more organized backend and better mobile control columns

2026-09-16 09:31:20 -04:00 · 2026-01-31 20:49:14 -05:00
parent d64e99b674
commit 133b433255
18 changed files with 763 additions and 668 deletions
@@ -3,8 +3,8 @@ import TelemetryPanel from './components/TelemetryPanel.jsx';
 import ReplaySourcesPanel from './components/ReplaySourcesPanel.jsx';
 import AlertFeed from './components/AlertFeed.jsx';
 import MobileControls, {
-  MobileLandscapeAuxColumn,
-  MobileLandscapeControlColumn,
+  MobileLeftColumn,
+  MobileRightColumn,
 } from './components/MobileControls.jsx';
 import { ControlSystemProvider, KeyboardInputManager, GamepadInputManager } from './controls/index.js';
 import { SettingsProvider } from './settings/index.js';
@@ -139,10 +139,11 @@ function MobilePortraitLayout({ onOpenHelpOverlay }) {
 }

 function MobileLandscapeLayout({ onOpenHelpOverlay }) {
+  const columnClass = 'self-start h-[min(100svh,32rem)]';
  return (
    <div className="flex flex-col gap-0.5">
      <section className="grid min-h-screen grid-cols-[minmax(0,0.7fr)_minmax(0,2.1fr)_minmax(0,0.7fr)] gap-0.5">
-        <MobileLandscapeAuxColumn />
+        <MobileLeftColumn layout="landscape" className={columnClass} />
        <div>
          <DriverVideoPanel layoutFormat="mobile-landscape" />
          <div className="grid gap-0.5 grid-cols-[minmax(0,1fr)_minmax(0,1.4fr)]">
@@ -151,7 +152,7 @@ function MobileLandscapeLayout({ onOpenHelpOverlay }) {
          </div>
          {/* <TelemetryPanel /> */}
        </div>
-        <MobileLandscapeControlColumn />
+        <MobileRightColumn layout="landscape" className={columnClass} />
      </section>
      <div className="flex flex-col gap-0.5 pb-0">
        <MobileFeatureTabs
@@ -1,21 +1,16 @@
-import { useEffect, useRef, useState } from 'react';
 import { useControlSystem } from '../controls/index.js';
 import { formatKeyLabel } from '../controls/keymapUtils.js';
 import NightVisionControl from './NightVisionControl.jsx';
 import HornControl from './HornControl.jsx';
+import CameraTiltControl from './CameraTiltControl.jsx';

 const SLIDER_THROTTLE_MS = 150;

-function formatDegrees(value) {
-  if (typeof value !== 'number' || Number.isNaN(value)) return '—';
-  return `${value > 0 ? '+' : ''}${value.toFixed(1)}°`;
-}
-
 export default function CameraServoPanel() {
  const {
    state: { roverId, camera, keymap, horn },
    pipeline,
-    actions: { setServoAngle, nudgeServo, goServoHome, setNightVision, startHorn, stopHorn },
+    actions: { setServoAngle, setNightVision, startHorn, stopHorn },
  } = useControlSystem();
  const config = camera?.config;
  const enabled = Boolean(roverId && camera?.enabled && config);
@@ -36,60 +31,6 @@ export default function CameraServoPanel() {

  if (!enabled && !nightVisionAvailable && !hornAvailable) return null;

