might ditch the esp32, this is the best ive gotten with it.

server/public/app.js

@@ -0,0 +1,193 @@
+const socket = io();
+
+const DRIVE_SPEED = 250;
+const TURN_SPEED = 200;
+const STATUS_FLAGS = [
+  { bit: 0x01, label: 'wifi' },
+  { bit: 0x02, label: 'oi-ready' },
+  { bit: 0x04, label: 'sensors' },
+];
+
+const state = {
+  robots: [],
+  selectedRobotId: null,
+  telemetry: {},
+  activeKeys: new Set(),
+};
+
+const robotSelect = document.getElementById('robotSelect');
+const telemetrySummary = document.getElementById('telemetrySummary');
+const sensorList = document.getElementById('sensorList');
+const safeModeBtn = document.getElementById('safeModeBtn');
+const fullModeBtn = document.getElementById('fullModeBtn');
+const enableOiBtn = document.getElementById('enableOiBtn');
+const seekDockBtn = document.getElementById('seekDockBtn');
+const playSongBtn = document.getElementById('playSongBtn');
+const songSlotInput = document.getElementById('songSlot');
+
+function flattenSensors(obj, prefix = '') {
+  const result = {};
+  Object.entries(obj || {}).forEach(([key, value]) => {
+    const path = prefix ? `${prefix}.${key}` : key;
+    if (value && typeof value === 'object' && !Array.isArray(value)) {
+      Object.assign(result, flattenSensors(value, path));
+    } else {
+      result[path] = value;
+    }
+  });
+  return result;
+}
+
+function renderRobots() {
+  robotSelect.innerHTML = '';
+  state.robots.forEach((robot) => {
+    const option = document.createElement('option');
+    option.value = robot.id;
+    option.textContent = robot.id;
+    if (robot.id === state.selectedRobotId) {
+      option.selected = true;
+    }
+    robotSelect.appendChild(option);
+  });
+}
+
+function renderTelemetry() {
+  const telemetry = state.telemetry[state.selectedRobotId];
+  if (!telemetry) {
+    telemetrySummary.textContent = 'No telemetry';
+    sensorList.textContent = '';
+    return;
+  }
+  const { header, trailer, sensors } = telemetry;
+  const flags = STATUS_FLAGS
+    .filter((flag) => header.statusBits & flag.bit)
+    .map((flag) => flag.label)
+    .join(', ');
+  const summaryLines = [
+    `Seq: ${header.seq}`,
+    `Uptime: ${header.uptimeMs} ms`,
+    `Last Control Age: ${header.lastControlAgeMs} ms`,
+    `WiFi RSSI: ${header.wifiRssiDbm} dBm`,
+    `Status: ${flags || 'none'}`,
+    `Applied mm/s: L ${trailer.appliedLeftMmps} | R ${trailer.appliedRightMmps}`,
+    `Dropped control packets: ${trailer.droppedControlPackets}`,
+  ];
+  telemetrySummary.textContent = summaryLines.join('\n');
+
+  if (sensors) {
+    const flat = flattenSensors(sensors);
+    sensorList.textContent = Object.entries(flat)
+      .map(([key, value]) => `${key}: ${value}`)
+      .join('\n');
+  } else {
+    sensorList.textContent = 'Sensor block missing';
+  }
+}
+
+function broadcastDrive() {
+  if (!state.selectedRobotId) {
+    return;
+  }
+  const vectors = { w: 0, a: 0, s: 0, d: 0 };
+  state.activeKeys.forEach((key) => {
+    if (vectors[key] !== undefined) {
+      vectors[key] = 1;
+    }
+  });
+
+  let left = 0;
+  let right = 0;
+  if (vectors.w) {
+    left += DRIVE_SPEED;
+    right += DRIVE_SPEED;
+  }
+  if (vectors.s) {
+    left -= DRIVE_SPEED;
+    right -= DRIVE_SPEED;
+  }
+  if (vectors.a) {
+    left -= TURN_SPEED;
+    right += TURN_SPEED;
+  }
+  if (vectors.d) {
+    left += TURN_SPEED;
+    right -= TURN_SPEED;
+  }
+
+  socket.emit('drive', {
+    robotId: state.selectedRobotId,
+    left,
+    right,
+  });
+}
+
+function handleKey(event, isDown) {
+  const key = event.key.toLowerCase();
+  if (!['w', 'a', 's', 'd'].includes(key)) {
+    return;
+  }
+  event.preventDefault();
+  if (isDown) {
+    state.activeKeys.add(key);
+  } else {
+    state.activeKeys.delete(key);
+  }
+  broadcastDrive();
+}
+
+document.addEventListener('keydown', (event) => handleKey(event, true));
+document.addEventListener('keyup', (event) => handleKey(event, false));
+
+robotSelect.addEventListener('change', (event) => {
+  state.selectedRobotId = event.target.value;
+  renderTelemetry();
+});
+
+safeModeBtn.addEventListener('click', () => {
+  if (!state.selectedRobotId) return;
+  socket.emit('mode', { robotId: state.selectedRobotId, mode: 'SAFE' });
+});
+
+fullModeBtn.addEventListener('click', () => {
+  if (!state.selectedRobotId) return;
+  socket.emit('mode', { robotId: state.selectedRobotId, mode: 'FULL' });
+});
+
+enableOiBtn.addEventListener('click', () => {
+  if (!state.selectedRobotId) return;
+  socket.emit('enableOi', { robotId: state.selectedRobotId });
+});
+
+seekDockBtn.addEventListener('click', () => {
+  if (!state.selectedRobotId) return;
+  socket.emit('seekDock', { robotId: state.selectedRobotId });
+});
+
+playSongBtn.addEventListener('click', () => {
+  if (!state.selectedRobotId) return;
+  const slot = Number(songSlotInput.value) || 0;
+  socket.emit('playSong', { robotId: state.selectedRobotId, slot });
+});
+
+socket.on('robots', (robots) => {
+  state.robots = robots;
+  if (!state.selectedRobotId && robots.length > 0) {
+    state.selectedRobotId = robots[0].id;
+  }
+  renderRobots();
+  renderTelemetry();
+});
+
+socket.on('telemetrySnapshot', (entries) => {
+  entries.forEach(({ robotId, telemetry }) => {
+    state.telemetry[robotId] = telemetry;
+  });
+  renderTelemetry();
+});
+
+socket.on('telemetry', ({ robotId, telemetry }) => {
+  state.telemetry[robotId] = telemetry;
+  if (robotId === state.selectedRobotId) {
+    renderTelemetry();
+  }
+});