diff --git a/design/program_order.drawio.svg b/design/program_order.drawio.svg
index 4610f81..c7ab198 100644
--- a/design/program_order.drawio.svg
+++ b/design/program_order.drawio.svg
@@ -1,20 +1,20 @@
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                     <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 70px; margin-left: 709px;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 70px; margin-left: 716px;">
                             <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                                 <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
                                     Map Motors to States
@@ -120,26 +120,26 @@
                             </div>
                         </div>
                     </foreignObject>
-                    <text x="768" y="74" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                    <text x="775" y="74" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
                         Map Motors to States
                     </text>
                 </switch>
             </g>
         </g>
         <g>
-            <path d="M 678 70 L 701.63 70" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
-            <path d="M 706.88 70 L 699.88 73.5 L 701.63 70 L 699.88 66.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 685 70 L 708.63 70" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 713.88 70 L 706.88 73.5 L 708.63 70 L 706.88 66.5 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
         </g>
         <g>
-            <path d="M 0 213 L 0 190 L 1087 190 L 1087 213" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
-            <path d="M 0 213 L 0 820 L 1087 820 L 1087 213" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
-            <path d="M 0 213 L 1087 213" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 0 213 L 0 190 L 1100 190 L 1100 213" fill="#ffffff" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(#ffffff, var(--ge-dark-color, #121212)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 0 213 L 0 820 L 1100 820 L 1100 213" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 0 213 L 1100 213" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
         </g>
         <g>
             <g transform="translate(-0.5 -0.5)">
                 <switch>
                     <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1085px; height: 1px; padding-top: 202px; margin-left: 1px;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 1098px; height: 1px; padding-top: 202px; margin-left: 1px;">
                             <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                                 <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; word-wrap: normal; ">
                                     Code Implementation (Create Issues - Split into Groups)
@@ -147,368 +147,412 @@
                             </div>
                         </div>
                     </foreignObject>
-                    <text x="544" y="205" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle" font-weight="bold">
+                    <text x="550" y="205" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle" font-weight="bold">
                         Code Implementation (Create Issues - Split into Groups)
                     </text>
                 </switch>
             </g>
         </g>
         <g>
-            <path d="M 385 290 L 385 403.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
-            <path d="M 385 408.88 L 381.5 401.88 L 385 403.63 L 388.5 401.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 410 290 L 410 403.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 410 408.88 L 406.5 401.88 L 410 403.63 L 413.5 401.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
         </g>
         <g>
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+            <path d="M 435 290 L 530.92 405.11" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 534.28 409.14 L 527.11 406 L 530.92 405.11 L 532.49 401.52 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
         </g>
         <g>
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+            <path d="M 385 290 L 289.08 405.11" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 285.72 409.14 L 287.51 401.52 L 289.08 405.11 L 292.89 406 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
         </g>
         <g>
-            <rect x="325" y="230" width="120" height="60" fill="#f8cecc" stroke="#b85450" pointer-events="all" style="fill: light-dark(rgb(248, 206, 204), rgb(81, 45, 43)); stroke: light-dark(rgb(184, 84, 80), rgb(215, 129, 126));"/>
+            <path d="M 320 581.77 L 442.01 626.05" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 446.95 627.84 L 439.17 628.75 L 442.01 626.05 L 441.56 622.17 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+        </g>
+        <g>
+            <rect x="350" y="410" width="120" height="60" fill="#ffe6cc" stroke="#d79b00" pointer-events="all" style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(215, 155, 0), rgb(153, 101, 0));"/>
         </g>
         <g>
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                 <switch>
                     <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 260px; margin-left: 326px;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 440px; margin-left: 351px;">
                             <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                                 <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                    Create State Enums
+                                    Create State Transitions with placeholder
+                                    <b>
+                                        InstantCommand
+                                    </b>
                                 </div>
                             </div>
                         </div>
                     </foreignObject>
-                    <text x="385" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
-                        Create State Enums
+                    <text x="410" y="444" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Create State Transit...
