diff --git a/demos/henrysong.html b/demos/henrysong.html
new file mode 100644
index 0000000..aa1adf2
--- /dev/null
+++ b/demos/henrysong.html
@@ -0,0 +1,155 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>Birthday Song demo</title>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width">
+    <link href="//maxcdn.bootstrapcdn.com/bootstrap/3.3.2/css/bootstrap.min.css" rel="stylesheet">
+    <link href="../css/styles.css" rel="stylesheet">
+    <script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/socket.io/0.9.16/socket.io.min.js"></script>
+    <style>
+    body {
+        background-color: OldLace; //make different so pages can be known on sight.
+    }
+    </style>
+
+    <script>
+    var tempo = 2000;
+    mysong = [
+        [293.7, tempo * .1875],
+        [293.7, tempo * .0675],
+        [329.6, tempo * .25],
+        [293.7, tempo * .25],
+        [392, tempo * .25],
+        [370, tempo * .5],
+        [null, tempo * .25],
+        [293.7, tempo * .1875],
+        [293.7, tempo * .0675],
+        [329.6, tempo * .25],
+        [293.7, tempo * .25],
+        [440, tempo * .25],
+        [392, tempo * .5],
+        [null, tempo * .0625],
+        [null, tempo * .0625], //extra nulls so rests happen
+        [null, tempo * .0625], //at pauses (every 16 notes)
+        [293.7, tempo * .1875],
+        [293.7, tempo * .0675],
+        [587.3, tempo * .25],
+        [493.9, tempo * .25],
+        [392, tempo * .25],
+        [370, tempo * .25],
+        [329.6, tempo * .25],
+        [null, tempo * .5],
+        [523.3, tempo * .125],
+        [523.3, tempo * .125],
+        [493.9, tempo * .25],
+        [392, tempo * .25],
+        [440, tempo * .25],
+        [392, tempo * .5]
+    ];
+
+    $(document).ready(function() {
+
+        $("#togglesensors").click(function(e) {
+            $("#allsensors").toggleClass('hidden');
+        });
+        var socket = io.connect('http://10.48.102.xxx:3001'); //change this to match your robot
+        socket.on('sensordata', function(data) {
+            $("#voltage").text(data.battery.voltage.volts.toFixed(2));
+            $("#current").text(data.battery.current.amps.toFixed(2));
+            var power = data.battery.voltage.volts * data.battery.current.amps;
+            $("#power").text(power.toFixed(2));
+            $("#allsensors").text(JSON.stringify(data));
+        });
+
+
+
+
+        $("#playsong").click(function(e) {
+            socket.emit('sing', mysong);
+        });
+
+        $("#passiveMode").click(function(e) {
+            socket.emit('passiveMode');
+        });
+        $("#safeMode").click(function(e) {
+            socket.emit('safeMode');
+        });
+
+        $("#fullMode").click(function(e) {
+            socket.emit('fullMode');
+        });
+
+
+        $('body').keydown(function(event) {
+
+            console.log(event.which);
+            if (event.which === 80) //p - play
+
+            {
+                event.preventDefault();
+                socket.emit('sing', mysong);
+            }
+
+            if (event.which === 49) //1 -- Play tune when 1 is pressed
+
+            {
+                event.preventDefault();
+                socket.emit('sing', [
+                    [640, 100],
+                    [650, 100]
+                ]); 
+            }
+
+        });
+
+    });
+    </script>
+
+</head>
+
+<body>
+    <div class="container">
+
+        <div class="row">
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Voltage</div>
+                <div class="sensor-value" id="voltage">...</div>
+            </div>
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Current</div>
+                <div class="sensor-value" id="current">...</div>
+            </div>
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Power</div>
+                <div class="sensor-value" id="power">...</div>
+            </div>
+        </div>
+
+        <h3>Robot Control</h3>
+        <div class="row">
+            <button class="btn-success btn col-md-2" id="passiveMode">Passive Mode</button>
+            <button class="btn-warning btn col-md-2" id="safeMode">Safe Mode</button>
+            <button class="btn-danger btn col-md-2" id="fullMode">Full Mode</button>
+        </div>
+
+        <div class="row">
+            <div class="col-xs-3">
+                <button id="playsong" class="btn-success btn-lg btn-block">Play Music
+                    <span class="glyphicon glyphicon-music"></span>
+                </button>
+            </div>
+        </div>
+        
+        <div class="row">
+            <button id="togglesensors">Toggle Sensors</button>
+            <div class="hidden" id="allsensors">...</div>
+        </div>
+
