diff --git a/client/package-lock.json b/client/package-lock.json
index 4dd040a..26b404d 100644
--- a/client/package-lock.json
+++ b/client/package-lock.json
@@ -19,7 +19,6 @@
         "overlayscrollbars-svelte": "^0.5.3",
         "socket.io-client": "^4.7.4",
         "svelte-french-toast": "^1.2.0",
-        "svelte-tweakpane-ui": "^1.2.1",
         "three": "^0.161.0"
       },
       "devDependencies": {
@@ -1052,11 +1051,6 @@
       "integrity": "sha512-BRbo1fOtyVbhfLyuCWw6wAWp+U8UQle+ZXu84MYYWzYSEB28dyfnRBIE99eoG+qdAC0po6L2ScIEivcT07UaMA==",
       "dev": true
     },
-    "node_modules/@tweakpane/core": {
-      "version": "2.0.3",
-      "resolved": "https://registry.npmjs.org/@tweakpane/core/-/core-2.0.3.tgz",
-      "integrity": "sha512-qHci4XA1Wngpwy8IzsLh5JEdscz8aDti/9YhyOaq01si+cgNDaZfwzTtXdn1+xTxSnCM+pW4Zb2/4eqn+K1ATw=="
-    },
     "node_modules/@types/cookie": {
       "version": "0.6.0",
       "resolved": "https://registry.npmjs.org/@types/cookie/-/cookie-0.6.0.tgz",
@@ -1622,7 +1616,9 @@
     "node_modules/esm-env": {
       "version": "1.0.0",
       "resolved": "https://registry.npmjs.org/esm-env/-/esm-env-1.0.0.tgz",
-      "integrity": "sha512-Cf6VksWPsTuW01vU9Mk/3vRue91Zevka5SjyNf3nEpokFRuqt/KjUQoGAwq9qMmhpLTHmXzSIrFRw8zxWzmFBA=="
+      "integrity": "sha512-Cf6VksWPsTuW01vU9Mk/3vRue91Zevka5SjyNf3nEpokFRuqt/KjUQoGAwq9qMmhpLTHmXzSIrFRw8zxWzmFBA==",
+      "dev": true,
+      "peer": true
     },
     "node_modules/estree-walker": {
       "version": "3.0.3",
@@ -1632,19 +1628,6 @@
         "@types/estree": "^1.0.0"
       }
     },
-    "node_modules/fast-copy": {
-      "version": "3.0.1",
-      "resolved": "https://registry.npmjs.org/fast-copy/-/fast-copy-3.0.1.tgz",
-      "integrity": "sha512-Knr7NOtK3HWRYGtHoJrjkaWepqT8thIVGAwt0p0aUs1zqkAzXZV4vo9fFNwyb5fcqK1GKYFYxldQdIDVKhUAfA=="
-    },
-    "node_modules/fast-equals": {
-      "version": "5.0.1",
-      "resolved": "https://registry.npmjs.org/fast-equals/-/fast-equals-5.0.1.tgz",
-      "integrity": "sha512-WF1Wi8PwwSY7/6Kx0vKXtw8RwuSGoM1bvDaJbu7MxDlR1vovZjIAKrnzyrThgAjm6JDTu0fVgWXDlMGspodfoQ==",
-      "engines": {
-        "node": ">=6.0.0"
-      }
-    },
     "node_modules/fast-glob": {
       "version": "3.3.2",
       "resolved": "https://registry.npmjs.org/fast-glob/-/fast-glob-3.3.2.tgz",
@@ -3013,17 +2996,6 @@
         "svelte": "^3.19.0 || ^4.0.0"
       }
     },
-    "node_modules/svelte-local-storage-store": {
-      "version": "0.6.4",
-      "resolved": "https://registry.npmjs.org/svelte-local-storage-store/-/svelte-local-storage-store-0.6.4.tgz",
-      "integrity": "sha512-45WoY2vSGPQM1sIQJ9jTkPPj20hYeqm+af6mUGRFSPP5WglZf36YYoZqwmZZ8Dt/2SU8lem+BTA8/Z/8TkqNLg==",
-      "engines": {
-        "node": ">=0.14"
-      },
-      "peerDependencies": {
-        "svelte": "^3.48.0 || >4.0.0"
-      }
-    },
     "node_modules/svelte-preprocess": {
       "version": "5.1.3",
       "resolved": "https://registry.npmjs.org/svelte-preprocess/-/svelte-preprocess-5.1.3.tgz",
@@ -3087,115 +3059,6 @@
         }
       }
     },
-    "node_modules/svelte-tweakpane-ui": {
-      "version": "1.2.1",
-      "resolved": "https://registry.npmjs.org/svelte-tweakpane-ui/-/svelte-tweakpane-ui-1.2.1.tgz",
-      "integrity": "sha512-F62AFvZiqhXa0E3HMpUdmdWWyus/C+nTBFrFd/vEhHP6dYOQ4EN9qwvjdybL90DZFTIwkZe3w4oSbEGn1muKkQ==",
-      "dependencies": {
-        "@0b5vr/tweakpane-plugin-profiler": "^0.4.1",
-        "@0b5vr/tweakpane-plugin-rotation": "^0.2.0",
-        "@kitschpatrol/tweakpane-image-plugin": "^2.0.0",
-        "@pangenerator/tweakpane-textarea-plugin": "^2.0.0",
-        "@tweakpane/core": "^2.0.3",
-        "@tweakpane/plugin-camerakit": "^0.3.0",
-        "@tweakpane/plugin-essentials": "^0.2.1",
-        "esm-env": "^1.0.0",
-        "fast-copy": "^3.0.1",
-        "fast-equals": "^5.0.1",
-        "nanoid": "^5.0.6",
-        "svelte-local-storage-store": "^0.6.4",
-        "tweakpane": "^4.0.3",
-        "tweakpane-plugin-waveform": "^1.0.0"
-      },
-      "engines": {
-        "node": ">=18.0.0",
-        "pnpm": ">=8.0.0"
-      },
-      "peerDependencies": {
-        "svelte": "^4.0.0"
-      }
-    },
-    "node_modules/svelte-tweakpane-ui/node_modules/@0b5vr/tweakpane-plugin-profiler": {
-      "version": "0.4.1",
-      "resolved": "https://registry.npmjs.org/@0b5vr/tweakpane-plugin-profiler/-/tweakpane-plugin-profiler-0.4.1.tgz",
-      "integrity": "sha512-jgkPbT24eQ7isj8F7/IsbdqrwvBoWBmwjqxdP35smD2D6xsx+9viR57SKBxi9PxTZDEayicmCzBk++0PTqRnBg==",
-      "peerDependencies": {
-        "tweakpane": "^4.0.0"
-      }
-    },
-    "node_modules/svelte-tweakpane-ui/node_modules/@0b5vr/tweakpane-plugin-rotation": {
-      "version": "0.2.0",
-      "resolved": "https://registry.npmjs.org/@0b5vr/tweakpane-plugin-rotation/-/tweakpane-plugin-rotation-0.2.0.tgz",
-      "integrity": "sha512-LK+84kNTusEepVwiKH6ib/Pd+5RxI3UC4rHxn5c14GO58QS49Hh0ft3hFXt/NDzYEST17Q9qg96BcpclhCzYYQ==",
-      "peerDependencies": {
-        "tweakpane": "^4.0.0"
-      }
-    },
-    "node_modules/svelte-tweakpane-ui/node_modules/@kitschpatrol/tweakpane-image-plugin": {
-      "version": "2.0.0",
-      "resolved": "https://registry.npmjs.org/@kitschpatrol/tweakpane-image-plugin/-/tweakpane-image-plugin-2.0.0.tgz",
-      "integrity": "sha512-BzEZqIhD/dM7AW0Ebv+309L4k8ZZJ5fC9Zks4sozVK3FwJooviE6JzaFAuB7k0M5oX45Wyn59tQXdHafgsP3YA==",
-      "peerDependencies": {
-        "tweakpane": "^4.0.0"
-      }
-    },
-    "node_modules/svelte-tweakpane-ui/node_modules/@pangenerator/tweakpane-textarea-plugin": {
-      "version": "2.0.0",
-      "resolved": "https://registry.npmjs.org/@pangenerator/tweakpane-textarea-plugin/-/tweakpane-textarea-plugin-2.0.0.tgz",
-      "integrity": "sha512-BERPuuyJYWvtJzXh4wtgYspza0ihigE2m4qs57ERKtWG59+lI2t/2TOXlwz7Xyx/QEIH25uO1g732YCljgKaUw==",
-      "peerDependencies": {
-        "tweakpane": "^4.0.0"
-      }
-    },
-    "node_modules/svelte-tweakpane-ui/node_modules/@tweakpane/plugin-camerakit": {
-      "version": "0.3.0",
-      "resolved": "https://registry.npmjs.org/@tweakpane/plugin-camerakit/-/plugin-camerakit-0.3.0.tgz",
-      "integrity": "sha512-6UwgwDKU+oaAgXJ2D/pOoIpEAZts0RyeLmVzBJGs+VVNqSfkiHzL0i5XD+XnmSL2PaLXBne0dlz0bYOrjmeELw==",
-      "peerDependencies": {
-        "tweakpane": "^4.0.0-beta.2"
-      }
-    },
-    "node_modules/svelte-tweakpane-ui/node_modules/@tweakpane/plugin-essentials": {
-      "version": "0.2.1",
-      "resolved": "https://registry.npmjs.org/@tweakpane/plugin-essentials/-/plugin-essentials-0.2.1.tgz",
-      "integrity": "sha512-VbFU1/uD+CJNFQdfLXUOLjeG5HyUZH97Ox9CxmyVetg1hqjVun3C83HAGFULyhKzl8tSgii8jr304r8QpdHwzQ==",
-      "peerDependencies": {
-        "tweakpane": "^4.0.0"
-      }
-    },
-    "node_modules/svelte-tweakpane-ui/node_modules/nanoid": {
-      "version": "5.0.6",
-      "resolved": "https://registry.npmjs.org/nanoid/-/nanoid-5.0.6.tgz",
-      "integrity": "sha512-rRq0eMHoGZxlvaFOUdK1Ev83Bd1IgzzR+WJ3IbDJ7QOSdAxYjlurSPqFs9s4lJg29RT6nPwizFtJhQS6V5xgiA==",
-      "funding": [
-        {
-          "type": "github",
-          "url": "https://github.com/sponsors/ai"
-        }
-      ],
-      "bin": {
-        "nanoid": "bin/nanoid.js"
-      },
-      "engines": {
-        "node": "^18 || >=20"
-      }
-    },
-    "node_modules/svelte-tweakpane-ui/node_modules/tweakpane": {
-      "version": "4.0.3",
-      "resolved": "https://registry.npmjs.org/tweakpane/-/tweakpane-4.0.3.tgz",
-      "integrity": "sha512-BlcWOAe8oe4c+k9pmLBARGdWB6MVZMszayekkixQXTgkxTaYoTUpHpwVEp+3HkoamZkomodpbBf0CkguIHTgLg==",
-      "funding": {
-        "url": "https://github.com/sponsors/cocopon"
-      }
-    },
-    "node_modules/svelte-tweakpane-ui/node_modules/tweakpane-plugin-waveform": {
-      "version": "1.0.0",
-      "resolved": "https://registry.npmjs.org/tweakpane-plugin-waveform/-/tweakpane-plugin-waveform-1.0.0.tgz",
-      "integrity": "sha512-fyTRe6Emt7YpgHC5iiTZgk6RHflNm5VIOAsl2+l3mm96+KE8I+7sNPeyADxKcfcQF23c7/R3La5WNhaHNyeJag==",
-      "peerDependencies": {
-        "tweakpane": "^4.0.0"
-      }
-    },
     "node_modules/svelte-writable-derived": {
       "version": "3.1.0",
       "resolved": "https://registry.npmjs.org/svelte-writable-derived/-/svelte-writable-derived-3.1.0.tgz",
diff --git a/client/package.json b/client/package.json
index 35f83e5..4b054fa 100644
--- a/client/package.json
+++ b/client/package.json
@@ -39,7 +39,6 @@
     "overlayscrollbars-svelte": "^0.5.3",
     "socket.io-client": "^4.7.4",
     "svelte-french-toast": "^1.2.0",
-    "svelte-tweakpane-ui": "^1.2.1",
     "three": "^0.161.0"
   }
 }
diff --git a/client/src-tauri/src/telemetry.rs b/client/src-tauri/src/telemetry.rs
index e38c9d3..3be2175 100644
--- a/client/src-tauri/src/telemetry.rs
+++ b/client/src-tauri/src/telemetry.rs
@@ -9,64 +9,67 @@ const NTABLE_IP: (u8, u8, u8, u8) = (10, 12, 80, 2);
 const NTABLE_PORT: u16 = 5810;
 