                     </text>
                 </switch>
             </g>
         </g>
         <g>
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+            <path d="M 260 290 L 260 403.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 260 408.88 L 256.5 401.88 L 260 403.63 L 263.5 401.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+        </g>
+        <g>
+            <path d="M 706.86 470 L 545.86 615.73" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 541.97 619.25 L 544.81 611.96 L 545.86 615.73 L 549.51 617.15 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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         <g>
-            <rect x="325" y="410" width="120" height="60" fill="#ffe6cc" stroke="#d79b00" pointer-events="all" style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(215, 155, 0), rgb(153, 101, 0));"/>
+            <rect x="680" y="410" width="120" height="60" fill="#ffe6cc" stroke="#d6b656" pointer-events="all" style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"/>
         </g>
         <g>
             <g transform="translate(-0.5 -0.5)">
                 <switch>
                     <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 440px; margin-left: 326px;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 440px; margin-left: 681px;">
                             <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                                 <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                    Create State Transitions with placeholder
-                                    <b>
-                                        InstantCommand
-                                    </b>
+                                    State Commands Call motor functions
+                                    <div>
+                                        <b>
+                                            (create subissue per command)
+                                        </b>
+                                    </div>
                                 </div>
                             </div>
                         </div>
                     </foreignObject>
-                    <text x="385" y="444" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
-                        Create State Transit...
+                    <text x="740" y="444" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        State Commands Call...
                     </text>
                 </switch>
             </g>
         </g>
         <g>
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+            <path d="M 590 290 L 705.5 405.5" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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+        </g>
+        <g>
+            <path d="M 560 290 L 560 403.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 560 408.88 L 556.5 401.88 L 560 403.63 L 563.5 401.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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         <g>
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+            <path d="M 740 290 L 740 403.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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+            <path d="M 765 290 L 860.92 405.11" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 864.28 409.14 L 857.11 406 L 860.92 405.11 L 862.49 401.52 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+        </g>
+        <g>
+            <path d="M 295.43 470 L 467.71 615.88" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 471.72 619.28 L 464.11 617.43 L 467.71 615.88 L 468.64 612.08 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+        </g>
+        <g>
+            <path d="M 222.5 470 L 152.47 526.02" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 148.37 529.3 L 151.65 522.2 L 152.47 526.02 L 156.03 527.66 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+        </g>
+        <g>
+            <rect x="200" y="410" width="120" height="60" fill="#ffe6cc" stroke="#d6b656" pointer-events="all" style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"/>
         </g>
         <g>
             <g transform="translate(-0.5 -0.5)">
                 <switch>
                     <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 440px; margin-left: 656px;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 440px; margin-left: 201px;">
                             <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                                 <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                    State Commands Call motor functions
+                                    Bind state commands to buttons
                                 </div>
                             </div>
                         </div>
                     </foreignObject>
-                    <text x="715" y="444" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
-                        State Commands Call...
+                    <text x="260" y="444" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Bind state commands...
                     </text>
                 </switch>
             </g>
         </g>
         <g>
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+            <path d="M 890 290 L 890 403.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 890 408.88 L 886.5 401.88 L 890 403.63 L 893.5 401.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
         </g>
         <g>
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+            <path d="M 835.43 470 L 568.15 616.93" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 563.55 619.46 L 568 613.02 L 568.15 616.93 L 571.37 619.16 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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+            <rect x="830" y="410" width="120" height="60" fill="#ffe6cc" stroke="#d6b656" pointer-events="all" style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"/>
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+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 440px; margin-left: 831px;">
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-                                    Create motors and functions in FreeSpin
+                                    Add simulation movement
                                 </div>
                             </div>
                         </div>
                     </foreignObject>
-                    <text x="535" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
-                        Create motors and fu...
+                    <text x="890" y="444" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Add simulation movem...
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+            <path d="M 552.57 470 L 516.96 613.82" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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+            <rect x="500" y="410" width="120" height="60" fill="#ffe6cc" stroke="#d6b656" pointer-events="all" style="fill: light-dark(rgb(255, 230, 204), rgb(54, 33, 10)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"/>
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+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 440px; margin-left: 501px;">
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-                                    Create motors and functions in Positional
+                                    Add state activation to commands
+                                    <div>
+                                        <b>
+                                            .setState() &amp; .addRequirement
+                                        </b>
+                                    </div>
                                 </div>
                             </div>
                         </div>
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-                        Create motors and fu...
+                    <text x="560" y="444" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Add state activation...
