diff --git a/hostcontrol/.gitignore b/hostcontrol/.gitignore
index bba7001..ea8c4bf 100644
--- a/hostcontrol/.gitignore
+++ b/hostcontrol/.gitignore
@@ -1,5 +1 @@
 /target
-.envrc
-.direnv/
-*~
-
diff --git a/hostcontrol/Cargo.lock b/hostcontrol/Cargo.lock
index 8fc7caa..dc422b4 100644
--- a/hostcontrol/Cargo.lock
+++ b/hostcontrol/Cargo.lock
@@ -92,8 +92,8 @@ dependencies = [
  "hashbrown",
  "paste",
  "static_assertions",
- "windows 0.58.0",
- "windows-core 0.58.0",
+ "windows",
+ "windows-core",
 ]
 
 [[package]]
@@ -122,7 +122,7 @@ version = "0.8.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5a15f179cd60c4584b8a8c596927aadc462e27f2ca70c04e0071964a73ba7a75"
 dependencies = [
- "cfg-if 1.0.1",
+ "cfg-if",
  "getrandom 0.3.3",
  "once_cell",
  "version_check",
@@ -224,12 +224,6 @@ dependencies = [
  "windows-sys 0.59.0",
 ]
 
-[[package]]
-name = "anyhow"
-version = "1.0.102"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c"
-
 [[package]]
 name = "approx"
 version = "0.5.1"
@@ -342,7 +336,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1237c0ae75a0f3765f58910ff9cdd0a12eeb39ab2f4c7de23262f337f0aacbb3"
 dependencies = [
  "async-lock",
- "cfg-if 1.0.1",
+ "cfg-if",
  "concurrent-queue",
  "futures-io",
  "futures-lite",
@@ -377,7 +371,7 @@ dependencies = [
  "async-signal",
  "async-task",
  "blocking",
- "cfg-if 1.0.1",
+ "cfg-if",
  "event-listener",
  "futures-lite",
  "rustix 1.0.7",
@@ -404,7 +398,7 @@ dependencies = [
  "async-io",
  "async-lock",
  "atomic-waker",
- "cfg-if 1.0.1",
+ "cfg-if",
  "futures-core",
  "futures-io",
  "rustix 1.0.7",
@@ -493,29 +487,6 @@ version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
 
-[[package]]
-name = "bindgen"
-version = "0.65.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cfdf7b466f9a4903edc73f95d6d2bcd5baf8ae620638762244d3f60143643cc5"
-dependencies = [
- "bitflags 1.3.2",
- "cexpr",
- "clang-sys",
- "lazy_static",
- "lazycell",
- "log",
- "peeking_take_while",
- "prettyplease",
- "proc-macro2",
- "quote",
- "regex",
- "rustc-hash 1.1.0",
- "shlex",
- "syn",
- "which",
-]
-
 [[package]]
 name = "bit-set"
 version = "0.8.0"
@@ -664,21 +635,6 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6d43a04d8753f35258c91f8ec639f792891f748a1edbd759cf1dcea3382ad83c"
 
-[[package]]
-name = "cexpr"
-version = "0.6.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6fac387a98bb7c37292057cffc56d62ecb629900026402633ae9160df93a8766"
-dependencies = [
- "nom",
-]
-
-[[package]]
-name = "cfg-if"
-version = "0.1.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
-
 [[package]]
 name = "cfg-if"
 version = "1.0.1"
@@ -700,57 +656,6 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "clang-sys"
-version = "1.8.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4"
-dependencies = [
- "glob",
- "libc",
- "libloading",
-]
-
-[[package]]
-name = "clap"
-version = "4.5.60"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2797f34da339ce31042b27d23607e051786132987f595b02ba4f6a6dffb7030a"
-dependencies = [
- "clap_builder",
- "clap_derive",
-]
-
-[[package]]
-name = "clap_builder"
-version = "4.5.60"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24a241312cea5059b13574bb9b3861cabf758b879c15190b37b6d6fd63ab6876"
-dependencies = [
- "anstream",
- "anstyle",
- "clap_lex",
- "strsim",
-]
-
-[[package]]
-name = "clap_derive"
-version = "4.5.55"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a92793da1a46a5f2a02a6f4c46c6496b28c43638adea8306fcb0caa1634f24e5"
-dependencies = [
- "heck",
- "proc-macro2",
- "quote",
- "syn",
-]
-
-[[package]]
-name = "clap_lex"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3a822ea5bc7590f9d40f1ba12c0dc3c2760f3482c6984db1573ad11031420831"
-
 [[package]]
 name = "clipboard-win"
 version = "5.4.0"
@@ -760,34 +665,6 @@ dependencies = [
  "error-code",
 ]
 
-[[package]]
-name = "cocoa"
-version = "0.20.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c49e86fc36d5704151f5996b7b3795385f50ce09e3be0f47a0cfde869681cf8"
-dependencies = [
- "bitflags 1.3.2",
- "block",
- "core-foundation 0.7.0",
- "core-graphics 0.19.2",
- "foreign-types 0.3.2",
- "libc",
- "objc",
-]
-
-[[package]]
-name = "cocoa-foundation"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81411967c50ee9a1fc11365f8c585f863a22a9697c89239c452292c40ba79b0d"
-dependencies = [
- "bitflags 2.9.1",
- "block",
- "core-foundation 0.10.1",
- "core-graphics-types 0.2.0",
- "objc",
-]
-
 [[package]]
 name = "codespan-reporting"
 version = "0.11.1"
@@ -823,23 +700,13 @@ dependencies = [
  "crossbeam-utils",
 ]
 
-[[package]]
-name = "core-foundation"
-version = "0.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57d24c7a13c43e870e37c1556b74555437870a04514f7685f5b354e090567171"
-dependencies = [
- "core-foundation-sys 0.7.0",
- "libc",
-]
-
 [[package]]
 name = "core-foundation"
 version = "0.9.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "91e195e091a93c46f7102ec7818a2aa394e1e1771c3ab4825963fa03e45afb8f"
 dependencies = [
- "core-foundation-sys 0.8.7",
+ "core-foundation-sys",
  "libc",
 ]
 
@@ -849,34 +716,16 @@ version = "0.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b2a6cd9ae233e7f62ba4e9353e81a88df7fc8a5987b8d445b4d90c879bd156f6"
 dependencies = [
- "core-foundation-sys 0.8.7",
+ "core-foundation-sys",
  "libc",
 ]
 
-[[package]]
-name = "core-foundation-sys"
-version = "0.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3a71ab494c0b5b860bdc8407ae08978052417070c2ced38573a9157ad75b8ac"
-
 [[package]]
 name = "core-foundation-sys"
 version = "0.8.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
 
