_angle_deg`] in Y-Flipped CW roation system
+    pub fn new(min_angle: Angle, max_angle: Angle) -> Self {
+        let mut calculator = Self {
+            point_puller: Point2D::<f64, ()>::new(7.0, -10.0),
+            tension_arm_origin: Point2D::<f64, ()>::new(0.0, 0.0),
+            traverse_point: Point2D::<f64, ()>::new(-42.0, 15.0),
+            arm_length: 18.0,
+            min_angle,
+            max_angle,
+            min_distance: Length::ZERO, // Will be calculated
+            max_distance: Length::ZERO, // Will be calculated
+            angle_converter: AngleConverterUom::new(AngleConverter::y_down_cw()),
+        };
+
+        // Calculate min and max distances
+        calculator.min_distance = calculator.calc_filament_length(min_angle);
+        calculator.max_distance = calculator.calc_filament_length(max_angle);
+
+        calculator
+    }
+
+    /// Calculate the filament length for a given tension arm angle
+    ///
+    /// - [`tension_arm_angle_deg`] in Y-Flipped CW rotation system
+    ///
+    /// Returns the filament length in mm.
+    pub fn calc_filament_length(&self, tension_arm_angle: Angle) -> Length {
+        let tension_arm_angle_rad = self
+            .angle_converter
+            .decode(tension_arm_angle)
+            .get::<radian>();
+
+        // Calculate tension arm tip position (flipped Y-axis: 0° = down, 90° = left)
+        let tension_arm_tip = Point2D::<f64, ()>::new(
+            self.arm_length
+                .mul_add(tension_arm_angle_rad.sin(), self.tension_arm_origin.x),
+            self.arm_length
+                .mul_add(tension_arm_angle_rad.cos(), self.tension_arm_origin.y),
+        );
+
+        // translate the tip 2cm down to account for the wheel diameter
+        let tension_arm_tip = Point2D::<f64, ()>::new(
+            tension_arm_tip.x,
+            tension_arm_tip.y + 2.0, // 2 cm down
+        );
+
+        // Calculate total filament distance
+        let length_cm = self.point_puller.distance_to(tension_arm_tip)
+            + tension_arm_tip.distance_to(self.traverse_point);
+
+        Length::new::<centimeter>(length_cm)
+    }
+
+    /// Calculate the filament buffer as a value between 0.0 (min) and 1.0 (max)
+    ///
+    /// `1.0` means the minimum amount of filament is in the tensioning system (high tension)
+    ///
+    /// `0.0` means the maximum amount of filament is in the tensioning system (low tension)
+    ///
+    /// - [`tension_arm_angle`] in Y-Flipped CW rotation system
+    pub fn calc_filament_tension(&self, tension_arm_angle: Angle) -> f64 {
+        let current_distance = self.calc_filament_length(tension_arm_angle);
+
+        let distance_range = self.max_distance - self.min_distance;
+
+        1.0 - ((current_distance - self.min_distance) / distance_range)
+            .get::<ratio>()
+            .clamp(0.0, 1.0)
+    }
+
+    /// Get the optimal angle (minimum filament length)
+    ///
+    /// Returns the angle in Y-Flipped CW rotation system.
+    pub fn get_min_angle(&self) -> Angle {
+        self.min_angle
+    }
+
+    /// Get the maximum reference angle
+    ///
+    /// Returns the angle in Y-Flipped CW rotation system.
+    pub fn get_max_angle(&self) -> Angle {
+        self.max_angle
+    }
+
+    /// Get the minimum filament distance
+    ///
+    pub fn get_min_distance(&self) -> Length {
+        self.min_distance
+    }
+
+    /// Get the maximum filament distance
+    ///
+    pub fn get_max_distance(&self) -> Length {
+        self.max_distance
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use textplots::{Chart, Plot, Shape};
+
+    use units::angle::degree;
+
+    use super::*;
+
+    #[test]
+    fn test_plot_filament_distance() {
+        let min_angle = 90.0;
+        let max_angle = 10.0;
+
+        let calculator = FilamentTensionCalculator::new(
+            Angle::new::<degree>(min_angle),
+            Angle::new::<degree>(max_angle),
+        );
+
+        // Generate data points from 0 to 90 degrees
+        let data: Vec<(f32, f32)> = (0..=360)
+            .map(|angle_deg| {
+                let distance =
+                    calculator.calc_filament_length(Angle::new::<degree>(angle_deg as f64));
+                (angle_deg as f32, distance.get::<centimeter>() as f32)
+            })
+            .collect();
+
+        // Create and display the plot
+        Chart::new(120, 60, max_angle as f32, min_angle as f32)
+            .lineplot(&Shape::Lines(&data))
+            .display();
+
+        println!("Filament distance vs tension arm angle (0-90 degrees)");
+        println!(
+            "Min distance: {:.2}",
+            calculator.get_min_distance().get::<centimeter>()
+        );
+        println!(
+            "Max distance: {:.2}",
+            calculator.get_max_distance().get::<centimeter>()
+        );
+    }
+
+    #[test]
+    fn test_filament_tension() {
+        let min_angle = 90.0;
+        let max_angle = 10.0;
+        let calculator = FilamentTensionCalculator::new(
+            Angle::new::<degree>(min_angle),
+            Angle::new::<degree>(max_angle),
+        );
+
+        // Generate data points from 0 to 90 degrees
+        let data: Vec<(f32, f32)> = (0..=360)
+            .map(|angle_deg| {
+                let tension =
+                    calculator.calc_filament_tension(Angle::new::<degree>(angle_deg as f64));
+                (angle_deg as f32, tension as f32)
+            })
+            .collect();
+
+        // Create and display the plot
+        Chart::new(120, 60, max_angle as f32, min_angle as f32)
+            .lineplot(&Shape::Lines(&data))
+            .display();
+
+        println!("Filament tension vs tension arm angle (0-90 degrees)");
+        println!(
+            "Tension at min angle ({}°): {:.2}",
+            min_angle,
+            calculator.calc_filament_tension(calculator.get_min_angle())
+        );
+        println!(
+            "Tension at max angle ({}°): {:.2}",
+            max_angle,
+            calculator.calc_filament_tension(calculator.get_max_angle())
+        );
+    }
+}

machines/src/gluetex/minmax_spool_speed_controller.rs

@@ -0,0 +1,297 @@
+use crate::gluetex::{
+    clamp_revolution::clamp_revolution_uom, filament_tension::FilamentTensionCalculator,
+    puller_speed_controller::PullerSpeedController,
+};
+
+use super::{clamp_revolution::Clamping, tension_arm::TensionArm};
+use control_core::{
+    controllers::{
+        first_degree_motion::angular_acceleration_speed_controller::AngularAccelerationSpeedController,
+        second_degree_motion::acceleration_position_controller::MotionControllerError,
+    },
+    helpers::{
+        interpolation::{interpolate_exponential, scale},
+        moving_time_window::MovingTimeWindow,
+    },
+};
+use std::time::Instant;
+
+use units::ConstZero;
+use units::angle::degree;
+use units::angular_acceleration::{radian_per_second_squared, revolution_per_minute_per_second};
+use units::angular_velocity::{radian_per_second, revolution_per_minute, revolution_per_second};
+use units::f64::*;
+use units::length::meter;
+use units::velocity::meter_per_second;
+
+#[derive(Debug)]
+pub struct MinMaxSpoolSpeedController {
+    /// Current speed in
+    last_speed: AngularVelocity,
+    /// Whether the speed controller is enabled or not
+    enabled: bool,
+    /// Acceleration controller to dampen speed change
+    acceleration_controller: AngularAccelerationSpeedController,
+    /// Filament tension calculator
+    filament_calc: FilamentTensionCalculator,
+    /// Unit is angular velocity in rad/s
+    speed_time_window: MovingTimeWindow<f64>,
+}
+
+impl Default for MinMaxSpoolSpeedController {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
+impl MinMaxSpoolSpeedController {
+    /// Parameters:
+    /// - `min_speed`: Minimum speed
+    /// - `max_speed`: Maximum speed  
+    /// - `acceleration`: Acceleration
+    /// - `deceleration`: Deceleration (preferably negative)
+    pub fn new() -> Self {
+        let max_speed = AngularVelocity::new::<revolution_per_minute>(150.0);
+
+        Self {
+            last_speed: AngularVelocity::ZERO,
+            enabled: false,
+            acceleration_controller: AngularAccelerationSpeedController::new(
+                Some(AngularVelocity::ZERO),
+                Some(max_speed),
+                -AngularAcceleration::ZERO, // Will be dynamically adjusted
+                AngularAcceleration::ZERO,  // Will be dynamically adjusted
+                AngularVelocity::ZERO,
+            ),
+            filament_calc: FilamentTensionCalculator::new(
+                Angle::new::<degree>(90.0),
+                Angle::new::<degree>(20.0),
+            ),
+            speed_time_window: MovingTimeWindow::new(
+                std::time::Duration::from_secs(5),
+                10, // max samples
+            ),
+        }
+    }
+}
+
+impl MinMaxSpoolSpeedController {
+    /// Helper method to get min speed without Option type
+    fn min_speed(&self) -> AngularVelocity {
+        self.acceleration_controller
+            .get_min_speed()
+            .unwrap_or(AngularVelocity::ZERO)
+    }
+
+    /// Helper method to get max speed without Option type  
+    fn max_speed(&self) -> AngularVelocity {
+        self.acceleration_controller
+            .get_max_speed()
+            .unwrap_or(AngularVelocity::new::<radian_per_second>(f64::INFINITY))
+    }
+
+    /// Calculates the desired speed based on the tension arm angle.
+    ///
+    /// If the arm is over it's maximum angle, the speed is set to the minimum speed.
+    /// If the arm is under it's minimum angle, the speed is set to the maximum speed.
+    /// If the arm is within the range, the speed is interpolated between the minimum and maximum speed based on the tension arm angle.
+    ///
+    /// Parameters:
+    /// - `t`: The current time.
+    /// - `tension_arm`: A reference to the `TensionArm` instance that provides the angle of the tension arm.
+    ///
+    /// Returns:
+    /// - speed
+    fn speed_raw(&mut self, _t: Instant, tension_arm: &TensionArm) -> AngularVelocity {
+        let min_speed = AngularVelocity::ZERO;
+
+        // Convert puller speed to angular velocity using a magic factor
+        // The factor is adjusted so that the tension arm is reasonably high when a standard spool is at its lowest diameter
+
+        // Respect the configured max speed limits by taking the minimum of dynamic calculation and configured max
+        let max_speed = self.max_speed();
+
+        // calculate filament tension
+        let tension_arm_angle = tension_arm.get_angle();
+        let tension_arm_revolution = clamp_revolution_uom(
+            tension_arm_angle,
+            // inverted because min angle is max tension
+            self.filament_calc.get_max_angle(),
+            self.filament_calc.get_min_angle(),
+        );
+
+        match tension_arm_revolution.1 {
+            Clamping::Min => return min_speed,
+            Clamping::Max => return min_speed,
+            _ => {}
+        };
+
+        let filament_tension = self
+            .filament_calc
+            .calc_filament_tension(tension_arm_revolution.0);
+
+        let filament_tension_inverted = 1.0 - filament_tension;
+
+        // use exponetial interpolation to make the speed change more sensitive in the lower range
+        let filament_tension_exponential = interpolate_exponential(filament_tension_inverted, 2.0);
+
+        // interpolate speed linear
+
+        // save speed
+        AngularVelocity::new::<radian_per_second>(scale(
+            filament_tension_exponential,
+            min_speed.get::<radian_per_second>(),
+            max_speed.get::<radian_per_second>(),
+        ))
+    }
+
+    /// Accelerates the speed using the acceleration controller.
+    ///
+    /// Parameters:
+    /// - `speed`: The current speed
+    /// - `t`: The current time.
+    ///
+    /// Returns:
+    /// - The new speed after applying acceleration.
+    fn accelerate_speed(&mut self, speed: AngularVelocity, t: Instant) -> AngularVelocity {
+        // The min/mac acceleration depends on the max speed of the last 5secs or the target speed (whatever is higher)
+        let acceleration = AngularAcceleration::new::<radian_per_second_squared>(
+            self.speed_time_window
+                .max()
+                .abs()
+                .max(speed.get::<radian_per_second>().abs())
+                // The magic factor is dependent on the scceleration settings on the puller speed controller to reduce oscillation
+                * 0.5,
+        );
+
+        // Set the acceleration to the controller
+        self.acceleration_controller
+            .set_max_acceleration(acceleration);
+        self.acceleration_controller
+            .set_min_acceleration(-acceleration);
+
+        let new_speed = self.acceleration_controller.update(speed, t);
+
+        // add new speed to the time window
+        self.speed_time_window
+            .update(new_speed.get::<radian_per_second>(), t);
+
+        new_speed
+    }
+
+    /// Clamps the speed to the defined minimum and maximum speed.
+    ///
+    /// Parameters:
+    /// - `speed`: The speed to be clamped.
+    ///
+    /// Returns:
+    /// - The clamped speed, ensuring it is within the range of `min_speed` and `max_speed`.
+    fn clamp_speed(&mut self, speed: AngularVelocity) -> AngularVelocity {
+        let min_speed = self.min_speed();
+        let max_speed = self.max_speed();
+
+        if speed < min_speed {
+            AngularVelocity::ZERO
+        } else if speed > max_speed {
+            max_speed
+        } else {
+            speed
+        }
+    }
+}
+
+impl MinMaxSpoolSpeedController {
+    pub fn update_speed(&mut self, t: Instant, tension_arm: &TensionArm) -> AngularVelocity {
+        let speed = self.speed_raw(t, tension_arm);
+        let speed = match self.enabled {
+            true => speed,
+            false => AngularVelocity::ZERO,
+        };
+        let speed = self.accelerate_speed(speed, t);
+
+        // save speed before clamping or it will stay 0.0
+        self.last_speed = speed;
+
+        self.clamp_speed(speed)
+    }
+
+    pub const fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+
+    pub const fn is_enabled(&self) -> bool {
+        self.enabled
+    }
+
+    pub fn reset(&mut self) {
+        self.last_speed = AngularVelocity::ZERO;
+        self.acceleration_controller.reset(AngularVelocity::ZERO);
+    }
+
+    fn update_acceleration(&mut self) -> Result<(), MotionControllerError> {
+        // Set acceleration to 1/4 of the range between min and max speed
+        // The spool will accelerate from min to max speed in 4 seconds
+        let min_speed = self.min_speed();
+        let max_speed = self.max_speed();
+        let range = max_speed - min_speed;
+        let acceleration = AngularAcceleration::new::<revolution_per_minute_per_second>(
+            range.get::<revolution_per_minute>() / 4.0,
+        );
+        self.acceleration_controller
+            .set_max_acceleration(acceleration);
+        self.acceleration_controller
+            .set_min_acceleration(-acceleration);
+        Ok(())
+    }
+
+    pub fn set_max_speed(
+        &mut self,
+        max_speed: AngularVelocity,
+    ) -> Result<(), MotionControllerError> {
+        self.acceleration_controller.set_max_speed(Some(max_speed));
+        self.update_acceleration()?;
+        Ok(())
+    }
+
+    pub fn set_min_speed(
+        &mut self,
+        min_speed: AngularVelocity,
+    ) -> Result<(), MotionControllerError> {
+        self.acceleration_controller.set_min_speed(Some(min_speed));
+        self.update_acceleration()?;
+        Ok(())
+    }
+
+    pub fn get_max_speed(&self) -> AngularVelocity {
+        self.max_speed()
+    }
+
+    pub fn get_min_speed(&self) -> AngularVelocity {
+        self.min_speed()
+    }
+
+    pub fn get_speed(&self) -> AngularVelocity {
+        self.last_speed
+    }
+
+    pub fn set_speed(&mut self, speed: AngularVelocity) {
+        self.last_speed = speed;
+        // Also update the acceleration controller's current speed to ensure smooth transitions
+        self.acceleration_controller.reset(speed);
+    }
+
+    /// derive the radius from the puller speed and the current angular speed
+    pub fn get_radius(&self, puller_speed_controller: &PullerSpeedController) -> Length {
+        let puller_speed: Velocity = puller_speed_controller.get_target_speed();
+        let angular_speed: AngularVelocity = self.last_speed;
+
+        // Calculate the radius using the formula: radius = speed / angular_speed
+        let radius =
+            puller_speed.get::<meter_per_second>() / angular_speed.get::<revolution_per_second>();
+
+        // Ensure the radius is a normal number, otherwise default to 0.0
+        let radius = Some(radius).filter(|&n| n.is_normal()).unwrap_or(0.0);
+
+        Length::new::<meter>(radius)
+    }
+}