-  const [pendingAngle, setPendingAngle] = useState(value);
-  const throttleRef = useRef(null);
-  const draggingRef = useRef(false);
-
-  useEffect(() => {
-    if (!draggingRef.current) {
-      setPendingAngle(value);
-    }
-  }, [value]);
-
-  useEffect(
-    () => () => {
-      if (throttleRef.current) {
-        clearTimeout(throttleRef.current);
-      }
-    },
-    [],
-  );
-
-  const step =
-    typeof config?.nudgeDegrees === 'number' && config.nudgeDegrees > 0
-      ? config.nudgeDegrees
-      : 1;
-
-  const scheduleSend = (next) => {
-    if (throttleRef.current) {
-      clearTimeout(throttleRef.current);
-    }
-    throttleRef.current = setTimeout(() => {
-      setServoAngle(next);
-    }, SLIDER_THROTTLE_MS);
-  };
-
-  const handleSlider = (event) => {
-    const next = Number.parseFloat(event.target.value);
-    if (Number.isNaN(next)) return;
-    draggingRef.current = true;
-    setPendingAngle(next);
-    scheduleSend(next);
-  };
-
-  const commitSlider = () => {
-    draggingRef.current = false;
-    if (throttleRef.current) {
-      clearTimeout(throttleRef.current);
-    }
-    setServoAngle(pendingAngle);
-  };
-
-  const handleNudge = (direction) => {
-    const delta = step * direction;
-    nudgeServo(delta);
-  };
-
  const handleNightVisionToggle = (nextOn) => {
    if (!nightVisionAvailable) return;
    setNightVision(nextOn);
@@ -116,30 +57,21 @@ export default function CameraServoPanel() {
        />
      )}
      {enabled && (
-        <>
-          <div className="flex items-center justify-between text-sm text-slate-300">
-            <span>Camera Tilt</span>
-            <span className="font-mono text-sm text-slate-100">{formatDegrees(value)}</span>
-          </div>
-          <div>
-            <input
-              type="range"
-              className="w-full accent-emerald-400"
-              min={min}
-              max={max}
-              step={0.5}
-              value={pendingAngle}
-              onChange={handleSlider}
-              onMouseUp={commitSlider}
-              onTouchEnd={commitSlider}
-              onPointerUp={commitSlider}
-            />
-            <div className="mt-0 flex justify-between text-xs text-slate-400">
-              <span>{formatDegrees(min)}</span>
-              <span>{formatDegrees(max)}</span>
-            </div>
-          </div>
-        </>
+        <CameraTiltControl
+          value={value}
+          min={min}
+          max={max}
+          step={0.5}
+          onChange={setServoAngle}
+          throttleMs={SLIDER_THROTTLE_MS}
+          className="space-y-0.5"
+          labelRowClass="text-sm text-slate-300"
+          valueClass="font-mono text-sm text-slate-100"
+          sliderClass="w-full"
+          accentClass="accent-emerald-400"
+          endpointClass="text-xs text-slate-400"
+          endpointLabelClass=""
+        />
      )}
      {/* <div className="flex gap-0.5 text-sm">
        <button type="button" className="flex-1 button-dark" onClick={() => handleNudge(-1)}>
@@ -0,0 +1,165 @@
+import { useEffect, useRef, useState } from 'react';
+
+function formatDegrees(value) {
+  if (typeof value !== 'number' || Number.isNaN(value)) return '—';
+  return `${value > 0 ? '+' : ''}${value.toFixed(1)}°`;
+}
+
+function KeyPill({ label }) {
+  if (!label) return null;
+  return <span className="rounded border border-white/40 px-1 text-[0.7rem] text-white">{label}</span>;
+}
+
+export default function CameraTiltControl({
+  value,
+  min,
+  max,
+  step = 0.5,
+  label = 'Camera Tilt',
+  orientation = 'horizontal',
+  onChange,
+  onCommit,
+  throttleMs = 0,
+  disabled = false,
+  keyDownLabel,
+  keyUpLabel,
+  className = '',
+  labelRowClass = '',
+  labelClass = '',
+  valueClass = '',
+  sliderClass = '',
+  endpointClass = '',
+  endpointLabelClass = '',
+  accentClass = '',
+  showValue = true,
+  showEndpoints,
+}) {
+  const isVertical = orientation === 'vertical';
+  const defaultShowEndpoints = !isVertical;
+  const shouldShowEndpoints = typeof showEndpoints === 'boolean' ? showEndpoints : defaultShowEndpoints;
+  const [pending, setPending] = useState(value);
+  const draggingRef = useRef(false);
+  const throttleRef = useRef(null);
+
+  useEffect(() => {
+    if (!draggingRef.current) {
+      setPending(value);
+    }
+  }, [value]);
+
+  useEffect(
+    () => () => {
+      if (throttleRef.current) {
+        clearTimeout(throttleRef.current);
+      }
+    },
+    [],
+  );
+
+  const scheduleSend = (next) => {
+    if (!onChange) return;
+    if (throttleMs > 0) {
+      if (throttleRef.current) {
+        clearTimeout(throttleRef.current);
+      }
+      throttleRef.current = setTimeout(() => {
+        onChange(next);
+      }, throttleMs);
+      return;
+    }
+    onChange(next);
+  };
+
+  const handleSlider = (event) => {
+    const next = Number.parseFloat(event.target.value);
+    if (Number.isNaN(next)) return;
+    draggingRef.current = true;
+    setPending(next);
+    scheduleSend(next);
+  };
+
+  const commitSlider = () => {
+    draggingRef.current = false;
+    if (throttleRef.current) {
+      clearTimeout(throttleRef.current);
+      throttleRef.current = null;
+    }
+    if (onCommit) {
+      onCommit(pending);
+    } else if (throttleMs > 0) {
+      onChange?.(pending);
+    }
+  };
+
+  if (typeof min !== 'number' || typeof max !== 'number') return null;
+
+  const mergedSliderClass = [
+    isVertical ? 'h-28 w-5' : 'w-full',
+    accentClass,
+    sliderClass,
+  ]
+    .filter(Boolean)
+    .join(' ');
+
+  const slider = (
+    <input
+      type="range"
+      orient={isVertical ? 'vertical' : undefined}
+      min={min}
+      max={max}
+      step={step}
+      value={Number.isFinite(pending) ? pending : min}
+      onChange={handleSlider}
+      onMouseUp={commitSlider}
+      onTouchEnd={commitSlider}
+      onPointerUp={commitSlider}
+      disabled={disabled}
+      className={mergedSliderClass}
+      style={
+        isVertical
+          ? { writingMode: 'bt-lr', WebkitAppearance: 'slider-vertical' }
+          : undefined
+      }
+    />
+  );
+
+  if (isVertical) {
+    return (
+      <div className={`flex h-full flex-col items-center gap-0.5 ${className}`.trim()}>
+        {showValue ? (
+          <div className={`flex flex-col items-center ${labelRowClass}`.trim()}>
+            <span className={valueClass}>{formatDegrees(value)}</span>
+          </div>
+        ) : null}
+        <div className="flex min-h-0 flex-1 items-center gap-0.5">
+          <span className={labelClass}>{label}</span>
+          {slider}
+        </div>
+      </div>
+    );
+  }
+
+  return (
+    <div className={`space-y-0.5 ${className}`.trim()}>
+      <div className={`flex items-center justify-between ${labelRowClass}`.trim()}>
+        <span className={labelClass}>{label}</span>
+        {showValue ? <span className={valueClass}>{formatDegrees(value)}</span> : null}
+      </div>
+      <div>
+        {slider}
+        {shouldShowEndpoints ? (
+          <div className={`mt-0 flex items-center justify-between ${endpointClass}`.trim()}>
+            <span className={`flex items-center gap-0.5 ${endpointLabelClass}`.trim()}>
+              {keyDownLabel ? <KeyPill label={keyDownLabel} /> : null}
+              {formatDegrees(min)}
+            </span>
+            <span className={`flex items-center gap-0.5 ${endpointLabelClass}`.trim()}>
+              {formatDegrees(max)}
+              {keyUpLabel ? <KeyPill label={keyUpLabel} /> : null}
+            </span>
+          </div>
+        ) : null}
+      </div>
+    </div>
+  );
+}
@@ -1,4 +1,4 @@
-import { useEffect, useMemo, useRef, useState } from 'react';
+import { useMemo, useState } from 'react';
 import { useSession } from '../context/SessionContext.jsx';
 import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
 import { useControlSystem } from '../controls/index.js';
@@ -8,6 +8,7 @@ import RoverRoster from './RoverRoster.jsx';
 import DriveDockAction, { useDriveDockState } from './DriveDockAction.jsx';
 import NightVisionControl from './NightVisionControl.jsx';
 import HornControl from './HornControl.jsx';
+import CameraTiltControl from './CameraTiltControl.jsx';

 export function RoverRosterPanel({ title = 'Rovers' }) {
  const { session, requestControl } = useSession();
@@ -49,39 +50,17 @@ export function RoverRosterPanel({ title = 'Rovers' }) {

 export default function ControlSummary() {
  const {
-    state: { roverId, keymap },
+    state: { roverId, keymap, camera, horn },
+    pipeline,
+    actions: { setServoAngle, setNightVision, startHorn, stopHorn },
  } = useControlSystem();
  const frame = useTelemetryFrame(roverId);
  const sensors = frame?.sensors || {};
  const driveDockState = useDriveDockState(roverId);
  const hideInlineControls = driveDockState.docked && !driveDockState.driving;

-  return (
-    <section className="panel-section">
-      <div className="grid items-stretch gap-0.5 md:grid-cols-[minmax(0,1.1fr)_minmax(0,1fr)] md:min-h-[18rem]">
-        <div className="flex h-full w-full items-stretch justify-center">
-          <div className="aspect-square h-full w-full">
-            <TopDownMap sensors={sensors} />
-          </div>
-        </div>
-        <div className="grid h-full min-h-0 grid-rows-[minmax(0,1fr)_auto] gap-0.5">
-          <DriveDockAction layout="desktop" expand driveDockState={driveDockState} />
-          {!hideInlineControls ? <InlineCameraTilt keymap={keymap} /> : null}
-        </div>
-      </div>
-    </section>
-  );
-}
-
-export function InlineCameraTilt({ keymap }) {
-  const {
-    state: { roverId, camera, horn },
-    pipeline,
-    actions: { setServoAngle, setNightVision, startHorn, stopHorn },
-  } = useControlSystem();
-
  const config = camera?.config;
-  const enabled = Boolean(roverId && camera?.enabled && config);
+  const cameraEnabled = Boolean(roverId && camera?.enabled && config);
  const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
  const nightVisionState = pipeline?.nightVisionState;
  const hornAvailable = Boolean(roverId && pipeline?.horn);
@@ -94,95 +73,62 @@ export function InlineCameraTilt({ keymap }) {
      : typeof config?.homeAngle === 'number'
        ? config.homeAngle
        : (min + max) / 2;
-
-  const [pendingAngle, setPendingAngle] = useState(value);
-  const draggingRef = useRef(false);
-
-  useEffect(() => {
-    if (!draggingRef.current) {
-      setPendingAngle(value);
-    }
-  }, [value]);
-
-  const handleSlider = (event) => {
-    const next = Number.parseFloat(event.target.value);
-    if (Number.isNaN(next)) return;
-    draggingRef.current = true;
-    setPendingAngle(next);
-    setServoAngle(next);
-  };
-
-  const commitSlider = () => {
-    draggingRef.current = false;
-  };
-
-  if (!enabled && !nightVisionAvailable && !hornAvailable) return null;
-  const upLabel = formatKeyLabel(keymap?.cameraUp?.[0]);
-  const downLabel = formatKeyLabel(keymap?.cameraDown?.[0]);
  const nightVisionLabel = formatKeyLabel(keymap?.nightVisionToggle?.[0]);
  const hornLabel = formatKeyLabel(keymap?.hornHonk?.[0]);
+  const upLabel = formatKeyLabel(keymap?.cameraUp?.[0]);
+  const downLabel = formatKeyLabel(keymap?.cameraDown?.[0]);