 pub async fn subscribe_topics(app_handle: AppHandle) {
-    let client = loop {
-        match Client::try_new_w_config(
-            SocketAddrV4::new(
-                Ipv4Addr::new(NTABLE_IP.0, NTABLE_IP.1, NTABLE_IP.2, NTABLE_IP.3),
-                NTABLE_PORT,
-            ),
-            Config {
-                ..Default::default()
-            },
-        )
-        .await
-        {
-            Ok(client) => {
-                println!("Client created");
-                app_handle
-                    .emit_all("telemetry_connected", "connected")
-                    .expect("Failed to emit telemetry_status connected event");
-                break client; // Exit the loop if the client is successfully created
-            }
-            Err(e) => {
-                println!("Failed to create client: {}. Retrying in 3 seconds...", e);
-                app_handle
-                    .emit_all("telemetry_status", "disconnected")
-                    .expect("Failed to emit telemetry_status disconnected event");
+    loop {
+        // I hope this doesn't lead to a catastrophic infinite loop failure
+        let client = loop {
+            match Client::try_new_w_config(
+                SocketAddrV4::new(
+                    Ipv4Addr::new(NTABLE_IP.0, NTABLE_IP.1, NTABLE_IP.2, NTABLE_IP.3),
+                    NTABLE_PORT,
+                ),
+                Config {
+                    ..Default::default()
+                },
+            )
+            .await
+            {
+                Ok(client) => {
+                    println!("Client created");
+                    app_handle
+                        .emit_all("telemetry_connected", "connected")
+                        .expect("Failed to emit telemetry_status connected event");
+                    break client; // Exit the loop if the client is successfully created
+                }
+                Err(e) => {
+                    println!("Failed to create client: {}. Retrying in 3 seconds...", e);
+                    app_handle
+                        .emit_all("telemetry_status", "disconnected")
+                        .expect("Failed to emit telemetry_status disconnected event");
 
-                sleep(Duration::from_secs(3)).await; // Wait for 3 seconds before retrying
-                continue; // Continue the loop to retry
-            }
+                    sleep(Duration::from_secs(3)).await; // Wait for 3 seconds before retrying
+                    continue; // Continue the loop to retry
+                }
+            };
         };
-    };
 
-    let mut subscription = client
-        .subscribe_w_options(
-            &["/SmartDashboard"],
-            Some(SubscriptionOptions {
-                all: Some(true),
-                prefix: Some(true),
-                ..Default::default()
-            }),
-        )
-        .await
-        .expect("Failed to subscribe");
-    while let Some(message) = subscription.next().await {
-        let mut modified_message = message.clone();
+        let mut subscription = client
+            .subscribe_w_options(
+                &["/SmartDashboard"],
+                Some(SubscriptionOptions {
+                    all: Some(true),
+                    prefix: Some(true),
+                    ..Default::default()
+                }),
+            )
+            .await
+            .expect("Failed to subscribe");
+        while let Some(message) = subscription.next().await {
+            let mut modified_message = message.clone();
 
-        if let Some(stripped) = modified_message.topic_name.strip_prefix("/SmartDashboard/") {
-            modified_message.topic_name = stripped.to_string();
+            if let Some(stripped) = modified_message.topic_name.strip_prefix("/SmartDashboard/") {
+                modified_message.topic_name = stripped.to_string();
+            }
+
+            let json_message = to_string(&modified_message).expect("Failed to serialize message");
+            app_handle
+                .emit_all("telemetry_data", json_message.clone())
+                .expect("Failed to send telemetry message");
+
+            println!("{}", json_message);
         }
-
-        let json_message = to_string(&modified_message).expect("Failed to serialize message");
+        println!("disconnected");
         app_handle
-            .emit_all("telemetry_data", json_message.clone())
-            .expect("Failed to send telemetry message");
-
-        println!("{}", json_message);
+            .emit_all("telemetry_status", "disconnected")
+            .expect("Failed to emit telemetry_disconnected event");
     }
-    println!("disconnected");
-    app_handle
-        .emit_all("telemetry_status", "disconnected")
-        .expect("Failed to emit telemetry_disconnected event");
 }
diff --git a/client/src/lib/Apps/DevTools/DevTools.svelte b/client/src/lib/Apps/DevTools/DevTools.svelte
index 916b6df..6ee8aec 100644
--- a/client/src/lib/Apps/DevTools/DevTools.svelte
+++ b/client/src/lib/Apps/DevTools/DevTools.svelte
@@ -1,4 +1,5 @@
 <script lang="ts">
+  import { onDestroy } from 'svelte'
   import {
     cameraControls,
     cameraState,
@@ -11,21 +12,15 @@
     setStationaryTelemetry,
   } from './telemetrySimulators'
 