machines/src/gluetex/mod.rs

@@ -0,0 +1,694 @@
+pub mod act;
+pub mod adaptive_spool_speed_controller;
+pub mod addon_motor_controller;
+pub mod api;
+pub mod clamp_revolution;
+pub mod emit;
+pub mod filament_tension;
+pub mod minmax_spool_speed_controller;
+pub mod new;
+pub mod puller_speed_controller;
+pub mod slave_puller_speed_controller;
+pub mod spool_speed_controller;
+pub mod temperature_controller;
+pub mod tension_arm;
+pub mod traverse_controller;
+
+use units::Length;
+use units::f64::ThermodynamicTemperature;
+use units::thermodynamic_temperature::degree_celsius;
+
+mod gluetex_imports {
+    pub use super::addon_motor_controller::AddonMotorController;
+    pub use super::api::GluetexNamespace;
+    pub use super::api::SpoolAutomaticActionMode;
+    pub use super::puller_speed_controller::PullerSpeedController;
+    pub use super::slave_puller_speed_controller::SlavePullerSpeedController;
+    pub use super::spool_speed_controller::SpoolSpeedController;
+    pub use super::temperature_controller::TemperatureController;
+    pub use super::tension_arm::TensionArm;
+    pub use super::traverse_controller::TraverseController;
+    pub use control_core::converters::angular_step_converter::AngularStepConverter;
+    pub use ethercat_hal::io::{
+        digital_input::DigitalInput, digital_output::DigitalOutput,
+        stepper_velocity_el70x1::StepperVelocityEL70x1, temperature_input::TemperatureInput,
+    };
+    pub use smol::lock::RwLock;
+    pub use std::{fmt::Debug, sync::Weak, time::Instant};
+
+    pub use crate::buffer1::BufferV1;
+    pub use units::ConstZero;
+    pub use units::{
+        Angle, angle::degree, length::meter, length::millimeter, velocity::meter_per_second,
+    };
+}
+
+#[derive(Debug, Clone)]
+pub struct Heating {
+    pub temperature: ThermodynamicTemperature,
+    pub heating: bool,
+    pub target_temperature: ThermodynamicTemperature,
+    pub wiring_error: bool,
+}
+
+impl Default for Heating {
+    fn default() -> Self {
+        Self {
+            temperature: ThermodynamicTemperature::new::<degree_celsius>(0.0),
+            heating: false,
+            target_temperature: ThermodynamicTemperature::new::<degree_celsius>(0.0),
+            wiring_error: false,
+        }
+    }
+}
+
+#[derive(Debug, Clone)]
+pub struct TensionArmMonitorConfig {
+    pub enabled: bool,
+    pub min_angle: Angle,
+    pub max_angle: Angle,
+}
+
+impl Default for TensionArmMonitorConfig {
+    fn default() -> Self {
+        Self {
+            enabled: false,
+            min_angle: Angle::new::<degree>(10.0),
+            max_angle: Angle::new::<degree>(170.0),
+        }
+    }
+}
+
+pub enum HeatingZone {
+    Zone1,
+    Zone2,
+    Zone3,
+    Zone4,
+    Zone5,
+    Zone6,
+}
+
+pub use gluetex_imports::*;
+use smol::channel::{Receiver, Sender};
+
+use crate::{AsyncThreadMessage, Machine};
+use crate::{
+    MACHINE_GLUETEX_V1, MachineConnection, MachineMessage, VENDOR_QITECH,
+    machine_identification::{MachineIdentification, MachineIdentificationUnique},
+};
+
+#[derive(Debug)]
+pub struct SpoolAutomaticAction {
+    pub progress: Length,
+    progress_last_check: Instant,
+    pub target_length: Length,
+    pub mode: SpoolAutomaticActionMode,
+}
+
+impl Default for SpoolAutomaticAction {
+    fn default() -> Self {
+        SpoolAutomaticAction {
+            progress: Length::new::<meter>(0.0),
+            progress_last_check: Instant::now(),
+            target_length: Length::new::<meter>(0.0),
+            mode: SpoolAutomaticActionMode::default(),
+        }
+    }
+}
+
+impl Machine for Gluetex {
+    fn get_machine_identification_unique(&self) -> MachineIdentificationUnique {
+        self.machine_identification_unique.clone()
+    }
+
+    fn get_main_sender(&self) -> Option<Sender<AsyncThreadMessage>> {
+        self.main_sender.clone()
+    }
+}
+
+#[derive(Debug)]
+pub struct Gluetex {
+    api_receiver: Receiver<MachineMessage>,
+    api_sender: Sender<MachineMessage>,
+    main_sender: Option<Sender<AsyncThreadMessage>>,
+
+    connected_machines: Vec<MachineConnection>,
+    max_connected_machines: usize,
+    // drivers
+    pub traverse: StepperVelocityEL70x1,
+    pub puller: StepperVelocityEL70x1,
+    pub spool: StepperVelocityEL70x1,
+    pub tension_arm: TensionArm,
+    pub laser: DigitalOutput,
+
+    // addon motors
+    pub addon_motor_3: StepperVelocityEL70x1,
+    pub addon_motor_4: StepperVelocityEL70x1,
+
+    // controllers
+    pub traverse_controller: TraverseController,
+    pub traverse_end_stop: DigitalInput,
+
+    // addon motor controllers
+    pub addon_motor_3_controller: AddonMotorController,
+    pub addon_motor_4_controller: AddonMotorController,
+
+    // temperature controllers (PID-controlled heaters with temperature sensors)
+    pub temperature_controller_1: TemperatureController,
+    pub temperature_controller_2: TemperatureController,
+    pub temperature_controller_3: TemperatureController,
+    pub temperature_controller_4: TemperatureController,
+    pub temperature_controller_5: TemperatureController,
+    pub temperature_controller_6: TemperatureController,
+    pub heating_enabled: bool,
+
+    // socketio
+    namespace: GluetexNamespace,
+    last_measurement_emit: Instant,
+    pub machine_identification_unique: MachineIdentificationUnique,
+
+    // mode
+    pub mode: GluetexMode,
+    pub spool_mode: SpoolMode,
+    pub traverse_mode: TraverseMode,
+    pub puller_mode: PullerMode,
+
+    // control circuit arm/spool
+    pub spool_speed_controller: SpoolSpeedController,
+    pub spool_step_converter: AngularStepConverter,
+
+    // spool automatic action state
+    pub spool_automatic_action: SpoolAutomaticAction,
+
+    // control circuit puller
+    pub puller_speed_controller: PullerSpeedController,
+
+    // slave puller (secondary puller with tension control)
+    pub slave_puller: StepperVelocityEL70x1,
+    pub slave_puller_speed_controller: SlavePullerSpeedController,
+    pub slave_tension_arm: TensionArm,
+    pub slave_puller_mode: PullerMode,
+
+    // addon tension arm (independent tension arm on Role 9)
+    pub addon_tension_arm: TensionArm,
+
+    // tension arm monitoring
+    pub tension_arm_monitor_config: TensionArmMonitorConfig,
+    pub tension_arm_monitor_triggered: bool,
+
+    /// Will be initialized as false and set to true by emit_state
+    /// This way we can signal to the client that the first state emission is a default state
+    emitted_default_state: bool,
+}
+
+impl Gluetex {
+    pub const MACHINE_IDENTIFICATION: MachineIdentification = MachineIdentification {
+        vendor: VENDOR_QITECH,
+        machine: MACHINE_GLUETEX_V1,
+    };
+
+    /// Validates that traverse limits maintain proper constraints:
+    /// - Inner limit must be smaller than outer limit
+    /// - At least 0.9mm difference between inner and outer limits
+    fn validate_traverse_limits(inner: Length, outer: Length) -> bool {
+        outer > inner + Length::new::<millimeter>(0.9)
+    }
+
+    pub fn sync_traverse_speed(&mut self) {
+        self.traverse_controller.update_speed(
+            &mut self.traverse,
+            &self.traverse_end_stop,
+            self.spool_speed_controller.get_speed(),
+        )
+    }
+
+    /// Can wind capability check
+    pub const fn can_wind(&self) -> bool {
+        // Check if tension arm is zeroed and traverse is homed
+        self.tension_arm.zeroed
+            && self.traverse_controller.is_homed()
+            && !self.traverse_controller.is_going_home()
+    }
+
+    /// Can go to inner limit capability check
+    pub fn can_go_in(&self) -> bool {
+        // Check if traverse is homed, not in standby, not traversing
+        // Allow changing direction (even when going out)
+        // Disallow when homing is in progress
+        self.traverse_controller.is_homed()
+            && self.traverse_mode != TraverseMode::Standby
+            && !self.traverse_controller.is_going_in()
+            && !self.traverse_controller.is_going_home()
+            && !self.traverse_controller.is_traversing()
+            && self.mode != GluetexMode::Wind
+    }
+
+    /// Can go to outer limit capability check
+    pub fn can_go_out(&self) -> bool {
+        // Check if traverse is homed, not in standby, not traversing
+        // Allow changing direction (even when going in)
+        // Disallow when homing is in progress
+        self.traverse_controller.is_homed()
+            && self.traverse_mode != TraverseMode::Standby
+            && !self.traverse_controller.is_going_out()
+            && !self.traverse_controller.is_going_home()
+            && !self.traverse_controller.is_traversing()
+            && self.mode != GluetexMode::Wind
+    }
+
+    /// Can go home capability check
+    pub fn can_go_home(&self) -> bool {
+        // Check if not in standby, not traversing
+        // Allow going home even when going in or out
+        self.traverse_mode != TraverseMode::Standby
+            && !self.traverse_controller.is_going_home()
+            && !self.traverse_controller.is_traversing()
+            && self.mode != GluetexMode::Wind
+    }
+
+    /// Apply the mode changes to the spool
+    ///
+    /// It contains a transition matrix for atomic changes.
+    /// It will set [`Self::spool_mode`]
+    fn set_spool_mode(&mut self, mode: &GluetexMode) {
+        // Convert to `GluetexMode` to `SpoolMode`
+        let mode: SpoolMode = mode.clone().into();
+
+        // Transition matrix
+        match self.spool_mode {
+            SpoolMode::Standby => match mode {
+                SpoolMode::Standby => {}
+                SpoolMode::Hold => {
+                    // From [`SpoolMode::Standby`] to [`SpoolMode::Hold`]
+                    self.spool.set_enabled(true);
+                }
+                SpoolMode::Wind => {
+                    self.spool.set_enabled(true);
+                    // self.spool_speed_controller.reset();
+                    self.spool_speed_controller.set_enabled(true);
+                }
+            },
+            SpoolMode::Hold => match mode {
+                SpoolMode::Standby => {
+                    // From [`SpoolMode::Hold`] to [`SpoolMode::Standby`]
+                    self.spool.set_enabled(false);
+                }
+                SpoolMode::Hold => {}
+                SpoolMode::Wind => {
+                    // From [`SpoolMode::Hold`] to [`SpoolMode::Wind`]
+                    // self.spool_speed_controller.reset();
+                    self.spool_speed_controller.set_enabled(true);
+                }
+            },
+            SpoolMode::Wind => match mode {
+                SpoolMode::Standby => {
+                    // From [`SpoolMode::Wind`] to [`SpoolMode::Standby`]
+                    self.spool.set_enabled(false);
+                    self.spool_speed_controller.set_enabled(false);
+                }
+                SpoolMode::Hold => {
+                    // From [`SpoolMode::Wind`] to [`SpoolMode::Hold`]
+                    self.spool_speed_controller.set_enabled(false);
+                }
+                SpoolMode::Wind => {}
+            },
+        }
+
+        // Update the internal state
+        self.spool_mode = mode;
+    }
+
+    /// Apply the mode changes to the puller
+    ///
+    /// It contains a transition matrix for atomic changes.
+    /// It will set [`Self::puller_mode`]
+    fn set_puller_mode(&mut self, mode: &GluetexMode) {
+        // Convert to `GluetexMode` to `PullerMode`
+        let mode: PullerMode = mode.clone().into();
+
+        // Transition matrix
+        match self.puller_mode {
+            PullerMode::Standby => match mode {
+                PullerMode::Standby => {}
+                PullerMode::Hold => {
+                    // From [`PullerMode::Standby`] to [`PullerMode::Hold`]
+                    self.puller.set_enabled(true);
+                }
+                PullerMode::Pull => {
+                    // From [`PullerMode::Standby`] to [`PullerMode::Pull`]
+                    self.puller.set_enabled(true);
+                    self.puller_speed_controller.set_enabled(true);
+                }
+            },
+            PullerMode::Hold => match mode {
+                PullerMode::Standby => {
+                    // From [`PullerMode::Hold`] to [`PullerMode::Standby`]
+                    self.puller.set_enabled(false);
+                }
+                PullerMode::Hold => {}
+                PullerMode::Pull => {
+                    // From [`PullerMode::Hold`] to [`PullerMode::Pull`]
+                    self.puller_speed_controller.set_enabled(true);
+                }
+            },
+            PullerMode::Pull => match mode {
+                PullerMode::Standby => {
+                    // From [`PullerMode::Pull`] to [`PullerMode::Standby`]
+                    self.puller.set_enabled(false);
+                    self.puller_speed_controller.set_enabled(false);
+                }
+                PullerMode::Hold => {
+                    // From [`PullerMode::Pull`] to [`PullerMode::Hold`]
+                    self.puller_speed_controller.set_enabled(false);
+                }
+                PullerMode::Pull => {}
+            },
+        }
+
+        // Update the internal state
+        self.puller_mode = mode;
+    }
+
+    pub const fn stop_or_pull_spool_reset(&mut self, now: Instant) {
+        self.spool_automatic_action.progress = Length::ZERO;
+        self.spool_automatic_action.progress_last_check = now;
+    }
+
+    pub fn calculate_spool_auto_progress_(&mut self, now: Instant) {
+        // Calculate time elapsed since last progress check (in minutes)
+
+        let dt = now
+            .duration_since(self.spool_automatic_action.progress_last_check)
+            .as_secs_f64();
+
+        // Calculate distance pulled during this time interval
+        let meters_pulled_this_interval = Length::new::<meter>(
+            self.puller_speed_controller
+                .last_speed
+                .get::<meter_per_second>()
+                * dt,
+        );
+
+        // Update total meters pulled
+        self.spool_automatic_action.progress += meters_pulled_this_interval.abs();
+        self.spool_automatic_action.progress_last_check = now;
+    }
+
+    /// Implement Puller
+    /// called by `act`
+    pub fn sync_puller_speed(&mut self, t: Instant) {
+        let angular_velocity = self.puller_speed_controller.calc_angular_velocity(t);
+        let steps_per_second = self
+            .puller_speed_controller
+            .converter
+            .angular_velocity_to_steps(angular_velocity);
+        let _ = self.puller.set_speed(steps_per_second);
+    }
+
+    /// Sync addon motor 3 speed based on puller angular velocity and ratio
+    /// called by `act`
+    pub fn sync_addon_motor_3_speed(&mut self, t: Instant) {
+        let puller_angular_velocity = self.puller_speed_controller.calc_angular_velocity(t);
+        self.addon_motor_3_controller
+            .sync_motor_speed(&mut self.addon_motor_3, puller_angular_velocity);
+    }
+
+    /// Sync addon motor 4 speed based on puller angular velocity and ratio
+    /// called by `act`
+    pub fn sync_addon_motor_4_speed(&mut self, t: Instant) {
+        let puller_angular_velocity = self.puller_speed_controller.calc_angular_velocity(t);
+        self.addon_motor_4_controller
+            .sync_motor_speed(&mut self.addon_motor_4, puller_angular_velocity);
+    }
+
+    /// Sync slave puller speed based on master puller speed and slave tension arm
+    /// called by `act`
+    pub fn sync_slave_puller_speed(&mut self, t: Instant) {
+        // Get master puller speed as reference
+        let master_speed = self.puller_speed_controller.get_target_speed();
+
+        // Calculate slave speed based on tension arm
+        let slave_velocity = self.slave_puller_speed_controller.update_speed(
+            t,
+            master_speed,
+            &self.slave_tension_arm,
+        );
+
+        // Apply direction
+        let directed_velocity = if self.slave_puller_speed_controller.get_forward() {
+            slave_velocity
+        } else {
+            -slave_velocity
+        };
+
+        // Convert to angular velocity then to steps
+        let angular_velocity = self
+            .slave_puller_speed_controller
+            .velocity_to_angular_velocity(directed_velocity);
+
+        let steps_per_second = self
+            .slave_puller_speed_controller
+            .converter
+            .angular_velocity_to_steps(angular_velocity);
+
+        let _ = self.slave_puller.set_speed(steps_per_second);
+    }
+
+    /// Apply the mode changes to the slave puller
+    ///
+    /// It contains a transition matrix for atomic changes.
+    /// It will set [`Self::slave_puller_mode`]
+    fn set_slave_puller_mode(&mut self, mode: &GluetexMode) {
+        // Convert to `GluetexMode` to `PullerMode`
+        let mode: PullerMode = mode.clone().into();
+
+        // Transition matrix
+        match self.slave_puller_mode {
+            PullerMode::Standby => match mode {
+                PullerMode::Standby => {}
+                PullerMode::Hold => {
+                    // From [`PullerMode::Standby`] to [`PullerMode::Hold`]
+                    self.slave_puller.set_enabled(true);
+                }
+                PullerMode::Pull => {
+                    // From [`PullerMode::Standby`] to [`PullerMode::Pull`]
+                    self.slave_puller.set_enabled(true);
+                    self.slave_puller_speed_controller.set_enabled(true);
+                }
+            },
+            PullerMode::Hold => match mode {
+                PullerMode::Standby => {
+                    // From [`PullerMode::Hold`] to [`PullerMode::Standby`]
+                    self.slave_puller.set_enabled(false);
+                }
+                PullerMode::Hold => {}
+                PullerMode::Pull => {
+                    // From [`PullerMode::Hold`] to [`PullerMode::Pull`]
+                    self.slave_puller_speed_controller.set_enabled(true);
+                }
+            },
+            PullerMode::Pull => match mode {
+                PullerMode::Standby => {
+                    // From [`PullerMode::Pull`] to [`PullerMode::Standby`]
+                    self.slave_puller.set_enabled(false);
+                    self.slave_puller_speed_controller.set_enabled(false);
+                }
+                PullerMode::Hold => {
+                    // From [`PullerMode::Pull`] to [`PullerMode::Hold`]
+                    self.slave_puller_speed_controller.set_enabled(false);
+                }
+                PullerMode::Pull => {}
+            },
+        }
+
+        // Update the internal state
+        self.slave_puller_mode = mode;
+    }
+
+    /// Check all tension arm positions and trigger emergency stop if any are out of range
+    pub fn check_tension_arm_monitor(&mut self) {
+        // Only check if monitoring is enabled
+        if !self.tension_arm_monitor_config.enabled {
+            // Clear triggered flag if monitoring is disabled
+            if self.tension_arm_monitor_triggered {
+                self.tension_arm_monitor_triggered = false;
+                self.emit_state();
+            }
+            return;
+        }
+
+        // Check all three tension arms
+        let main_angle = self.tension_arm.get_angle();
+        let slave_angle = self.slave_tension_arm.get_angle();
+        let addon_angle = self.addon_tension_arm.get_angle();
+
+        let min_angle = self.tension_arm_monitor_config.min_angle;
+        let max_angle = self.tension_arm_monitor_config.max_angle;
+
+        // Check if any tension arm is out of range
+        let out_of_range = main_angle < min_angle
+            || main_angle > max_angle
+            || slave_angle < min_angle
+            || slave_angle > max_angle
+            || addon_angle < min_angle
+            || addon_angle > max_angle;
+
+        // If out of range, trigger emergency stop
+        if out_of_range && !self.tension_arm_monitor_triggered {
+            self.tension_arm_monitor_triggered = true;
+            self.emergency_stop();
+            self.emit_state();
+            tracing::warn!(
+                "Tension arm monitor triggered! Main: {:.1}°, Slave: {:.1}°, Addon: {:.1}° (limits: {:.1}°-{:.1}°)",
+                main_angle.get::<degree>(),
+                slave_angle.get::<degree>(),
+                addon_angle.get::<degree>(),
+                min_angle.get::<degree>(),
+                max_angle.get::<degree>()
+            );
+        } else if !out_of_range && self.tension_arm_monitor_triggered {
+            // Clear triggered flag if back in range
+            self.tension_arm_monitor_triggered = false;
+            self.emit_state();
+            tracing::info!("Tension arm monitor cleared - all arms back in range");
+        }
+    }
+
+    /// Emergency stop: stops all motors, heating, and sets machine to standby
+    fn emergency_stop(&mut self) {
+        // Stop all motors by setting mode to standby
+        self.set_mode(&GluetexMode::Standby);
+
+        // Disable heating
+        self.heating_enabled = false;
+
+        // Ensure all motors are disabled
+        self.spool.set_enabled(false);
+        self.puller.set_enabled(false);
+        self.slave_puller.set_enabled(false);
+        self.traverse.set_enabled(false);
+        self.addon_motor_3.set_enabled(false);
+        self.addon_motor_4.set_enabled(false);
+
+        // Disable all controllers
+        self.spool_speed_controller.set_enabled(false);
+        self.puller_speed_controller.set_enabled(false);
+        self.slave_puller_speed_controller.set_enabled(false);
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub enum GluetexMode {
+    Standby,
+    Hold,
+    Pull,
+    Wind,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub enum SpoolMode {
+    Standby,
+    Hold,
+    Wind,
+}
+
+impl From<GluetexMode> for SpoolMode {
+    fn from(mode: GluetexMode) -> Self {
+        match mode {
+            GluetexMode::Standby => Self::Standby,
+            GluetexMode::Hold => Self::Hold,
+            GluetexMode::Pull => Self::Hold,
+            GluetexMode::Wind => Self::Wind,
+        }
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub enum TraverseMode {
+    Standby,
+    Hold,
+    Traverse,
+}
+
+impl From<GluetexMode> for TraverseMode {
+    fn from(mode: GluetexMode) -> Self {
+        match mode {
+            GluetexMode::Standby => Self::Standby,
+            GluetexMode::Hold => Self::Hold,
+            GluetexMode::Pull => Self::Hold,
+            GluetexMode::Wind => Self::Traverse,
+        }
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub enum PullerMode {
+    Standby,
+    Hold,
+    Pull,
+}
+
+impl From<GluetexMode> for PullerMode {
+    fn from(mode: GluetexMode) -> Self {
+        match mode {
+            GluetexMode::Standby => Self::Standby,
+            GluetexMode::Hold => Self::Hold,
+            GluetexMode::Pull => Self::Pull,
+            GluetexMode::Wind => Self::Pull,
+        }
+    }
+}
+
+impl std::fmt::Display for Gluetex {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        write!(f, "Gluetex")
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_validate_traverse_limits() {
+        // Test case 1: Valid limits with exactly 1.0mm difference (should pass)
+        let inner = Length::new::<millimeter>(15.0);
+        let outer = Length::new::<millimeter>(16.0);
+        assert!(Gluetex::validate_traverse_limits(inner, outer));
+
+        // Test case 2: Invalid limits with exactly 0.9mm difference (should fail)
+        let inner = Length::new::<millimeter>(15.0);
+        let outer = Length::new::<millimeter>(15.9);
+        assert!(!Gluetex::validate_traverse_limits(inner, outer));
+
+        // Test case 3: Invalid limits with less than 0.9mm difference (should fail)
+        let inner = Length::new::<millimeter>(15.0);
+        let outer = Length::new::<millimeter>(15.5);
+        assert!(!Gluetex::validate_traverse_limits(inner, outer));
+
+        // Test case 4: Invalid limits where inner equals outer (should fail)
+        let inner = Length::new::<millimeter>(20.0);
+        let outer = Length::new::<millimeter>(20.0);
+        assert!(!Gluetex::validate_traverse_limits(inner, outer));
+
+        // Test case 5: Invalid limits where inner is greater than outer (should fail)
+        let inner = Length::new::<millimeter>(25.0);
+        let outer = Length::new::<millimeter>(20.0);
+        assert!(!Gluetex::validate_traverse_limits(inner, outer));
+
+        // Test case 6: Valid limits with large difference (should pass)
+        let inner = Length::new::<millimeter>(10.0);
+        let outer = Length::new::<millimeter>(80.0);
+        assert!(Gluetex::validate_traverse_limits(inner, outer));
+
+        // Test case 7: Edge case - exactly 0.91mm difference (should pass)
+        let inner = Length::new::<millimeter>(15.0);
+        let outer = Length::new::<millimeter>(15.91);
+        assert!(Gluetex::validate_traverse_limits(inner, outer));
+
+        // Test case 8: Edge case - exactly 0.89mm difference (should fail)
+        let inner = Length::new::<millimeter>(15.0);
+        let outer = Length::new::<millimeter>(15.89);
+        assert!(!Gluetex::validate_traverse_limits(inner, outer));
+    }
+}