+    </div>
+
+</body>
+
+</html>
diff --git a/henrywinter33.html b/henrywinter33.html
new file mode 100644
index 0000000..878b8f2
--- /dev/null
+++ b/henrywinter33.html
@@ -0,0 +1,368 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>henrywinter33</title>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width">
+    <link href="//maxcdn.bootstrapcdn.com/bootstrap/3.3.2/css/bootstrap.min.css" rel="stylesheet">
+    <link href="css/styles.css" rel="stylesheet">
+    <script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/socket.io/0.9.16/socket.io.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/flot/0.8.2/jquery.flot.min.js"></script>
+    <script src="js/batterycapacity.js"></script>
+    <script src="js/leftsignal.js"></script>
+    <script src="js/front_leftsignal.js"></script>
+
+    <!---
+    <script src="charge107.js"></script>
+    <script language="javascript" type="text/javascript" src="left107.js"></script>
+
+    <script src="https://cdn.socket.io/socket.io-1.3.4.js"></script>
+    -->
+    <style>
+    body {
+        background-color:lightyellow;
+    }
+    </style>
+
+    <script>
+    var tempo = 2000;
+    mysong = [
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [698, tempo * .25],
+        [880, tempo * .25],
+        [null, 50]
+    ];
+
+    function sensop(mag) {
+        //newmag = 2 * ((1 - mag) - .5);
+        newmag = mag
+            //console.log(mag, newmag);
+        return newmag;
+    }
+    $(document).ready(function() {
+
+
+        //chargeplot = makeChargePlot();
+
+        $("#togglesensors").click(function(e) {
+            //console.log("togglesensors");
+            $("#allsensors").toggleClass('hidden');
+        });
+        var socket = io.connect('http://192.168.1.110:3001');
+        batterycapacity(socket);
+        leftsignal(socket);
+        front_leftsignal(socket);
+        socket.on('sensordata', function(data) {
+
+            //console.log(data);
+            $("#current").text(data.battery.current.amps);
+            $("#voltage").text(data.battery.voltage.volts.toFixed(2));
+            $("#left").text(data.cliff_sensors.left.signal.raw);
+            $("#front_left").text(data.cliff_sensors.front_left.signal.raw);
+            $("#front_right").text(data.cliff_sensors.front_right.signal.raw);
+            $("#right").text(data.cliff_sensors.right.signal.raw);
+
+            $(".left_signal").css("opacity", sensop(data.cliff_sensors.left.signal.magnitude));
+            $(".left_signal").text(sensop(data.cliff_sensors.left.signal.magnitude));
+
+            $(".front_left_signal").css("opacity", sensop(data.cliff_sensors.front_left.signal.magnitude));
+            $(".front_left_signal").text(sensop(data.cliff_sensors.front_left.signal.magnitude));
+
+            $(".front_right_signal").css("opacity", sensop(data.cliff_sensors.front_right.signal.magnitude));
+            $(".front_right_signal").text(sensop(data.cliff_sensors.front_right.signal.magnitude));
+
+            $(".right_signal").css("opacity", sensop(data.cliff_sensors.right.signal.magnitude));
+            $(".right_signal").text(sensop(data.cliff_sensors.right.signal.magnitude));
+
+            if (data.song.playing == false) {
+                //socket.emit('sing', [[data.cliff_sensors.front_left.signal.magnitude * 1000,data.cliff_sensors.front_right.signal.magnitude * 1000]]);
+            }
+
+            $("#allsensors").text(JSON.stringify(data));
+        });
+
+        socket.on('countup', function(data) {
+            //console.log(data);
+            $("#countup").text(data);
+        });
+
+
+        $("#forward").click(function(e) {
+            console.log('forward');
+            socket.emit('drive', {
+                left: 15,
+                right: 15
+            });
+        });
+
+        $("#backward").click(function(e) {
+            console.log('backward');
+            socket.emit('drive', {
+                left: -15,
+                right: -15
+            });
+        });
+
+        $("#stop").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 0,
+                right: 0
+            });
+        });
+
+
+        $("#turnLeft").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: -15,
+                right: 15
+            });
+        });
+
+
+        $("#turnRight").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 15,
+                right: -15
+            });
+        });
+
+        $("#playsong").click(function(e) {
+            socket.emit('sing', mysong);
+        });
+
+        $("#passiveMode").click(function(e) {
+            socket.emit('passiveMode');
+        });
+        $("#safeMode").click(function(e) {
+            socket.emit('safeMode');