-  let cameraMode = 'orbit'
+  let value: typeof $cameraState.mode = $cameraState.mode
 
-  const changeCamera = () => {
-    if (cameraMode === 'follow-direction') {
-      cameraMode = 'orbit'
-      cameraState.set('mode', 'orbit')
-      cameraState.set('userControlled', false)
-      console.log($cameraState.mode)
-    } else {
-      cameraMode = 'follow-direction'
-      cameraState.set('mode', 'follow-direction')
-      cameraState.set('userControlled', true)
-      console.log($cameraState.mode)
-    }
+  $: {
+    cameraState.set('mode', value)
   }
+  const unsubscribe = cameraState.subscribe(state => {
+    if (value !== state.mode) value = state.mode
+  })
+  onDestroy(unsubscribe)
 </script>
 
 <AppContainer
@@ -69,7 +64,11 @@
   <button class="button" on:click={simulateMotion}>
     Simulate random motion
   </button>
-  <button class="button" on:click={changeCamera}> Change camera mode </button>
+  <select bind:value class="bg-slate-300">
+    <option value="orbit">Orbit</option>
+    <option value="follow-facing">Follow Facing</option>
+    <option value="follow-direction">Follow Direction</option>
+  </select>
 </AppContainer>
 
 <style lang="postcss">
diff --git a/client/src/lib/Apps/Settings/Settings.svelte b/client/src/lib/Apps/Settings/Settings.svelte
index 2d694a7..3998e52 100644
--- a/client/src/lib/Apps/Settings/Settings.svelte
+++ b/client/src/lib/Apps/Settings/Settings.svelte
@@ -47,6 +47,11 @@
       tooltip="Selects the language/locale used for Jankboard voice prompts. Does not affect application language (ie. Jankboard itself will always be in English)."
       >Voice Prompt Language</SettingsSelector
     >
+    <SettingsToggle
+      setting="sentry"
+      tooltip="Sentry mode protects the robot and operator from foreign threats."
+      >Sentry Mode</SettingsToggle
+    >
     <button
       class="mt-10 px-4 py-2 bg-amber-600 hover:brightness-75 text-medium rounded-lg w-min"
       on:click={resetSettings}>Reset</button
diff --git a/client/src/lib/Dashboard/SpeedLimit.svelte b/client/src/lib/Dashboard/SpeedLimit.svelte
index 21bbb61..e8d6455 100644
--- a/client/src/lib/Dashboard/SpeedLimit.svelte
+++ b/client/src/lib/Dashboard/SpeedLimit.svelte
@@ -20,7 +20,7 @@
   >
     <div class="text-lg font-medium">SPEED<br />LIMIT</div>
     <div class="text-2xl font-bold transition">
-      {speedLimit}
+      {speedLimit.toFixed(1)}
     </div>
   </div>
 </div>
diff --git a/client/src/lib/Dashboard/TopBar/GearSelector.svelte b/client/src/lib/Dashboard/TopBar/GearSelector.svelte
index ae06cfe..89fb5d3 100644
--- a/client/src/lib/Dashboard/TopBar/GearSelector.svelte
+++ b/client/src/lib/Dashboard/TopBar/GearSelector.svelte
@@ -1,6 +1,40 @@
 <script lang="ts">
+  import {
+    shiftedInAutoSequence,
+    shiftedInDriveSequence,
+    shiftedInLowSequence,
+    shiftedInNeutralSequence,
+    shiftedInParkSequence,
+    shiftedInReverseSequence,
+  } from '../../Sequences/sequences'
+
   export let selectedGear: Gear
   export let placeholder: boolean
+
+  const shift = (selectedGear: Gear) => {
+    switch (selectedGear) {
+      case 'park':
+        shiftedInParkSequence()
+        break
+      case 'reverse':
+        shiftedInReverseSequence()
+        break
+      case 'neutral':
+        shiftedInNeutralSequence()
+        break
+      case 'low':
+        shiftedInLowSequence()
+        break
+      case 'auto':
+        shiftedInAutoSequence()
+        break
+      case 'drive':
+        shiftedInDriveSequence()
+        break
+    }
+  }
+
+  $: shift(selectedGear)
 </script>
 
 <div class="flex justify-center w-full transition">
diff --git a/client/src/lib/Dashboard/TopBar/ModeSelector.svelte b/client/src/lib/Dashboard/TopBar/ModeSelector.svelte
index e4a89bf..e2c6d89 100644
--- a/client/src/lib/Dashboard/TopBar/ModeSelector.svelte
+++ b/client/src/lib/Dashboard/TopBar/ModeSelector.svelte
@@ -7,28 +7,39 @@
   Displays the drive mode
  -->
 <script lang="ts">
-  import { fade } from 'svelte/transition'
+  import {
+    modeChillSequence,
+    modeCruiseSequence,
+    modeLudicrousSequence,
+  } from '../../Sequences/sequences'
 
   export let selectedMode: Mode
   export let placeholder: boolean
 
   let modeText = ''
 
+  const setModeText = (selectedMode: Mode) => {
+    switch (selectedMode) {
+      case 'chill':
+        modeText = 'CHILL'
+        modeChillSequence()
+        break
+      case 'cruise':
+        modeText = 'CRUISE'
+        modeCruiseSequence()
+        break
+      case 'ludicrous':
+        modeText = 'LUDICROUS'
+        modeLudicrousSequence()
+        break
+    }
+  }
+
   $: {
     if (placeholder) {
       modeText = 'DISCONNECTED'
     } else {
-      switch (selectedMode) {
-        case 'chill':
-          modeText = 'CHILL'
-          break
-        case 'cruise':
-          modeText = 'CRUISE'
-          break
-        case 'ludicrous':
-          modeText = 'LUDICROUS'
-          break
-      }
+      setModeText(selectedMode)
     }
   }
 </script>
diff --git a/client/src/lib/Dashboard/Visualization/CameraControls/CameraControls.svelte b/client/src/lib/Dashboard/Visualization/CameraControls/CameraControls.svelte
index 29b96c8..d518d54 100644
--- a/client/src/lib/Dashboard/Visualization/CameraControls/CameraControls.svelte
+++ b/client/src/lib/Dashboard/Visualization/CameraControls/CameraControls.svelte
@@ -33,6 +33,7 @@
     Vector4,
     type PerspectiveCamera,
   } from 'three'
+  // @ts-expect-error
   import { DEG2RAD } from 'three/src/math/MathUtils'
   import { cameraState } from './utils/cameraStore'
 
@@ -61,7 +62,7 @@
 
   const { renderer, invalidate } = useThrelte()
 