machines/src/gluetex/new.rs

@@ -0,0 +1,546 @@
+mod gluetex_imports {
+    pub use super::super::api::GluetexNamespace;
+    pub use super::super::tension_arm::TensionArm;
+    pub use super::super::{Gluetex, GluetexMode, PullerMode};
+    pub use crate::gluetex::filament_tension::FilamentTensionCalculator;
+    pub use crate::gluetex::puller_speed_controller::PullerSpeedController;
+    pub use crate::gluetex::slave_puller_speed_controller::SlavePullerSpeedController;
+    pub use crate::gluetex::spool_speed_controller::SpoolSpeedController;
+    pub use crate::gluetex::traverse_controller::TraverseController;
+    pub use crate::{
+        MachineNewHardware, MachineNewParams, MachineNewTrait, validate_no_role_dublicates,
+        validate_same_machine_identification_unique,
+    };
+    pub use anyhow::Error;
+    pub use control_core::converters::angular_step_converter::AngularStepConverter;
+    pub use control_core::converters::linear_step_converter::LinearStepConverter;
+
+    pub use ethercat_hal::coe::ConfigurableDevice;
+    pub use ethercat_hal::devices::ek1100::EK1100;
+    pub use ethercat_hal::devices::el2002::{EL2002, EL2002_IDENTITY_B, EL2002Port};
+    pub use ethercat_hal::devices::el2008::{
+        EL2008, EL2008_IDENTITY_A, EL2008_IDENTITY_B, EL2008Port,
+    };
+    pub use ethercat_hal::devices::el3204::{
+        EL3204, EL3204_IDENTITY_A, EL3204_IDENTITY_B, EL3204Port,
+    };
+    pub use ethercat_hal::devices::el7031::coe::EL7031Configuration;
+    pub use ethercat_hal::devices::el7031::pdo::EL7031PredefinedPdoAssignment;
+    pub use ethercat_hal::devices::el7031::{
+        EL7031, EL7031_IDENTITY_A, EL7031_IDENTITY_B, EL7031DigitalInputPort, EL7031StepperPort,
+    };
+    pub use ethercat_hal::devices::el7031_0030::coe::EL7031_0030Configuration;
+    pub use ethercat_hal::devices::el7031_0030::pdo::EL7031_0030PredefinedPdoAssignment;
+    pub use ethercat_hal::devices::el7031_0030::{
+        self, EL7031_0030, EL7031_0030_IDENTITY_A, EL7031_0030AnalogInputPort,
+        EL7031_0030StepperPort,
+    };
+    pub use ethercat_hal::devices::el7041_0052::coe::EL7041_0052Configuration;
+    pub use ethercat_hal::devices::el7041_0052::{
+        EL7041_0052, EL7041_0052_IDENTITY_A, EL7041_0052Port,
+    };
+    pub use ethercat_hal::devices::{ek1100::EK1100_IDENTITY_A, el2002::EL2002_IDENTITY_A};
+    pub use ethercat_hal::io::analog_input::AnalogInput;
+    pub use ethercat_hal::io::digital_input::DigitalInput;
+    pub use ethercat_hal::io::digital_output::DigitalOutput;
+    pub use ethercat_hal::io::stepper_velocity_el70x1::StepperVelocityEL70x1;
+    pub use ethercat_hal::io::temperature_input::TemperatureInput;
+    pub use ethercat_hal::shared_config;
+    pub use ethercat_hal::shared_config::el70x1::{EL70x1OperationMode, StmMotorConfiguration};
+    pub use std::time::{Duration, Instant};
+    pub use units::ConstZero;
+    pub use units::angle::degree;
+    pub use units::f64::*;
+    pub use units::length::{centimeter, meter, millimeter};
+    pub use units::thermodynamic_temperature::degree_celsius;
+    pub use units::velocity::meter_per_minute;
+}
+
+pub use gluetex_imports::*;
+
+use crate::get_ethercat_device;
+use crate::gluetex::temperature_controller::TemperatureController;
+
+impl MachineNewTrait for Gluetex {
+    fn new<'maindevice>(params: &MachineNewParams) -> Result<Self, Error> {
+        // validate general stuff
+
+        let device_identification = params.device_group.to_vec();
+
+        validate_same_machine_identification_unique(&device_identification)?;
+        validate_no_role_dublicates(&device_identification)?;
+
+        let hardware = match &params.hardware {
+            MachineNewHardware::Ethercat(x) => x,
+            _ => {
+                return Err(anyhow::anyhow!(
+                    "[{}::MachineNewTrait/Gluetex::new] MachineNewHardware is not Ethercat",
+                    module_path!()
+                ));
+            }
+        };
+
+        // using block_on because making this funciton async creates a lifetime issue
+        // if its async the compiler thinks &subdevices is persisted in the future which might never execute
+        // so we can't drop subdevices unless this machine is dropped, which is bad
+        smol::block_on(async {
+            // Role 0: Buscoupler EK1100
+            let _ek1100 =
+                get_ethercat_device::<EK1100>(hardware, params, 0, vec![EK1100_IDENTITY_A]).await?;
+
+            // Role 1: 2x Digital outputs EL2002
+            let el2002 = get_ethercat_device::<EL2002>(
+                hardware,
+                params,
+                1,
+                vec![EL2002_IDENTITY_A, EL2002_IDENTITY_B],
+            )
+            .await?
+            .0;
+
+            // Role 2: Stepper Spool EL7041-0052
+            let el7041 = {
+                let device = get_ethercat_device::<EL7041_0052>(
+                    hardware,
+                    params,
+                    2,
+                    vec![EL7041_0052_IDENTITY_A],
+                )
+                .await?;
+
+                let el7041_config = EL7041_0052Configuration {
+                    stm_features: shared_config::el70x1::StmFeatures {
+                        operation_mode: EL70x1OperationMode::DirectVelocity,
+                        ..Default::default()
+                    },
+                    stm_motor: StmMotorConfiguration {
+                        max_current: 2800,
+                        ..Default::default()
+                    },
+                    ..Default::default()
+                };
+
+                device
+                    .0
+                    .write()
+                    .await
+                    .write_config(&device.1, &el7041_config)
+                    .await?;
+                device.0
+            };
+
+            // Role 3: Stepper Traverse EL7031
+            let el7031 = {
+                let device = get_ethercat_device::<EL7031>(
+                    hardware,
+                    params,
+                    3,
+                    vec![EL7031_IDENTITY_A, EL7031_IDENTITY_B],
+                )
+                .await?;
+
+                let el7031_config = EL7031Configuration {
+                    stm_features: shared_config::el70x1::StmFeatures {
+                        operation_mode: EL70x1OperationMode::DirectVelocity,
+                        speed_range: shared_config::el70x1::EL70x1SpeedRange::Steps1000,
+                        ..Default::default()
+                    },
+                    stm_motor: StmMotorConfiguration {
+                        max_current: 1500,
+                        ..Default::default()
+                    },
+                    pdo_assignment: EL7031PredefinedPdoAssignment::VelocityControlCompact,
+                    ..Default::default()
+                };
+
+                device
+                    .0
+                    .write()
+                    .await
+                    .write_config(&device.1, &el7031_config)
+                    .await?;
+
+                device.0
+            };
+
+            // Role 4: Stepper Puller EL7031-0030
+            let el7031_0030 = {
+                let device = get_ethercat_device::<EL7031_0030>(
+                    hardware,
+                    params,
+                    4,
+                    vec![EL7031_0030_IDENTITY_A],
+                )
+                .await?;
+
+                let el7031_0030_config = EL7031_0030Configuration {
+                    stm_features: el7031_0030::coe::StmFeatures {
+                        operation_mode: EL70x1OperationMode::DirectVelocity,
+                        speed_range: shared_config::el70x1::EL70x1SpeedRange::Steps1000,
+                        ..Default::default()
+                    },
+                    stm_motor: StmMotorConfiguration {
+                        max_current: 2700,
+                        ..Default::default()
+                    },
+                    pdo_assignment: EL7031_0030PredefinedPdoAssignment::VelocityControlCompact,
+                    ..Default::default()
+                };
+                device
+                    .0
+                    .write()
+                    .await
+                    .write_config(&device.1, &el7031_0030_config)
+                    .await?;
+                device.0
+            };
+
+            // Role 5: Temperature Sensors 1-4 EL3204
+            let el3204_1 = get_ethercat_device::<EL3204>(
+                hardware,
+                params,
+                5,
+                vec![EL3204_IDENTITY_A, EL3204_IDENTITY_B],
+            )
+            .await?
+            .0;
+
+            // Role 6: Temperature Sensors 5-6 (and 2 spare ports) EL3204
+            let el3204_2 = get_ethercat_device::<EL3204>(
+                hardware,
+                params,
+                6,
+                vec![EL3204_IDENTITY_A, EL3204_IDENTITY_B],
+            )
+            .await?
+            .0;
+
+            // Temperature inputs
+            let temperature_1 = TemperatureInput::new(el3204_1.clone(), EL3204Port::T1);
+            let temperature_2 = TemperatureInput::new(el3204_1.clone(), EL3204Port::T2);
+            let temperature_3 = TemperatureInput::new(el3204_1.clone(), EL3204Port::T3);
+            let temperature_4 = TemperatureInput::new(el3204_1, EL3204Port::T4);
+            let temperature_5 = TemperatureInput::new(el3204_2.clone(), EL3204Port::T1);
+            let temperature_6 = TemperatureInput::new(el3204_2, EL3204Port::T2);
+
+            // Role 7: Digital outputs for heater SSRs EL2008
+            let el2008 = get_ethercat_device::<EL2008>(
+                hardware,
+                params,
+                7,
+                vec![EL2008_IDENTITY_A, EL2008_IDENTITY_B],
+            )
+            .await?
+            .0;
+
+            // Role 8: Addon Motor 3 EL7031-0030
+            let el7031_addon3 = {
+                let device = get_ethercat_device::<EL7031_0030>(
+                    hardware,
+                    params,
+                    8,
+                    vec![EL7031_0030_IDENTITY_A, EL7031_IDENTITY_A, EL7031_IDENTITY_B],
+                )
+                .await?;
+
+                let el7031_0030_config = EL7031_0030Configuration {
+                    stm_features: el7031_0030::coe::StmFeatures {
+                        operation_mode: EL70x1OperationMode::DirectVelocity,
+                        speed_range: shared_config::el70x1::EL70x1SpeedRange::Steps1000,
+                        ..Default::default()
+                    },
+                    stm_motor: StmMotorConfiguration {
+                        max_current: 1500,
+                        ..Default::default()
+                    },
+                    pdo_assignment: EL7031_0030PredefinedPdoAssignment::VelocityControlCompact,
+                    ..Default::default()
+                };
+
+                device
+                    .0
+                    .write()
+                    .await
+                    .write_config(&device.1, &el7031_0030_config)
+                    .await?;
+
+                device.0
+            };
+
+            // Role 9: Addon Motor 4 EL7031-0030
+            let el7031_addon4 = {
+                let device = get_ethercat_device::<EL7031_0030>(
+                    hardware,
+                    params,
+                    9,
+                    vec![EL7031_0030_IDENTITY_A, EL7031_IDENTITY_A, EL7031_IDENTITY_B],
+                )
+                .await?;
+
+                let el7031_0030_config = EL7031_0030Configuration {
+                    stm_features: el7031_0030::coe::StmFeatures {
+                        operation_mode: EL70x1OperationMode::DirectVelocity,
+                        speed_range: shared_config::el70x1::EL70x1SpeedRange::Steps1000,
+                        ..Default::default()
+                    },
+                    stm_motor: StmMotorConfiguration {
+                        max_current: 1500,
+                        ..Default::default()
+                    },
+                    pdo_assignment: EL7031_0030PredefinedPdoAssignment::VelocityControlCompact,
+                    ..Default::default()
+                };
+
+                device
+                    .0
+                    .write()
+                    .await
+                    .write_config(&device.1, &el7031_0030_config)
+                    .await?;
+
+                device.0
+            };
+
+            // Role 10: Slave Puller EL7031-0030 (with analog input for tension arm)
+            let el7031_0030_slave = {
+                let device = get_ethercat_device::<EL7031_0030>(
+                    hardware,
+                    params,
+                    10,
+                    vec![EL7031_0030_IDENTITY_A, EL7031_IDENTITY_A, EL7031_IDENTITY_B],
+                )
+                .await?;
+
+                let el7031_0030_config = EL7031_0030Configuration {
+                    stm_features: el7031_0030::coe::StmFeatures {
+                        operation_mode: EL70x1OperationMode::DirectVelocity,
+                        speed_range: shared_config::el70x1::EL70x1SpeedRange::Steps1000,
+                        ..Default::default()
+                    },
+                    stm_motor: StmMotorConfiguration {
+                        max_current: 2700,
+                        ..Default::default()
+                    },
+                    pdo_assignment: EL7031_0030PredefinedPdoAssignment::VelocityControlCompact,
+                    ..Default::default()
+                };
+                device
+                    .0
+                    .write()
+                    .await
+                    .write_config(&device.1, &el7031_0030_config)
+                    .await?;
+                device.0
+            };
+
+            // Digital outputs for SSR control (24V to external SSRs for 60W heaters)
+            let heater_ssr_1 = DigitalOutput::new(el2008.clone(), EL2008Port::DO1);
+            let heater_ssr_2 = DigitalOutput::new(el2008.clone(), EL2008Port::DO2);
+            let heater_ssr_3 = DigitalOutput::new(el2008.clone(), EL2008Port::DO3);