  return (
-    <div className="surface space-y-0.5 p-0 text-sm text-slate-200">
-      {nightVisionAvailable && (
-        <NightVisionControl
-          nightVisionOn={nightVisionState?.nightVisionOn}
-          disabled={!roverId}
-          onToggle={setNightVision}
-          keyLabel={nightVisionLabel}
-        />
-      )}
-      {hornAvailable && (
-        <HornControl
-          disabled={!roverId || hornBlocked}
-          onStart={startHorn}
-          onStop={stopHorn}
-          keyLabel={hornLabel}
-          active={horn?.active}
-          heat={horn?.heat}
-        />
-      )}
-      {enabled && (
-        <div className="space-y-0.5 px-1 py-1">
-          <div className="flex items-center justify-between text-xs text-slate-300">
-            <span>Camera tilt</span>
-            <span className="font-mono text-slate-100">{formatDegrees(value)}</span>
-          </div>
-          <div>
-            <input
-              type="range"
-              className="w-full accent-emerald-400"
-              min={min}
-              max={max}
-              step={0.5}
-              value={pendingAngle}
-              onChange={handleSlider}
-              onMouseUp={commitSlider}
-              onTouchEnd={commitSlider}
-              onPointerUp={commitSlider}
-            />
-            <div className="mt-0 flex items-center justify-between text-[0.7rem] text-slate-400">
-              <span className="flex items-center gap-0.5">
-                {downLabel ? <KeyPill label={downLabel} /> : null}
-                {formatDegrees(min)}
-              </span>
-              <span className="flex items-center gap-0.5">
-                {formatDegrees(max)}
-                {upLabel ? <KeyPill label={upLabel} /> : null}
-              </span>
-            </div>
+    <section className="panel-section">
+      <div className="grid items-stretch gap-0.5 md:grid-cols-[minmax(0,1.1fr)_minmax(0,1fr)] md:min-h-[18rem]">
+        <div className="flex h-full w-full items-stretch justify-center">
+          <div className="aspect-square h-full w-full">
+            <TopDownMap sensors={sensors} />
          </div>
        </div>
-      )}
-    </div>
+        <div className="grid h-full min-h-0 grid-rows-[minmax(0,1fr)_auto] gap-0.5">
+          <DriveDockAction layout="desktop" expand driveDockState={driveDockState} />
+          {!hideInlineControls ? (
+            <div className="surface space-y-0.5 p-0 text-sm text-slate-200">
+              {nightVisionAvailable && (
+                <NightVisionControl
+                  nightVisionOn={nightVisionState?.nightVisionOn}
+                  disabled={!roverId}
+                  onToggle={setNightVision}
+                  keyLabel={nightVisionLabel}
+                />
+              )}
+              {hornAvailable && (
+                <HornControl
+                  disabled={!roverId || hornBlocked}
+                  onStart={startHorn}
+                  onStop={stopHorn}
+                  keyLabel={hornLabel}
+                  active={horn?.active}
+                  heat={horn?.heat}
+                />
+              )}
+              {cameraEnabled && (
+                <CameraTiltControl
+                  value={value}
+                  min={min}
+                  max={max}
+                  onChange={setServoAngle}
+                  keyDownLabel={downLabel}
+                  keyUpLabel={upLabel}
+                  className="space-y-0.5 px-1 py-1"
+                  labelRowClass="text-xs text-slate-300"
+                  labelClass=""
+                  valueClass="font-mono text-slate-100"
+                  sliderClass="w-full"
+                  accentClass="accent-emerald-400"
+                  endpointClass="text-[0.7rem] text-slate-400"
+                />
+              )}
+            </div>
+          ) : null}
+        </div>
+      </div>
+    </section>
  );
 }
-
-function KeyPill({ label }) {
-  return <span className="rounded border border-white/40 px-1 text-[0.7rem] text-white">{label}</span>;
-}
-
-function formatDegrees(value) {
-  if (typeof value !== 'number' || Number.isNaN(value)) return '—';
-  return `${value > 0 ? '+' : ''}${value.toFixed(1)}°`;
-}
@@ -91,7 +91,13 @@ function DockModal({ instructions, onConfirm, onCancel, pending }) {
  );
 }

-export default function DriveDockAction({ layout = 'desktop', expand = false, fill = false, driveDockState }) {
+export default function DriveDockAction({
+  layout = 'desktop',
+  expand = false,
+  fill = false,
+  driveDockState,
+  compactHeightClass = '',
+}) {
  const isMobile = layout === 'mobile';
  const {
    state: { roverId, keymap },
@@ -175,9 +181,10 @@ export default function DriveDockAction({ layout = 'desktop', expand = false, fi
  };

  const baseCardClasses =
-    'flex w-full flex-col gap-0.5 overflow-hidden rounded-xl border-2 px-0.75 py-0.75 text-slate-100 shadow-md transition hover:-translate-y-0.5 hover:shadow-xl focus-visible:outline-none focus-visible:ring-2 disabled:cursor-not-allowed disabled:opacity-60';
+    'flex w-full flex-col gap-0.5 overflow-hidden rounded-xl border-2 px-0.75 py-0.75 text-slate-100 shadow-md transition hover:-translate-y-0.5 hover:shadow-xl focus-visible:outline-none focus-visible:ring-2 disabled:cursor-not-allowed disabled:opacity-60 select-none no-touch-select';
  const ctaText = 'text-center';
  const ctaLayout = 'items-center justify-between';
+  const compactLayout = 'items-center justify-center';
  const ctaTextAndLayout = `${ctaText} ${ctaLayout}`;
  const ctaSize = isMobile ? 'text-sm font-semibold' : '';
  const emeraldCta =
@@ -187,32 +194,41 @@ export default function DriveDockAction({ layout = 'desktop', expand = false, fi
  const indigoCta =
    'border-indigo-300/70 bg-indigo-900 text-indigo-50 hover:bg-indigo-800 focus-visible:ring-indigo-300';
  const filledHeight = expand ? 'h-full flex-1' : fill ? 'flex-1' : '';
+  const compactHeight = isMobile && !expand ? compactHeightClass : '';
+  const layoutClass = isMobile && !expand ? compactLayout : ctaLayout;