-  export let autoRotate = false
+  let autoRotate = true
   export let autoRotateSpeed = 1
 
   export const ref = new CameraControls(
@@ -73,7 +74,7 @@
 
   useTask(
     delta => {
-      if (autoRotate && !$cameraState.userControlled) {
+      if (autoRotate && $cameraState.mode === 'orbit') {
         getControls().azimuthAngle += 4 * delta * DEG2RAD * autoRotateSpeed
       }
       const updated = getControls().update(delta)
@@ -90,13 +91,10 @@
 <T
   is={ref}
   on:controlstart={e => {
-    cameraState.set('userControlled', true)
-  }}
-  on:zoom={e => {
-    console.log('zoomstart', e)
+    autoRotate = false
   }}
   on:controlend={() => {
-    cameraState.set('userControlled', false)
+    autoRotate = true
   }}
   {...$$restProps}
   bind:this={$forwardingComponent}
diff --git a/client/src/lib/Dashboard/Visualization/CameraControls/Scene.svelte b/client/src/lib/Dashboard/Visualization/CameraControls/Scene.svelte
deleted file mode 100644
index 8e06fe2..0000000
--- a/client/src/lib/Dashboard/Visualization/CameraControls/Scene.svelte
+++ /dev/null
@@ -1,96 +0,0 @@
-<script lang="ts">
-  import { T, useTask } from '@threlte/core'
-  import { Grid } from '@threlte/extras'
-  import CameraControls from './CameraControls.svelte'
-  import { cameraControls, mesh, cameraState } from './utils/cameraStore'
-  import { Vector3 } from 'three'
-  import { onMount } from 'svelte'
-  import RobotDecimated from '../models/RobotDecimated.svelte'
-  import { telemetryReadonlyStore } from '../../../stores/telemetryStore'
-  import { DEG2RAD } from 'three/src/math/MathUtils.js'
-
-  const SPEED_MULTIPLIER = 4
-  const axis = new Vector3(0, 1, 0)
-
-  const follow = (delta: number) => {
-    // the object's position is bound to the prop
-    if (!$mesh || !$cameraControls) return
-
-    const offsetPosition = new Vector3()
-    offsetPosition.copy($mesh.position)
-    const offsetVector = new Vector3(2.5, 0, -2)
-    offsetVector.applyAxisAngle(axis, $mesh.rotation.y)
-    offsetPosition.add(offsetVector)
-
-    cameraState.set('mode', 'follow-direction')
-    if (($cameraState.mode = 'follow-facing')) {
-      $cameraControls.setLookAt(
-        offsetPosition.x + 15 * Math.sin($mesh.rotation.y),
-        offsetPosition.y + 8,
-        offsetPosition.z + 15 * Math.cos($mesh.rotation.y),
-        offsetPosition.x,
-        offsetPosition.y,
-        offsetPosition.z,
-        true
-      )
-    }
-
-    if (($cameraState.mode = 'orbit')) {
-      $cameraControls.moveTo(
-        offsetPosition.x,
-        offsetPosition.y,
-        offsetPosition.z
-        // true
-      )
-    }
-  }
-
-  useTask(delta => {
-    $mesh.position.x +=
-      $telemetryReadonlyStore['chassis-y-speed'] * delta * SPEED_MULTIPLIER
-    $mesh.position.z +=
-      $telemetryReadonlyStore['chassis-x-speed'] * delta * SPEED_MULTIPLIER
-    $mesh.rotation.y = $telemetryReadonlyStore.orientation * DEG2RAD
-    follow(delta)
-  })
-
-  onMount(() => {})
-</script>
-
-<T.PerspectiveCamera
-  makeDefault
-  position={[12, 10, 12]}
-  on:create={({ ref }) => {
-    ref.lookAt(0, 1, 0)
-  }}
->
-  <CameraControls
-    on:create={({ ref }) => {
-      $cameraControls = ref
-    }}
-    autoRotate={$cameraState.mode === 'orbit'}
-    autoRotateSpeed={3}
-  />
-</T.PerspectiveCamera>
-
-<T.DirectionalLight position={[3, 10, 7]} />
-<T.AmbientLight color={'#f0f0f0'} intensity={0.1} />
-
-<RobotDecimated
-  scale={[10, 10, 10]}
-  position.y={0}
-  on:create={({ ref }) => {
-    // @ts-expect-error
-    $mesh = ref
-  }}
-/>
-
-<Grid
-  sectionColor={'#ff3e00'}
-  sectionThickness={1}
-  fadeDistance={100}
-  cellSize={6}
-  sectionSize={24}
-  cellColor={'#cccccc'}
-  infiniteGrid
-/>
diff --git a/client/src/lib/Dashboard/Visualization/CameraControls/utils/cameraStore.ts b/client/src/lib/Dashboard/Visualization/CameraControls/utils/cameraStore.ts
index 9a68df5..0406984 100644
--- a/client/src/lib/Dashboard/Visualization/CameraControls/utils/cameraStore.ts
+++ b/client/src/lib/Dashboard/Visualization/CameraControls/utils/cameraStore.ts
@@ -14,12 +14,10 @@ type CameraMode =
 
 interface CameraState {
   mode: CameraMode
-  userControlled: boolean
 }
 
 const { set, update, subscribe } = writable<CameraState>({
   mode: 'orbit',
-  userControlled: false,
 })
 
 const createCameraState = () => {
@@ -28,7 +26,7 @@ const createCameraState = () => {
     subscribe,
     set: (prop: keyof CameraState, val: any) =>
       update(state => ({ ...state, [prop]: val })),
-    reset: () => set({ mode: 'orbit', userControlled: false }),
+    reset: () => set({ mode: 'orbit' }),
   }
 }
 