+            let heater_ssr_4 = DigitalOutput::new(el2008.clone(), EL2008Port::DO4);
+            let heater_ssr_5 = DigitalOutput::new(el2008.clone(), EL2008Port::DO5);
+            let heater_ssr_6 = DigitalOutput::new(el2008, EL2008Port::DO6);
+
+            // Maximum temperature for all heating zones
+            let max_temperature = ThermodynamicTemperature::new::<degree_celsius>(300.0);
+
+            // PID-controlled temperature controllers (60W heaters via SSR)
+            // PID tuning: kp=0.10, ki=0.0, kd=0.015 (same as aquapath)
+            let temperature_controller_1 = TemperatureController::new(
+                0.10,
+                0.0,
+                0.015,
+                ThermodynamicTemperature::new::<degree_celsius>(150.0),
+                max_temperature,
+                temperature_1,
+                heater_ssr_1,
+                super::Heating::default(),
+                Duration::from_millis(500),
+                60.0, // 60W heater
+                1.0,
+            );
+
+            let temperature_controller_2 = TemperatureController::new(
+                0.10,
+                0.0,
+                0.015,
+                ThermodynamicTemperature::new::<degree_celsius>(150.0),
+                max_temperature,
+                temperature_2,
+                heater_ssr_2,
+                super::Heating::default(),
+                Duration::from_millis(500),
+                60.0,
+                1.0,
+            );
+
+            let temperature_controller_3 = TemperatureController::new(
+                0.10,
+                0.0,
+                0.015,
+                ThermodynamicTemperature::new::<degree_celsius>(150.0),
+                max_temperature,
+                temperature_3,
+                heater_ssr_3,
+                super::Heating::default(),
+                Duration::from_millis(500),
+                60.0,
+                1.0,
+            );
+
+            let temperature_controller_4 = TemperatureController::new(
+                0.10,
+                0.0,
+                0.015,
+                ThermodynamicTemperature::new::<degree_celsius>(150.0),
+                max_temperature,
+                temperature_4,
+                heater_ssr_4,
+                super::Heating::default(),
+                Duration::from_millis(500),
+                60.0,
+                1.0,
+            );
+
+            let temperature_controller_5 = TemperatureController::new(
+                0.10,
+                0.0,
+                0.015,
+                ThermodynamicTemperature::new::<degree_celsius>(150.0),
+                max_temperature,
+                temperature_5,
+                heater_ssr_5,
+                super::Heating::default(),
+                Duration::from_millis(500),
+                60.0,
+                1.0,
+            );
+
+            let temperature_controller_6 = TemperatureController::new(
+                0.10,
+                0.0,
+                0.015,
+                ThermodynamicTemperature::new::<degree_celsius>(150.0),
+                max_temperature,
+                temperature_6,
+                heater_ssr_6,
+                super::Heating::default(),
+                Duration::from_millis(500),
+                60.0,
+                1.0,
+            );
+
+            let mode = GluetexMode::Standby;
+
+            let machine_id = params
+                .device_group
+                .first()
+                .expect("device group must have at least one device")
+                .device_machine_identification
+                .machine_identification_unique
+                .clone();
+            let (sender, receiver) = smol::channel::unbounded();
+            let mut new =
+                Self {
+                    main_sender: params.main_thread_channel.clone(),
+                    max_connected_machines: 2,
+                    api_receiver: receiver,
+                    api_sender: sender,
+                    traverse: StepperVelocityEL70x1::new(el7031.clone(), EL7031StepperPort::STM1),
+                    traverse_end_stop: DigitalInput::new(el7031, EL7031DigitalInputPort::DI1),
+                    temperature_controller_1,
+                    temperature_controller_2,
+                    temperature_controller_3,
+                    temperature_controller_4,
+                    temperature_controller_5,
+                    temperature_controller_6,
+                    heating_enabled: false,
+                    puller: StepperVelocityEL70x1::new(
+                        el7031_0030.clone(),
+                        EL7031_0030StepperPort::STM1,
+                    ),
+                    spool: StepperVelocityEL70x1::new(el7041, EL7041_0052Port::STM1),
+                    addon_motor_3: StepperVelocityEL70x1::new(
+                        el7031_addon3,
+                        EL7031_0030StepperPort::STM1,
+                    ),
+                    addon_motor_4: StepperVelocityEL70x1::new(
+                        el7031_addon4.clone(),
+                        EL7031_0030StepperPort::STM1,
+                    ),
+                    addon_tension_arm: TensionArm::new(AnalogInput::new(
+                        el7031_addon4,
+                        EL7031_0030AnalogInputPort::AI1,
+                    )),
+                    addon_motor_3_controller:
+                        super::addon_motor_controller::AddonMotorController::new(200),
+                    addon_motor_4_controller:
+                        super::addon_motor_controller::AddonMotorController::new(200),
+                    tension_arm: TensionArm::new(AnalogInput::new(
+                        el7031_0030,
+                        EL7031_0030AnalogInputPort::AI1,
+                    )),
+                    laser: DigitalOutput::new(el2002, EL2002Port::DO1),
+                    namespace: GluetexNamespace {
+                        namespace: params.namespace.clone(),
+                    },
+                    mode: mode.clone(),
+                    spool_step_converter: AngularStepConverter::new(200),
+                    spool_speed_controller: SpoolSpeedController::new(),
+                    last_measurement_emit: Instant::now(),
+                    spool_mode: mode.clone().into(),
+                    traverse_mode: mode.clone().into(),
+                    puller_mode: mode.clone().into(),
+                    puller_speed_controller: PullerSpeedController::new(
+                        Velocity::new::<meter_per_minute>(1.0),
+                        Length::new::<millimeter>(1.75),
+                        LinearStepConverter::from_diameter(
+                            200,                            // Assuming 200 steps per revolution for the puller stepper,
+                            Length::new::<centimeter>(8.0), // 8cm diameter of the puller wheel
+                        ),
+                    ),
+                    slave_puller: StepperVelocityEL70x1::new(
+                        el7031_0030_slave.clone(),
+                        EL7031_0030StepperPort::STM1,
+                    ),
+                    slave_tension_arm: TensionArm::new(AnalogInput::new(
+                        el7031_0030_slave,
+                        EL7031_0030AnalogInputPort::AI1,
+                    )),
+                    slave_puller_speed_controller: SlavePullerSpeedController::new(
+                        Angle::new::<degree>(20.0), // Min angle (low tension, high speed)
+                        Angle::new::<degree>(90.0), // Max angle (high tension, low speed)
+                        LinearStepConverter::from_diameter(
+                            200,                            // 200 steps per revolution
+                            Length::new::<centimeter>(8.0), // 8cm diameter
+                        ),
+                        FilamentTensionCalculator::new(
+                            Angle::new::<degree>(20.0), // Min angle for tension calc
+                            Angle::new::<degree>(90.0), // Max angle for tension calc
+                        ),
+                    ),
+                    slave_puller_mode: mode.clone().into(),
+                    traverse_controller: TraverseController::new(
+                        Length::new::<millimeter>(22.0), // Default inner limit
+                        Length::new::<millimeter>(92.0), // Default outer limit
+                        64,                              // Microsteps
+                    ),
+                    emitted_default_state: false,
+                    spool_automatic_action: super::SpoolAutomaticAction {
+                        progress: Length::ZERO,
+                        progress_last_check: Instant::now(),
+                        target_length: Length::new::<meter>(250.0),
+                        mode: super::api::SpoolAutomaticActionMode::NoAction,
+                    },
+                    machine_identification_unique: machine_id,
+                    connected_machines: vec![],
+                    tension_arm_monitor_config: super::TensionArmMonitorConfig::default(),
+                    tension_arm_monitor_triggered: false,
+                };
+
+            // initalize events
+            new.emit_state();
+            Ok(new)
+        })
+    }
+}

machines/src/gluetex/puller_speed_controller.rs

@@ -0,0 +1,155 @@
+use std::time::Instant;
+
+use control_core::{
+    controllers::second_degree_motion::linear_jerk_speed_controller::LinearJerkSpeedController,
+    converters::linear_step_converter::LinearStepConverter,
+};
+use serde::{Deserialize, Serialize};
+use units::ConstZero;
+use units::acceleration::meter_per_minute_per_second;
+use units::f64::*;
+use units::jerk::meter_per_minute_per_second_squared;
+use units::velocity::meter_per_minute;
+
+#[derive(Serialize, Deserialize, Debug, Clone, Copy, PartialEq)]
+pub enum GearRatio {
+    OneToOne,
+    OneToFive,
+    OneToTen,
+}
+
+impl GearRatio {
+    /// Get the speed multiplier for this gear ratio
+    pub fn multiplier(&self) -> f64 {
+        match self {
+            GearRatio::OneToOne => 1.0,
+            GearRatio::OneToFive => 5.0,
+            GearRatio::OneToTen => 10.0,
+        }
+    }
+}
+
+impl Default for GearRatio {
+    fn default() -> Self {
+        GearRatio::OneToOne
+    }
+}
+
+#[derive(Debug)]
+pub struct PullerSpeedController {
+    enabled: bool,
+    pub target_speed: Velocity,
+    pub target_diameter: Length,
+    pub regulation_mode: PullerRegulationMode,
+    /// Forward rotation direction. If false, applies negative sign to speed
+    pub forward: bool,
+    /// Gear ratio for winding speed (1:5 or 1:10)
+    pub gear_ratio: GearRatio,
+    /// Linear acceleration controller to dampen speed change
+    acceleration_controller: LinearJerkSpeedController,
+    /// Converter for linear to angular transformations
+    pub converter: LinearStepConverter,
+    pub last_speed: Velocity,
+}
+
+impl PullerSpeedController {
+    pub fn new(
+        target_speed: Velocity,
+        target_diameter: Length,
+        converter: LinearStepConverter,
+    ) -> Self {
+        let acceleration = Acceleration::new::<meter_per_minute_per_second>(5.0);
+        let jerk = Jerk::new::<meter_per_minute_per_second_squared>(10.0);
+        let speed = Velocity::new::<meter_per_minute>(50.0);
+
+        Self {
+            enabled: false,
+            target_speed,
+            target_diameter,
+            regulation_mode: PullerRegulationMode::Speed,
+            forward: true,
+            gear_ratio: GearRatio::default(),
+            acceleration_controller: LinearJerkSpeedController::new_simple(
+                Some(speed),
+                acceleration,
+                jerk,
+            ),
+            converter,
+            last_speed: Velocity::ZERO,
+        }
+    }
+
+    pub const fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+
+    pub fn set_target_speed(&mut self, target: Velocity) {
+        self.target_speed = target;
+    }
+
+    pub fn set_target_diameter(&mut self, target: Length) {
+        self.target_diameter = target;
+    }
+
+    pub const fn set_regulation_mode(&mut self, regulation: PullerRegulationMode) {
+        self.regulation_mode = regulation;
+    }
+
+    pub const fn set_forward(&mut self, forward: bool) {
+        self.forward = forward;
+    }
+
+    pub const fn set_gear_ratio(&mut self, gear_ratio: GearRatio) {
+        self.gear_ratio = gear_ratio;
+    }
+
+    pub const fn get_gear_ratio(&self) -> GearRatio {
+        self.gear_ratio
+    }
+
+    fn update_speed(&mut self, t: Instant) -> Velocity {
+        let base_speed = match self.enabled {
+            true => match self.regulation_mode {
+                PullerRegulationMode::Speed => self.target_speed,
+                PullerRegulationMode::Diameter => unimplemented!(),
+            },
+            false => Velocity::ZERO,
+        };
+
+        // Apply gear ratio multiplier
+        let speed = base_speed * self.gear_ratio.multiplier();
+
+        let speed = if self.forward { speed } else { -speed };
+
+        let speed = self.acceleration_controller.update(speed, t);
+
+        self.last_speed = speed;
+        speed
+    }
+
+    pub fn speed_to_angular_velocity(&self, speed: Velocity) -> AngularVelocity {
+        // Use the converter to transform from linear velocity to angular velocity
+        self.converter.velocity_to_angular_velocity(speed)
+    }
+
+    pub fn angular_velocity_to_speed(&self, angular_speed: AngularVelocity) -> Velocity {
+        // Use the converter to transform from angular velocity to linear velocity
+        self.converter.angular_velocity_to_velocity(angular_speed)
+    }
+
+    pub fn calc_angular_velocity(&mut self, t: Instant) -> AngularVelocity {
+        let speed = self.update_speed(t);
+        self.speed_to_angular_velocity(speed)
+    }
+
+    pub fn get_target_speed(&self) -> Velocity {
+        self.target_speed
+    }
+}
+
+#[derive(Serialize, Deserialize, Debug, Clone, Default)]
+pub enum PullerRegulationMode {
+    #[default]
+    Speed,
+    Diameter,
+}

