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diff --git a/firmware/upy_clank/ble.py b/firmware/upy_clank/ble.py
new file mode 100644
index 0000000..ee4b92a
--- /dev/null
+++ b/firmware/upy_clank/ble.py
@@ -0,0 +1,67 @@
+"""
+This modul implements a simple serial connection to the ZS-040 and will echo out to the console
+any messages it receives. This board is a Bluetooth SPP (Serial Port Protocol) module.
+
+When powered on the device will broadcast as BT-05 by default. Default passwords are usually 1234 or 0000.
+"""
+from select import select
+from machine import Pin, UART
+
+
+class ZS040:
+    def __init__(
+        self,
+        uart_id,
+        tx_pin,
+        rx_pin,
+        state_pin,
+        baudrate=38400,
+        bits=8,
+        stop=1,
+        parity=None,
+    ):
+        self.uart = UART(
+            uart_id,
+            baudrate=baudrate,
+            bits=bits,
+            stop=stop,
+            parity=parity,
+        )
+        self.state_pin = Pin(state_pin, Pin.IN)
+
+    def read(self, nbytes=None):
+        return self.uart.read(nbytes)
+
+    def readline(self):
+        return self.uart.readline()
+
+    def write(self, buf):
+        self.uart.write(buf)
+
+    def any(self):
+        return self.uart.any()
+
+    @property
+    def state(self):
+        return self.state_pin.value()
+
+    @classmethod
+    def from_config(cls, pin_config):
+        return cls(
+            uart_id=pin_config["bluetooth"]["uart_id"],
+            tx_pin=pin_config["bluetooth"]["tx_pin"],
+            rx_pin=pin_config["bluetooth"]["rx_pin"],
+            state_pin=pin_config["bluetooth"]["state_pin"],
+        )
+
+
+# while True:
+#     if BT_STATE_PIN.value():
+#         if uart.any():
+#             data = uart.read(1)
+#             print(data.decode("utf8"))
+#         else:
+#             print("No data. Sleeping")
+#     else:
+#         print("No Bluetooth device paired.")
+#     sleep_ms(500)
diff --git a/firmware/upy_clank/boot.py b/firmware/upy_clank/boot.py
index e69de29..46cb794 100644
--- a/firmware/upy_clank/boot.py
+++ b/firmware/upy_clank/boot.py
@@ -0,0 +1 @@
+__secret__ = "dirp"
diff --git a/firmware/upy_clank/config.py b/firmware/upy_clank/config.py
index 63e5004..e718866 100644
--- a/firmware/upy_clank/config.py
+++ b/firmware/upy_clank/config.py
@@ -7,6 +7,7 @@ PIN_CONFIG = {
         "encoder": {"cpr": 1320, "pin_a": 2, "pin_b": 3},
         "motor": {"pwm": 19, "in1": 18, "in2": 17},
     },
+    "bluetooth": {"uart_id": 8, "tx_pin": 35, "rx_pin": 34, "state_pin": 36},
 }
 
 DUTY_MAX = 65535
diff --git a/firmware/upy_clank/motor.py b/firmware/upy_clank/motor.py
index 5534ae1..26f14a9 100644
--- a/firmware/upy_clank/motor.py
+++ b/firmware/upy_clank/motor.py
@@ -12,27 +12,85 @@ class MotorController:
     def __init__(self, left_motor, right_motor) -> None:
         self.left = left_motor
         self.right = right_motor
+        self.speed = 65535 // 2
 
     def forward(self):
+        """Forward move"""
         self.left.in1.value(1)
         self.left.in2.value(0)
         self.right.in2.value(1)
         self.right.in1.value(0)
-        self.left.pwm.duty_u16(65535 // 2)
-        self.right.pwm.duty_u16(65535 // 2)
+        self.left.pwm.duty_u16(self.speed)
+        self.right.pwm.duty_u16(self.speed)
 
     def reverse(self):
+        """Reverse move"""
         self.left.in1.value(0)
         self.left.in2.value(1)
         self.right.in2.value(0)
         self.right.in1.value(1)
-        self.left.pwm.duty_u16(65535 // 2)
-        self.right.pwm.duty_u16(65535 // 2)
+        self.left.pwm.duty_u16(self.speed)
+        self.right.pwm.duty_u16(self.speed)
 
     def stop(self):
+        """All stop"""
         self.left.pwm.duty_u16(0)
         self.right.pwm.duty_u16(0)
 
+    def right_forward(self):
+        """Right turn while moving forward"""
+        self.left.in1.value(1)
+        self.left.in2.value(0)
+        self.right.in2.value(1)
+        self.right.in1.value(0)
+        self.left.pwm.duty_u16(self.speed)
+        self.right.pwm.duty_u16(self.speed // 2)
+
+    def right_spin(self):
+        """Spins clockwise in place"""
+        self.left.in1.value(1)
+        self.left.in2.value(0)
+        self.right.in2.value(0)
+        self.right.in1.value(1)
+        self.left.pwm.duty_u16(self.speed)
+        self.right.pwm.duty_u16(self.speed // 2)
+
+    def right_reverse(self):
+        """Right turn while moving in reverse"""
+        self.left.in1.value(0)
+        self.left.in2.value(1)
+        self.right.in2.value(0)
+        self.right.in1.value(1)
+        self.left.pwm.duty_u16(self.speed)
+        self.right.pwm.duty_u16(self.speed // 2)
+
+    def left_forward(self):
+        """Right turn while moving forward"""
+        self.left.in1.value(1)
+        self.left.in2.value(0)
+        self.right.in2.value(1)
+        self.right.in1.value(0)
+        self.left.pwm.duty_u16(self.speed // 2)
+        self.right.pwm.duty_u16(self.speed)
+
+    def left_spin(self):
+        """Spins counter-clockwise in place"""
+        self.left.in1.value(0)
+        self.left.in2.value(1)
+        self.right.in2.value(1)
+        self.right.in1.value(0)
+        self.left.pwm.duty_u16(self.speed)
+        self.right.pwm.duty_u16(self.speed)
+
+    def left_reverse(self):
+        """Left turn while moving in reverse"""
+        self.left.in1.value(0)
+        self.left.in2.value(1)
+        self.right.in2.value(0)
+        self.right.in1.value(1)
+        self.left.pwm.duty_u16(self.speed // 2)
+        self.right.pwm.duty_u16(self.speed)
+
     @classmethod
     def from_config(cls, pin_config):
         return cls(