-[[package]]
-name = "core-graphics"
-version = "0.19.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3889374e6ea6ab25dba90bb5d96202f61108058361f6dc72e8b03e6f8bbe923"
-dependencies = [
- "bitflags 1.3.2",
- "core-foundation 0.7.0",
- "foreign-types 0.3.2",
- "libc",
-]
-
 [[package]]
 name = "core-graphics"
 version = "0.23.2"
@@ -885,8 +734,8 @@ checksum = "c07782be35f9e1140080c6b96f0d44b739e2278479f64e02fdab4e32dfd8b081"
 dependencies = [
  "bitflags 1.3.2",
  "core-foundation 0.9.4",
- "core-graphics-types 0.1.3",
- "foreign-types 0.5.0",
+ "core-graphics-types",
+ "foreign-types",
  "libc",
 ]
 
@@ -901,42 +750,6 @@ dependencies = [
  "libc",
 ]
 
-[[package]]
-name = "core-graphics-types"
-version = "0.2.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d44a101f213f6c4cdc1853d4b78aef6db6bdfa3468798cc1d9912f4735013eb"
-dependencies = [
- "bitflags 2.9.1",
- "core-foundation 0.10.1",
- "libc",
-]
-
-[[package]]
-name = "core-media-sys"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "273bf3fc5bf51fd06a7766a84788c1540b6527130a0bce39e00567d6ab9f31f1"
-dependencies = [
- "cfg-if 0.1.10",
- "core-foundation-sys 0.7.0",
- "libc",
-]
-
-[[package]]
-name = "core-video-sys"
-version = "0.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34ecad23610ad9757664d644e369246edde1803fcb43ed72876565098a5d3828"
-dependencies = [
- "cfg-if 0.1.10",
- "core-foundation-sys 0.7.0",
- "core-graphics 0.19.2",
- "libc",
- "metal 0.18.0",
- "objc",
-]
-
 [[package]]
 name = "cpufeatures"
 version = "0.2.17"
@@ -952,7 +765,7 @@ version = "1.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a97769d94ddab943e4510d138150169a2758b5ef3eb191a9ee688de3e23ef7b3"
 dependencies = [
- "cfg-if 1.0.1",
+ "cfg-if",
 ]
 
 [[package]]
@@ -1044,12 +857,6 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d8b14ccef22fc6f5a8f4d7d768562a182c04ce9a3b3157b91390b52ddfdf1a76"
 
-[[package]]
-name = "dunce"
-version = "1.0.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92773504d58c093f6de2459af4af33faa518c13451eb8f2b5698ed3d36e7c813"
-
 [[package]]
 name = "ecolor"
 version = "0.31.1"
@@ -1170,12 +977,6 @@ dependencies = [
  "winit",
 ]
 
-[[package]]
-name = "either"
-version = "1.15.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719"
-
 [[package]]
 name = "emath"
 version = "0.31.1"
@@ -1327,33 +1128,12 @@ dependencies = [
  "miniz_oxide",
 ]
 
-[[package]]
-name = "flume"
-version = "0.11.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da0e4dd2a88388a1f4ccc7c9ce104604dab68d9f408dc34cd45823d5a9069095"
-dependencies = [
- "futures-core",
- "futures-sink",
- "nanorand",
- "spin",
-]
-
 [[package]]
 name = "foldhash"
 version = "0.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2"
 
-[[package]]
-name = "foreign-types"
-version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f6f339eb8adc052cd2ca78910fda869aefa38d22d5cb648e6485e4d3fc06f3b1"
-dependencies = [
- "foreign-types-shared 0.1.1",
-]
-
 [[package]]
 name = "foreign-types"
 version = "0.5.0"
@@ -1361,7 +1141,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d737d9aa519fb7b749cbc3b962edcf310a8dd1f4b67c91c4f83975dbdd17d965"
 dependencies = [
  "foreign-types-macros",
- "foreign-types-shared 0.3.1",
+ "foreign-types-shared",
 ]
 
 [[package]]
@@ -1375,12 +1155,6 @@ dependencies = [
  "syn",
 ]
 
-[[package]]
-name = "foreign-types-shared"
-version = "0.1.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "00b0228411908ca8685dba7fc2cdd70ec9990a6e753e89b6ac91a84c40fbaf4b"
-
 [[package]]
 name = "foreign-types-shared"
 version = "0.3.1"
@@ -1487,11 +1261,9 @@ version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "335ff9f135e4384c8150d6f27c6daed433577f86b4750418338c01a1a2528592"
 dependencies = [
- "cfg-if 1.0.1",
- "js-sys",
+ "cfg-if",
  "libc",
  "wasi 0.11.1+wasi-snapshot-preview1",
- "wasm-bindgen",
 ]
 
 [[package]]
@@ -1500,7 +1272,7 @@ version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "26145e563e54f2cadc477553f1ec5ee650b00862f0a58bcd12cbdc5f0ea2d2f4"
 dependencies = [
- "cfg-if 1.0.1",
+ "cfg-if",
  "libc",
  "r-efi",
  "wasi 0.14.2+wasi-0.2.4",
@@ -1517,12 +1289,6 @@ dependencies = [
  "xml-rs",
 ]
 
-[[package]]
-name = "glob"
-version = "0.3.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0cc23270f6e1808e30a928bdc84dea0b9b4136a8bc82338574f23baf47bbd280"
-
 [[package]]
 name = "glow"
 version = "0.16.0"
@@ -1673,29 +1439,15 @@ version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dfa686283ad6dd069f105e5ab091b04c62850d3e4cf5d67debad1933f55023df"
 
-[[package]]
-name = "home"
-version = "0.5.12"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cc627f471c528ff0c4a49e1d5e60450c8f6461dd6d10ba9dcd3a61d3dff7728d"
-dependencies = [
- "windows-sys 0.61.2",
-]
-
 [[package]]
 name = "hostcontrol"
 version = "0.1.0"
 dependencies = [
- "anyhow",
- "clap",
  "eframe",
  "egui",
  "env_logger",
- "image",
- "log",
  "nalgebra",
  "nalgebra-macros",
- "nokhwa",
  "serialport",
  "thiserror 2.0.12",
 ]
@@ -1818,8 +1570,6 @@ dependencies = [
  "num-traits",
  "png",
  "tiff",
- "zune-core",
- "zune-jpeg",
 ]
 
 [[package]]
@@ -1847,7 +1597,7 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "617ee6cf8e3f66f3b4ea67a4058564628cde41901316e19f559e14c7c72c5e7b"
 dependencies = [
- "core-foundation-sys 0.8.7",
+ "core-foundation-sys",
  "mach2",
 ]
 