machines/src/gluetex/slave_puller_speed_controller.rs

@@ -0,0 +1,286 @@
+use std::time::Instant;
+
+use control_core::converters::linear_step_converter::LinearStepConverter;
+use units::ConstZero;
+use units::f64::*;
+
+use super::{
+    clamp_revolution::Clamping, clamp_revolution::clamp_revolution_uom,
+    filament_tension::FilamentTensionCalculator, tension_arm::TensionArm,
+};
+
+/// Slave puller speed controller that follows the master puller
+/// with speed adjustments based on tension arm angle feedback.
+///
+/// Uses min/max angles to define the detection zone for speed control.
+/// When tension arm is at min angle (low tension), slave pulls faster.
+/// When tension arm is at max angle (high tension), slave pulls slower.
+/// Optional min/max speed factors provide overspeed protection.
+#[derive(Debug)]
+pub struct SlavePullerSpeedController {
+    /// Last commanded velocity
+    last_speed: Velocity,
+    /// Whether the controller is enabled
+    enabled: bool,
+    /// Forward rotation direction
+    forward: bool,
+    /// Minimum angle for detection zone (low tension, high speed)
+    min_angle: Angle,
+    /// Maximum angle for detection zone (high tension, low speed)
+    max_angle: Angle,
+    /// Optional minimum speed factor for overspeed protection (e.g., 0.5 = 50%)
+    min_speed_factor: Option<f64>,
+    /// Optional maximum speed factor for overspeed protection (e.g., 2.0 = 200%)
+    max_speed_factor: Option<f64>,
+    /// Tension calculator to convert arm angle to normalized tension
+    filament_calc: FilamentTensionCalculator,
+    /// Converter for linear velocity to motor steps
+    pub converter: LinearStepConverter,
+}
+
+impl SlavePullerSpeedController {
+    /// Create a new slave puller speed controller
+    ///
+    /// # Arguments
+    /// * `min_angle` - Minimum angle for detection zone (low tension, high speed)
+    /// * `max_angle` - Maximum angle for detection zone (high tension, low speed)
+    /// * `converter` - Linear step converter for the motor
+    /// * `filament_calc` - Tension calculator for the tension arm
+    pub fn new(
+        min_angle: Angle,
+        max_angle: Angle,
+        converter: LinearStepConverter,
+        filament_calc: FilamentTensionCalculator,
+    ) -> Self {
+        Self {
+            last_speed: Velocity::ZERO,
+            enabled: false,
+            forward: true,
+            min_angle,
+            max_angle,
+            min_speed_factor: None,
+            max_speed_factor: None,
+            filament_calc,
+            converter,
+        }
+    }
+
+    /// Calculate the raw target speed based on master speed and tension arm angle
+    ///
+    /// # Arguments
+    /// * `master_speed` - Current speed of the master puller
+    /// * `tension_arm` - Reference to the tension arm for feedback
+    ///
+    /// # Returns
+    /// Target velocity for the slave puller
+    fn speed_raw(&self, master_speed: Velocity, tension_arm: &TensionArm) -> Velocity {
+        // Get tension arm angle and clamp to valid range
+        let tension_arm_angle = tension_arm.get_angle();
+        let (clamped_angle, clamping_state) = clamp_revolution_uom(
+            tension_arm_angle,
+            self.max_angle, // Inverted: min angle = max tension = low speed
+            self.min_angle, // Inverted: max angle = min tension = high speed
+        );
+
+        // If at limits, return master speed (no adjustment)
+        let base_speed = match clamping_state {
+            Clamping::Min => master_speed, // At max angle (high tension) - return base speed
+            Clamping::Max => master_speed, // At min angle (low tension) - return base speed
+            _ => {
+                // Calculate normalized tension (0.0 = low tension, 1.0 = high tension)
+                let filament_tension = self.filament_calc.calc_filament_tension(clamped_angle);
+
+                // Invert tension for speed calculation: low tension = high speed, high tension = low speed
+                // At min_angle (low tension): tension = 0.0, inverted = 1.0 -> slave runs faster
+                // At max_angle (high tension): tension = 1.0, inverted = 0.0 -> slave runs slower
+                let speed_factor = 1.0 - filament_tension;
+
+                // Interpolate between 50% and 150% of master speed based on tension
+                // This gives a natural range that can be further limited by optional factors
+                let factor = 0.5 + speed_factor; // Maps 0.0-1.0 to 0.5-1.5
+
+                master_speed * factor
+            }
+        };
+
+        // Apply optional speed factor limits for overspeed protection
+        let limited_speed = if let Some(min_factor) = self.min_speed_factor {
+            base_speed.max(master_speed * min_factor)
+        } else {
+            base_speed
+        };
+
+        let limited_speed = if let Some(max_factor) = self.max_speed_factor {
+            limited_speed.min(master_speed * max_factor)
+        } else {
+            limited_speed
+        };
+
+        limited_speed.abs()
+    }
+
+    /// Main update function called every control cycle
+    ///
+    /// # Arguments
+    /// * `t` - Current timestamp
+    /// * `master_speed` - Speed of the master puller
+    /// * `tension_arm` - Reference to the slave tension arm
+    ///
+    /// # Returns
+    /// Commanded velocity for the slave puller motor
+    pub fn update_speed(
+        &mut self,
+        _t: Instant,
+        master_speed: Velocity,
+        tension_arm: &TensionArm,
+    ) -> Velocity {
+        // Calculate raw target speed
+        let target_speed = self.speed_raw(master_speed, tension_arm);
+
+        // Apply enable/disable logic
+        let final_speed = if self.enabled {
+            target_speed
+        } else {
+            Velocity::ZERO
+        };
+
+        // Store and return final speed
+        self.last_speed = final_speed;
+        final_speed
+    }
+
+    // Getters and setters
+
+    pub const fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+
+    pub const fn is_enabled(&self) -> bool {
+        self.enabled
+    }
+
+    pub const fn set_forward(&mut self, forward: bool) {
+        self.forward = forward;
+    }
+
+    pub const fn get_forward(&self) -> bool {
+        self.forward
+    }
+
+    pub const fn set_min_angle(&mut self, angle: Angle) {
+        self.min_angle = angle;
+    }
+
+    pub const fn get_min_angle(&self) -> Angle {
+        self.min_angle
+    }
+
+    pub const fn set_max_angle(&mut self, angle: Angle) {
+        self.max_angle = angle;
+    }
+
+    pub const fn get_max_angle(&self) -> Angle {
+        self.max_angle
+    }
+
+    pub fn set_min_speed_factor(&mut self, factor: Option<f64>) {
+        self.min_speed_factor = factor.map(|f| f.clamp(0.1, 5.0));
+    }
+
+    pub const fn get_min_speed_factor(&self) -> Option<f64> {
+        self.min_speed_factor
+    }
+
+    pub fn set_max_speed_factor(&mut self, factor: Option<f64>) {
+        self.max_speed_factor = factor.map(|f| f.clamp(0.1, 5.0));
+    }
+
+    pub const fn get_max_speed_factor(&self) -> Option<f64> {
+        self.max_speed_factor
+    }
+
+    pub const fn get_last_speed(&self) -> Velocity {
+        self.last_speed
+    }
+
+    pub fn reset(&mut self) {
+        self.last_speed = Velocity::ZERO;
+    }
+
+    /// Convert velocity to angular velocity for step conversion
+    pub fn velocity_to_angular_velocity(&self, velocity: Velocity) -> AngularVelocity {
+        self.converter.velocity_to_angular_velocity(velocity)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use units::angle::degree;
+    use units::length::millimeter;
+
+    #[test]
+    fn test_slave_puller_angles() {
+        let converter =
+            LinearStepConverter::from_circumference(200, Length::new::<millimeter>(50.0));
+        let filament_calc =
+            FilamentTensionCalculator::new(Angle::new::<degree>(20.0), Angle::new::<degree>(90.0));
+
+        let controller = SlavePullerSpeedController::new(
+            Angle::new::<degree>(20.0),
+            Angle::new::<degree>(90.0),
+            converter,
+            filament_calc,
+        );
+
+        assert_eq!(controller.get_min_angle().get::<degree>(), 20.0);
+        assert_eq!(controller.get_max_angle().get::<degree>(), 90.0);
+    }
+
+    #[test]
+    fn test_slave_puller_enabled_state() {
+        let converter =
+            LinearStepConverter::from_circumference(200, Length::new::<millimeter>(50.0));
+        let filament_calc =
+            FilamentTensionCalculator::new(Angle::new::<degree>(20.0), Angle::new::<degree>(90.0));
+
+        let mut controller = SlavePullerSpeedController::new(
+            Angle::new::<degree>(20.0),
+            Angle::new::<degree>(90.0),
+            converter,
+            filament_calc,
+        );
+
+        assert!(!controller.is_enabled());
+
+        controller.set_enabled(true);
+        assert!(controller.is_enabled());
+
+        controller.set_enabled(false);
+        assert!(!controller.is_enabled());
+    }
+
+    #[test]
+    fn test_optional_speed_factors() {
+        let converter =
+            LinearStepConverter::from_circumference(200, Length::new::<millimeter>(50.0));
+        let filament_calc =
+            FilamentTensionCalculator::new(Angle::new::<degree>(20.0), Angle::new::<degree>(90.0));
+
+        let mut controller = SlavePullerSpeedController::new(
+            Angle::new::<degree>(20.0),
+            Angle::new::<degree>(90.0),
+            converter,
+            filament_calc,
+        );
+
+        assert_eq!(controller.get_min_speed_factor(), None);
+        assert_eq!(controller.get_max_speed_factor(), None);
+
+        controller.set_min_speed_factor(Some(0.7));
+        controller.set_max_speed_factor(Some(1.5));
+
+        assert_eq!(controller.get_min_speed_factor(), Some(0.7));
+        assert_eq!(controller.get_max_speed_factor(), Some(1.5));
+    }
+}

machines/src/gluetex/spool_speed_controller.rs

@@ -0,0 +1,194 @@
+use crate::gluetex::{
+    adaptive_spool_speed_controller::AdaptiveSpoolSpeedController,
+    minmax_spool_speed_controller::MinMaxSpoolSpeedController,
+    puller_speed_controller::PullerSpeedController,
+};
+use control_core::controllers::second_degree_motion::acceleration_position_controller::MotionControllerError;
+
+use super::tension_arm::TensionArm;
+use serde::{Deserialize, Serialize};
+use std::time::Instant;
+use units::f64::*;
+
+#[derive(Debug, Clone, Serialize, Deserialize, Default)]
+pub enum SpoolSpeedControllerType {
+    #[default]
+    Adaptive,
+    MinMax,
+}
+
+#[derive(Debug)]
+pub struct SpoolSpeedController {
+    adaptive_controller: AdaptiveSpoolSpeedController,
+    minmax_controller: MinMaxSpoolSpeedController,
+    r#type: SpoolSpeedControllerType,
+    forward: bool,
+}
+
+impl Default for SpoolSpeedController {
+    fn default() -> Self {
+        Self::new()
+    }
+}
+
+impl SpoolSpeedController {
+    pub fn new() -> Self {
+        Self {
+            adaptive_controller: AdaptiveSpoolSpeedController::new(),
+            minmax_controller: MinMaxSpoolSpeedController::new(),
+            r#type: SpoolSpeedControllerType::Adaptive,
+            forward: true,
+        }
+    }
+
+    pub fn get_speed(&self) -> AngularVelocity {
+        match self.r#type {
+            SpoolSpeedControllerType::Adaptive => self.adaptive_controller.get_speed(),
+            SpoolSpeedControllerType::MinMax => self.minmax_controller.get_speed(),
+        }
+    }
+
+    pub fn set_speed(&mut self, speed: AngularVelocity) {
+        match self.r#type {
+            SpoolSpeedControllerType::Adaptive => self.adaptive_controller.set_speed(speed),
+            SpoolSpeedControllerType::MinMax => self.minmax_controller.set_speed(speed),
+        }
+    }
+
+    pub const fn set_enabled(&mut self, enabled: bool) {
+        self.adaptive_controller.set_enabled(enabled);
+        self.minmax_controller.set_enabled(enabled);
+    }
+
+    pub const fn is_enabled(&self) -> bool {
+        match self.r#type {
+            SpoolSpeedControllerType::Adaptive => self.adaptive_controller.is_enabled(),
+            SpoolSpeedControllerType::MinMax => self.minmax_controller.is_enabled(),
+        }
+    }
+
+    pub fn set_type(&mut self, r#type: SpoolSpeedControllerType) {
+        // If we're switching to a different type, copy the current speed to the target controller
+        if std::mem::discriminant(&self.r#type) != std::mem::discriminant(&r#type) {
+            // Get the current speed from the active controller
+            let current_speed = match self.r#type {
+                SpoolSpeedControllerType::Adaptive => self.adaptive_controller.get_speed(),
+                SpoolSpeedControllerType::MinMax => self.minmax_controller.get_speed(),
+            };
+
+            // Set the speed in the target controller and reset it for smooth transition
+            match r#type {
+                SpoolSpeedControllerType::Adaptive => {
+                    self.adaptive_controller.set_speed(current_speed);
+                    self.adaptive_controller.reset();
+                    self.adaptive_controller.set_speed(current_speed); // Set again after reset to maintain speed
+                }
+                SpoolSpeedControllerType::MinMax => {
+                    self.minmax_controller.set_speed(current_speed);
+                    self.minmax_controller.reset();
+                    self.minmax_controller.set_speed(current_speed); // Set again after reset to maintain speed
+                }
+            }
+        }
+
+        self.r#type = r#type;
+    }
+
+    pub const fn get_type(&self) -> &SpoolSpeedControllerType {
+        &self.r#type
+    }
+
+    pub fn set_minmax_min_speed(
+        &mut self,
+        min_speed: AngularVelocity,
+    ) -> Result<(), MotionControllerError> {
+        self.minmax_controller.set_min_speed(min_speed)
+    }
+
+    pub fn set_minmax_max_speed(
+        &mut self,
+        max_speed: AngularVelocity,
+    ) -> Result<(), MotionControllerError> {
+        self.minmax_controller.set_max_speed(max_speed)
+    }
+
+    pub fn get_minmax_min_speed(&self) -> AngularVelocity {
+        self.minmax_controller.get_min_speed()
+    }
+
+    pub fn get_minmax_max_speed(&self) -> AngularVelocity {
+        self.minmax_controller.get_max_speed()
+    }
+
+    pub fn update_speed(
+        &mut self,
+        t: Instant,
+        tension_arm: &TensionArm,
+        puller_speed_controller: &PullerSpeedController,
+    ) -> AngularVelocity {
+        match self.r#type {
+            SpoolSpeedControllerType::Adaptive => {
+                self.adaptive_controller
+                    .update_speed(t, tension_arm, puller_speed_controller)
+            }
+            SpoolSpeedControllerType::MinMax => self.minmax_controller.update_speed(t, tension_arm),
+        }
+    }
+
+    // Adaptive controller parameter getters and setters
+    pub const fn get_adaptive_tension_target(&self) -> f64 {
+        self.adaptive_controller.get_tension_target()
+    }
+
+    pub const fn set_adaptive_tension_target(&mut self, tension_target: f64) {
+        self.adaptive_controller.set_tension_target(tension_target);
+    }
+
+    pub const fn get_adaptive_radius_learning_rate(&self) -> f64 {
+        self.adaptive_controller.get_radius_learning_rate()
+    }
+
+    pub const fn set_adaptive_radius_learning_rate(&mut self, radius_learning_rate: f64) {
+        self.adaptive_controller
+            .set_radius_learning_rate(radius_learning_rate);
+    }
+
+    pub const fn get_adaptive_max_speed_multiplier(&self) -> f64 {
+        self.adaptive_controller.get_max_speed_multiplier()
+    }
+
+    pub const fn set_adaptive_max_speed_multiplier(&mut self, max_speed_multiplier: f64) {
+        self.adaptive_controller
+            .set_max_speed_multiplier(max_speed_multiplier);
+    }
+
+    pub const fn get_adaptive_acceleration_factor(&self) -> f64 {
+        self.adaptive_controller.get_acceleration_factor()
+    }
+
+    pub const fn set_adaptive_acceleration_factor(&mut self, acceleration_factor: f64) {
+        self.adaptive_controller
+            .set_acceleration_factor(acceleration_factor);
+    }
+
+    pub const fn get_adaptive_deacceleration_urgency_multiplier(&self) -> f64 {
+        self.adaptive_controller
+            .get_deacceleration_urgency_multiplier()
+    }
+
+    pub const fn set_adaptive_deacceleration_urgency_multiplier(
+        &mut self,
+        deacceleration_urgency_multiplier: f64,
+    ) {
+        self.adaptive_controller
+            .set_deacceleration_urgency_multiplier(deacceleration_urgency_multiplier);
+    }
+
+    pub const fn get_forward(&self) -> bool {
+        self.forward
+    }
+
+    pub const fn set_forward(&mut self, forward: bool) {
+        self.forward = forward;
+    }
+}