diff --git a/client/src/lib/Dashboard/Visualization/Controls.svelte b/client/src/lib/Dashboard/Visualization/Controls.svelte
deleted file mode 100644
index 64e3ed0..0000000
--- a/client/src/lib/Dashboard/Visualization/Controls.svelte
+++ /dev/null
@@ -1,165 +0,0 @@
-<script lang="ts">
-  import { createEventDispatcher, onDestroy } from 'svelte'
-  import {
-    Camera,
-    Vector2,
-    Vector3,
-    Quaternion,
-    Object3D,
-    type Object3DEventMap,
-    Group,
-  } from 'three'
-  import { useThrelte, useParent, useTask } from '@threlte/core'
-
-  export let object: Group<Object3DEventMap>
-  export let rotateSpeed = 1.0
-  export let shouldOrbit: boolean
-
-  $: if (object) {
-    // console.log(object)
-    // object.position.y = 10
-    // // Calculate the direction vector towards (0, 0, 0)
-    // const target = new Vector3(0, 0, 0)
-    // const direction = target.clone().sub(object.position).normalize()
-    // // Extract the forward direction from the object's current rotation matrix
-    // const currentDirection = new Vector3(0, 1, 0)
-    // currentDirection.applyQuaternion(object.quaternion)
-    // // Calculate the axis and angle to rotate the object
-    // const rotationAxis = currentDirection.clone().cross(direction).normalize()
-    // const rotationAngle = Math.acos(currentDirection.dot(direction))
-    // // Rotate the object using rotateOnAxis()
-    // object.rotateOnAxis(rotationAxis, rotationAngle)
-  }
-
-  export let idealOffset = { x: -0.5, y: 2, z: -3 }
-  export let idealLookAt = { x: 0, y: 1, z: 5 }
-
-  const currentPosition = new Vector3()
-  const currentLookAt = new Vector3()
-
-  let isOrbiting = false
-  let pointerDown = false
-
-  const rotateStart = new Vector2()
-  const rotateEnd = new Vector2()
-  const rotateDelta = new Vector2()
-
-  const axis = new Vector3(0, 1, 0)
-  const rotationQuat = new Quaternion()
-
-  const { renderer, invalidate } = useThrelte()
-
-  const domElement = renderer.domElement
-  const camera = useParent()
-
-  const dispatch = createEventDispatcher()
-
-  const isCamera = (p: any): p is Camera => {
-    return p.isCamera
-  }
-
-  if (!isCamera($camera)) {
-    throw new Error(
-      'Parent missing: <PointerLockControls> need to be a child of a <Camera>'
-    )
-  }
-
-  // This is basically your update function
-  useTask(delta => {
-    // the object's position is bound to the prop
-    if (!object) return
-
-    // then we calculate our ideal's
-    const offset = vectorFromObject(idealOffset)
-    const lookAt = vectorFromObject(idealLookAt)
-
-    // camera is based on character so we rotation character first
-    // rotationQuat.setFromAxisAngle(axis, rotateSpeed * delta)
-    // object.quaternion.multiply(rotationQuat)
-
-    // and how far we should move towards them
-    const t = 1.0 - Math.pow(0.001, delta)
-    currentPosition.lerp(offset, t)
-    currentLookAt.lerp(lookAt, t)
-
-    // typescript HACKS! never do this! How does this work? who knows!
-    const robotPosition = vectorFromObject(
-      object as unknown as { x: number; y: number; z: number }
-    )
-
-    const horizontalOffsetDistance = 15 // Distance behind the leading vector
-    const direction = new Vector3(0, 0, 1) // Default forward direction in Three.js is negative z-axis, so behind is positive z-axis
-    const verticalOffset = new Vector3(0, -5, 0)
-
-    // Calculate the offset vector
-    const offsetVector = direction
-      .normalize()
-      .multiplyScalar(horizontalOffsetDistance)
-      .add(verticalOffset)
-
-    // If the leading object is rotating, apply its rotation to the offset vector
-    const rotatedOffsetVector = offsetVector.applyQuaternion(object.quaternion)
-
-    const leftOffset = -1.5
-    function shiftVectorLeft(
-      vector: Vector3,
-      amount: number,
-      upDirection = axis
-    ): void {
-      // Calculate the left direction. Assuming 'up' is the global up direction or a custom up vector.
-      // This creates a vector pointing to the "left" of the original vector, in a 3D context.
-      let leftDirection = new Vector3()
-        .crossVectors(upDirection, vector)
-        .normalize()
-
-      // Scale the left direction by the desired amount
-      leftDirection.multiplyScalar(amount)
-
-      // Add the scaled left direction to the original vector, mutating it
-      vector.add(leftDirection)
-    }
-
-    shiftVectorLeft(rotatedOffsetVector, leftOffset)
-
-    // Calculate the trailing vector's position
-    const trailingVector = robotPosition.clone().sub(rotatedOffsetVector)
-
-    function shiftVectorLeftNonMutate(
-      vector: Vector3,
-      amount: number,
-      upDirection = axis
-    ): Vector3 {
-      // Create a new vector to avoid mutating the original vector
-      let shiftedVector = vector.clone()
-
-      // Calculate the left direction. Assuming 'up' is the global up direction or a custom up vector.
-      // This creates a vector pointing to the "left" of the original vector, in a 3D context.
-      let leftDirection = new Vector3()
-        .crossVectors(upDirection, vector)
-        .normalize()
-
-      // Scale the left direction by the desired amount and add it to the original vector
-      leftDirection.multiplyScalar(amount)
-      shiftedVector.add(leftDirection)
-
-      return shiftedVector
-    }
-
-    if (!shouldOrbit) {
-      // then finally set the camera, a bit behind the model
-      $camera!.position.copy(trailingVector)
-      // Rotate the offset around the Y-axis
-      $camera!.lookAt(shiftVectorLeftNonMutate(currentLookAt, -leftOffset))
-    }
-  })
-
-  function vectorFromObject(vec: { x: number; y: number; z: number }) {
-    const { x, y, z } = vec
-    const ideal = new Vector3(x, y, z)
-    ideal.applyQuaternion(object.quaternion)
-    ideal.add(
-      new Vector3(object.position.x, object.position.y, object.position.z)
-    )
-    return ideal
-  }
-</script>
diff --git a/client/src/lib/Dashboard/Visualization/Scene.svelte b/client/src/lib/Dashboard/Visualization/Scene.svelte
index 8c4b71a..af70e0e 100644
--- a/client/src/lib/Dashboard/Visualization/Scene.svelte
+++ b/client/src/lib/Dashboard/Visualization/Scene.svelte
@@ -1,155 +1,134 @@
 <script lang="ts">
   import { T, useTask } from '@threlte/core'
-  import { ContactShadows, Float, Grid, OrbitControls } from '@threlte/extras'
-  import Controls from './Controls.svelte'
-
+  import { Grid } from '@threlte/extras'
+  import CameraControls from './CameraControls/CameraControls.svelte'
   import {
-    Vector3,
-    type Camera,
-    type Group,
-    type Object3D,
-    type Object3DEventMap,
-  } from 'three'
-  import {
-    telemetryReadonlyStore,
-    telemetryStore,
-  } from '../../stores/telemetryStore'
-  import { get } from 'svelte/store'
-  import { Vector2 } from 'three'
-  import { SmoothMotionController } from './smoothMotionController'
+    cameraControls,
+    mesh,
+    cameraState,
+  } from './CameraControls/utils/cameraStore'
+  import { Vector3 } from 'three'
   import { onMount } from 'svelte'
+  import RobotDecimated from './models/RobotDecimated.svelte'
+  import { telemetryReadonlyStore } from '../../stores/telemetryStore'
+  import { DEG2RAD } from 'three/src/math/MathUtils.js'
 
-  /* This is the root scene where the robot visualization is built.
-  It renders an infinite grid (it's not actually infinite, but we shouldn't run out
-  of space in realistic use), and a 3D model of the robot. The camera is locked
-  to the model, and the model is rotated to match the robot's orientation. 
-  A PID controller is used to smoothly rotate the model to match the robot's
-  orientation and dampen out jittering. How does it work? Who knows! 
-  75% percent of this was created while reading  
-  https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation,
-  and rest was generated by AI!
-  The rest of this codebase is remarkably jank-free, but this visualization module
-  is the most esoteric and jank code ever written.
-  */
+  const SPEED_MULTIPLIER = 4
+  const axis = new Vector3(0, 1, 0)
 
-  let shouldOrbit = true
+  const follow = (delta: number) => {
+    // the object's position is bound to the prop
+    if (!$mesh || !$cameraControls) return
 
-  // CONSTANTS
-  const maxAngularVelocity = 2 // Max angular velocity, in radians per second
-  const stoppingThreshold = 0.005 // Threshold in radians for when to consider the rotation close enough to stop
+    const offsetPosition = new Vector3()
+    offsetPosition.copy($mesh.position)
+    const offsetVector = new Vector3(2.5, 0, -2)
+    offsetVector.applyAxisAngle(axis, $mesh.rotation.y)
+    offsetPosition.add(offsetVector)
 
-  // Proportional control factor
-  const kP = 2 // Adjust this value based on responsiveness and stability needs
+    const followDirection = () => {
+      const angle = Math.atan2(
+        $telemetryReadonlyStore['chassis-y-speed'],
+        $telemetryReadonlyStore['chassis-x-speed']
+      )
 
-  // Sync robot orientation with target rotation
-  let targetRot = 0
-
-  // Updates rotation to match target with PID controller (intended to be invoked in useTask)
-  let rot = 0 // (initial) rotation in radians
-  let angularVelocity = 0
-  const updateRotation = (delta: number) => {
-    let angleDifference = targetRot - rot
-
-    // Normalize angle difference to the range [-π, π]
-    angleDifference = ((angleDifference + Math.PI) % (2 * Math.PI)) - Math.PI
-
-    // Calculate the desired angular velocity based on the angle difference
-    let desiredVelocity =
-      Math.sign(angleDifference) *
-      Math.min(maxAngularVelocity, Math.abs(kP * angleDifference))
-
-    // If the object is very close to the target, adjust the desired velocity to zero to prevent overshooting
-    if (Math.abs(angleDifference) < stoppingThreshold) {
-      desiredVelocity = 0
+      $cameraControls.setLookAt(
+        offsetPosition.x - 13 * Math.sin(angle),
+        offsetPosition.y + 4,
+        offsetPosition.z - 13 * Math.cos(angle),
+        offsetPosition.x,
+        offsetPosition.y,
+        offsetPosition.z,
+        true
+      )
+      $cameraControls.zoomTo(1.1, true)
     }
 
-    // Adjust angular velocity towards desired velocity
-    angularVelocity = desiredVelocity
+    const followFacing = () => {
+      if ($cameraState.mode === 'follow-facing') {
+        $cameraControls.setLookAt(
+          offsetPosition.x + 13 * Math.sin($mesh.rotation.y),
+          offsetPosition.y + 5,
+          offsetPosition.z + 13 * Math.cos($mesh.rotation.y),
+          offsetPosition.x,
+          offsetPosition.y + 2,
+          offsetPosition.z,
+          true
+        )
+      }
+      $cameraControls.zoomTo(1.2, true)
+    }
 
-    // Update rotation
-    rot += angularVelocity * delta
+    const orbit = () => {
+      $cameraControls.zoomTo(0.8, true)
+      $cameraControls.moveTo(
+        offsetPosition.x + 4 * Math.sin($mesh.rotation.y),
+        offsetPosition.y + 3,
+        offsetPosition.z * Math.cos($mesh.rotation.y),
+        true
+      )
+    }
 
-    // Normalize rot to the range [0, 2π]
-    if (rot < 0) rot += 2 * Math.PI
-    else if (rot > 2 * Math.PI) rot -= 2 * Math.PI
-
-    // Snap to the target rotation to prevent tiny oscillations if close enough
-    if (Math.abs(angleDifference) < stoppingThreshold) {
-      rot = targetRot
-      angularVelocity = 0
+    switch ($cameraState.mode) {
+      case 'follow-direction':
+        followDirection()
+        break
+      case 'follow-facing':
+        followFacing()
+        break
+      case 'orbit':
+        orbit()
+        break
+      default:
+        orbit()
+        break
     }
   }
 