  if (!driving && !dockingInProgress) {
    return (
      <button
        type="button"
        onClick={handleStartDrive}
+        onContextMenu={(event) => event.preventDefault()}
        disabled={driveDisabled}
-        className={`${baseCardClasses} ${filledHeight} ${ctaTextAndLayout} ${ctaSize} ${emeraldCta}`}
+        className={`${baseCardClasses} ${filledHeight} ${compactHeight} ${ctaText} ${layoutClass} ${ctaSize} ${emeraldCta}`}
      >
        <div className="space-y-0.5 w-full">
          <div className="flex w-full flex-col items-center gap-0.25">
            <span className="text-base font-semibold text-emerald-50 md:text-lg">Start Driving</span>
-            {!isMobile ? (
+            {!isMobile && expand ? (
              <div className="flex flex-wrap items-center justify-center gap-0.5">
                {driveKeyLabel ? <KeyPill label={driveKeyLabel} /> : null}
                <ActionPill label="Click to start" tone="emerald" />
              </div>
            ) : null}
          </div>
-          <p className="text-sm text-emerald-50/90">{startDriveInstructions.summary}</p>
-          <StepList steps={startDriveInstructions.steps} tone="emerald" />
-        </div>
-        <div className="flex w-full flex-1 flex-col gap-0.5 self-stretch">
-          <StatusRow label="Dock" value={dockValue} tone={dockTone} />
-          <StatusRow label="Charge" value={chargeValue} tone={chargeTone} />
+          {expand ? (
+            <>
+              <p className="text-sm text-emerald-50/90">{startDriveInstructions.summary}</p>
+              <StepList steps={startDriveInstructions.steps} tone="emerald" />
+            </>
+          ) : null}
        </div>
+        {expand ? (
+          <div className="flex w-full flex-1 flex-col gap-0.5 self-stretch">
+            <StatusRow label="Dock" value={dockValue} tone={dockTone} />
+            <StatusRow label="Charge" value={chargeValue} tone={chargeTone} />
+          </div>
+        ) : null}
      </button>
    );
  }
@@ -228,24 +244,29 @@ export default function DriveDockAction({ layout = 'desktop', expand = false, fi
        type="button"
        disabled={driveDisabled}
        onClick={handleReturnToDrive}
-        className={`${baseCardClasses} ${filledHeight} ${ctaTextAndLayout} ${ctaSize} ${amberCta}`}
+        onContextMenu={(event) => event.preventDefault()}
+        className={`${baseCardClasses} ${filledHeight} ${compactHeight} ${ctaText} ${layoutClass} ${ctaSize} ${amberCta}`}
      >
        <div className="space-y-0.5 w-full">
          <div className="flex w-full flex-col items-center gap-0.25">
            <span className="text-base font-semibold text-amber-50 md:text-lg">Docking in Progress</span>
-            {!isMobile ? (
+            {!isMobile && expand ? (
              <div className="flex flex-wrap items-center justify-center gap-0.5">
                <ActionPill label="Click to return to driving mode" tone="amber" />
              </div>
            ) : null}
          </div>
-          <p className="text-sm text-amber-50/90">{inProgressCopy.summary}</p>
+          {expand ? <p className="text-sm text-amber-50/90">{inProgressCopy.summary}</p> : null}
        </div>
-        <div className="flex w-full flex-1 flex-col gap-0.5 self-stretch">
-          <StatusRow label="Dock" value={dockValue} tone={dockTone} />
-          <StatusRow label="Charge" value={chargeValue} tone={chargeTone} />
-        </div>
-        <StepList steps={inProgressCopy.steps} tone="amber" />
+        {expand ? (
+          <>
+            <div className="flex w-full flex-1 flex-col gap-0.5 self-stretch">
+              <StatusRow label="Dock" value={dockValue} tone={dockTone} />
+              <StatusRow label="Charge" value={chargeValue} tone={chargeTone} />
+            </div>
+            <StepList steps={inProgressCopy.steps} tone="amber" />
+          </>
+        ) : null}
      </button>
    );
  }
@@ -256,22 +277,23 @@ export default function DriveDockAction({ layout = 'desktop', expand = false, fi
        type="button"
        disabled={dockDisabled}
        onClick={handleOpenDock}
+        onContextMenu={(event) => event.preventDefault()}
        className={
          isMobile
-            ? `flex w-full items-center justify-center ${baseCardClasses} ${ctaTextAndLayout} ${ctaSize} ${indigoCta}`
-            : `${baseCardClasses} ${filledHeight} ${ctaTextAndLayout} ${ctaSize} ${indigoCta}`
+            ? `flex w-full ${baseCardClasses} ${compactHeight} ${ctaText} ${layoutClass} ${ctaSize} ${indigoCta}`
+            : `${baseCardClasses} ${filledHeight} ${ctaText} ${ctaLayout} ${ctaSize} ${indigoCta}`
        }
      >
        <div className="flex w-full flex-col items-center gap-0.25">
          <span className="text-base font-semibold text-indigo-50 md:text-lg">Dock and Charge</span>
-          {!isMobile ? (
+          {!isMobile && expand ? (
            <div className="flex flex-wrap items-center justify-center gap-0.5">
              {dockKeyLabel ? <KeyPill label={dockKeyLabel} /> : null}
              <ActionPill label="Click to begin docking" tone="indigo" />
            </div>
          ) : null}
        </div>
-        {!isMobile && (
+        {!isMobile && expand && (
          <>
            <p className="text-sm text-indigo-50/90">{dockButtonCaption}</p>
            <div className="flex w-full flex-1 flex-col gap-0.5 self-stretch">
@@ -1,93 +0,0 @@
-import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
-import { useControlSystem } from '../controls/index.js';
-import DiscordInviteButton from './DiscordInviteButton.jsx';
-
-export default function DrivePanel() {
-  const {
-    state: { roverId },
-    actions,
-  } = useControlSystem();
-  const frame = useTelemetryFrame(roverId);
-  const sensors = frame?.sensors || {};
-  const drivingMode = (sensors.oiMode?.label || '').toLowerCase() === 'full';
-  const docked = Boolean(sensors.chargingSources?.homeBase);
-  const charging = Boolean(
-    sensors.chargingState?.label && sensors.chargingState.label.toLowerCase() !== 'not charging',
-  );
-
-  const handleStartDrive = () => {
-    if (!roverId) return;
-    actions.setMode('drive');
-    actions.runMacro('drive-sequence');
-  };
-
-  const handleDock = () => {
-    if (!roverId) return;
-    actions.setMode('dock');
-    actions.runMacro('seek-dock');
-  };
-
-  return (
-    <section className="panel-section space-y-0.5 text-base">
-      {/* <div className="flex items-center justify-between text-sm text-slate-300">
-        <span>Drive control</span>
-        <span>{roverId ? 'Ready to drive' : 'No rover assigned'}</span>
-      </div> */}
-      <div className="space-y-0.5">
-        <ActionCard
-          title="Startfdsafsdfakjfdhlkfshlkjss Driving"
-          description="Press to enable driving mode, then start moving."
-          statuses={[{ label: drivingMode ? 'Ready!' : 'Press to enter driving mode!', active: drivingMode }]}
-          tone="emerald"
-          onClick={handleStartDrive}
-          disabled={!roverId}
-        />
-        <ActionCard
-          title="Dock and Charge"
-          description="Line the rover up about a foot from the dock, then press to trigger a docking attempt."
-          statuses={[
-            { label: docked ? 'Docked!' : 'Not Docked!', active: docked },
-            { label: charging ? 'Charging!' : 'Not Charging!', active: charging },
-          ]}
-          tone="indigo"
-          onClick={handleDock}
-          disabled={!roverId}
-        />
-      </div>
-      {/* <DiscordInviteButton /> */}
-      {/* kjfhdljhdsaflkjf */}
-    </section>
-  );
-}
-
-function ActionCard({ title, description, statuses, tone, onClick, disabled, footnote }) {
-  const colors =
-    tone === 'indigo'
-      ? { base: 'bg-indigo-600', hover: 'hover:bg-indigo-500' }
-      : { base: 'bg-emerald-600', hover: 'hover:bg-emerald-500' };
-  return (
-    <button
-      type="button"
-      onClick={onClick}
-      disabled={disabled}
-      className={`w-full ${colors.base} ${colors.hover} px-0.5 py-0.5 text-left text-white transition-colors disabled:opacity-40 disabled:cursor-not-allowed text-center content-center`}
-    >
-      <p className="text-base font-semibold">{title}</p>
-      <p className="text-sm text-white/90">{description}</p>
-      {/* center statuses in button */}
-      <div className="mt-0 flex flex-wrap gap-0.5 items-center w-full justify-center">
-        {statuses.map((status) => (
-          <span
-            key={status.label}
-            className={`p-1 text-xs font-semibold ${
-              status.active ? 'bg-green-600 text-white' : 'bg-red-500 text-white'
-            }`}
-          >
-            {status.label}
-          </span>
-        ))}
-      </div>
-      {footnote && <p className="mt-0 text-xs text-emerald-50/80">{footnote}</p>}
-    </button>
-  );
-}
@@ -17,8 +17,12 @@ export default function HornControl({
  active,
  heat = 0,
  className = '',
+  defaultShowSettings = true,
+  showSettingsToggle = false,
+  compactSettings = false,
 }) {
  const [pressed, setPressed] = useState(false);
+  const [showSettings, setShowSettings] = useState(defaultShowSettings);
  const { value: hornSettings, save: saveHornSettings } = useSettingsNamespace(
    'horn',
    HORN_SETTINGS_DEFAULTS,
@@ -40,7 +44,7 @@ export default function HornControl({
  const clampedHeat = Math.max(0, Math.min(1, Number(heat) || 0));
  const buttonClasses = useMemo(() => {
    const base =
-      'group relative flex w-full flex-col gap-0.5 overflow-hidden rounded-xl border-2 px-1 py-1.5 text-xs font-semibold';
+      'group relative flex w-full flex-col gap-0.5 overflow-hidden rounded-xl border-2 px-1 py-1.5 text-xs font-semibold select-none no-touch-select';
    const active = 'border-fuchsia-300/70 bg-fuchsia-700 text-fuchsia-50';
    const inactive = 'border-cyan-300/70 bg-cyan-900 text-cyan-50 hover:bg-cyan-800';
    return [base, isActive ? active : inactive, 'disabled:opacity-50', className]
@@ -95,18 +99,31 @@ export default function HornControl({
  const handlePointerDown = (event) => {
    if (disabled) return;
    const tag = event.target?.tagName?.toLowerCase();
-    if (tag === 'input' || tag === 'select' || tag === 'option' || tag === 'label') return;
+    if (tag === 'input' || tag === 'select' || tag === 'option' || tag === 'label' || tag === 'button') return;
    event.preventDefault();
    start();
  };