machines/src/gluetex/temperature_controller.rs

@@ -0,0 +1,129 @@
+use super::Heating;
+use control_core::controllers::pid::PidController;
+use ethercat_hal::io::{digital_output::DigitalOutput, temperature_input::TemperatureInput};
+use std::time::{Duration, Instant};
+use units::f64::*;
+use units::thermodynamic_temperature::degree_celsius;
+
+#[derive(Debug)]
+pub struct TemperatureController {
+    pub pid: PidController,
+    temperature_sensor: TemperatureInput,
+    ssr_output: DigitalOutput,
+    pub heating: Heating,
+    pub target_temp: ThermodynamicTemperature,
+    window_start: Instant,
+    heating_allowed: bool,
+    pwm_period: Duration,
+    max_temperature: ThermodynamicTemperature,
+    temperature_pid_output: f64,
+    heating_element_wattage: f64,
+    max_clamp: f64,
+}
+
+impl TemperatureController {
+    pub fn disable(&mut self) {
+        self.ssr_output.set(false);
+        self.heating.heating = false;
+        self.disallow_heating();
+    }
+
+    #[allow(clippy::too_many_arguments)]
+    pub fn new(
+        kp: f64,
+        ki: f64,
+        kd: f64,
+        target_temp: ThermodynamicTemperature,
+        max_temperature: ThermodynamicTemperature,
+        temperature_sensor: TemperatureInput,
+        ssr_output: DigitalOutput,
+        heating: Heating,
+        pwm_duration: Duration,
+        heating_element_wattage: f64,
+        max_clamp: f64,
+    ) -> Self {
+        Self {
+            pid: PidController::new(kp, ki, kd),
+            target_temp,
+            window_start: Instant::now(),
+            temperature_sensor,
+            ssr_output,
+            heating,
+            heating_allowed: false,
+            pwm_period: pwm_duration,
+            max_temperature,
+            temperature_pid_output: 0.0,
+            heating_element_wattage,
+            max_clamp,
+        }
+    }
+
+    pub fn set_target_temperature(&mut self, temp: ThermodynamicTemperature) {
+        self.heating.target_temperature = temp;
+    }
+
+    pub fn disallow_heating(&mut self) {
+        self.heating_allowed = false;
+    }
+
+    pub fn allow_heating(&mut self) {
+        self.heating_allowed = true;
+    }
+
+    pub fn get_heating_element_wattage(&mut self) -> f64 {
+        self.temperature_pid_output * self.heating_element_wattage
+    }
+
+    pub fn get_temperature(
+        &self,
+    ) -> Result<f64, ethercat_hal::io::temperature_input::TemperatureInputError> {
+        self.temperature_sensor.get_temperature()
+    }
+
+    pub fn update(&mut self, now: Instant) {
+        self.temperature_pid_output = 0.0;
+
+        let temperature = self.temperature_sensor.get_temperature();
+        let temperature_celsius = ThermodynamicTemperature::new::<degree_celsius>(
+            temperature.as_ref().unwrap_or(&0.0).to_owned(),
+        );
+
+        self.heating.wiring_error = temperature.is_err();
+        self.heating.temperature = temperature_celsius;
+
+        if self.heating.temperature > self.max_temperature {
+            // disable the SSR and return
+            self.ssr_output.set(false);
+            self.heating.heating = false;
+            return;
+        }
+
+        if self.heating_allowed {
+            let error: f64 = self.heating.target_temperature.get::<degree_celsius>()
+                - self.heating.temperature.get::<degree_celsius>();
+
+            let control = self.pid.update(error, now); // PID output
+            // Clamp PID output to 0.0 – 1.0 (as duty cycle)
+            let duty_cycle = control.clamp(0.0, self.max_clamp);
+            self.temperature_pid_output = duty_cycle;
+
+            // PWM logic
+            let elapsed = now.duration_since(self.window_start);
+            if elapsed >= self.pwm_period {
+                self.window_start = now;
+            }
+
+            let on_time = self.pwm_period.mul_f64(duty_cycle);
+            if elapsed < on_time {
+                self.ssr_output.set(true);
+                self.heating.heating = true;
+            } else {
+                self.ssr_output.set(false);
+                self.heating.heating = false;
+            }
+        } else {
+            self.ssr_output.set(false);
+            self.heating.heating = false;
+        }
+    }
+}

machines/src/gluetex/tension_arm.rs

@@ -0,0 +1,197 @@
+use ethercat_hal::io::analog_input::{AnalogInput, physical::AnalogInputValue};
+use units::angle::revolution;
+use units::electric_potential::volt;
+use units::f64::*;
+
+#[derive(Debug)]
+pub struct TensionArm {
+    pub analog_input: AnalogInput,
+    pub zero: Angle,
+    /// was zeroed at least once
+    pub zeroed: bool,
+}
+
+impl TensionArm {
+    pub fn new(analog_input: AnalogInput) -> Self {
+        Self {
+            analog_input,
+            zero: Angle::new::<revolution>(0.0),
+            zeroed: false,
+        }
+    }
+
+    fn volts_to_angle(&self, volts: f64) -> Angle {
+        // 0V = 0deg 5V = 3600deg
+        // always wrap into 0..1 revolution
+        Angle::new::<revolution>(volts / 5.0) % Angle::new::<revolution>(1.0)
+    }
+
+    fn get_volts(&self) -> f64 {
+        // get the normalized value from the analog input
+        let value = self.analog_input.get_physical();
+
+        match value {
+            AnalogInputValue::Potential(v) => v.get::<volt>(),
+            _ => panic!("Expected a potential value"),
+        }
+    }
+
+    fn raw_angle(&self) -> Angle {
+        // get volts
+        let volts = self.get_volts();
+
+        // 0V = 0deg 5V = 3600deg
+        self.volts_to_angle(volts)
+    }
+
+    pub fn get_angle(&self) -> Angle {
+        // revolution is maping -1/1 to 0/1
+        let raw = self.raw_angle();
+
+        // Handle the wraparound case
+        if raw < self.zero {
+            // We've wrapped around, so add a full revolution
+            (raw + Angle::new::<revolution>(1.0)) - self.zero
+        } else {
+            // Normal case
+            raw - self.zero
+        }
+    }
+
+    pub fn zero(&mut self) {
+        self.zero = self.raw_angle();
+        self.zeroed = true;
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use approx::assert_relative_eq;
+    use core::f64;
+    use ethercat_hal::io::{
+        analog_input::{AnalogInputInput, physical::AnalogInputRange},
+        analog_input_dummy::AnalogInputDummy,
+    };
+    use std::i16;
+
+    #[test]
+    fn volts_to_angle() {
+        let tension_arm = TensionArm::new(
+            AnalogInputDummy::new(AnalogInputRange::Potential {
+                min: ElectricPotential::new::<volt>(0.0),
+                max: ElectricPotential::new::<volt>(10.0),
+                min_raw: 0,
+                max_raw: i16::MAX,
+            })
+            .analog_input(),
+        );
+
+        // 0V = 0deg
+        assert_relative_eq!(
+            tension_arm.volts_to_angle(0.0).get::<revolution>(),
+            0.0,
+            epsilon = f64::EPSILON
+        );
+
+        // 5V = 1 revolution
+        assert_relative_eq!(
+            tension_arm.volts_to_angle(5.0).get::<revolution>(),
+            0.0,
+            epsilon = f64::EPSILON
+        );
+
+        // 10V = 2 revolution
+        assert_relative_eq!(
+            tension_arm.volts_to_angle(10.0).get::<revolution>(),
+            0.0,
+            epsilon = f64::EPSILON
+        );
+    }
+
+    #[test]
+    fn get_volts() {
+        let mut analog_input_dummy = AnalogInputDummy::new(AnalogInputRange::Potential {
+            min: ElectricPotential::new::<volt>(0.0),
+            max: ElectricPotential::new::<volt>(10.0),
+            min_raw: 0,
+            max_raw: i16::MAX,
+        });
+        let analog_input = analog_input_dummy.analog_input();
+        let tension_arm = TensionArm::new(analog_input);
+
+        // 0.0 normalized = 0V
+        let volts = tension_arm.get_volts();
+        assert_relative_eq!(volts, 0.0, epsilon = f64::EPSILON);
+
+        //  0.5 normalized = 5V
+        analog_input_dummy.set_input(AnalogInputInput {
+            // 5V of 10V in positive range
+            normalized: (5.0 / 10.0),
+            wiring_error: false,
+        });
+        let physical = tension_arm.analog_input.get_physical();
+        match physical {
+            AnalogInputValue::Potential(v) => {
+                assert_relative_eq!(v.get::<volt>(), 5.0, epsilon = f64::EPSILON);
+            }
+            _ => panic!("Expected a potential value"),
+        }
+    }
+
+    #[test]
+    fn test_tension_arm() {
+        let mut analog_input_dummy = AnalogInputDummy::new(AnalogInputRange::Potential {
+            min: ElectricPotential::new::<volt>(0.0),
+            max: ElectricPotential::new::<volt>(10.0),
+            min_raw: 0,
+            max_raw: i16::MAX,
+        });
+        let analog_input = analog_input_dummy.analog_input();
+        let tension_arm = TensionArm::new(analog_input);
+
+        // 0V = 0.25 = 0 revolution
+        let angle = tension_arm.get_angle();
+        assert_relative_eq!(angle.get::<revolution>(), 0.0, epsilon = f64::EPSILON);
+
+        // 1.25V = 0.25 revolution
+        analog_input_dummy.set_input(AnalogInputInput {
+            normalized: (1.25 / 10.0),
+            wiring_error: false,
+        });
+        let angle = tension_arm.raw_angle();
+        assert_relative_eq!(angle.get::<revolution>(), 0.25, epsilon = f64::EPSILON);
+
+        // 2.5V = 0.5 revolution
+        analog_input_dummy.set_input(AnalogInputInput {
+            normalized: (2.5 / 10.0),
+            wiring_error: false,
+        });
+        let angle = tension_arm.raw_angle();
+        assert_relative_eq!(angle.get::<revolution>(), 0.5, epsilon = f64::EPSILON);
+
+        // 3.75V = 0.75 revolution
+        analog_input_dummy.set_input(AnalogInputInput {
+            normalized: (3.75 / 10.0),
+            wiring_error: false,
+        });
+        let angle = tension_arm.raw_angle();
+        assert_relative_eq!(angle.get::<revolution>(), 0.75, epsilon = f64::EPSILON);
+
+        // 5V = 1 revolution
+        analog_input_dummy.set_input(AnalogInputInput {
+            normalized: (5.0 / 10.0),
+            wiring_error: false,
+        });
+        let angle = tension_arm.raw_angle();
+        assert_relative_eq!(angle.get::<revolution>(), 0.0, epsilon = f64::EPSILON);
+
+        // 6.25V = 0.25 revolution
+        analog_input_dummy.set_input(AnalogInputInput {
+            normalized: (6.25 / 10.0),
+            wiring_error: false,
+        });
+        let angle = tension_arm.raw_angle();
+        assert_relative_eq!(angle.get::<revolution>(), 0.25, epsilon = f64::EPSILON);
+    }
+}