+        });
+
+        $("#fullMode").click(function(e) {
+            socket.emit('fullMode');
+        });
+
+
+        $('body').keydown(function(event) {
+            console.log(event.which);
+            speed = $("#speed").text();
+            //speed = 100;
+            if (event.which === 87) //w - move forward
+            {
+                //socket.emit('sing', [[300,300]]);
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+
+            }
+
+            if (event.which === 83) //s - move backward
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 - 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 65) //d - move right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 50;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+
+            }
+
+            if (event.which === 68) //a - move left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 50;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 32) //space - stop
+
+            {
+                event.preventDefault();
+
+
+
+                function slowtostop() {
+                    speed = $("#speed").text();
+                    if (Math.abs(speed) <= 50) {
+                        speed = 0;
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        return;
+                    }
+                    setTimeout(function() {
+                        speed = $("#speed").text() * 1;
+                        speed += speed > 0 ? Number(-75) : Number(75);
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        slowtostop();
+                    }, 40);
+                }
+
+                slowtostop();
+
+            }
+        });
+
+    });
+    </script>
+
+</head>
+
+<body>
+    <div class="container">
+        <div class="row">
+            <div class="col-xs-3 left_signal darkness">
+                left
+            </div>
+            <div class="col-xs-3 front_left_signal darkness">
+                front_left
+            </div>
+            <div class="col-xs-3 front_right_signal darkness">
+                front_right
+            </div>
+            <div class="col-xs-3 left_signal darkness">
+                right
+            </div>
+
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Voltage</div>
+                <div class="sensor-value" id="voltage">...</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block">
+                <div class="sensor-title">Speed</div>
+                <div class="sensor-value" id="speed">0</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block" id="darkness">
+                <div class="sensor-title">countup</div>
+                <div id="countup" class="sensor-value">0</div>
+            </div>
+        </div>
+
+
+        <h3>Robot Control</h3>
+        <div class="row">
+            <button class="btn-success btn col-md-2" id="passiveMode">Passive Mode</button>
+            <button class="btn-warning btn col-md-2" id="safeMode">Safe Mode</button>
+            <button class="btn-danger btn col-md-2" id="fullMode">Full Mode</button>
+        </div>
+        <div class="row">
+            <div class="col-xs-3">
+
+
+                <button id="playsong" class="btn-success btn-lg btn-block">Play Music
+                    <span class="glyphicon glyphicon-music"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward-left<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                </button>
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward-right<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnLeft">Left
+                    <span class="glyphicon glyphicon-arrow-left"></span>
+                </button>
+            </div>
+            <div class="col-md-2 ">
+
+                <button class="btn-lg btn-block btn-danger" id="stop">Stop
+                    <span class="glyphicon glyphicon-stop"></span>
+                </button>
+            </div>
+
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnRight">Right<span class="glyphicon glyphicon-arrow-right"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back-Left<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back-Right<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-3" id="leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="front_leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="frontrightdata" style="height:300px">.....</div>
+            <div class="col-md-3" id="rightdata" style="height:300px">.....</div>
+        </div>
+        <div class="col-md-3" id="batterycapacity" style="height:300px">bat</div>
+
+        <div class="row">
+            <div class="col-xs-6">
+                <div class="row">
+                    <div class="col-xs-6 col-sm-offset-6">