@@ -1888,7 +1638,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1a87aa2bb7d2af34197c04845522473242e1aa17c12f4935d5856491a7fb8c97"
 dependencies = [
  "cesu8",
- "cfg-if 1.0.1",
+ "cfg-if",
  "combine",
  "jni-sys",
  "log",
@@ -1946,18 +1696,6 @@ version = "3.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e2db585e1d738fc771bf08a151420d3ed193d9d895a36df7f6f8a9456b911ddc"
 
-[[package]]
-name = "lazy_static"
-version = "1.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
-
-[[package]]
-name = "lazycell"
-version = "1.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "830d08ce1d1d941e6b30645f1a0eb5643013d835ce3779a5fc208261dbe10f55"
-
 [[package]]
 name = "libc"
 version = "0.2.174"
@@ -1970,7 +1708,7 @@ version = "0.8.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "07033963ba89ebaf1584d767badaa2e8fcec21aedea6b8c0346d487d49c28667"
 dependencies = [
- "cfg-if 1.0.1",
+ "cfg-if",
  "windows-targets 0.52.6",
 ]
 
@@ -2021,9 +1759,9 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.29"
+version = "0.4.27"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e5032e24019045c762d3c0f28f5b6b8bbf38563a65908389bf7978758920897"
+checksum = "13dc2df351e3202783a1fe0d44375f7295ffb4049267b0f3018346dc122a1d94"
 
 [[package]]
 name = "mach2"
@@ -2077,21 +1815,6 @@ dependencies = [
  "autocfg",
 ]
 
-[[package]]
-name = "metal"
-version = "0.18.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e198a0ee42bdbe9ef2c09d0b9426f3b2b47d90d93a4a9b0395c4cea605e92dc0"
-dependencies = [
- "bitflags 1.3.2",
- "block",
- "cocoa",
- "core-graphics 0.19.2",
- "foreign-types 0.3.2",
- "log",
- "objc",
-]
-
 [[package]]
 name = "metal"
 version = "0.31.0"
@@ -2100,19 +1823,13 @@ checksum = "f569fb946490b5743ad69813cb19629130ce9374034abe31614a36402d18f99e"
 dependencies = [
  "bitflags 2.9.1",
  "block",
- "core-graphics-types 0.1.3",
- "foreign-types 0.5.0",
+ "core-graphics-types",
+ "foreign-types",
  "log",
  "objc",
  "paste",
 ]
 
-[[package]]
-name = "minimal-lexical"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
-
 [[package]]
 name = "miniz_oxide"
 version = "0.8.9"
@@ -2123,31 +1840,6 @@ dependencies = [
  "simd-adler32",
 ]
 
-[[package]]
-name = "mozjpeg"
-version = "0.10.13"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b7891b80aaa86097d38d276eb98b3805d6280708c4e0a1e6f6aed9380c51fec9"
-dependencies = [
- "arrayvec",
- "bytemuck",
- "libc",
- "mozjpeg-sys",
- "rgb",
-]
-
-[[package]]
-name = "mozjpeg-sys"
-version = "2.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f0dc668bf9bf888c88e2fb1ab16a406d2c380f1d082b20d51dd540ab2aa70c1"
-dependencies = [
- "cc",
- "dunce",
- "libc",
- "nasm-rs",
-]
-
 [[package]]
 name = "naga"
 version = "24.0.0"
@@ -2197,25 +1889,6 @@ dependencies = [
  "syn",
 ]
 
-[[package]]
-name = "nanorand"
-version = "0.7.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a51313c5820b0b02bd422f4b44776fbf47961755c74ce64afc73bfad10226c3"
-dependencies = [
- "getrandom 0.2.16",
-]
-
-[[package]]
-name = "nasm-rs"
-version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "706bf8a5e8c8ddb99128c3291d31bd21f4bcde17f0f4c20ec678d85c74faa149"
-dependencies = [
- "jobserver",
- "log",
-]
-
 [[package]]
 name = "ndk"
 version = "0.9.0"
@@ -2262,7 +1935,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b"
 dependencies = [
  "bitflags 1.3.2",
- "cfg-if 1.0.1",
+ "cfg-if",
  "libc",
 ]
 
@@ -2273,7 +1946,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
 dependencies = [
  "bitflags 2.9.1",
- "cfg-if 1.0.1",
+ "cfg-if",
  "cfg_aliases",
  "libc",
  "memoffset",
@@ -2285,82 +1958,6 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2bf50223579dc7cdcfb3bfcacf7069ff68243f8c363f62ffa99cf000a6b9c451"
 
-[[package]]
-name = "nokhwa"
-version = "0.10.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c4cae50786bfa1214ed441f98addbea51ca1b9aaa9e4bf5369cda36654b3efaa"
-dependencies = [
- "flume",
- "image",
- "nokhwa-bindings-linux",
- "nokhwa-bindings-macos",
- "nokhwa-bindings-windows",
- "nokhwa-core",
- "paste",
- "thiserror 2.0.12",
-]
-
-[[package]]
-name = "nokhwa-bindings-linux"
-version = "0.1.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bd666aaa41d14357817bd9a981773a73c4d00b34d344cfc244e47ebd397b1ec"
-dependencies = [
- "nokhwa-core",
- "v4l",
-]
-
-[[package]]
-name = "nokhwa-bindings-macos"
-version = "0.2.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de78eb4a2d47a68f490899aa0516070d7a972f853ec2bb374ab53be0bd39b60f"
-dependencies = [
- "block",
- "cocoa-foundation",
- "core-foundation 0.10.1",
- "core-media-sys",
- "core-video-sys",
- "flume",
- "nokhwa-core",
- "objc",
- "once_cell",
-]
-
-[[package]]
-name = "nokhwa-bindings-windows"
-version = "0.4.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "899799275c93ef69bbe8cb888cf6f8249abe751cbc50be5299105022aec14a1c"
-dependencies = [
- "nokhwa-core",
- "once_cell",
- "windows 0.62.2",
-]
-
-[[package]]
-name = "nokhwa-core"
-version = "0.1.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "109975552bbd690894f613bce3d408222911e317197c72b2e8b9a1912dc261ae"
-dependencies = [
- "bytes",
- "image",
- "mozjpeg",
- "thiserror 2.0.12",
-]
-
-[[package]]
-name = "nom"
-version = "7.1.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d273983c5a657a70a3e8f2a01329822f3b8c8172b73826411a55751e404a0a4a"
-dependencies = [
- "memchr",
- "minimal-lexical",
-]
-
 [[package]]
 name = "num-bigint"
 version = "0.4.6"
@@ -2438,7 +2035,6 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "915b1b472bc21c53464d6c8461c9d3af805ba1ef837e1cac254428f4a77177b1"
 dependencies = [
  "malloc_buf",
- "objc_exception",
 ]
 
 [[package]]
@@ -2712,15 +2308,6 @@ dependencies = [
  "objc2-foundation 0.2.2",
 ]
 