-  let robotPos: Vector3 = new Vector3(0, 0, 0)
-
-  const robotPosition = new Vector2(0, 0) // Initial position
-  const initialVelocity = { x: 0, y: 0 } // Initial velocity
-  // The smooth motion controller utilizes a cubic hermite spline to interpolate between
-  // the current simulation velocity and the robot's actual velocity
-  const controller = new SmoothMotionController(robotPosition, initialVelocity)
-
-  onMount(() => {
-    telemetryReadonlyStore.subscribe(value => {
-      targetRot = (value['orientation'] * Math.PI) / 180 // convert deg to rad
-      controller.setTargetVelocity({
-        x: value['chassis-x-speed'],
-        y: value['chassis-y-speed'],
-      })
-      // shouldOrbit = value.gear === "park" || value.gear === "-999";
-      if (shouldOrbit) {
-        robotPos = new Vector3(0, 0, 0)
-        controller.reset()
-      }
-    })
-  })
-
   useTask(delta => {
-    if (!shouldOrbit) {
-      updateRotation(delta)
+    /* TODO: standardize a scale (meters : grid lengths) so we can have
+    accurate positioning of sensor detected objects */
+    // update position data for robot model
+    $mesh.position.x +=
+      $telemetryReadonlyStore['chassis-y-speed'] * delta * SPEED_MULTIPLIER
+    $mesh.position.z +=
+      $telemetryReadonlyStore['chassis-x-speed'] * delta * SPEED_MULTIPLIER
+    $mesh.rotation.y = $telemetryReadonlyStore.orientation * DEG2RAD
 
-      controller.update(delta)
-      robotPos.x = controller.getPosition().x
-      robotPos.z = controller.getPosition().y
-    }
+    // run the follow function
+    follow(delta)
   })
 
-  let capsule: Group<Object3DEventMap>
-  let capRef: Group<Object3DEventMap>
-  $: if (capsule) {
-    capRef = capsule
-  }
+  onMount(() => {})
 </script>
 
-<T.PerspectiveCamera makeDefault position={[0, 8, -20]} fov={30} on:create>
-  <OrbitControls
-    autoRotateSpeed={1.5}
-    target.y={1.5}
-    autoRotate
-    enableDamping
+<T.PerspectiveCamera makeDefault position={[12, 10, 12]}>
+  <CameraControls
+    on:create={({ ref }) => {
+      $cameraControls = ref
+    }}
+    autoRotateSpeed={3}
   />
-  <Controls {shouldOrbit} bind:object={capRef} rotateSpeed={angularVelocity} />
 </T.PerspectiveCamera>
 
-<T.DirectionalLight intensity={0.8} position.x={5} position.y={10} />
-<T.AmbientLight intensity={0.2} />
+<T.DirectionalLight position={[3, 10, 7]} />
+<T.AmbientLight color={'#f0f0f0'} intensity={0.1} />
 
-<Grid
-  position.y={1}
-  cellColor="#ffffff"
-  sectionColor="#ffffff"
-  sectionThickness={0}
-  fadeDistance={100}
-  cellSize={6}
-  infiniteGrid
+<RobotDecimated
+  scale={[10, 10, 10]}
+  position.y={0}
+  on:create={({ ref }) => {
+    // @ts-expect-error
+    $mesh = ref
+  }}
 />
 
-<ContactShadows scale={10} blur={2} far={2.5} opacity={0.5} />
-
-<!-- <Hornet
-  position.y={2}
-  position.z={robotPos.z}
-  position.x={robotPos.x}
-  scale={[5, 5, 5]}
-  bind:ref={capsule}
-  rotation.y={rot}
-/> -->
+<Grid
+  sectionColor={'#ff3e00'}
+  sectionThickness={1}
+  fadeDistance={100}
+  cellSize={6}
+  sectionSize={24}
+  cellColor={'#cccccc'}
+  infiniteGrid
+/>
diff --git a/client/src/lib/Dashboard/Visualization/Visualization.svelte b/client/src/lib/Dashboard/Visualization/Visualization.svelte
index bdde5a9..ae2877e 100644
--- a/client/src/lib/Dashboard/Visualization/Visualization.svelte
+++ b/client/src/lib/Dashboard/Visualization/Visualization.svelte
@@ -1,16 +1,9 @@
 <script lang="ts">
   import { Canvas } from '@threlte/core'
-  // @ts-expect-error
-  import { DEG2RAD } from 'three/src/math/MathUtils'
-  import { Pane, Button, Separator } from 'svelte-tweakpane-ui'
-  import { cameraControls, mesh } from './CameraControls/utils/cameraStore'
-  import Scene from './CameraControls/Scene.svelte'
+  import { cameraControls } from './CameraControls/utils/cameraStore'
+  import Scene from './Scene.svelte'
   import { onMount } from 'svelte'
-  import {
-    Vector3,
-    type OrthographicCamera,
-    type PerspectiveCamera,
-  } from 'three'
+  import { type OrthographicCamera, type PerspectiveCamera } from 'three'
 
   let camera: PerspectiveCamera | OrthographicCamera
 
diff --git a/client/src/lib/Dashboard/Visualization/smoothMotionController.ts b/client/src/lib/Dashboard/Visualization/smoothMotionController.ts
deleted file mode 100644
index ee296c2..0000000
--- a/client/src/lib/Dashboard/Visualization/smoothMotionController.ts
+++ /dev/null
@@ -1,54 +0,0 @@
-import { Vector2 } from 'three'
-
-interface Velocity {
-  x: number
-  y: number
-}
-
-export class SmoothMotionController {
-  private currentPosition: Vector2
-  private currentVelocity: Vector2
-  private targetVelocity: Velocity
-  private dampingFactor: number
-
-  constructor(
-    initialPosition: Vector2,
-    initialVelocity: Velocity,
-    dampingFactor: number = 0.1
-  ) {
-    this.currentPosition = initialPosition
-    this.currentVelocity = new Vector2(initialVelocity.x, initialVelocity.y)
-    this.targetVelocity = { ...initialVelocity }
-    this.dampingFactor = dampingFactor
-  }
-
-  setTargetVelocity(velocity: Velocity) {
-    this.targetVelocity = velocity
-  }
-
-  update(delta: number) {
-    // Apply cubic interpolation to smoothly transition the current velocity towards the target velocity
-    this.currentVelocity.x +=
-      (this.targetVelocity.x - this.currentVelocity.x) *
-      this.dampingFactor *
-      delta
-    this.currentVelocity.y +=
-      (this.targetVelocity.y - this.currentVelocity.y) *
-      this.dampingFactor *
-      delta
-
-    // Update position based on the current velocity and the time delta
-    this.currentPosition.x += this.currentVelocity.x * delta * 3
-    this.currentPosition.y += this.currentVelocity.y * delta * 3
-  }
-
-  getPosition(): Vector2 {
-    return this.currentPosition
-  }
-
-  public reset() {
-    this.currentPosition = new Vector2(0, 0)
-    this.currentVelocity = new Vector2(0, 0)
-    this.targetVelocity = { x: 0, y: 0 }
-  }
-}
diff --git a/client/src/lib/Dashboard/Visualization/utils.ts b/client/src/lib/Dashboard/Visualization/utils.ts
deleted file mode 100644
index e69de29..0000000
diff --git a/client/src/lib/Sequences/sequences.ts b/client/src/lib/Sequences/sequences.ts
index c5cba6e..b3436f9 100644
--- a/client/src/lib/Sequences/sequences.ts
+++ b/client/src/lib/Sequences/sequences.ts
@@ -14,51 +14,52 @@ Sequences should be either event-driven or periodic. In the case of periodic
 sequences, invoke them in the periodicSequence function 
 */
 
-import { Notifications } from "../Notifications/notifications";
-import { sequenceStore } from "../stores/sequenceStore";
-import { settingsStore } from "../stores/settingsStore";
-import { get } from "svelte/store";
-import getVoicePath from "../utils/getVoicePath";
-import { tick } from "svelte";
+import { Notifications } from '../Notifications/notifications'
+import { sequenceStore } from '../stores/sequenceStore'
+import { settingsStore } from '../stores/settingsStore'
+import { get } from 'svelte/store'
+import getVoicePath from '../utils/getVoicePath'
+import { tick } from 'svelte'
+import { cameraState } from '../Dashboard/Visualization/CameraControls/utils/cameraStore'
 