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+        </g>
+        <g>
+            <path d="M 310 290 L 504.54 406.72" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 509.04 409.42 L 501.24 408.82 L 504.54 406.72 L 504.84 402.82 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+        </g>
+        <g>
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+            <path d="M 448 671.77 L 325.99 716.05" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 321.05 717.84 L 326.44 712.17 L 325.99 716.05 L 328.83 718.75 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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+            <path d="M 508 680 L 508 703.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 508 708.88 L 504.5 701.88 L 508 703.63 L 511.5 701.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+        </g>
+        <g>
+            <rect x="448" y="620" width="120" height="60" fill="#dae8fc" stroke="#6c8ebf" pointer-events="all" style="fill: light-dark(rgb(218, 232, 252), rgb(29, 41, 59)); stroke: light-dark(rgb(108, 142, 191), rgb(92, 121, 163));"/>
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-                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 440px; margin-left: 176px;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 650px; margin-left: 449px;">
                             <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                                 <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                    Bind state commands to buttons
+                                    Test Teleop Robot in Sim
                                 </div>
                             </div>
                         </div>
                     </foreignObject>
-                    <text x="235" y="444" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
-                        Bind state commands...
+                    <text x="508" y="654" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Test Teleop Robot in...
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                 </switch>
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         </g>
         <g>
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+            <path d="M 372.5 470 L 302.47 526.02" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 298.37 529.3 L 301.65 522.2 L 302.47 526.02 L 306.03 527.66 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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+            <rect x="200" y="530" width="120" height="60" fill="#fff2cc" stroke="#d6b656" pointer-events="all" style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"/>
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-                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 260px; margin-left: 816px;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 560px; margin-left: 201px;">
                             <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                                 <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                    Add RobotPoses mechanisms
+                                    Replace
+                                    <b>
+                                        InstantCommand
+                                    </b>
+                                    in State Transitions to actually command
                                 </div>
                             </div>
                         </div>
                     </foreignObject>
-                    <text x="875" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
-                        Add RobotPoses mecha...
+                    <text x="260" y="564" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Replace InstantComma...
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                 </switch>
             </g>
         </g>
         <g>
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+            <path d="M 998.33 290 L 915.4 404.84" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 912.32 409.09 L 913.58 401.37 L 915.4 404.84 L 919.26 405.47 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+        </g>
+        <g>
+            <path d="M 110 590 L 110 613.63" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
+            <path d="M 110 618.88 L 106.5 611.88 L 110 613.63 L 113.5 611.88 Z" fill="#000000" stroke="#000000" stroke-miterlimit="10" pointer-events="all" style="fill: light-dark(rgb(0, 0, 0), rgb(255, 255, 255)); stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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+            <rect x="50" y="530" width="120" height="60" fill="#fff2cc" stroke="#d6b656" pointer-events="all" style="fill: light-dark(rgb(255, 242, 204), rgb(40, 29, 0)); stroke: light-dark(rgb(214, 182, 86), rgb(109, 81, 0));"/>
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                 <switch>
                     <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 440px; margin-left: 816px;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 560px; margin-left: 51px;">
                             <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                                 <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                    Add simulation movement
+                                    Create auto commands
                                 </div>
                             </div>
                         </div>
                     </foreignObject>
-                    <text x="875" y="444" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
-                        Add simulation movem...
+                    <text x="110" y="564" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Create auto commands
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                 </switch>
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         </g>
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+            <path d="M 160 680 L 204.54 706.72" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="stroke" style="stroke: light-dark(rgb(0, 0, 0), rgb(255, 255, 255));"/>
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+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 650px; margin-left: 51px;">
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-                                    Add state activation to commands
-                                    <div>
-                                        <b>
-                                            .setState() &amp; .addRequirement
-                                        </b>
-                                    </div>
+                                    Create auto routines
                                 </div>
                             </div>
                         </div>
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-                        Add state activation...
+                    <text x="110" y="654" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Create auto routines
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+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 740px; margin-left: 201px;">
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-                                    Create Empty State Commands
+                                    Test Auto Robot in Sim
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+                    <text x="260" y="744" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Test Auto Robot in S...