-[[package]]
-name = "objc_exception"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad970fb455818ad6cba4c122ad012fae53ae8b4795f86378bce65e4f6bab2ca4"
-dependencies = [
- "cc",
-]
-
 [[package]]
 name = "once_cell"
 version = "1.21.3"
@@ -2792,7 +2379,7 @@ version = "0.9.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bc838d2a56b5b1a6c25f55575dfc605fabb63bb2365f6c2353ef9159aa69e4a5"
 dependencies = [
- "cfg-if 1.0.1",
+ "cfg-if",
  "libc",
  "redox_syscall 0.5.13",
  "smallvec",
@@ -2805,12 +2392,6 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
-[[package]]
-name = "peeking_take_while"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19b17cddbe7ec3f8bc800887bab5e717348c95ea2ca0b1bf0837fb964dc67099"
-
 [[package]]
 name = "percent-encoding"
 version = "2.3.1"
@@ -2885,7 +2466,7 @@ version = "3.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b53a684391ad002dd6a596ceb6c74fd004fdce75f4be2e3f615068abbea5fd50"
 dependencies = [
- "cfg-if 1.0.1",
+ "cfg-if",
  "concurrent-queue",
  "hermit-abi",
  "pin-project-lite",
@@ -2927,16 +2508,6 @@ dependencies = [
  "zerocopy",
 ]
 
-[[package]]
-name = "prettyplease"
-version = "0.2.36"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff24dfcda44452b9816fff4cd4227e1bb73ff5a2f1bc1105aa92fb8565ce44d2"
-dependencies = [
- "proc-macro2",
- "syn",
-]
-
 [[package]]
 name = "proc-macro-crate"
 version = "3.3.0"
@@ -3090,15 +2661,6 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "19b30a45b0cd0bcca8037f3d0dc3421eaf95327a17cad11964fb8179b4fc4832"
 
-[[package]]
-name = "rgb"
-version = "0.8.53"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "47b34b781b31e5d73e9fbc8689c70551fd1ade9a19e3e28cfec8580a79290cc4"
-dependencies = [
- "bytemuck",
-]
-
 [[package]]
 name = "rustc-hash"
 version = "1.1.0"
@@ -3224,9 +2786,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cdb0bc984f6af6ef8bab54e6cf2071579ee75b9286aa9f2319a0d220c28b0a2b"
 dependencies = [
  "bitflags 2.9.1",
- "cfg-if 1.0.1",
+ "cfg-if",
  "core-foundation 0.10.1",
- "core-foundation-sys 0.8.7",
+ "core-foundation-sys",
  "io-kit-sys",
  "mach2",
  "nix 0.26.4",
@@ -3241,7 +2803,7 @@ version = "0.10.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e3bf829a2d51ab4a5ddf1352d8470c140cadc8301b2ae1789db023f01cedd6ba"
 dependencies = [
- "cfg-if 1.0.1",
+ "cfg-if",
  "cpufeatures",
  "digest",
 ]
@@ -3346,15 +2908,6 @@ dependencies = [
  "serde",
 ]
 
-[[package]]
-name = "spin"
-version = "0.9.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
-dependencies = [
- "lock_api",
-]
-
 [[package]]
 name = "spirv"
 version = "0.3.0+sdk-1.3.268.0"
@@ -3382,12 +2935,6 @@ version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6637bab7722d379c8b41ba849228d680cc12d0a45ba1fa2b48f2a30577a06731"
 
-[[package]]
-name = "strsim"
-version = "0.11.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
-
 [[package]]
 name = "strum"
 version = "0.26.3"
@@ -3514,7 +3061,7 @@ dependencies = [
  "arrayref",
  "arrayvec",
  "bytemuck",
- "cfg-if 1.0.1",
+ "cfg-if",
  "log",
  "tiny-skia-path",
 ]
@@ -3676,26 +3223,6 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
 
-[[package]]
-name = "v4l"
-version = "0.14.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d8fbfea44a46799d62c55323f3c55d06df722fbe577851d848d328a1041c3403"
-dependencies = [
- "bitflags 1.3.2",
- "libc",
- "v4l2-sys-mit",
-]
-
-[[package]]
-name = "v4l2-sys-mit"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6779878362b9bacadc7893eac76abe69612e8837ef746573c4a5239daf11990b"
-dependencies = [
- "bindgen",
-]
-
 [[package]]
 name = "version_check"
 version = "0.9.5"
@@ -3733,7 +3260,7 @@ version = "0.2.100"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1edc8929d7499fc4e8f0be2262a241556cfc54a0bea223790e71446f2aab1ef5"
 dependencies = [
- "cfg-if 1.0.1",
+ "cfg-if",
  "once_cell",
  "rustversion",
  "wasm-bindgen-macro",
@@ -3759,7 +3286,7 @@ version = "0.4.50"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "555d470ec0bc3bb57890405e5d4322cc9ea83cebb085523ced7be4144dac1e61"
 dependencies = [
- "cfg-if 1.0.1",
+ "cfg-if",
  "js-sys",
  "once_cell",
  "wasm-bindgen",
@@ -4011,7 +3538,7 @@ dependencies = [
  "bitflags 2.9.1",
  "bytemuck",
  "cfg_aliases",
- "core-graphics-types 0.1.3",
+ "core-graphics-types",
  "glow",
  "glutin_wgl_sys",
  "gpu-alloc",
@@ -4021,7 +3548,7 @@ dependencies = [
  "libc",
  "libloading",
  "log",
- "metal 0.31.0",
+ "metal",
  "naga",
  "ndk-sys 0.5.0+25.2.9519653",
  "objc",
@@ -4037,7 +3564,7 @@ dependencies = [
  "wasm-bindgen",
  "web-sys",
  "wgpu-types",
- "windows 0.58.0",
+ "windows",
 ]
 
 [[package]]
@@ -4052,18 +3579,6 @@ dependencies = [
  "web-sys",
 ]
 
-[[package]]
-name = "which"
-version = "4.4.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "87ba24419a2078cd2b0f2ede2691b6c66d8e47836da3b6db8265ebad47afbfc7"
-dependencies = [
- "either",
- "home",
- "once_cell",
- "rustix 0.38.44",
-]
-
 [[package]]
 name = "wide"
 version = "0.7.19"
@@ -4111,68 +3626,23 @@ version = "0.58.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dd04d41d93c4992d421894c18c8b43496aa748dd4c081bac0dc93eb0489272b6"
 dependencies = [
- "windows-core 0.58.0",
+ "windows-core",
  "windows-targets 0.52.6",
 ]
 