+
+                        <div> </div>
+                        <button id="togglesensors">Toggle Sensors</button>
+                        <div class="hidden" id="allsensors">...</div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    </div>
+</body>
+
+</html>
diff --git a/henrywinter34.html b/henrywinter34.html
new file mode 100644
index 0000000..281d3f8
--- /dev/null
+++ b/henrywinter34.html
@@ -0,0 +1,396 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>winter33</title>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width">
+    <link href="//maxcdn.bootstrapcdn.com/bootstrap/3.3.2/css/bootstrap.min.css" rel="stylesheet">
+    <link href="css/styles.css" rel="stylesheet">
+    <script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/socket.io/0.9.16/socket.io.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/flot/0.8.2/jquery.flot.min.js"></script>
+    <script src="js/batterycapacity.js"></script>
+    <script src="js/leftsignal.js"></script>
+    <script src="js/front_leftsignal.js"></script>
+
+    <!---
+    <script src="charge107.js"></script>
+    <script language="javascript" type="text/javascript" src="left107.js"></script>
+
+    <script src="https://cdn.socket.io/socket.io-1.3.4.js"></script>
+    -->
+    <style>
+    body {
+        background-color:lightred;
+    }
+    </style>
+
+    <script>
+    var tempo = 2000;
+    mysong = [
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [698, tempo * .25],
+        [880, tempo * .25],
+        [null, 50]
+    ];
+
+    function sensop(mag) {
+        //newmag = 2 * ((1 - mag) - .5);
+        newmag = mag
+            //console.log(mag, newmag);
+        return newmag;
+    }
+    $(document).ready(function() {
+
+
+        //chargeplot = makeChargePlot();
+
+        $("#togglesensors").click(function(e) {
+            //console.log("togglesensors");
+            $("#allsensors").toggleClass('hidden');
+        });
+        //var socket = io.connect('http://10.48.102.xxx:3001'); //change this to match your robot
+        var socket = io.connect('http://10.48.102.110:3001'); //change this to match your robot
+        batterycapacity(socket);
+        leftsignal(socket);
+        front_leftsignal(socket);
+        socket.on('sensordata', function(data) {
+
+            //console.log(data);
+            $("#current").text(data.battery.current.amps);
+            $("#voltage").text(data.battery.voltage.volts.toFixed(2));
+            $("#left").text(data.cliff_sensors.left.signal.raw);
+            $("#front_left").text(data.cliff_sensors.front_left.signal.raw);
+            $("#front_right").text(data.cliff_sensors.front_right.signal.raw);
+            $("#right").text(data.cliff_sensors.right.signal.raw);
+
+            $(".left_signal").css("opacity", sensop(data.cliff_sensors.left.signal.magnitude));
+            $(".left_signal").text(sensop(data.cliff_sensors.left.signal.magnitude));
+
+            $(".front_left_signal").css("opacity", sensop(data.cliff_sensors.front_left.signal.magnitude));
+            $(".front_left_signal").text(sensop(data.cliff_sensors.front_left.signal.magnitude));
+
+            $(".front_right_signal").css("opacity", sensop(data.cliff_sensors.front_right.signal.magnitude));
+            $(".front_right_signal").text(sensop(data.cliff_sensors.front_right.signal.magnitude));
+
+            $(".right_signal").css("opacity", sensop(data.cliff_sensors.right.signal.magnitude));
+            $(".right_signal").text(sensop(data.cliff_sensors.right.signal.magnitude));
+
+            if (data.song.playing == false) {
+                //socket.emit('sing', [[data.cliff_sensors.front_left.signal.magnitude * 1000,data.cliff_sensors.front_right.signal.magnitude * 1000]]);
+            }
+
+            $("#allsensors").text(JSON.stringify(data));
+        });
+
+        socket.on('countup', function(data) {
+            //console.log(data);
+            $("#countup").text(data);
+        });
+
+
+        $("#forward").click(function(e) {
+            console.log('forward');
+            socket.emit('drive', {
+                left: 15,
+                right: 15
+            });
+        });
+
+        $("#backward").click(function(e) {
+            console.log('backward');
+            socket.emit('drive', {
+                left: -15,
+                right: -15
+            });
+        });
+
+        $("#stop").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 0,
+                right: 0
+            });
+        });
+
+
+        $("#turnLeft").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: -15,
+                right: 15
+            });
+        });
+
+