  const handlePointerUp = (event) => {
    const tag = event.target?.tagName?.toLowerCase();
-    if (tag === 'input' || tag === 'select' || tag === 'option' || tag === 'label') return;
+    if (tag === 'input' || tag === 'select' || tag === 'option' || tag === 'label' || tag === 'button') return;
    event.preventDefault();
    stop();
  };

+  const settingsToggle = showSettingsToggle ? (
+    <button
+      type="button"
+      onClick={(event) => {
+        event.preventDefault();
+        setShowSettings((prev) => !prev);
+      }}
+      className="rounded bg-black/40 px-1 py-0.5 text-[0.6rem] font-semibold text-white/90 hover:text-white"
+    >
+      {showSettings ? 'Hide' : 'Settings'}
+    </button>
+  ) : null;
+
  return (
    <div
      role="button"
@@ -116,6 +133,7 @@ export default function HornControl({
      onPointerUp={handlePointerUp}
      onPointerLeave={stop}
      onPointerCancel={stop}
+      onContextMenu={(event) => event.preventDefault()}
      onBlur={stop}
      className={buttonClasses}
    >
@@ -144,6 +162,7 @@ export default function HornControl({
            </span>
          ) : null}
        </span>
+        {settingsToggle}
        <span
          className={`rounded px-1 py-0.5 text-[0.65rem] font-semibold ${
            isActive ? 'bg-fuchsia-200 text-fuchsia-900' : 'bg-slate-800 text-slate-200'
@@ -152,33 +171,67 @@ export default function HornControl({
          {isActive ? 'Honk' : 'Hold'}
        </span>
      </div>
-      <div className="relative z-10 grid grid-cols-[minmax(0,1.2fr)_repeat(4,minmax(0,1fr))] items-center gap-0.5 text-[0.65rem]">
-        <label className="flex items-center gap-0.5 text-slate-200">
-          <span className="text-slate-300">Wave</span>
-          <select
-            value={formattedWaveform}
-            onChange={updateWaveform}
-            className="rounded border border-slate-700 bg-slate-900 px-1 py-[2px] text-[0.65rem] text-slate-100"
-          >
-            <option value="saw">Saw</option>
-            <option value="sine">Sine</option>
-          </select>
-        </label>
-        {freqs.map((freq, idx) => (
-          <label key={`horn-freq-${idx}`} className="flex items-center gap-0.5 text-slate-200">
-            <span className="text-[0.6rem] text-slate-400">{idx + 1}</span>
-            <input
-              type="number"
-              min={0}
-              max={5000}
-              step={1}
-              value={freq}
-              onChange={(event) => updateFreq(idx, event.target.value)}
-              className="w-full rounded border border-slate-700 bg-slate-900 px-1 py-[2px] text-right text-[0.65rem] font-mono text-slate-100"
-            />
-          </label>
-        ))}
-      </div>
+      {showSettings ? (
+        compactSettings ? (
+          <div className="relative z-10 flex flex-col gap-0.5 text-[0.65rem]">
+            <label className="flex items-center justify-between gap-0.5 text-slate-200">
+              <span className="text-slate-300">Wave</span>
+              <select
+                value={formattedWaveform}
+                onChange={updateWaveform}
+                className="rounded border border-slate-700 bg-slate-900 px-1 py-[2px] text-[0.65rem] text-slate-100"
+              >
+                <option value="saw">Saw</option>
+                <option value="sine">Sine</option>
+              </select>
+            </label>
+            <div className="grid grid-cols-2 gap-0.5">
+              {freqs.map((freq, idx) => (
+                <label key={`horn-freq-${idx}`} className="flex items-center gap-0.5 text-slate-200">
+                  <span className="text-[0.6rem] text-slate-400">{idx + 1}</span>
+                  <input
+                    type="number"
+                    min={0}
+                    max={5000}
+                    step={1}
+                    value={freq}
+                    onChange={(event) => updateFreq(idx, event.target.value)}
+                    className="w-full rounded border border-slate-700 bg-slate-900 px-1 py-[2px] text-right text-[0.65rem] font-mono text-slate-100"
+                  />
+                </label>
+              ))}
+            </div>
+          </div>
+        ) : (
+          <div className="relative z-10 grid grid-cols-[minmax(0,1.2fr)_repeat(4,minmax(0,1fr))] items-center gap-0.5 text-[0.65rem]">
+            <label className="flex items-center gap-0.5 text-slate-200">
+              <span className="text-slate-300">Wave</span>
+              <select
+                value={formattedWaveform}
+                onChange={updateWaveform}
+                className="rounded border border-slate-700 bg-slate-900 px-1 py-[2px] text-[0.65rem] text-slate-100"
+              >
+                <option value="saw">Saw</option>
+                <option value="sine">Sine</option>
+              </select>
+            </label>
+            {freqs.map((freq, idx) => (
+              <label key={`horn-freq-${idx}`} className="flex items-center gap-0.5 text-slate-200">
+                <span className="text-[0.6rem] text-slate-400">{idx + 1}</span>
+                <input
+                  type="number"
+                  min={0}
+                  max={5000}
+                  step={1}
+                  value={freq}
+                  onChange={(event) => updateFreq(idx, event.target.value)}
+                  className="w-full rounded border border-slate-700 bg-slate-900 px-1 py-[2px] text-right text-[0.65rem] font-mono text-slate-100"
+                />
+              </label>
+            ))}
+          </div>
+        )
+      ) : null}
    </div>
  );
 }
@@ -4,20 +4,14 @@ import { clampUnit } from '../controls/controlMath.js';
 import DriveDockAction, { useDriveDockState } from './DriveDockAction.jsx';
 import NightVisionControl from './NightVisionControl.jsx';
 import HornControl from './HornControl.jsx';
+import CameraTiltControl from './CameraTiltControl.jsx';