machines/src/gluetex/traverse_controller.rs

@@ -0,0 +1,517 @@
+use std::time::Instant;
+
+use control_core::converters::linear_step_converter::LinearStepConverter;
+use ethercat_hal::io::{
+    digital_input::DigitalInput, stepper_velocity_el70x1::StepperVelocityEL70x1,
+};
+use units::ConstZero;
+use units::angular_velocity::revolution_per_second;
+use units::f64::{AngularVelocity, Length, Velocity};
+use units::length::millimeter;
+use units::velocity::millimeter_per_second;
+
+#[derive(Debug)]
+pub struct TraverseController {
+    enabled: bool,
+    position: Length,
+    limit_inner: Length,
+    limit_outer: Length,
+    step_size: Length,
+    padding: Length,
+    state: State,
+    fullstep_converter: LinearStepConverter,
+    microstep_converter: LinearStepConverter,
+    // A sticky flag if the [`State`] changed (not the sub states)
+    // Needed to send state updates to the UI
+    did_change_state: bool,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone)]
+pub enum State {
+    /// Initial state
+    NotHomed,
+
+    /// Doing nothing
+    /// Already homed
+    Idle,
+
+    /// Going to inner limit
+    ///
+    /// After reaching the inner limit, the state will change to [`State::Idle`]
+    GoingIn,
+
+    /// Going to outer limit
+    ///
+    /// After reaching the outer limit, the state will change to [`State::Idle`]
+    GoingOut,
+
+    /// Homing is in progress
+    ///
+    /// After homing is done, the state will change to [`State::Idle`]
+    Homing(HomingState),
+
+    /// Move between inner and outer limits
+    Traversing(TraversingState),
+}
+
+#[derive(Debug, PartialEq, Eq, Clone)]
+pub enum TraversingState {
+    /// Like [`State::GoingOut`] but
+    /// - will go into [`State::GoingIn`] after reaching the outer limit
+    GoingOut,
+
+    /// Like [`State::GoingIn`] but
+    /// - will go into [`State::GoingOut`] after reaching the inner limit
+    /// - speed is synced to spool speed
+    TraversingIn,
+
+    /// Like [`State::GoingOut`] but
+    /// - will go into [`State::GoingIn`] after reaching the outer limit
+    /// - speed is synced to spool speed
+    TraversingOut,
+}
+
+#[derive(Debug, PartialEq, Eq, Clone)]
+pub enum HomingState {
+    /// In this state the traverse is not moving but checks if the endstop si triggered
+    /// If the endstop is triggered we go into [`HomingState::EscapeEndstop`]
+    /// If the endstop is not triggered we go into [`HomingState::FindEndstop`]
+    Initialize,
+
+    /// In this state the traverse is moving out away from the endstop until it's not triggered anymore
+    /// The it goes into [`HomingState::FindEnstopFineDistancing`]
+    EscapeEndstop,
+
+    /// Moving out away from the endstop
+    /// Then Transition into [`HomingState::FindEndtopFine`]
+    FindEndstopFineDistancing,
+
+    /// In this state the traverse is fast until it reaches the endstop
+    FindEndstopCoarse,
+
+    /// In this state the traverse is moving slowly until it reaches the endstop
+    FindEndtopFine,
+
+    /// In this state we check if th current position is actually 0.0, if not we redo the homing routine
+    Validate(Instant),
+}
+
+impl TraverseController {
+    pub fn new(limit_inner: Length, limit_outer: Length, microsteps: u8) -> Self {
+        Self {
+            enabled: false,
+            position: Length::ZERO,
+            limit_inner,
+            limit_outer,
+            step_size: Length::new::<millimeter>(1.75), // Default step size
+            padding: Length::new::<millimeter>(0.88),   // Default padding
+            state: State::NotHomed,
+            did_change_state: false,
+            fullstep_converter: LinearStepConverter::from_circumference(
+                200,
+                Length::new::<millimeter>(35.0),
+            ),
+            microstep_converter: LinearStepConverter::from_circumference(
+                200 * microsteps as i16,
+                Length::new::<millimeter>(35.0),
+            ),
+        }
+    }
+}
+
+// Getter & Setter
+impl TraverseController {
+    pub const fn set_enabled(&mut self, enabled: bool) {
+        self.enabled = enabled;
+    }
+
+    pub fn set_limit_inner(&mut self, limit: Length) {
+        self.limit_inner = limit;
+    }
+
+    pub fn set_limit_outer(&mut self, limit: Length) {
+        self.limit_outer = limit;
+    }
+
+    pub fn set_step_size(&mut self, step_size: Length) {
+        self.step_size = step_size;
+    }
+
+    pub fn set_padding(&mut self, padding: Length) {
+        self.padding = padding;
+    }
+
+    pub fn get_limit_inner(&self) -> Length {
+        self.limit_inner
+    }
+
+    pub fn get_limit_outer(&self) -> Length {
+        self.limit_outer
+    }
+
+    pub fn get_step_size(&self) -> Length {
+        self.step_size
+    }
+
+    pub fn get_padding(&self) -> Length {
+        self.padding
+    }
+
+    pub fn get_current_position(&self) -> Option<Length> {
+        match self.is_homed() {
+            true => Some(self.position),
+            false => None,
+        }
+    }
+
+    pub const fn is_enabled(&self) -> bool {
+        self.enabled
+    }
+
+    pub const fn did_change_state(&mut self) -> bool {
+        let did_change = self.did_change_state;
+        // Reset the flag
+        self.did_change_state = false;
+        did_change
+    }
+}
+
+// State management
+impl TraverseController {
+    pub const fn goto_limit_inner(&mut self) {
+        self.state = State::GoingIn;
+    }
+
+    pub const fn goto_limit_outer(&mut self) {
+        self.state = State::GoingOut;
+    }
+
+    pub const fn goto_home(&mut self) {
+        self.state = State::Homing(HomingState::Initialize);
+    }
+
+    pub const fn start_traversing(&mut self) {
+        self.state = State::Traversing(TraversingState::GoingOut);
+    }
+
+    pub const fn is_homed(&self) -> bool {
+        // if not [`State::NotHomed`], then it is homed
+        !matches!(self.state, State::NotHomed)
+    }
+
+    pub const fn is_going_in(&self) -> bool {
+        // [`State::GoingIn`]
+        matches!(self.state, State::GoingIn)
+    }
+
+    pub const fn is_going_out(&self) -> bool {
+        // [`State::GoingOut`]
+        matches!(self.state, State::GoingOut)
+    }
+
+    pub const fn is_going_home(&self) -> bool {
+        // [`State::Homing`]
+        matches!(self.state, State::Homing(_))
+    }
+
+    pub const fn is_traversing(&self) -> bool {
+        // [`State::Traversing`]
+        matches!(self.state, State::Traversing(_))
+    }
+}
+
+impl TraverseController {
+    // If at inner limit within a tolerance
+    fn is_at_position(&self, target_position: Length, tolerance: Length) -> bool {
+        let upper_tolerance = target_position + tolerance.abs();
+        let lower_tolerance = target_position - tolerance.abs();
+        self.position >= lower_tolerance && self.position <= upper_tolerance
+    }
+
+    /// Calculate distance to position
+    fn distance_to_position(&self, target_position: Length) -> Length {
+        if self.position > target_position {
+            self.position - target_position
+        } else if self.position < target_position {
+            target_position - self.position
+        } else {
+            Length::ZERO
+        }
+    }
+
+    // Changes the direction of the speed based on the current position and target position
+    fn speed_to_position(&self, target_position: Length, absolute_speed: Velocity) -> Velocity {
+        // If we are over the target position we need to move negative
+        if self.position > target_position {
+            -absolute_speed.abs()
+        } else if self.position < target_position {
+            absolute_speed.abs()
+        } else {
+            Velocity::ZERO
+        }
+    }
+
+    /// Gets the current traverse position as a [`Length`].
+    pub fn sync_position(&mut self, traverse: &StepperVelocityEL70x1) {
+        let steps = traverse.get_position();
+        self.position = self.microstep_converter.steps_to_distance(steps as f64);
+    }
+
+    /// Update the [`did_change_state`] flag
+    /// Only considers the major state not the sub states
+    const fn update_did_change_state(&mut self, old_state: &State) -> bool {
+        match self.state {
+            State::NotHomed => !matches!(old_state, State::NotHomed),
+            State::Idle => !matches!(old_state, State::Idle),
+            State::GoingIn => !matches!(old_state, State::GoingIn),
+            State::GoingOut => !matches!(old_state, State::GoingOut),
+            State::Homing(_) => !matches!(old_state, State::Homing(_)),
+            State::Traversing(_) => !matches!(old_state, State::Traversing(_)),
+        }
+    }
+
+    /// Calculates a desired speed based on the current state and the end stop status.
+    ///
+    /// Positive speed moved out, negative speed moves in.
+    fn get_speed(
+        &mut self,
+        traverse: &mut StepperVelocityEL70x1,
+        traverse_end_stop: &DigitalInput,
+        spool_speed: AngularVelocity,
+    ) -> Velocity {
+        // Don't move if not enabled or in a state that doesn't result in movement
+        if !self.enabled {
+            return Velocity::ZERO;
+        }
+
+        self.sync_position(traverse);
+
+        // save state before
+        let old_state = self.state.clone();
+
+        // Automatic Transitions
+        match &self.state {
+            State::NotHomed => {}
+            State::Idle => {}
+            State::GoingIn => {
+                // If inner limit is reached
+                if self.is_at_position(self.limit_inner, Length::new::<millimeter>(0.01)) {
+                    // Put Into Idle
+                    self.state = State::Idle;
+                }
+            }
+            State::GoingOut => {
+                // If outer limit is reached
+                if self.is_at_position(self.limit_outer, Length::new::<millimeter>(0.01)) {
+                    // Put Into Idle
+                    self.state = State::Idle;
+                }
+            }
+            State::Homing(homing_state) => match homing_state {
+                HomingState::Initialize => {
+                    // If endstop is triggered, escape the endstop
+                    if traverse_end_stop.get_value().unwrap_or(false) {
+                        self.state = State::Homing(HomingState::EscapeEndstop);
+                    } else {
+                        // If endstop is not triggered, move to the endstop
+                        self.state = State::Homing(HomingState::FindEndstopCoarse);
+                    }
+                }
+                HomingState::EscapeEndstop => {
+                    // Move out until endstop is not triggered anymore
+                    if !traverse_end_stop.get_value().unwrap_or(false) {
+                        self.state = State::Homing(HomingState::FindEndstopFineDistancing);
+                    }
+                }
+                HomingState::FindEndstopFineDistancing => {
+                    // Move out until endstop is not triggered anymore
+                    if !traverse_end_stop.get_value().unwrap_or(false) {
+                        // Find endstop fine
+                        self.state = State::Homing(HomingState::FindEndtopFine);
+                    }
+                }
+                HomingState::FindEndtopFine => {
+                    // If endstop is reached change to idle
+                    if traverse_end_stop.get_value().unwrap_or(false) {
+                        // Set poition of traverse to 0
+                        traverse.set_position(0);
+                        // Put Into Idle
+                        self.state = State::Homing(HomingState::Validate(Instant::now()));
+                    }
+                }
+                HomingState::FindEndstopCoarse => {
+                    // Move to endstop
+                    if traverse_end_stop.get_value().unwrap_or(false) {
+                        // Move awaiy from endstop
+                        self.state = State::Homing(HomingState::FindEndstopFineDistancing);
+                    }
+                }
+                HomingState::Validate(instant) => {
+                    // If 100ms have passed check if position is actually 0.0
+                    if instant.elapsed().as_millis() > 100 {
+                        if self.is_at_position(Length::ZERO, Length::new::<millimeter>(0.01)) {
+                            // If position is 0.0, put into idle
+                            self.state = State::Idle;
+                        } else {
+                            // If position is not 0.0, redo homing
+                            self.state = State::Homing(HomingState::Initialize);
+                        }
+                    }
+                }
+            },
+
+            // If state changed we
+            State::Traversing(traversing_state) => match traversing_state {
+                TraversingState::GoingOut => {
+                    // If outer limit is reached
+                    if self.position >= self.limit_outer - self.padding {
+                        // Turn around
+                        self.state = State::Traversing(TraversingState::TraversingIn);
+                    }
+                }
+                TraversingState::TraversingIn => {
+                    // If inner limit is reached
+                    if self.position <= self.limit_inner + self.padding {
+                        // Turn around
+                        self.state = State::Traversing(TraversingState::TraversingOut);
+                    }
+                }
+                TraversingState::TraversingOut => {
+                    // If outer limit is reached
+                    if self.position >= self.limit_outer - self.padding {
+                        // Turn around
+                        self.state = State::Traversing(TraversingState::TraversingIn);
+                    }
+                }
+            },
+        }
+
+        // Set the [`did_change_state`] flag
+        if !self.did_change_state {
+            self.did_change_state = self.update_did_change_state(&old_state);
+        }
+
+        // Speed
+
+        match &self.state {
+            State::NotHomed => Velocity::ZERO, // Not homed, no movement
+            State::Idle => Velocity::ZERO,     // No movement in idle state
+            State::GoingIn => {
+                // Move in at a speed of 10-100 mm/s
+                self.speed_to_position(
+                    self.limit_inner,
+                    match self.distance_to_position(self.limit_inner).abs()
+                        > Length::new::<millimeter>(1.0)
+                    {
+                        true => Velocity::new::<millimeter_per_second>(100.0),
+                        false => Velocity::new::<millimeter_per_second>(10.0),
+                    },
+                )
+            }
+            State::GoingOut => {
+                // Move out at a speed of 10-100 mm/s
+                self.speed_to_position(
+                    self.limit_outer,
+                    match self.distance_to_position(self.limit_outer).abs()
+                        > Length::new::<millimeter>(1.0)
+                    {
+                        true => Velocity::new::<millimeter_per_second>(100.0),
+                        false => Velocity::new::<millimeter_per_second>(10.0),
+                    },
+                )
+            }
+            State::Homing(homing_state) => match homing_state {
+                HomingState::Initialize => Velocity::ZERO,
+                HomingState::EscapeEndstop => {
+                    // Move out at a speed of 10 mm/s
+                    Velocity::new::<millimeter_per_second>(10.0)
+                }
+                HomingState::FindEndstopFineDistancing => {
+                    // Move out at a speed of 2 mm/s
+                    Velocity::new::<millimeter_per_second>(2.0)
+                }
+                HomingState::FindEndstopCoarse => {
+                    // Move in at a speed of -100 mm/s
+                    Velocity::new::<millimeter_per_second>(-100.0)
+                }
+                HomingState::FindEndtopFine => {
+                    // move into the endstop at 2 mm/s
+                    Velocity::new::<millimeter_per_second>(-2.0)
+                }
+                HomingState::Validate(_) => {
+                    // We stand still until the validation cooldown has passed
+                    Velocity::ZERO
+                }
+            }, // Homing speed
+            State::Traversing(traversing_state) => match traversing_state {
+                TraversingState::GoingOut => {
+                    // Move out at a speed of 100 mm/s
+                    self.speed_to_position(
+                        self.limit_outer - self.padding + Length::new::<millimeter>(0.01),
+                        Velocity::new::<millimeter_per_second>(100.0),
+                    )
+                }
+                TraversingState::TraversingIn => self.speed_to_position(
+                    self.limit_inner + self.padding - Length::new::<millimeter>(0.01),
+                    Self::calculate_traverse_speed(spool_speed, self.step_size),
+                ),
+                TraversingState::TraversingOut => self.speed_to_position(
+                    self.limit_outer - self.padding + Length::new::<millimeter>(0.01),
+                    Self::calculate_traverse_speed(spool_speed, self.step_size),
+                ),
+            },
+        }
+    }
+
+    /// Calculate the traverse speed
+    ///
+    /// The traverse speed is the linear speed at which the winding mechanism moves along the spool.
+    /// It's directly proportional to how fast the spool rotates and how far the traverse moves per rotation.
+    ///
+    /// - Traverse Distance per Revolution [mm] = Step Size [mm]
+    /// - Traverse Speed [mm/s] = Spool Speed [rev/s or rad/s] * Step Size [mm]
+    ///
+    /// Note: While the traverse range (from outer limit minus padding to inner limit plus padding)
+    /// determines the total area to be covered, the traverse speed itself depends only on
+    /// the step size and spool rotation speed.
+    pub fn calculate_traverse_speed(spool_speed: AngularVelocity, step_size: Length) -> Velocity {
+        // Calculate the traverse speed directly from spool speed and step size
+        let traverse_speed: Velocity = Velocity::new::<millimeter_per_second>(
+            spool_speed.get::<revolution_per_second>() * step_size.get::<millimeter>(),
+        );
+
+        traverse_speed
+    }
+
+    pub fn update_speed(
+        &mut self,
+        traverse: &mut StepperVelocityEL70x1,
+        traverse_end_stop: &DigitalInput,
+        spool_speed: AngularVelocity,
+    ) {
+        let speed = self.get_speed(traverse, traverse_end_stop, spool_speed);
+        let steps_per_second = self.fullstep_converter.velocity_to_steps(speed);
+        // ignore if we can't set speed
+        let _ = traverse.set_speed(steps_per_second);
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use approx::assert_relative_eq;
+
+    use super::*;
+
+    #[test]
+    fn test_calculate_traverse_speed() {
+        let spool_speed = AngularVelocity::new::<revolution_per_second>(1.0); // 1 revolution per second
+        let step_size = Length::new::<millimeter>(1.75); // 1.75 mm step size
+
+        let traverse_speed = TraverseController::calculate_traverse_speed(spool_speed, step_size);
+        assert_relative_eq!(
+            traverse_speed.get::<millimeter_per_second>(),
+            1.75,
+            epsilon = f64::EPSILON
+        );
+    }
+}

machines/src/lib.rs

@@ -19,6 +19,7 @@ pub mod aquapath1;
 #[cfg(not(feature = "mock-machine"))]
 pub mod buffer1;
 pub mod extruder1;
+pub mod gluetex;
 pub mod laser;
 pub mod machine_identification;
 pub mod mock;
@@ -34,6 +35,7 @@ pub const MACHINE_MOCK: u16 = 0x0007;
 pub const MACHINE_AQUAPATH_V1: u16 = 0x0009;
 #[cfg(not(feature = "mock-machine"))]
 pub const MACHINE_BUFFER_V1: u16 = 0x0008;
+pub const MACHINE_GLUETEX_V1: u16 = 0x000A;
 
 use serde_json::Value;
 use smol::lock::RwLock;
@@ -323,7 +325,7 @@ async fn get_device_ident<
             }
             _ => {
                 return Err(anyhow::anyhow!(
-                    "[{}::MachineNewTrait/ExtruderV2::new] Device with role {} is not Ethercat",
+                    "[{}] Device with role {} is not Ethercat",
                     module_path!(),
                     role
                 ));
@@ -381,9 +383,11 @@ where
 
     if !matched_any_identity {
         return Err(anyhow::anyhow!(
-            "[{}::MachineNewTrait/ExtruderV2::new] Device identity mismatch: expected {:?}",
+            "[{}] Device identity mismatch for role {}: expected {:?}, got {:?}",
             module_path!(),
-            expected_identities
+            role,
+            expected_identities,
+            actual_identity
         ));
     }
 

machines/src/registry.rs

@@ -4,8 +4,8 @@ use crate::{extruder1::mock::ExtruderV2, mock::MockMachine, winder2::mock::Winde
 use crate::{Machine, MachineNewParams, machine_identification::MachineIdentification};
 #[cfg(not(feature = "mock-machine"))]
 use crate::{
-    aquapath1::AquaPathV1, buffer1::BufferV1, extruder1::ExtruderV2, laser::LaserMachine,
-    winder2::Winder2,
+    aquapath1::AquaPathV1, buffer1::BufferV1, extruder1::ExtruderV2, gluetex::Gluetex,
+    laser::LaserMachine, winder2::Winder2,
 };
 
 use lazy_static::lazy_static;
@@ -98,6 +98,9 @@ lazy_static! {
 
         #[cfg(not(feature = "mock-machine"))]
         mc.register::<AquaPathV1>(AquaPathV1::MACHINE_IDENTIFICATION);
+
+        #[cfg(not(feature = "mock-machine"))]
+        mc.register::<Gluetex>(Gluetex::MACHINE_IDENTIFICATION);
         mc
     };
 }

machines/src/serial/init.rs

@@ -1,5 +1,6 @@
 use serialport::UsbPortInfo;
-use std::collections::HashMap;
+use smol::Task;
+use std::{collections::HashMap, time::Duration};
 /*
 *@author: Alisher Darmenov
 *@company: QiTech
@@ -74,30 +75,38 @@ impl SerialDetection {
     }
 }
 
-/*
+// Async function that runs until at least one serial device is found.
+pub async fn find_serial() -> Option<HashMap<String, UsbPortInfo>> {
+    smol::Timer::after(Duration::from_secs(1)).await;
 
-pub async fn start_serial_discovery(app_state: Arc<>) {
-    loop {
-        let devices = SerialDetection::detect_devices();
-
-        if !devices.is_empty() {
-            handle_serial_device_hotplug(app_state.clone(), devices).await;
-        }
-
-        smol::Timer::after(Duration::from_secs(1)).await;
+    let devices = SerialDetection::detect_devices();
+    if !devices.is_empty() {
+        return Some(devices);
+    } else {
+        return None;
     }
 }
 
+// Returns a smol::Task that resolves when atleast one device is found.
+pub fn start_serial_discovery() -> Task<Option<HashMap<String, UsbPortInfo>>> {
+    smol::spawn(find_serial())
+}
+
+/*
+
 pub async fn handle_serial_device_hotplug(
     app_state: Arc<SharedState>,
-    map: HashMap<String, UsbPortInfo>,
+    map: Option<HashMap<String, UsbPortInfo>>,
 ) {
     let laser_ident = SerialDeviceIdentification {
         vendor_id: 0x0403,
         product_id: 0x6001,
     };
 
-    let laser = SerialDetection::get_path_by_id(laser_ident, map);
+    let laser = match map {
+        Some(map) => SerialDetection::get_path_by_id(laser_ident, map),
+        None => None,
+    };
 
     let mut unique_ident: Option<MachineIdentificationUnique> = None;
 

server/Cargo.toml

@@ -23,7 +23,7 @@ bitvec = "1.0.1"
 # concurrency
 smol = "2.0.2"
 tokio = { version = "1.45.1", features = ["rt-multi-thread"] }
-regex = "1.11.3"
+futures = "0.3.31"
 