 // await a "tick" (a svelte update frame) at the start of every sequence so that
 // state is synced and no weird side effects occur
 
 export const initializationSequence = async () => {
-  await tick();
-  Notifications.info("Jankboard initialized!", {
+  await tick()
+  Notifications.info('Jankboard initialized!', {
     withAudio: true,
-    src: getVoicePath("jankboard-initialized"),
+    src: getVoicePath('jankboard-initialized'),
     onComplete: () => {
       if (get(settingsStore).goWoke) {
-        sequenceStore.update("initializationComplete", true);
-        periodicSequence();
-        return;
+        sequenceStore.update('initializationComplete', true)
+        periodicSequence()
+        return
       }
-      Notifications.success("LittenOS is online", {
+      Notifications.success('LittenOS is online', {
         withAudio: true,
-        src: getVoicePath("littenos-is-online"),
+        src: getVoicePath('littenos-is-online'),
         onComplete: () => {
-          Notifications.warn("Breaching Monte Vista codebase", {
+          Notifications.warn('Breaching Monte Vista codebase', {
             withAudio: true,
-            src: getVoicePath("breaching-monte-vista"),
+            src: getVoicePath('breaching-monte-vista'),
             onComplete: () => {
               Notifications.playAudio(
-                getVoicePath("hello-virtual-assistant"),
+                getVoicePath('hello-virtual-assistant'),
                 () => {
-                  sequenceStore.update("initializationComplete", true);
-                  periodicSequence();
+                  sequenceStore.update('initializationComplete', true)
+                  periodicSequence()
                 }
-              );
+              )
             },
-          });
+          })
         },
-      });
+      })
     },
-  });
-};
+  })
+}
 
-let counter = 1;
+let counter = 1
 /**
  * Special sequence that plays invokes itself periodically, started automatically
  * at the end of the initializationSequence
@@ -68,7 +69,7 @@ let counter = 1;
  * @return void
  */
 const periodicSequence = async () => {
-  await tick();
+  await tick()
 
   /**
    * Returns either true or false based on the provided probability
@@ -78,11 +79,11 @@ const periodicSequence = async () => {
    */
   const chance = (probability: number) => {
     if (probability < 0 || probability > 1) {
-      throw new Error("Probability must be between 0 and 1");
+      throw new Error('Probability must be between 0 and 1')
     }
 
-    return Math.random() < probability * get(settingsStore).randomWeight;
-  };
+    return Math.random() < probability * get(settingsStore).randomWeight
+  }
 
   /**
    * Calls a callback function at regular intervals.
@@ -91,141 +92,141 @@ const periodicSequence = async () => {
    * @param callback - the function to call
    */
   const every = (seconds: number, callback: () => void) => {
-    if (counter % seconds === 0) callback();
-  };
+    if (counter % seconds === 0) callback()
+  }
 
   // add your periodic sequences here
   every(15, () => {
-    if (chance(0.2)) breaching1323Sequence();
-    else if (chance(0.2)) breaching254Sequence();
-  });
+    if (chance(0.2)) breaching1323Sequence()
+    else if (chance(0.2)) breaching254Sequence()
+  })
   every(25, () => {
-    if (chance(0.05)) bullyingRohanSequence();
-    else if (chance(0.1)) bypassCoprocessorRestrictionsSequence();
-  });
+    if (chance(0.05)) bullyingRohanSequence()
+    else if (chance(0.1)) bypassCoprocessorRestrictionsSequence()
+  })
 
   // Dont touch
-  counter++;
-  setTimeout(periodicSequence, 1000);
-};
+  counter++
+  setTimeout(periodicSequence, 1000)
+}
 export const criticalFailureIminentSequence = async () => {
-  await tick();
-  Notifications.error("Critical robot failure imminent", {
+  await tick()
+  Notifications.error('Critical robot failure imminent', {
     withAudio: true,
-    src: getVoicePath("critical-robot-failure"),
-  });
-};
+    src: getVoicePath('critical-robot-failure'),
+  })
+}
 
 export const collisionDetectedSequence = async () => {
-  await tick();
-  Notifications.error("Collision detected", {
+  await tick()
+  Notifications.error('Collision detected', {
     withAudio: true,
-    src: getVoicePath("collision-detected"),
-  });
-};
+    src: getVoicePath('collision-detected'),
+  })
+}
 
 export const collisionImminentSequence = async () => {
-  await tick();
-  Notifications.error("Collision imminent", {
+  await tick()
+  Notifications.error('Collision imminent', {
     withAudio: true,
-    src: getVoicePath("collision-imminent"),
-  });
-};
+    src: getVoicePath('collision-imminent'),
+  })
+}
 
 export const cruiseControlEngagedSequence = async () => {
-  if (get(settingsStore).disableAnnoyances) return;
-  await tick();
-  Notifications.success("Cruise control engaged", {
+  if (get(settingsStore).disableAnnoyances) return
+  await tick()
+  Notifications.success('Cruise control engaged', {
     withAudio: true,
-    src: getVoicePath("cruise-control-engaged"),
-  });
-};
+    src: getVoicePath('cruise-control-engaged'),
+  })
+}
 
 export const retardSequence = async () => {
-  if (get(settingsStore).goWoke) return;
-  await tick();
-  Notifications.warn("Retard", {
+  if (get(settingsStore).goWoke) return
+  await tick()
+  Notifications.warn('Retard', {
     withAudio: true,
-    src: getVoicePath("retard"),
-  });
-};
+    src: getVoicePath('retard'),
+  })
+}
 
 const breaching254Sequence = async () => {
-  if (get(settingsStore).disableAnnoyances) return;
-  await tick();
-  Notifications.warn("Breaching 254 mainframe", {
+  if (get(settingsStore).disableAnnoyances) return
+  await tick()
+  Notifications.warn('Breaching 254 mainframe', {
     withAudio: true,
-    src: getVoicePath("breaching-254-mainframe"),
-  });
-};
+    src: getVoicePath('breaching-254-mainframe'),
+  })
+}
 
 const breaching1323Sequence = async () => {
-  if (get(settingsStore).disableAnnoyances) return;
-  await tick();
-  Notifications.warn("Breaching 1323 mainframe", {
+  if (get(settingsStore).disableAnnoyances) return
+  await tick()
+  Notifications.warn('Breaching 1323 mainframe', {
     withAudio: true,
-    src: getVoicePath("breaching-1323-mainframe"),
-  });
-};
+    src: getVoicePath('breaching-1323-mainframe'),
+  })
+}
 
 const bullyingRohanSequence = async () => {
-  if (get(settingsStore).disableAnnoyances) return;
-  await tick();
-  Notifications.info("Bullying Rohan", {
+  if (get(settingsStore).disableAnnoyances) return
+  await tick()
+  Notifications.info('Bullying Rohan', {
     withAudio: true,
-    src: getVoicePath("bullying-rohan"),
-  });
-};
+    src: getVoicePath('bullying-rohan'),
+  })
+}
 
 export const userErrorDetectedSequence = async () => {
-  await tick();
-  Notifications.error("User error detected", {
+  await tick()
+  Notifications.error('User error detected', {
     withAudio: true,
-    src: getVoicePath("user-error-detected"),
-  });
-};
+    src: getVoicePath('user-error-detected'),
+  })
+}
 
 // hacky way to prevent duplicate infotainment bootups
-let infotainmentStarted = false;
+let infotainmentStarted = false
 export const infotainmentBootupSequence = async () => {
   if (
     get(sequenceStore).infotainmentStartedFirstTime ||
     get(settingsStore).disableAnnoyances ||
     infotainmentStarted
   ) {
-    return;
+    return
   }
 