 const SOURCE = 'mobile-joystick';
 const JOYSTICK_RADIUS = 80;
 const JOYSTICK_SMOOTHING = 0.15;
-const AUX_BUTTONS = [
-  { id: 'main-forward', label: 'Main Brush +', values: { main: 127 }, hold: true, color: 'bg-emerald-600' },
-  { id: 'main-reverse', label: 'Main Brush -', values: { main: -127 }, hold: true, color: 'bg-emerald-800' },
-  { id: 'all-forward', label: 'All Motors +', values: { main: 127, side: 127, vacuum: 127 }, hold: true, color: 'bg-fuchsia-600' },
-  { id: 'side-forward', label: 'Side Brush +', values: { side: 127 }, hold: true, color: 'bg-cyan-600' },
-  { id: 'side-reverse', label: 'Side Brush -', values: { side: -70 }, hold: true, color: 'bg-cyan-800' },
-  { id: 'vacuum-fast', label: 'Vacuum Max', values: { vacuum: 127 }, hold: true, color: 'bg-amber-500 text-amber-950' },
-  { id: 'vacuum-slow', label: 'Vacuum Low', values: { vacuum: 50 }, hold: true, color: 'bg-amber-700' },
-  { id: 'stop-all', label: 'Stop', values: { main: 0, side: 0, vacuum: 0 }, hold: false, color: 'bg-slate-900' },
-];
+const AUX_ZERO = { main: 0, side: 0, vacuum: 0 };
+const AUX_ALL_FORWARD = { main: 127, side: 127, vacuum: 127 };
+const AUX_ALL_BACKWARD = { main: -127, side: -127, vacuum: -127 };

 function FloatingJoystick({ disabled, layout, radius, onMove, onStop }) {
  const containerRef = useRef(null);
@@ -134,27 +128,12 @@ function FloatingJoystick({ disabled, layout, radius, onMove, onStop }) {

 function MobileJoystickPanel({ layout }) {
  const {
-    state: { roverId, camera, horn },
-    pipeline,
-    actions: { setDriveVector, registerInputState, setServoAngle, setNightVision, startHorn, stopHorn },
+    state: { roverId },
+    actions: { setDriveVector, registerInputState },
  } = useControlSystem();
  const driveDockState = useDriveDockState(roverId);
  const dockedNotDriving = driveDockState.docked && !driveDockState.driving;
  const disabled = !roverId;
-  const cameraConfig = camera?.config;
-  const cameraEnabled = Boolean(roverId && camera?.enabled && cameraConfig);
-  const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
-  const nightVisionState = pipeline?.nightVisionState;
-  const hornAvailable = Boolean(roverId && pipeline?.horn);
-  const hornBlocked = horn?.overheated;
-  const cameraMin = typeof cameraConfig?.minAngle === 'number' ? cameraConfig.minAngle : -45;
-  const cameraMax = typeof cameraConfig?.maxAngle === 'number' ? cameraConfig.maxAngle : 45;
-  const cameraValue =
-    typeof camera?.angle === 'number'
-      ? camera.angle
-      : typeof cameraConfig?.homeAngle === 'number'
-      ? cameraConfig.homeAngle
-      : (cameraMin + cameraMax) / 2;
  const joystickRadius = JOYSTICK_RADIUS;
  const smoothing = JOYSTICK_SMOOTHING;
  const smoothedVectorRef = useRef({ x: 0, y: 0, boost: false });
@@ -196,62 +175,20 @@ function MobileJoystickPanel({ layout }) {
    registerInputState(SOURCE, { vector: zero, lastEvent: 'stop' });
  }, [disabled, registerInputState, setDriveVector]);

-  const handleCameraSlider = (event) => {
-    if (!cameraEnabled) return;
-    const next = Number(event.target.value);
-    if (Number.isNaN(next)) return;
-    setServoAngle(next);
-  };
-
-  const handleNightVisionToggle = useCallback(
-    (nextOn) => {
-      if (!nightVisionAvailable) return;
-      setNightVision(nextOn);
-    },
-    [nightVisionAvailable, setNightVision],
-  );

  const fillClass = dockedNotDriving ? 'max-h-screen self-start' : '';
  const containerClass = `flex h-full flex-col gap-0.5 text-slate-100 ${fillClass}`;

  return (
    <div className={containerClass}>
-      <DriveDockAction layout="mobile" expand={dockedNotDriving} driveDockState={driveDockState} />
+      <DriveDockAction
+        layout="mobile"
+        expand={dockedNotDriving}
+        driveDockState={driveDockState}
+        compactHeightClass="min-h-[5rem]"
+      />
      {!dockedNotDriving ? (
        <>
-          {nightVisionAvailable && (
-            <NightVisionControl
-              nightVisionOn={nightVisionState?.nightVisionOn}
-              disabled={disabled}
-              onToggle={handleNightVisionToggle}
-            />
-          )}
-          {hornAvailable && (
-            <HornControl
-              disabled={disabled || hornBlocked}
-              onStart={startHorn}
-              onStop={stopHorn}
-              active={horn?.active}
-              heat={horn?.heat}
-            />
-          )}
-          {cameraEnabled && (
-            <div className="bg-zinc-950 p-0.5 text-xs">
-              <div className="flex items-center justify-between text-[0.75rem] text-slate-400">
-                <span>Camera Tilt</span>
-                <span className="font-mono text-slate-200">{cameraValue.toFixed(1)}°</span>
-              </div>
-              <input
-                type="range"
-                min={cameraMin}
-                max={cameraMax}
-                step={0.5}
-                value={cameraValue}
-                onChange={handleCameraSlider}
-                className="mt-0 w-full accent-cyan-400"
-              />
-            </div>
-          )}
          <FloatingJoystick
            disabled={disabled}
            layout={layout}
@@ -267,90 +204,176 @@ function MobileJoystickPanel({ layout }) {
  );
 }

-function AuxMotorPanel({ orientation }) {
+function MobileAuxButton({ id, label, values, color, disabled, onPress, onRelease }) {
+  return (
+    <button
+      type="button"
+      disabled={disabled}
+      onPointerDown={(event) => {
+        event.preventDefault();
+        onPress(id, values);
+      }}
+      onPointerUp={() => onRelease(id)}
+      onPointerLeave={() => onRelease(id)}
+      onPointerCancel={() => onRelease(id)}
+      onContextMenu={(event) => event.preventDefault()}
+      className={`flex h-full w-full items-center justify-center rounded-xl border-2 px-1 py-0.75 text-center text-sm font-semibold text-white transition select-none no-touch-select ${color} hover:brightness-110 active:brightness-125 active:scale-[0.99] disabled:opacity-30`}
+    >
+      {label}
+    </button>
+  );
+}
+
+function MobileLeftColumnContent({ layout }) {
  const {
-    state: { roverId },
-    actions: { setAuxMotors },
+    state: { roverId, camera, horn },
+    pipeline,
+    actions: { setServoAngle, setNightVision, setAuxMotors, startHorn, stopHorn },
  } = useControlSystem();
-  const activeRef = useRef(null);
  const disabled = !roverId;
+  const activeRef = useRef(null);
+  const cameraConfig = camera?.config;
+  const cameraEnabled = Boolean(roverId && camera?.enabled && cameraConfig);
+  const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
+  const nightVisionState = pipeline?.nightVisionState;
+  const hornAvailable = Boolean(roverId && pipeline?.horn);
+  const hornBlocked = horn?.overheated;
+  const cameraMin = typeof cameraConfig?.minAngle === 'number' ? cameraConfig.minAngle : -45;
+  const cameraMax = typeof cameraConfig?.maxAngle === 'number' ? cameraConfig.maxAngle : 45;
+  const cameraValue =
+    typeof camera?.angle === 'number'
+      ? camera.angle
+      : typeof cameraConfig?.homeAngle === 'number'
+      ? cameraConfig.homeAngle
+      : (cameraMin + cameraMax) / 2;