+        $("#turnRight").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 15,
+                right: -15
+            });
+        });
+
+        $("#playsong").click(function(e) {
+            socket.emit('sing', mysong);
+        });
+
+        $("#passiveMode").click(function(e) {
+            socket.emit('passiveMode');
+        });
+        $("#safeMode").click(function(e) {
+            socket.emit('safeMode');
+        });
+
+        $("#fullMode").click(function(e) {
+            socket.emit('fullMode');
+        });
+
+
+        $('body').keydown(function(event) {
+            console.log(event.which);
+            speed = $("#speed").text();
+            //speed = 100;
+            if (event.which === 87 || event.which === 38) //w, up arrow - move forward
+            {
+                //socket.emit('sing', [[300,300]]);
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+
+            }
+
+            if (event.which === 83 || event.which === 40) //s, down arrow - move backward
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 - 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+
+
+            if (event.which === 37) //left arrow - move right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+
+            }
+
+            if (event.which === 65) //a - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed),
+                    right: Math.round(speed -25)
+                });
+
+            }
+
+            if (event.which === 68) //d - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed - 25),
+                    right: Math.round(speed)
+                });
+
+            }
+
+            if (event.which === 39) //right arrow - move left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 32) //space - stop
+
+            {
+                event.preventDefault();
+
+
+
+                function slowtostop() {
+                    speed = $("#speed").text();
+                    if (Math.abs(speed) <= 50) {
+                        speed = 0;
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        return;
+                    }
+                    setTimeout(function() {
+                        speed = $("#speed").text() * 1;
+                        speed += speed > 0 ? Number(-75) : Number(75);
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        slowtostop();
+                    }, 40);
+                }
+
+                slowtostop();
+
+            }
+        });
+
+    });
+    </script>
+
+</head>
+
+<body>
+    <div class="container">
+        <div class="row">
+            <div class="col-xs-3 left_signal darkness">
+                left
+            </div>
+            <div class="col-xs-3 front_left_signal darkness">
+                front_left
+            </div>
+            <div class="col-xs-3 front_right_signal darkness">
+                front_right
+            </div>
+            <div class="col-xs-3 left_signal darkness">
+                right
+            </div>
+
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Voltage</div>
+                <div class="sensor-value" id="voltage">...</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block">
+                <div class="sensor-title">Speed</div>
+                <div class="sensor-value" id="speed">0</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block" id="darkness">
+                <div class="sensor-title">countup</div>
+                <div id="countup" class="sensor-value">0</div>
+            </div>
+        </div>
+
+
+        <h3>Robot Control</h3>
+        <div class="row">
+            <button class="btn-success btn col-md-2" id="passiveMode">Passive Mode</button>
+            <button class="btn-warning btn col-md-2" id="safeMode">Safe Mode</button>
+            <button class="btn-danger btn col-md-2" id="fullMode">Full Mode</button>
+        </div>
+        <div class="row">
+            <div class="col-xs-3">
+
+
+                <button id="playsong" class="btn-success btn-lg btn-block">Play Music
+                    <span class="glyphicon glyphicon-music"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward"><span class="glyphicon glyphicon-arrow-up rotate-left-45"></span>Forward-left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                </button>
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward-right<span class="glyphicon glyphicon-arrow-up rotate-right-45"></span>
+                </button>
+            </div>
+
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnLeft"><span class="glyphicon glyphicon-arrow-left"> Left</span>
+                </button>
+            </div>
+            <div class="col-md-2 ">
+
+                <button class="btn-lg btn-block btn-danger" id="stop">Stop