-  infotainmentStarted = true;
-  await tick();
+  infotainmentStarted = true
+  await tick()
 
   const sequence = () => {
-    Notifications.info("Infotainment system buffering", {
+    Notifications.info('Infotainment system buffering', {
       withAudio: true,
-      src: getVoicePath("infotainment-system-buffering"),
+      src: getVoicePath('infotainment-system-buffering'),
       onComplete: () => {
-        Notifications.success("Infotainment system online", {
+        Notifications.success('Infotainment system online', {
           withAudio: true,
-          src: getVoicePath("infotainment-system-online"),
+          src: getVoicePath('infotainment-system-online'),
           onComplete: () => {
-            sequenceStore.update("infotainmentStartedFirstTime", true);
+            sequenceStore.update('infotainmentStartedFirstTime', true)
           },
-        });
+        })
       },
-    });
-  };
+    })
+  }
 
   if (!get(sequenceStore).initializationComplete) {
-    const unsubscribe = sequenceStore.subscribe((data) => {
+    const unsubscribe = sequenceStore.subscribe(data => {
       if (data.initializationComplete) {
-        sequence();
-        unsubscribe();
+        sequence()
+        unsubscribe()
       }
-    });
+    })
   } else {
-    sequence();
+    sequence()
   }
-};
+}
 
 /**
  * Waits for the infotainment system to boot up before executing the given sequence.
@@ -236,77 +237,196 @@ export const infotainmentBootupSequence = async () => {
  */
 const waitForInfotainmentBootup = (sequence: () => void) => {
   if (!get(sequenceStore).infotainmentStartedFirstTime) {
-    const unsubscribe = sequenceStore.subscribe((data) => {
+    const unsubscribe = sequenceStore.subscribe(data => {
       if (data.infotainmentStartedFirstTime) {
-        sequence();
-        unsubscribe();
+        sequence()
+        unsubscribe()
       }
-    });
+    })
   } else {
-    sequence();
+    sequence()
   }
-};
+}
 
 export const musicPlayerBootupSequence = async () => {
   if (
     get(sequenceStore).musicStartedFirstTime ||
     get(settingsStore).disableAnnoyances
   )
-    return;
+    return
 
-  await tick();
+  await tick()
 
-  sequenceStore.update("musicStartedFirstTime", true);
+  sequenceStore.update('musicStartedFirstTime', true)
 
   waitForInfotainmentBootup(() => {
-    Notifications.info("Downloading copyrighted music...", {
+    Notifications.info('Downloading copyrighted music...', {
       withAudio: true,
-      src: getVoicePath("downloading-copyrighted-music"),
-    });
-  });
-};
+      src: getVoicePath('downloading-copyrighted-music'),
+    })
+  })
+}
 
 export const gbaEmulatorBootupSequence = async () => {
   if (
     get(sequenceStore).gbaEmulatorStartedFirstTime ||
     get(settingsStore).disableAnnoyances
   )
-    return;
+    return
 
-  await tick();
-  sequenceStore.update("gbaEmulatorStartedFirstTime", true);
+  await tick()
+  sequenceStore.update('gbaEmulatorStartedFirstTime', true)
 
   waitForInfotainmentBootup(() => {
-    Notifications.info("Loading pirated Nintendo ROMs", {
+    Notifications.info('Loading pirated Nintendo ROMs', {
       withAudio: true,
-      src: getVoicePath("loading-pirated-nintendo"),
-    });
-  });
-};
+      src: getVoicePath('loading-pirated-nintendo'),
+    })
+  })
+}
 
 export const doomBootupSequence = async () => {
   if (
     get(sequenceStore).doomStartedFirstTime ||
     get(settingsStore).disableAnnoyances
   )
-    return;
+    return
 
-  await tick();
-  sequenceStore.update("doomStartedFirstTime", true);
+  await tick()
+  sequenceStore.update('doomStartedFirstTime', true)
 
   waitForInfotainmentBootup(() => {
-    Notifications.success("Doom Engaged", {
+    Notifications.success('Doom Engaged', {
       withAudio: true,
-      src: getVoicePath("doom-engaged"),
-    });
-  });
-};
+      src: getVoicePath('doom-engaged'),
+    })
+  })
+}
 
 const bypassCoprocessorRestrictionsSequence = async () => {
-  if (get(settingsStore).disableAnnoyances) return;
-  await tick();
-  Notifications.warn("Bypassing coprocessor restrictions", {
+  if (
+    get(settingsStore).disableAnnoyances ||
+    get(sequenceStore).initializationComplete
+  )
+    return
+  await tick()
+  Notifications.warn('Bypassing coprocessor restrictions', {
     withAudio: true,
-    src: getVoicePath("bypassing-coprocessor-restrictions"),
-  });
-};
+    src: getVoicePath('bypassing-coprocessor-restrictions'),
+  })
+}
+
+export const shiftedInParkSequence = async () => {
+  await tick()
+  cameraState.set('mode', 'orbit')
+
+  if (
+    get(settingsStore).disableAnnoyances ||
+    !get(sequenceStore).initializationComplete
+  )
+    return
+  Notifications.playAudio(getVoicePath('parked-brakes-engaged'), () => {
+    if (!get(settingsStore).sentry) return
+
+    Notifications.playAudio(getVoicePath('sentry-mode-engaged'))
+    Notifications.warn('Sentry mode engaged. Threats will be neutralized')
+  })
+}
+
+export const shiftedInReverseSequence = async () => {
+  await tick()
+
+  cameraState.set('mode', 'follow-direction')
+
+  if (
+    get(settingsStore).disableAnnoyances ||
+    !get(sequenceStore).initializationComplete
+  )
+    return
+  Notifications.playAudio(getVoicePath('reverse'))
+}
+
+export const shiftedInNeutralSequence = async () => {
+  await tick()
+
+  cameraState.set('mode', 'orbit')
+
+  if (
+    get(settingsStore).disableAnnoyances ||
+    !get(sequenceStore).initializationComplete
+  )
+    return
+  Notifications.playAudio(getVoicePath('neutral-brakes-engaged'))
+}
+
+export const shiftedInLowSequence = async () => {
+  await tick()
+
+  cameraState.set('mode', 'follow-facing')
+
+  if (
+    get(settingsStore).disableAnnoyances ||
+    !get(sequenceStore).initializationComplete
+  )
+    return
+  Notifications.playAudio(getVoicePath('shifted-into-low'))
+}
+
+export const shiftedInAutoSequence = async () => {
+  await tick()
+
+  cameraState.set('mode', 'follow-direction')
+
+  if (
+    get(settingsStore).disableAnnoyances ||
+    !get(sequenceStore).initializationComplete
+  )
+    return
+  Notifications.playAudio(getVoicePath('shifted-into-automatic'))
+}
+
+export const shiftedInDriveSequence = async () => {
+  await tick()
+
+  cameraState.set('mode', 'follow-facing')
+
+  if (
+    get(settingsStore).disableAnnoyances ||
+    !get(sequenceStore).initializationComplete
+  )
+    return
+  Notifications.playAudio(getVoicePath('shifted-into-drive'))
+}
+
+export const modeChillSequence = async () => {
+  if (
+    get(settingsStore).disableAnnoyances ||
+    !get(sequenceStore).initializationComplete
+  )
+    return
+  await tick()
+
+  Notifications.playAudio(getVoicePath('set-acceleration-profile-chill'))
+}
+
+export const modeCruiseSequence = async () => {
+  if (
+    get(settingsStore).disableAnnoyances ||
+    !get(sequenceStore).initializationComplete
+  )
+    return
+  await tick()
+
+  Notifications.playAudio(getVoicePath('cruise-control-engaged'))
+}
+
+export const modeLudicrousSequence = async () => {
+  if (
+    get(settingsStore).disableAnnoyances ||
+    !get(sequenceStore).initializationComplete
+  )
+    return
+  await tick()
+
+  Notifications.playAudio(getVoicePath('set-acceleration-profile-ludicrous'))
+}
diff --git a/client/src/lib/stores/settingsStore.ts b/client/src/lib/stores/settingsStore.ts
index f7ce2d0..cbb96cd 100644
--- a/client/src/lib/stores/settingsStore.ts
+++ b/client/src/lib/stores/settingsStore.ts
@@ -10,6 +10,7 @@ export interface SettingsStoreData {
   fastStartup: boolean
   randomWeight: number
   voiceLang: SupportedLanguage
+  sentry: boolean
 }
 
 export const defaults: SettingsStoreData = {
@@ -18,6 +19,7 @@ export const defaults: SettingsStoreData = {
   fastStartup: false, // skip the loading splash screen (for development purposes. Setting this from within the app has no effect.)
   randomWeight: 1, // the weight of random events (multiplied by the original probability)
   voiceLang: 'en-US',
+  sentry: true,
 }
 
 const createSequenceStore = () => {