-  const handlePress = useCallback(
-    (button) => {
+  const handleNightVisionToggle = useCallback(
+    (nextOn) => {
+      if (!nightVisionAvailable) return;
+      setNightVision(nextOn);
+    },
+    [nightVisionAvailable, setNightVision],
+  );
+
+  const handleAuxPress = useCallback(
+    (id, values) => {
      if (disabled) return;
-      if (button.hold === false) {
-        setAuxMotors(button.values);
-        activeRef.current = null;
-        return;
-      }
-      activeRef.current = button.id;
-      setAuxMotors(button.values);
+      activeRef.current = id;
+      setAuxMotors(values);
    },
    [disabled, setAuxMotors],
  );

-  const handleRelease = useCallback(
-    (button) => {
-      if (disabled || button.hold === false) return;
-      if (activeRef.current === button.id) {
+  const handleAuxRelease = useCallback(
+    (id) => {
+      if (disabled) return;
+      if (activeRef.current === id) {
        activeRef.current = null;
-        setAuxMotors({ main: 0, side: 0, vacuum: 0 });
+        setAuxMotors(AUX_ZERO);
      }
    },
    [disabled, setAuxMotors],
  );

-  const gridCols = orientation === 'landscape' ? 'grid-cols-1' : 'grid-cols-1 sm:grid-cols-2';
-
  return (
-    <div className="flex h-full flex-col gap-0.5 text-slate-100">
-      <p className="text-xs text-slate-400">Aux controls</p>
-      <div className={`grid ${gridCols} gap-0.5`}>
-        {AUX_BUTTONS.map((button) => (
-          <button
-            key={button.id}
-            type="button"
-            disabled={disabled}
-            onPointerDown={(event) => {
-              event.preventDefault();
-              handlePress(button);
-            }}
-            onPointerUp={() => handleRelease(button)}
-            onPointerLeave={() => handleRelease(button)}
-            onPointerCancel={() => handleRelease(button)}
-            onContextMenu={(event) => event.preventDefault()}
-            className={`px-0.5 py-0.5 text-left text-sm font-semibold text-white transition select-none no-touch-select ${button.color} hover:brightness-110 disabled:opacity-30 h-10`}
+    <div className="grid h-full min-h-0 w-full grid-rows-[minmax(0,1fr)_minmax(0,1fr)_minmax(0,1fr)] gap-0.5 text-slate-100">
+      <div className="flex min-h-0 items-stretch gap-0.5">
+        {cameraEnabled ? (
+          <div
+            className={`flex-1 min-h-0 rounded bg-zinc-950 p-0.25 ${
+              layout === 'landscape' ? 'pt-3' : ''
+            }`.trim()}
          >
-            {button.label}
-          </button>
-        ))}
+            <CameraTiltControl
+              value={cameraValue}
+              min={cameraMin}
+              max={cameraMax}
+              step={0.5}
+              onChange={setServoAngle}
+              orientation="vertical"
+              label="Camera Tilt"
+              labelClass="text-sm font-semibold text-white [writing-mode:vertical-rl] rotate-180"
+              labelRowClass="text-[0.7rem] text-slate-300"
+              valueClass="font-mono text-slate-200"
+              className="h-full gap-0"
+              sliderClass="h-full w-7"
+              accentClass="accent-cyan-400"
+              showEndpoints={false}
+              showValue={false}
+            />
+          </div>
+        ) : null}
+        {nightVisionAvailable ? (
+          <NightVisionControl
+            nightVisionOn={nightVisionState?.nightVisionOn}
+            disabled={disabled}
+            onToggle={handleNightVisionToggle}
+            heightClass="h-full"
+          />
+        ) : null}
+      </div>
+      <div className="grid min-h-0 grid-rows-2 gap-0.5">
+        <MobileAuxButton
+          id="aux-vac-forward"
+          label="Vacuum Forward"
+          values={AUX_ALL_FORWARD}
+          color="bg-fuchsia-600"
+          disabled={disabled}
+          onPress={handleAuxPress}
+          onRelease={handleAuxRelease}
+        />
+        <MobileAuxButton
+          id="aux-vac-backward"
+          label="Vacuum Backward"
+          values={AUX_ALL_BACKWARD}
+          color="bg-fuchsia-800"
+          disabled={disabled}
+          onPress={handleAuxPress}
+          onRelease={handleAuxRelease}
+        />
+      </div>
+      <div className="min-h-0">
+        {hornAvailable ? (
+          <HornControl
+            disabled={disabled || hornBlocked}
+            onStart={startHorn}
+            onStop={stopHorn}
+            active={horn?.active}
+            heat={horn?.heat}
+            defaultShowSettings={false}
+            showSettingsToggle
+            compactSettings
+            className="h-full"
+          />
+        ) : null}
      </div>
    </div>
  );
 }

-export function MobileLandscapeAuxColumn() {
+export function MobileLeftColumn({ layout, className = '' }) {
  return (
-    <div className="flex h-full flex-col gap-0.5">
-      <AuxMotorPanel orientation="landscape" />
+    <div className={`flex flex-col gap-0.5 ${className}`.trim()}>
+      <MobileLeftColumnContent layout={layout} />
    </div>
  );
 }

-export function MobileLandscapeControlColumn() {
+export function MobileRightColumn({ layout, className = '' }) {
  return (
-    <div className="flex h-full flex-col gap-0.5">
-      <MobileJoystickPanel layout="landscape" />
+    <div className={`flex flex-col gap-0.5 ${className}`.trim()}>
+      <MobileJoystickPanel layout={layout === 'landscape' ? 'landscape' : 'portrait'} />
    </div>
  );
 }

 export default function MobilePortraitControls() {
+  const columnHeight = 'h-[min(60svh,24rem)]';
  return (
    <section className="panel">
      <div className="grid grid-cols-2 gap-0.5 items-stretch">
-        <AuxMotorPanel orientation="portrait" />
-        <MobileJoystickPanel layout="portrait" />
+        <MobileLeftColumn layout="portrait" className={columnHeight} />
+        <MobileRightColumn layout="portrait" className={columnHeight} />
      </div>
    </section>
  );
@@ -10,6 +10,7 @@ export default function NightVisionControl({
  onToggle,
  keyLabel,
  className = '',
+  heightClass = '',
 }) {
  const [optimistic, setOptimistic] = useState(
    isBoolean(nightVisionOn) ? nightVisionOn : null,
@@ -37,31 +38,32 @@ export default function NightVisionControl({

  const buttonClasses = useMemo(() => {
    const base =
-      'group flex w-full items-center justify-between rounded-xl border-2 px-1 py-0.75 text-xs font-semibold';
+      'group flex w-full flex-col items-center justify-center gap-0.35 rounded-xl border-2 px-1 py-0.75 text-center select-none no-touch-select';
    const active = 'border-emerald-300/70 bg-emerald-800 text-emerald-50 hover:bg-emerald-700';
    const inactive = 'border-amber-300/70 bg-amber-900 text-amber-50 hover:bg-amber-800';
-    return [base, displayOn ? active : inactive, 'disabled:opacity-50', className]
+    return [base, displayOn ? active : inactive, 'disabled:opacity-50', heightClass, className]
      .filter(Boolean)
      .join(' ');
-  }, [className, displayOn]);
+  }, [className, displayOn, heightClass]);