-[[package]]
-name = "windows"
-version = "0.62.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "527fadee13e0c05939a6a05d5bd6eec6cd2e3dbd648b9f8e447c6518133d8580"
-dependencies = [
- "windows-collections",
- "windows-core 0.62.2",
- "windows-future",
- "windows-numerics",
-]
-
-[[package]]
-name = "windows-collections"
-version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23b2d95af1a8a14a3c7367e1ed4fc9c20e0a26e79551b1454d72583c97cc6610"
-dependencies = [
- "windows-core 0.62.2",
-]
-
 [[package]]
 name = "windows-core"
 version = "0.58.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6ba6d44ec8c2591c134257ce647b7ea6b20335bf6379a27dac5f1641fcf59f99"
 dependencies = [
- "windows-implement 0.58.0",
- "windows-interface 0.58.0",
- "windows-result 0.2.0",
- "windows-strings 0.1.0",
+ "windows-implement",
+ "windows-interface",
+ "windows-result",
+ "windows-strings",
  "windows-targets 0.52.6",
 ]
 
-[[package]]
-name = "windows-core"
-version = "0.62.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b8e83a14d34d0623b51dce9581199302a221863196a1dde71a7663a4c2be9deb"
-dependencies = [
- "windows-implement 0.60.2",
- "windows-interface 0.59.3",
- "windows-link",
- "windows-result 0.4.1",
- "windows-strings 0.5.1",
-]
-
-[[package]]
-name = "windows-future"
-version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e1d6f90251fe18a279739e78025bd6ddc52a7e22f921070ccdc67dde84c605cb"
-dependencies = [
- "windows-core 0.62.2",
- "windows-link",
- "windows-threading",
-]
-
 [[package]]
 name = "windows-implement"
 version = "0.58.0"
@@ -4184,17 +3654,6 @@ dependencies = [
  "syn",
 ]
 
-[[package]]
-name = "windows-implement"
-version = "0.60.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
 [[package]]
 name = "windows-interface"
 version = "0.58.0"
@@ -4206,33 +3665,6 @@ dependencies = [
  "syn",
 ]
 
-[[package]]
-name = "windows-interface"
-version = "0.59.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn",
-]
-
-[[package]]
-name = "windows-link"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
-
-[[package]]
-name = "windows-numerics"
-version = "0.3.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6e2e40844ac143cdb44aead537bbf727de9b044e107a0f1220392177d15b0f26"
-dependencies = [
- "windows-core 0.62.2",
- "windows-link",
-]
-
 [[package]]
 name = "windows-result"
 version = "0.2.0"
@@ -4242,34 +3674,16 @@ dependencies = [
  "windows-targets 0.52.6",
 ]
 
-[[package]]
-name = "windows-result"
-version = "0.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7781fa89eaf60850ac3d2da7af8e5242a5ea78d1a11c49bf2910bb5a73853eb5"
-dependencies = [
- "windows-link",
-]
-
 [[package]]
 name = "windows-strings"
 version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4cd9b125c486025df0eabcb585e62173c6c9eddcec5d117d3b6e8c30e2ee4d10"
 dependencies = [
- "windows-result 0.2.0",
+ "windows-result",
  "windows-targets 0.52.6",
 ]
 
-[[package]]
-name = "windows-strings"
-version = "0.5.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7837d08f69c77cf6b07689544538e017c1bfcf57e34b4c0ff58e6c2cd3b37091"
-dependencies = [
- "windows-link",
-]
-
 [[package]]
 name = "windows-sys"
 version = "0.45.0"
@@ -4297,15 +3711,6 @@ dependencies = [
  "windows-targets 0.52.6",
 ]
 
-[[package]]
-name = "windows-sys"
-version = "0.61.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
-dependencies = [
- "windows-link",
-]
-
 [[package]]
 name = "windows-targets"
 version = "0.42.2"
@@ -4352,15 +3757,6 @@ dependencies = [
  "windows_x86_64_msvc 0.52.6",
 ]
 
-[[package]]
-name = "windows-threading"
-version = "0.2.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3949bd5b99cafdf1c7ca86b43ca564028dfe27d66958f2470940f73d86d75b37"
-dependencies = [
- "windows-link",
-]
-
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.42.2"
@@ -4509,7 +3905,7 @@ dependencies = [
  "cfg_aliases",
  "concurrent-queue",
  "core-foundation 0.9.4",
- "core-graphics 0.23.2",
+ "core-graphics",
  "cursor-icon",
  "dpi",
  "js-sys",
@@ -4839,21 +4235,6 @@ dependencies = [
  "syn",
 ]
 
-[[package]]
-name = "zune-core"
-version = "0.4.12"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f423a2c17029964870cfaabb1f13dfab7d092a62a29a89264f4d36990ca414a"
-
-[[package]]
-name = "zune-jpeg"
-version = "0.4.21"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "29ce2c8a9384ad323cf564b67da86e21d3cfdff87908bc1223ed5c99bc792713"
-dependencies = [
- "zune-core",
-]
-
 [[package]]
 name = "zvariant"
 version = "4.2.0"
diff --git a/hostcontrol/Cargo.toml b/hostcontrol/Cargo.toml
index 938e385..f83ff16 100644
--- a/hostcontrol/Cargo.toml
+++ b/hostcontrol/Cargo.toml
@@ -4,8 +4,6 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-anyhow = "1.0.100"
-clap = { version = "4.0", features = ["derive"] }
 nalgebra = { version = "0.33" }
 serialport = { version = "4", default-features = false }
 thiserror = "2"
@@ -13,6 +11,3 @@ nalgebra-macros = "^0.2.2"
 env_logger = "0.11.8"
 egui = "0.31.1"
 eframe = "0.31.1"
-log = "0.4.29"
-image = { version = "0.25", default-features = false, features = ["png","jpeg"] }
-nokhwa = { version = "0.10.0", features = [ "input-native" ] }
diff --git a/hostcontrol/shell.nix b/hostcontrol/shell.nix
index 2540fdb..935429c 100644
--- a/hostcontrol/shell.nix
+++ b/hostcontrol/shell.nix
@@ -5,9 +5,6 @@ pkgs.mkShell {
   buildInputs = with pkgs; [
     cargo
 