 # web
 serde_json = "1.0.143"
@@ -37,12 +37,14 @@ serialport = "4.7.3"
 #tracing
 tracing = { version = "0.1.41", features = ["attributes"] }
 tracing-journald = { version = "0.3.1", optional = true }
+tracing-futures = "0.2.5"
 tracing-subscriber = { version = "0.3.20", features = [
     "env-filter",
     "chrono",
     "registry",
 ] }
 utils = { version = "0.1.0", path="../utils" }
+tonic = { version = "0.13.1", optional = true }
 spin_sleep = "1.3.3"
 dhat = { version = "0.3.3", optional = true }
 ctrlc = { version = "3.3", optional = true }
@@ -69,3 +71,6 @@ heap-profile = ["dhat"]
 [profile.release]
 codegen-units = 1
 lto = "fat"
+
+[package.metadata.cargo-machete]
+ignored =  ["tonic"]

server/src/ethercat/ethercat_discovery_info.rs

@@ -17,7 +17,6 @@ pub async fn send_ethercat_discovering(app_state: Arc<SharedState>) {
             .write()
             .await
             .main_namespace;
-
         let event = EthercatInterfaceDiscoveryEvent::Discovering(true).build();
         main_namespace.emit(MainNamespaceEvents::EthercatInterfaceDiscoveryEvent(event));
     }
@@ -32,7 +31,6 @@ pub async fn send_ethercat_found(app_state: Arc<SharedState>, interface: &str) {
         .write()
         .await
         .main_namespace;
-
     let event = EthercatInterfaceDiscoveryEvent::Done(interface).build();
     main_namespace.emit(MainNamespaceEvents::EthercatInterfaceDiscoveryEvent(event));
 }

server/src/ethercat/init.rs

@@ -1,18 +1,13 @@
 use control_core::ethercat::interface_discovery::discover_ethercat_interface;
-use smol::Timer;
-use std::{sync::Arc, time::Duration};
+use smol::{Task, Timer};
+use std::time::Duration;
 
-use crate::{
-    app_state::SharedState,
-    ethercat::{ethercat_discovery_info::send_ethercat_found, setup::setup_loop},
-};
-
-pub async fn find_ethercat_interface() -> String {
+pub async fn find_ethercat_interface() -> Result<String, anyhow::Error> {
     loop {
         match discover_ethercat_interface().await {
             Ok(interface) => {
                 tracing::info!("Found EtherCAT Interface at: {}", interface);
-                return interface;
+                return Ok(interface);
             }
             Err(e) => {
                 tracing::warn!("No working interface found: {}. Retrying...", e);
@@ -22,21 +17,7 @@ pub async fn find_ethercat_interface() -> String {
     }
 }
 
-pub async fn start_interface_discovery(app_state: Arc<SharedState>) {
-    let interface = find_ethercat_interface().await;
-
-    tracing::info!("Calling setup_loop");
-    let res = setup_loop(&interface, app_state.clone()).await;
-    match res {
-        Ok(_) => tracing::info!("Successfully initialized EtherCAT network"),
-        Err(e) => {
-            tracing::error!(
-                "[{}::main] Failed to initialize EtherCAT network \n{:?}",
-                module_path!(),
-                e
-            );
-        }
-    }
-
-    send_ethercat_found(app_state, &interface).await;
+// Returns a Future to the interface
+pub fn start_interface_discovery() -> Task<Result<String, anyhow::Error>> {
+    smol::spawn(find_ethercat_interface())
 }

server/src/ethercat/setup.rs

@@ -7,13 +7,13 @@ use crate::{
     ethercat::config::{MAX_FRAMES, MAX_PDU_DATA, MAX_SUBDEVICES, PDI_LEN},
 };
 #[cfg(all(target_os = "linux", not(feature = "development-build")))]
-use control_core::{irq_handling::set_irq_affinity, realtime::set_realtime_priority};
+use control_core::irq_handling::set_irq_affinity;
 use machines::machine_identification::{
     DeviceHardwareIdentification, DeviceHardwareIdentificationEthercat, DeviceIdentification,
     DeviceIdentificationIdentified, MachineIdentificationUnique, read_device_identifications,
 };
 
-use control_core::realtime::set_core_affinity;
+use control_core::realtime::{set_core_affinity, set_realtime_priority};
 use control_core::socketio::namespace::NamespaceCacheingLogic;
 use ethercat_hal::devices::devices_from_subdevices;
 use ethercrab::std::ethercat_now;
@@ -109,11 +109,9 @@ pub async fn set_ethercat_devices<const MAX_SUBDEVICES: usize, const MAX_PDI: us
     shared_state: Arc<SharedState>,
     socket_queue_tx: Sender<(SocketRef, Arc<control_core::socketio::event::GenericEvent>)>,
 ) -> Result<(), anyhow::Error> {
+    tracing::info!("set_ethercat_devices");
     let device_grouping_result = group_devices_by_identification(device_identifications);
-    tracing::info!(
-        "set_ethercat_devices: {:?}",
-        device_grouping_result.unidentified_devices
-    );
+    tracing::info!("{:?}", device_grouping_result.unidentified_devices);
     let machine_new_hardware = MachineNewHardware::Ethercat(hardware);
 
     let mut machines: Vec<Box<dyn Machine>> = vec![];
@@ -196,9 +194,10 @@ pub async fn setup_loop(
             #[cfg(not(all(target_os = "linux", feature = "io-uring")))]
             {
                 use ethercrab::std::tx_rx_task;
+                use futures::executor::block_on;
 
                 let rt = smol::LocalExecutor::new();
-                let _ = smol::block_on(rt.run(async {
+                let _ = block_on(rt.run(async {
                     tx_rx_task(&interface, tx, rx)
                         .expect("spawn TX/RX task")
                         .await
@@ -246,7 +245,6 @@ pub async fn setup_loop(
             .write()
             .await
             .main_namespace;
-
         let event = EthercatDevicesEventBuilder().initializing();
         main_namespace.emit(MainNamespaceEvents::EthercatDevicesEvent(event));
     }

server/src/main.rs

@@ -1,3 +1,4 @@
+use futures::{FutureExt, select};
 use machines::{
     AsyncThreadMessage, MachineConnection, MachineNewHardware, MachineNewHardwareSerial,
     MachineNewParams, SerialDevice, SerialDeviceIdentification, SerialDeviceNew,
@@ -7,15 +8,19 @@ use machines::{
         DeviceIdentification, DeviceIdentificationIdentified, MachineIdentificationUnique,
     },
     registry::{MACHINE_REGISTRY, MachineRegistry},
-    serial::{devices::laser::Laser, init::SerialDetection},
+    serial::{
+        devices::laser::Laser,
+        init::{SerialDetection, start_serial_discovery},
+    },
     winder2::api::GenericEvent,
 };
 
-#[cfg(feature = "development-build")]
-use std::sync::atomic::{AtomicBool, Ordering};
-
 use app_state::{HotThreadMessage, SharedState};
-use ethercat::ethercat_discovery_info::send_ethercat_discovering;
+use ethercat::{
+    ethercat_discovery_info::{send_ethercat_discovering, send_ethercat_found},
+    init::start_interface_discovery,
+    setup::setup_loop,
+};
 use r#loop::start_loop_thread;
 
 use panic::init_panic_handling;
@@ -23,24 +28,15 @@ use rest::init::start_api_thread;
 use serialport::UsbPortInfo;
 use smol::{
     channel::{Receiver, Sender},
-    future,
     lock::RwLock,
 };
-use socketio::main_namespace::machines_event::MachineObj;
+use socketio::{main_namespace::machines_event::MachineObj, queue::start_socketio_queue};
 use socketioxide::extract::SocketRef;
 use std::{collections::HashMap, sync::Arc, time::Duration};
 
 #[cfg(feature = "mock-machine")]
 use mock_init::init_mock;
 
-use crate::{
-    ethercat::{
-        ethercat_discovery_info::send_ethercat_found, init::find_ethercat_interface,
-        setup::setup_loop,
-    },
-    socketio::queue::socketio_queue_worker,
-};
-
 #[cfg(feature = "mock-machine")]
 pub mod mock_init;
 
@@ -114,31 +110,17 @@ pub async fn add_serial_device(
     shared_state.clone().send_machines_event().await;
 }
 
-pub async fn start_serial_discovery(app_state: Arc<SharedState>) {
-    loop {
-        let devices = SerialDetection::detect_devices();
-
-        if !devices.is_empty() {
-            handle_serial_device_hotplug(app_state.clone(), devices).await;
-        }
-
-        smol::Timer::after(Duration::from_secs(1)).await;
-    }
-}
-
-pub async fn start_interface_discovery(
+async fn setup_ethercat(
+    interface: &str,
     app_state: Arc<SharedState>,
     sender: Sender<HotThreadMessage>,
 ) {
-    let interface = find_ethercat_interface().await;
-    tracing::info!("Inferface found {}, setting up EtherCAT loop", interface);
-
+    tracing::info!("Calling setup_loop");
     let res = setup_loop(&interface, app_state.clone()).await;
-
     match res {
         Ok(setup) => {
             let _ = sender.send(HotThreadMessage::AddEtherCatSetup(setup)).await;
-            tracing::info!("Successfully initialized EtherCAT devices");
+            tracing::info!("Successfully initialized EtherCAT network");
         }
 
         Err(e) => {
@@ -149,20 +131,23 @@ pub async fn start_interface_discovery(
             );
         }
     }
-
     send_ethercat_found(app_state.clone(), &interface).await;
 }
 
 pub async fn handle_serial_device_hotplug(
     app_state: Arc<SharedState>,
-    map: HashMap<String, UsbPortInfo>,
+    map: Option<HashMap<String, UsbPortInfo>>,
 ) {
     let laser_ident = SerialDeviceIdentification {
         vendor_id: 0x0403,
         product_id: 0x6001,
     };
 
-    let laser = SerialDetection::get_path_by_id(laser_ident, map);
+    let laser = match map {
+        Some(map) => SerialDetection::get_path_by_id(laser_ident, map),
+        None => None,
+    };
+
     let mut unique_ident: Option<MachineIdentificationUnique> = None;
 
     {
@@ -282,18 +267,10 @@ async fn handle_async_requests(recv: Receiver<AsyncThreadMessage>, shared_state:
             }
         }
     }
-
-    tracing::warn!("Async handler task finished");
 }
 
-pub async fn start_socketio_queue(app_state: Arc<SharedState>) {
-    let app_state = app_state.as_ref();
-    loop {
-        let res = socketio_queue_worker(app_state).await;
-        tracing::error!("SocketIO task finished, but should never finish: {:?}", res);
-        tracing::error!("Restarting SocketIO...");
-    }
-}
+#[cfg(feature = "development-build")]
+use std::sync::atomic::{AtomicBool, Ordering};
 
 #[cfg(feature = "development-build")]
 fn setup_ctrlc_handler() -> Arc<AtomicBool> {
@@ -323,24 +300,24 @@ fn main() {
 
     #[cfg(feature = "development-build")]
     let running = setup_ctrlc_handler();
-    const CYCLE_TARGET_TIME: Duration = Duration::from_micros(700);
+
+    const CYCLE_TARGET_TIME: Duration = Duration::from_micros(300);
+
     // for the "hot thread"
     let (sender, receiver) = smol::channel::unbounded();
     let (main_sender, main_receiver) = smol::channel::unbounded();
-    let shared_state = SharedState::new(sender.clone(), main_sender);
+    let shared_state = SharedState::new(sender.clone(), main_sender.clone());
     let app_state = Arc::new(shared_state);
     let _loop_thread = start_loop_thread(receiver, CYCLE_TARGET_TIME);
     let _ = start_api_thread(app_state.clone());
-
-    let mut socketio_task = smol::spawn(start_socketio_queue(app_state.clone()));
-    let mut serial_task = smol::spawn(start_serial_discovery(app_state.clone()));
-    let mut async_machine_task = smol::spawn(handle_async_requests(
-        main_receiver.clone(),
-        app_state.clone(),
-    ));
+    let mut socketio_fut = start_socketio_queue(app_state.clone()).fuse();
 
     #[cfg(not(feature = "mock-machine"))]
-    smol::spawn(start_interface_discovery(app_state.clone(), sender)).detach();
+    let mut ethercat_fut = start_interface_discovery().fuse();
+
+    let mut serial_fut = start_serial_discovery().fuse();
+    let mut handle_async_machine_requests =
+        smol::spawn(handle_async_requests(main_receiver, app_state.clone())).fuse();
 
     smol::block_on(async {
         send_empty_machines_event(app_state.clone()).await;
@@ -357,29 +334,47 @@ fn main() {
                 tracing::info!("Shutdown signal received, exiting main loop.");
                 break;
             }
+            // lets the async runtime decide which future to run next
+            #[cfg(not(feature = "mock-machine"))]
+            select! {
+                res = ethercat_fut => {
+                    tracing::info!("EtherCAT task finished: {:?}", res);
+                    match res {
+                        Ok(interface) =>
+                        {
+                            setup_ethercat(&interface,app_state.clone(),sender.clone()).await;
+                        },
+                        Err(_) => (),
+                    };
 
-            if serial_task.is_finished() {
-                tracing::warn!("Serial task died! Restarting...");
-                serial_task.cancel().await;
-                serial_task = smol::spawn(start_serial_discovery(app_state.clone()));
+                },
+                res = serial_fut => {
+                    let _ = handle_serial_device_hotplug(app_state.clone(),res).await;
+                    serial_fut = start_serial_discovery().fuse();
+                },
+                res = socketio_fut => {
+                    // In theory it should never finish
+                    tracing::warn!("SocketIO task finished: {:?}", res);
+                },
+                res = handle_async_machine_requests => {
+                    tracing::warn!("Async handler task finished: {:?}", res);
+                },
             }
 
-            if socketio_task.is_finished() {
-                tracing::warn!("SocketIO task died! Restarting...");
-                socketio_task.cancel().await;
-                socketio_task = smol::spawn(start_socketio_queue(app_state.clone()));
-            }
+            #[cfg(feature = "mock-machine")]
+            select! {
+                res = socketio_fut => {
+                    // In theory it should never finish
+                    tracing::warn!("SocketIO task finished: {:?}", res);
+                },
+                res = handle_async_machine_requests => {
+                    tracing::warn!("Async handler task finished: {:?}", res);
+                },
+                _ = smol::Timer::after(Duration::from_millis(1)).fuse() => {
 
-            if async_machine_task.is_finished() {
-                tracing::warn!("Async handler task died! Restarting...");
-                async_machine_task.cancel().await;
-                async_machine_task = smol::spawn(handle_async_requests(
-                    main_receiver.clone(),
-                    app_state.clone(),
-                ));
-            }
+                }
 
-            future::yield_now().await;
+            }
         }
     });
 }

server/src/socketio/init.rs

@@ -1,11 +1,13 @@
-use super::namespace_id::NamespaceId;
-use crate::app_state::SharedState;
 use socketioxide::ParserConfig;
 use socketioxide::extract::SocketRef;
 use socketioxide::layer::SocketIoLayer;
 use std::str::FromStr;
 use std::sync::Arc;
 
+use crate::app_state::SharedState;
+
+use super::namespace_id::NamespaceId;
+
 pub async fn init_socketio(app_state: Arc<SharedState>) -> SocketIoLayer {
     // create
     let (socketio_layer, io) = socketioxide::SocketIoBuilder::new()

server/src/socketio/queue.rs

@@ -1,7 +1,9 @@
-use crate::app_state::SharedState;
+use smol::Task;
 use std::{sync::Arc, time::Instant};
 use tracing::{debug, info, instrument, trace};
 
+use crate::app_state::SharedState;
+
 /// Send a single event with retry logic
 #[instrument(skip_all)]
 async fn send_event_with_retry(
@@ -58,7 +60,7 @@ async fn send_event_with_retry(
     }
 }
 
-pub async fn socketio_queue_worker(app_state: &SharedState) {
+async fn socketio_queue_worker(app_state: Arc<SharedState>) {
     tracing::info!("SocketIO global queue listener started");
     let mut event_count = 0;
     let mut batch_start = Instant::now();
@@ -87,11 +89,7 @@ pub async fn socketio_queue_worker(app_state: &SharedState) {
     info!("SocketIO global queue listener stopped");
 }
 
-pub async fn start_socketio_queue(app_state: Arc<SharedState>) {
-    let app_state = app_state.as_ref();
-    loop {
-        let res = socketio_queue_worker(app_state).await;
-        tracing::error!("SocketIO task finished, but should never finish: {:?}", res);
-        tracing::error!("Restarting SocketIO...");
-    }
+/// Returns a spawned async task handling the Socket.IO event queue
+pub fn start_socketio_queue(app_state: Arc<SharedState>) -> Task<()> {
+    smol::spawn(socketio_queue_worker(app_state))
 }