  return (
    <button
      type="button"
      onClick={handleToggle}
+      onContextMenu={(event) => event.preventDefault()}
      disabled={disabled}
      aria-pressed={displayOn}
      className={buttonClasses}
    >
      <span className="flex items-center gap-0.5">
-        <span>Night Vision</span>
+        <span className="text-sm font-semibold">Night Vision</span>
        {keyLabel ? (
          <span className="rounded bg-slate-800 px-1 py-0.5 text-[0.6rem] font-semibold text-slate-200">
            {keyLabel}
          </span>
        ) : null}
      </span>
-      <span className={`rounded px-1 py-0.5 text-[0.65rem] font-semibold ${statusClasses}`}>
+      <span className={`rounded px-1 py-0.5 text-[0.7rem] font-semibold ${statusClasses}`}>
        {statusLabel}
      </span>
    </button>
@@ -1,4 +1,3 @@
-import { InlineCameraTilt } from './ControlSummary.jsx';
 import RoomCameraPanel from './RoomCameraPanel.jsx';
 import HomeAssistantControls from './HomeAssistantControls.jsx';
 import SettingsPanel from './SettingsPanel.jsx';
@@ -13,6 +12,10 @@ import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
 import { useControlSystem } from '../controls/index.js';
 import RoverQueuesPanel from './RoverQueuesPanel.jsx';
 import RawUserPilePanel from './RawUserPilePanel.jsx';
+import { formatKeyLabel } from '../controls/keymapUtils.js';
+import NightVisionControl from './NightVisionControl.jsx';
+import HornControl from './HornControl.jsx';
+import CameraTiltControl from './CameraTiltControl.jsx';

 function TopDownMapPanel() {
  const {
@@ -32,15 +35,74 @@ function TopDownMapPanel() {

 function DriveDockPanel() {
  const {
-    state: { roverId, keymap },
+    state: { roverId, keymap, camera, horn },
+    pipeline,
+    actions: { setServoAngle, setNightVision, startHorn, stopHorn },
  } = useControlSystem();
  const driveDockState = useDriveDockState(roverId);
  const hideInlineControls = driveDockState.docked && !driveDockState.driving;

+  const config = camera?.config;
+  const cameraEnabled = Boolean(roverId && camera?.enabled && config);
+  const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
+  const nightVisionState = pipeline?.nightVisionState;
+  const hornAvailable = Boolean(roverId && pipeline?.horn);
+  const hornBlocked = horn?.overheated;
+  const min = typeof config?.minAngle === 'number' ? config.minAngle : -30;
+  const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30;
+  const value =
+    typeof camera?.angle === 'number'
+      ? camera.angle
+      : typeof config?.homeAngle === 'number'
+        ? config.homeAngle
+        : (min + max) / 2;
+  const nightVisionLabel = formatKeyLabel(keymap?.nightVisionToggle?.[0]);
+  const hornLabel = formatKeyLabel(keymap?.hornHonk?.[0]);
+  const upLabel = formatKeyLabel(keymap?.cameraUp?.[0]);
+  const downLabel = formatKeyLabel(keymap?.cameraDown?.[0]);
+
  return (
    <section className="panel-section grid h-full min-h-0 grid-rows-[minmax(0,1fr)_auto] gap-0.5">
      <DriveDockAction layout="desktop" expand driveDockState={driveDockState} />
-      {!hideInlineControls ? <InlineCameraTilt keymap={keymap} /> : null}
+      {!hideInlineControls ? (
+        <div className="surface space-y-0.5 p-0 text-sm text-slate-200">
+          {nightVisionAvailable && (
+            <NightVisionControl
+              nightVisionOn={nightVisionState?.nightVisionOn}
+              disabled={!roverId}
+              onToggle={setNightVision}
+              keyLabel={nightVisionLabel}
+            />
+          )}
+          {hornAvailable && (
+            <HornControl
+              disabled={!roverId || hornBlocked}
+              onStart={startHorn}
+              onStop={stopHorn}
+              keyLabel={hornLabel}
+              active={horn?.active}
+              heat={horn?.heat}
+            />
+          )}
+          {cameraEnabled && (
+            <CameraTiltControl
+              value={value}
+              min={min}
+              max={max}
+              onChange={setServoAngle}
+              keyDownLabel={downLabel}
+              keyUpLabel={upLabel}
+              className="space-y-0.5 px-1 py-1"
+              labelRowClass="text-xs text-slate-300"
+              labelClass=""
+              valueClass="font-mono text-slate-100"
+              sliderClass="w-full"
+              accentClass="accent-emerald-400"
+              endpointClass="text-[0.7rem] text-slate-400"
+            />
+          )}
+        </div>
+      ) : null}
    </section>
  );
 }
@@ -1,69 +0,0 @@
-import { useState } from 'react';
-import { useControlSystem } from '../../controls/index.js';
-import { useTelemetryFrame } from '../../context/TelemetryContext.jsx';
-
-export default function DriveModeToggle({ size = 'default' }) {
-  const {
-    state: { roverId },
-    actions,
-  } = useControlSystem();
-  const [pending, setPending] = useState(null);
-  const disabled = !roverId || pending !== null;
-  const frame = useTelemetryFrame(roverId);
-  const oiLabel = frame?.sensors?.oiMode?.label || 'Unknown';
-  const oiNormalized = oiLabel.toLowerCase();
-  const driveReady = oiNormalized === 'full';
-  const currentLabel = driveReady ? 'Drive Ready' : `OI Mode: ${oiLabel}`;
-
-  const handleDrive = async () => {
-    if (!roverId) return;
-    setPending('drive');
-    try {
-      actions.setMode('drive');
-      await actions.runMacro('drive-sequence');
-    } finally {
-      setPending(null);
-    }
-  };
-
-  const handleDock = async () => {
-    if (!roverId) return;
-    setPending('dock');
-    try {
-      actions.setMode('dock');
-      await actions.runMacro('seek-dock');
-    } finally {
-      setPending(null);
-    }
-  };
-
-  const pillClass = size === 'compact' ? 'text-xs px-0.5 py-0.5' : 'text-sm px-0.5 py-0.5';
-
-  return (
-    <div className="bg-black/30 p-0.5 text-slate-100">
-      <div className="flex items-center">
-        <span className={`${driveReady ? 'bg-emerald-700' : 'bg-indigo-700'} ${pillClass}`}>
-          {currentLabel}
-        </span>
-      </div>
-      <div className="mt-0 grid grid-cols-2 gap-0.5 text-xs">
-        <button
-          type="button"
-          onClick={handleDrive}
-          disabled={disabled}
-          className={`bg-emerald-600 px-0.5 py-0.5 font-semibold text-emerald-50 transition-colors hover:bg-emerald-500 disabled:opacity-40 ${size === 'compact' ? 'text-xs' : 'text-sm'}`}
-        >
-          Drive
-        </button>
-        <button
-          type="button"
-          onClick={handleDock}
-          disabled={disabled}
-          className={`bg-indigo-600 px-0.5 py-0.5 font-semibold text-indigo-50 transition-colors hover:bg-indigo-500 disabled:opacity-40 ${size === 'compact' ? 'text-xs' : 'text-sm'}`}
-        >
-          Dock
-        </button>
-      </div>
-    </div>
-  );
-}