-    # Needed for a bindgen dependency in nokhwa
-    rustPlatform.bindgenHook
-
     # Useful tools
     clippy
     rustfmt
diff --git a/hostcontrol/src/camera.rs b/hostcontrol/src/camera.rs
deleted file mode 100644
index 6d1d480..0000000
--- a/hostcontrol/src/camera.rs
+++ /dev/null
@@ -1,31 +0,0 @@
-use anyhow::{Context, Result};
-use image::RgbImage;
-use nokhwa::pixel_format::RgbFormat;
-use nokhwa::utils::{CameraIndex, RequestedFormat, RequestedFormatType};
-use nokhwa::Camera as NokhwaCamera;
-
-pub struct Camera {
-    camera: NokhwaCamera,
-}
-impl Camera {
-    pub fn new(camera_index: u32) -> Result<Self> {
-        let index = CameraIndex::Index(camera_index);
-        let format =
-            RequestedFormat::new::<RgbFormat>(RequestedFormatType::AbsoluteHighestResolution);
-        let mut camera =
-            NokhwaCamera::new(index, format).context("could not find/access webcam")?;
-        camera.open_stream().context("failed to open stream")?;
-
-        Ok(Self { camera })
-    }
-
-    pub fn capture(&mut self) -> Result<RgbImage> {
-        for _ in 0..5 {
-            // Hack to have camera flush frames in buffer.
-            let _ = self.camera.frame();
-        }
-        let frame = self.camera.frame().context("Could not capture image")?;
-        println!("snap!");
-        Ok(frame.decode_image::<RgbFormat>()?)
-    }
-}
diff --git a/hostcontrol/src/gcode_stage.rs b/hostcontrol/src/gcode_stage.rs
deleted file mode 100644
index 9583d4d..0000000
--- a/hostcontrol/src/gcode_stage.rs
+++ /dev/null
@@ -1,46 +0,0 @@
-use crate::stage_io::StageIO;
-use crate::xy_stage::{Result, XYStage};
-
-pub struct GCodeStage {
-    stage_io: StageIO,
-    max_range_μm: nalgebra::Vector3<f64>,
-}
-
-impl GCodeStage {
-    pub fn new(stage_io: StageIO) -> Result<Self> {
-        let mut res = Self {
-            stage_io,
-            // TODO: determine max range with some M-code ?
-            max_range_μm: nalgebra::vector![100.0 * 1000.0, 100.0 * 1000.0, 50.0 * 1000.0],
-        };
-        res.stage_io.send_request("G28\n")?;
-        Ok(res)
-    }
-}
-
-impl XYStage for GCodeStage {
-    /// Move to absolute coordinates (x,y,z) in micrometers.
-    fn move_absolute_cartesian(&mut self, a: nalgebra::Vector3<f64>) -> Result<()> {
-        // TODO: check range
-        self.stage_io.send_request(format!(
-            "G1 X{} Y{} Z{}\n",
-            a[0] / 1000.0,
-            a[1] / 1000.0,
-            a[2] / 1000.0
-        ))?;
-        self.stage_io.send_request("G4 P1\n")?; // make sure move finished.
-        Ok(())
-    }
-
-    /// Get range of valid cartesian coordinates box. For now, assuming one
-    /// corner is fixed at (0,0,0), the other remote corner is this range.
-    fn get_range(&self) -> nalgebra::Vector3<f64> {
-        self.max_range_μm
-    }
-}
-
-impl Drop for GCodeStage {
-    fn drop(&mut self) {
-        self.stage_io.send_request("M84\n").unwrap(); // switch off motors.
-    }
-}
diff --git a/hostcontrol/src/main.rs b/hostcontrol/src/main.rs
index c46a734..4ccf95e 100644
--- a/hostcontrol/src/main.rs
+++ b/hostcontrol/src/main.rs
@@ -1,96 +1,41 @@
-use clap::{Parser, ValueEnum};
-use image::RgbImage;
-use std::path::PathBuf;
+use std::{thread::sleep, time::Duration};
 
-mod camera;
-mod gcode_stage;
-mod openflexure_stage;
-
-mod stage_io;
-use crate::camera::Camera;
-use crate::stage_io::StageIO;
-use crate::xy_stage::XYStage;
-
-mod xy_stage;
-
-#[derive(clap::Parser, Debug)]
-#[command(version, about, long_about = None)]
-struct CliArgs {
-    /// Interface to talk to movement stage
-    #[arg(long, default_value = "/dev/ttyACM0")]
-    stage_device: String,
-
-    /// Speed of the stage device (bps)
-    #[arg(long, default_value = "115200")]
-    tty_speed: u32,
-
-    /// Stage movement backend
-    #[arg(long, value_enum)]
-    backend: Backend,
-
-    /// Id of camera to fetch images from.
-    #[arg(long, default_value = "0")]
-    camera_index: u32,
-
-    /// Directory all captured images are stored.
-    #[arg(long, value_name = "out-dir")]
-    output_directory: PathBuf,
-}
-
-// [derive(DebugCopy, Clone, PartialEq, Eq, PartialOrd, Ord, ValueEnum)]
-#[derive(Debug, Clone, ValueEnum)]
-enum Backend {
-    /// OpenFlexure stage
-    OpenFlexure,
-
-    /// GCode stage
-    GCode,
-}
-
-fn store_image(number: u32, pos: nalgebra::Vector3<f64>, dir: &PathBuf, img: &RgbImage) {
-    let img_file = &dir.join(format!("img-{:05}-{:0},{:0}.png", number, pos[0], pos[1]));
-
-    img.save(img_file).unwrap();
-}
+mod stage;
 
 fn main() {
     env_logger::init();
-    let args = CliArgs::parse();
+    let mut s = stage::Stage::new("/dev/ttyACM0", 1.12).unwrap();
+    let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
+    //println!("{}", s.version().unwrap());
 
-    if !args.output_directory.is_dir() {
-        panic!("--out-dir needs to be an existing directory");
-    }
+    //let a = nalgebra::vector![-10000.0, 0.0, -1250.0];
+    //let b = nalgebra::vector![18000.0, -15000.0, -1600.0];
+    //let c = nalgebra::vector![0.0, -15000.0, -250.0];
 
-    let origin = nalgebra::vector![0.0, 0.0, 0.0];
+    s.move_absolute_cartesian(origin).unwrap();
+    sleep(Duration::from_secs(5));
+    //s.move_absolute_cartesian(origin + a).unwrap();
+    ////sleep(Duration::from_secs(5));
+    ////s.move_absolute_cartesian(origin).unwrap();
+    ////s.move_absolute_cartesian(origin + c).unwrap();
+    ////sleep(Duration::from_secs(5));
+    ////s.move_absolute_cartesian(origin + nalgebra::vector![0.0, -16000.0, -500.0]).unwrap();
+    ////println!("D");
+    ////sleep(Duration::from_secs(5));
+    ////s.move_absolute_cartesian(origin + nalgebra::vector![0.0, 0.0, 0.0]).unwrap();
+    //println!("{:?}", s.get_position_cartesian());
 