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+            <path d="M 40 220 L 40 300" fill="none" stroke="#b85450" stroke-miterlimit="10" pointer-events="none" style="stroke: light-dark(rgb(184, 84, 80), rgb(215, 129, 126));"/>
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+            <g transform="translate(-0.5 -0.5)rotate(-90 24.999999999999886 260)">
+                <switch>
+                    <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 260px; margin-left: -14px;">
+                            <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; word-wrap: normal; ">
+                                    💀 Skeleton Setup - L1
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="25" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle" font-weight="bold">
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+                </switch>
+            </g>
+        </g>
+        <g>
+            <rect x="50" y="230" width="120" height="60" fill="#f8cecc" stroke="#b85450" pointer-events="all" style="fill: light-dark(rgb(248, 206, 204), rgb(81, 45, 43)); stroke: light-dark(rgb(184, 84, 80), rgb(215, 129, 126));"/>
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+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 260px; margin-left: 51px;">
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-                                    Test Teleop Robot in Sim
+                                    Create Auto Paths
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+                    <text x="110" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Create Auto Paths
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+            <rect x="830" y="230" width="120" height="60" fill="#f8cecc" stroke="#b85450" pointer-events="all" style="fill: light-dark(rgb(248, 206, 204), rgb(81, 45, 43)); stroke: light-dark(rgb(184, 84, 80), rgb(215, 129, 126));"/>
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-                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 560px; margin-left: 176px;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 260px; margin-left: 831px;">
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-                                    Replace
-                                    <b>
-                                        InstantCommand
-                                    </b>
-                                    in State Transitions to actually command
+                                    Add RobotPoses mechanisms
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-                        Replace InstantComma...
+                    <text x="890" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Add RobotPoses mecha...
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+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 260px; margin-left: 961px;">
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                                     Add CAD models and config to asset/
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+                    <text x="1020" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
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+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 260px; margin-left: 681px;">
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-                                    Create auto commands
+                                    Create motors and functions in Positional
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-                        Create auto commands
+                    <text x="740" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Create motors and fu...
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+            <g transform="translate(-0.5 -0.5)">
+                <switch>
+                    <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 260px; margin-left: 501px;">
+                            <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
+                                    Create motors and functions in FreeSpin
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="560" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Create motors and fu...
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+                </switch>
+            </g>
+        </g>
+        <g>
+            <rect x="350" y="230" width="120" height="60" fill="#f8cecc" stroke="#b85450" pointer-events="all" style="fill: light-dark(rgb(248, 206, 204), rgb(81, 45, 43)); stroke: light-dark(rgb(184, 84, 80), rgb(215, 129, 126));"/>
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+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 260px; margin-left: 351px;">
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-                                    Create auto routines
+                                    Create State Enums
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-                        Create auto routines
+                    <text x="410" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Create State Enums
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+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 260px; margin-left: 201px;">
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-                                    Create Auto Paths
+                                    Create Empty State Commands
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-                        Create Auto Paths
+                    <text x="260" y="264" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Create Empty State C...
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+            <path d="M 40 400 L 40 600" fill="none" stroke="#d79b00" stroke-miterlimit="10" pointer-events="none" style="stroke: light-dark(rgb(215, 155, 0), rgb(153, 101, 0));"/>
+        </g>
+        <g>
+            <g transform="translate(-0.5 -0.5)rotate(-90 24.999999999999886 500)">
+                <switch>
+                    <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 198px; height: 1px; padding-top: 500px; margin-left: -74px;">
+                            <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
+                                <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; font-weight: bold; white-space: normal; word-wrap: normal; ">
+                                    🔗 Linking - L2 &amp; L3
+                                </div>
+                            </div>
+                        </div>
+                    </foreignObject>
+                    <text x="25" y="504" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle" font-weight="bold">
+                        🔗 Linking - L2 &amp; L3
+                    </text>
+                </switch>
+            </g>
         </g>
         <g>
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+            <rect x="448" y="710" width="120" height="60" fill="#e1d5e7" stroke="#9673a6" pointer-events="all" style="fill: light-dark(rgb(225, 213, 231), rgb(57, 47, 63)); stroke: light-dark(rgb(150, 115, 166), rgb(149, 119, 163));"/>
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         <g>
             <g transform="translate(-0.5 -0.5)">
                 <switch>
                     <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
-                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 740px; margin-left: 176px;">
+                        <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 740px; margin-left: 449px;">
                             <div style="box-sizing: border-box; font-size: 0; text-align: center; color: #000000; ">
                                 <div style="display: inline-block; font-size: 12px; font-family: &quot;Helvetica&quot;; color: light-dark(#000000, #ffffff); line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
-                                    Test Auto Robot in Sim
+                                    Set Motor Configs:
+                                    <div>
+                                        Teeth Counts, PID, Limits, NeutralMode, Inverts
+                                    </div>
                                 </div>
                             </div>
                         </div>
                     </foreignObject>
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-                        Test Auto Robot in S...
+                    <text x="508" y="744" fill="light-dark(#000000, #ffffff)" font-family="&quot;Helvetica&quot;" font-size="12px" text-anchor="middle">
+                        Set Motor Configs:...
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