-    // Picture source
-    let mut cam = Camera::new(args.camera_index).unwrap();
-    cam.capture().unwrap(); // Warm up camera.
-
-    // Movement
-    let stage_io = StageIO::new(&args.stage_device, args.tty_speed).unwrap();
-    let mut stage: Box<dyn XYStage> = match args.backend {
-        Backend::GCode => Box::new(gcode_stage::GCodeStage::new(stage_io).unwrap()),
-        Backend::OpenFlexure => {
-            Box::new(openflexure_stage::OpenFlexureStage::new(stage_io, 1.12).unwrap())
-        }
-    };
-
-    // Local testing. Just take a line of pictures.
-    let mut max_xy = stage.get_range();
-    // Only interested in lerp-ing X for now.
-    max_xy[1] = 0.0;
-    max_xy[2] = 0.0;
-
-    for n in 0..10 {
-        let pos = max_xy * n as f64 / 10.0;
-        stage.move_absolute_cartesian(pos).unwrap();
-        store_image(n, pos, &args.output_directory, &cam.capture().unwrap());
-    }
+    //Ok(())
 }
 
-#[derive(Default)]
-struct App {}
+struct App {
+}
+
+impl Default for App {
+    fn default() -> Self {
+        App {}
+    }
+}
 
 impl eframe::App for App {
     fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
@@ -99,3 +44,25 @@ impl eframe::App for App {
         });
     }
 }
+
+//
+//    let mut s = stage::Stage::new("/dev/ttyACM0", 1.12).unwrap();
+//    let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
+//    println!("{}", s.version().unwrap());
+//
+//    let a = nalgebra::vector![18000.0, 0.0, -1250.0];
+//    let b = nalgebra::vector![18000.0, -15000.0, -1600.0];
+//    let c = nalgebra::vector![0.0, -15000.0, -250.0];
+//
+//    s.move_absolute_cartesian(origin).unwrap();
+//    //sleep(Duration::from_secs(5));
+//    //s.move_absolute_cartesian(origin + a).unwrap();
+//    //sleep(Duration::from_secs(5));
+//    //s.move_absolute_cartesian(origin + c).unwrap();
+//    //sleep(Duration::from_secs(5));
+//    //s.move_absolute_cartesian(origin + nalgebra::vector![0.0, -16000.0, -500.0]).unwrap();
+//    //println!("D");
+//    //sleep(Duration::from_secs(5));
+//    //s.move_absolute_cartesian(origin + nalgebra::vector![0.0, 0.0, 0.0]).unwrap();
+//    println!("{:?}", s.get_position_cartesian());
+//}
diff --git a/hostcontrol/src/openflexure_stage.rs b/hostcontrol/src/stage.rs
similarity index 53%
rename from hostcontrol/src/openflexure_stage.rs
rename to hostcontrol/src/stage.rs
index 2c98cda..f853e6a 100644
--- a/hostcontrol/src/openflexure_stage.rs
+++ b/hostcontrol/src/stage.rs
@@ -1,7 +1,7 @@
 //! Stage controller for openflexure-delta like stage controllers.
 
-use crate::stage_io::StageIO;
-use crate::xy_stage::{Result, StageError, XYStage};
+use std::time::Duration;
+use thiserror::Error;
 
 fn new_camera_rotation(theta: f64) -> nalgebra::Matrix3<f64> {
     nalgebra::matrix![
@@ -14,7 +14,7 @@ fn new_camera_rotation(theta: f64) -> nalgebra::Matrix3<f64> {
 fn new_delta_into_cartesian(flex_h: f64, flex_a: f64, flex_b: f64) -> nalgebra::Matrix3<f64> {
     let x_fac = (2.0 / 3.0f64.sqrt()) * (flex_b / flex_h);
     let y_fac = -1.0 * flex_b / flex_h;
-    let z_fac = 1.0 / 3.0 * flex_b / flex_a;
+    let z_fac = 1.0/3.0 * flex_b / flex_a;
     nalgebra::matrix![
         -x_fac, x_fac, 0.0;
         0.5 * y_fac, 0.5 * y_fac, -y_fac;
@@ -22,56 +22,70 @@ fn new_delta_into_cartesian(flex_h: f64, flex_a: f64, flex_b: f64) -> nalgebra::
     ]
 }
 
-pub struct OpenFlexureStage {
-    stage_io: StageIO,
+pub struct Stage {
+    serial: Box<dyn serialport::SerialPort>,
     delta_pos: nalgebra::Vector3<i32>,
     cartesian_to_delta: nalgebra::Matrix3<f64>,
     delta_to_cartesian: nalgebra::Matrix3<f64>,
 }
 
-impl OpenFlexureStage {
-    pub fn new(stage_io: StageIO, camera_rotation: f64) -> Result<Self> {
-        // TODO: non-blocking moves
-        let delta_to_cartesian = new_camera_rotation(camera_rotation).try_inverse().unwrap()
-            * new_delta_into_cartesian(80.0, 50.0, 50.0);
-        let cartesian_to_delta = delta_to_cartesian.try_inverse().unwrap();
-        let mut res = Self {
-            stage_io,
-            delta_pos: nalgebra::vector![0, 0, 0],
-            cartesian_to_delta,
-            delta_to_cartesian,
-        };
+#[derive(Error, Debug)]
+pub enum StageError {
+    #[error("could not connect to stage controller")]
+    Open(serialport::Error),
+    #[error("error when sending data to the stage controller")]
+    Write(std::io::Error),
+    #[error("error when receiving data from the stage controller")]
+    Read(std::io::Error),
+    #[error("protocol error")]
+    Mumble,
+}
 
-        let pos = res
-            .stage_io
-            .send_request("p?")?
-            .split(" ")
-            .map(|v| v.parse::<i32>().map_err(|_| StageError::Mumble))
-            .collect::<std::result::Result<Vec<_>, _>>()?;
+pub type Result<T> = std::result::Result<T, StageError>;
+
+impl Stage {
+    pub fn new(port: &str, camera_rotation: f64) -> Result<Self> {
+        // TODO: non-blocking moves
+        let serial = serialport::new(port, 115200).timeout(Duration::from_secs(60)).open().map_err(|e| StageError::Open(e))?;
+        let delta_to_cartesian = new_camera_rotation(camera_rotation).try_inverse().unwrap() * new_delta_into_cartesian(80.0, 50.0, 50.0);
+        let cartesian_to_delta = delta_to_cartesian.try_inverse().unwrap();
+        let mut res = Self { serial, delta_pos: nalgebra::vector![0, 0, 0], cartesian_to_delta, delta_to_cartesian };
+
+        let pos = res.communicate("p?")?.split(" ").map(|v| v.parse::<i32>().map_err(|_| StageError::Mumble)).collect::<std::result::Result<Vec<_>, _>>()?;
         res.delta_pos = nalgebra::vector![pos[0], pos[1], pos[2]];
-        println!(
-            "Initialized stage at delta positions {}/{}/{}",
-            pos[0], pos[1], pos[2]
-        );
+        println!("Initialized stage at delta positions {}/{}/{}", pos[0], pos[1], pos[2]);
         Ok(res)
     }
 
+    fn receive_until<S: AsRef<str>>(&mut self, needle: S) -> Result<String> {
+        let mut res: Vec<u8> = vec![];
+        loop {
+            let mut buf = [0u8; 1];
+            self.serial.read_exact(&mut buf).map_err(|e| StageError::Read(e))?;
+            res.push(buf[0]);
+            if res.ends_with(needle.as_ref().as_bytes()) {
+                return Ok(String::from_utf8_lossy(&res).to_string());
+            }
+        }
+    }
+
+    fn communicate<S: AsRef<str>>(&mut self, command: S) -> Result<String> {
+        self.serial.write_all(command.as_ref().as_bytes()).map_err(|e| StageError::Write(e))?;
+        let res = self.receive_until("\n")?;
+        Ok(res.trim().to_string())
+    }
+
     pub fn get_position_delta(&self) -> nalgebra::Vector3<i32> {
         self.delta_pos.clone()
     }
 
     pub fn get_position_cartesian(&self) -> nalgebra::Vector3<f64> {
-        let pos = nalgebra::vector![
-            self.delta_pos[0] as f64,
-            self.delta_pos[1] as f64,
-            self.delta_pos[2] as f64
-        ];
+        let pos = nalgebra::vector![self.delta_pos[0] as f64, self.delta_pos[1] as f64, self.delta_pos[2] as f64];
         self.delta_to_cartesian * pos
     }
 
     pub fn move_relative_delta(&mut self, d: nalgebra::Vector3<i32>) -> Result<()> {
-        self.stage_io
-            .send_request(format!("mr {} {} {}\n", d[0], d[1], d[2]))?;
+        self.communicate(format!("mr {} {} {}\n", d[0], d[1], d[2]))?;
         self.delta_pos += nalgebra::vector![d[0], d[1], d[2]];
         Ok(())
     }
@@ -81,19 +95,7 @@ impl OpenFlexureStage {
         self.move_relative_delta(diff)
     }
 
-    pub fn move_relative_cartesian(&mut self, d: nalgebra::Vector3<f64>) -> Result<()> {
-        let abs = self.get_position_cartesian() + d;
-        self.move_absolute_cartesian(abs)
-    }
-
-    pub fn version(&mut self) -> Result<String> {
-        Ok(self.stage_io.send_request("version\n")?)
-    }
-}
-
-impl XYStage for OpenFlexureStage {
-    fn move_absolute_cartesian(&mut self, a: nalgebra::Vector3<f64>) -> Result<()> {
-        // TODO: check range with get_movement_box()
+    pub fn move_absolute_cartesian(&mut self, a: nalgebra::Vector3<f64>) -> Result<()> {
         let current = self.get_position_delta();
         let target = self.cartesian_to_delta * a;
         let target = nalgebra::vector![target[0] as i32, target[1] as i32, target[2] as i32];
@@ -113,7 +115,12 @@ impl XYStage for OpenFlexureStage {
         self.move_absolute_delta(target)
     }
 
-    fn get_range(&self) -> nalgebra::Vector3<f64> {
-        nalgebra::vector![10000.0, 10000.0, 5000.0]
+    pub fn move_relative_cartesian(&mut self, d: nalgebra::Vector3<f64>) -> Result<()> {
+        let abs = self.get_position_cartesian() + d;
+        self.move_absolute_cartesian(abs)
+    }
+
+    pub fn version(&mut self) -> Result<String> {
+        self.communicate("version\n")
     }
 }
diff --git a/hostcontrol/src/stage_io.rs b/hostcontrol/src/stage_io.rs
deleted file mode 100644
index 1ffca22..0000000
--- a/hostcontrol/src/stage_io.rs
+++ /dev/null
@@ -1,56 +0,0 @@
-use log::debug;
-use std::time::Duration;
-use thiserror::Error;
-
-#[derive(Error, Debug)]
-pub enum StageIOError {
-    #[error("could not connect to stage controller")]
-    Open(#[from] serialport::Error),
-    #[error("error when sending data to the stage controller")]
-    Write(std::io::Error),
-    #[error("error when receiving data from the stage controller")]
-    Read(std::io::Error),
-}
-
-pub struct StageIO {
-    serial: Box<dyn serialport::SerialPort>,
-}
-
-pub type StageIOResult<T> = std::result::Result<T, StageIOError>;
-impl StageIO {
-    /// Create a new serial StageIO at given serial device and speed.
-    pub fn new(port: &str, speed: u32) -> StageIOResult<Self> {
-        let serial = serialport::new(port, speed)
-            .timeout(Duration::from_secs(60))
-            .open()?;
-        // TODO: read and discard initial characters; some devices like to be
-        // chatty on start-up.
-        Ok(Self { serial })
-    }
-
-    /// Receive data until the given character string "needle" is seen.
-    fn receive_until<S: AsRef<str>>(&mut self, needle: S) -> StageIOResult<String> {
-        let mut res: Vec<u8> = vec![];
-        loop {
-            let mut buf = [0u8; 1];
-            self.serial
-                .read_exact(&mut buf)
-                .map_err(StageIOError::Read)?;
-            res.push(buf[0]);
-            if res.ends_with(needle.as_ref().as_bytes()) {
-                return Ok(String::from_utf8_lossy(&res).to_string());
-            }
-        }
-    }
-
-    /// Send request and wait for response deliminated with a newline
-    pub fn send_request<S: AsRef<str>>(&mut self, command: S) -> StageIOResult<String> {
-        debug!("->: {:?}", command.as_ref());
-        self.serial
-            .write_all(command.as_ref().as_bytes())
-            .map_err(StageIOError::Write)?;
-        let response = self.receive_until("\n")?;
-        debug!("<-: {:?}", response);
-        Ok(response.trim().to_string())
-    }
-}
diff --git a/hostcontrol/src/xy_stage.rs b/hostcontrol/src/xy_stage.rs
deleted file mode 100644
index 1f645c3..0000000
--- a/hostcontrol/src/xy_stage.rs
+++ /dev/null
@@ -1,20 +0,0 @@
-use crate::stage_io::StageIOError;
-use thiserror::Error;
-
-#[derive(Error, Debug)]
-pub enum StageError {
-    #[error("Interface issue")]
-    Communication(#[from] StageIOError),
-    #[error("protocol error")]
-    Mumble,
-}
-
-pub type Result<T> = std::result::Result<T, StageError>;
-pub trait XYStage {
-    /// Move to absolute coordinates (x,y,z) in micrometers.
-    fn move_absolute_cartesian(&mut self, a: nalgebra::Vector3<f64>) -> Result<()>;
-
-    /// Get range of valid cartesian coordinates box. For now, assuming one
-    /// corner is fixed at (0,0,0), the other remote corner is this range.
-    fn get_range(&self) -> nalgebra::Vector3<f64>;
-}