+                    <span class="glyphicon glyphicon-stop"></span>
+                </button>
+            </div>
+
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnRight">Right<span class="glyphicon glyphicon-arrow-right"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backleft">Back-Left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backright">Back-Right
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-3" id="leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="front_leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="frontrightdata" style="height:300px">.....</div>
+            <div class="col-md-3" id="rightdata" style="height:300px">.....</div>
+        </div>
+        <div class="col-md-3" id="batterycapacity" style="height:300px">bat</div>
+
+        <div class="row">
+            <div class="col-xs-6">
+                <div class="row">
+                    <div class="col-xs-6 col-sm-offset-6">
+
+                        <div> </div>
+                        <button id="togglesensors">Toggle Sensors</button>
+                        <div class="hidden" id="allsensors">...</div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    </div>
+</body>
+
+</html>
diff --git a/robotmodpackageFINAL.html b/robotmodpackageFINAL.html
new file mode 100644
index 0000000..20ea9eb
--- /dev/null
+++ b/robotmodpackageFINAL.html
@@ -0,0 +1,503 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>winter33</title>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width">
+    <link href="//maxcdn.bootstrapcdn.com/bootstrap/3.3.2/css/bootstrap.min.css" rel="stylesheet">
+    <link href="css/styles.css" rel="stylesheet">
+    <script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/socket.io/0.9.16/socket.io.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/flot/0.8.2/jquery.flot.min.js"></script>
+    <script src="js/batterycapacity.js"></script>
+    <script src="js/leftsignal.js"></script>
+    <script src="js/front_leftsignal.js"></script>
+
+    <!---
+    <script src="charge107.js"></script>
+    <script language="javascript" type="text/javascript" src="left107.js"></script>
+
+    <script src="https://cdn.socket.io/socket.io-1.3.4.js"></script>
+    -->
+    <style>
+    body {
+        background-color:lightred;
+    }
+    </style>
+
+    <script>
+    var tempo = 2000;
+    mysong = [
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [698, tempo * .25],
+        [880, tempo * .25],
+        [null, 50]
+    ];
+
+    function sensop(mag) {
+        //newmag = 2 * ((1 - mag) - .5);
+        newmag = mag
+            //console.log(mag, newmag);
+        return newmag;
+    }
+    $(document).ready(function() {
+
+
+        //chargeplot = makeChargePlot();
+
+        $("#togglesensors").click(function(e) {
+            //console.log("togglesensors");
+            $("#allsensors").toggleClass('hidden');
+        });
+        //var socket = io.connect('http://10.48.102.xxx:3001'); //change this to match your robot
+        var socket = io.connect('http://10.48.102.xxx:3001'); //change this to match your robot
+        batterycapacity(socket);
+        leftsignal(socket);
+        front_leftsignal(socket);
+        socket.on('sensordata', function(data) {
+
+            //console.log(data);
+            $("#current").text(data.battery.current.amps);
+            $("#voltage").text(data.battery.voltage.volts.toFixed(2));
+            $("#left").text(data.cliff_sensors.left.signal.raw);
+            $("#front_left").text(data.cliff_sensors.front_left.signal.raw);
+            $("#front_right").text(data.cliff_sensors.front_right.signal.raw);
+            $("#right").text(data.cliff_sensors.right.signal.raw);
+
+            $(".left_signal").css("opacity", sensop(data.cliff_sensors.left.signal.magnitude));
+            $(".left_signal").text(sensop(data.cliff_sensors.left.signal.magnitude));
+
+            $(".front_left_signal").css("opacity", sensop(data.cliff_sensors.front_left.signal.magnitude));
+            $(".front_left_signal").text(sensop(data.cliff_sensors.front_left.signal.magnitude));
+
+            $(".front_right_signal").css("opacity", sensop(data.cliff_sensors.front_right.signal.magnitude));
+            $(".front_right_signal").text(sensop(data.cliff_sensors.front_right.signal.magnitude));
+
+            $(".right_signal").css("opacity", sensop(data.cliff_sensors.right.signal.magnitude));
+            $(".right_signal").text(sensop(data.cliff_sensors.right.signal.magnitude));
+
+            if (data.song.playing == false) {
+                //socket.emit('sing', [[data.cliff_sensors.front_left.signal.magnitude * 1000,data.cliff_sensors.front_right.signal.magnitude * 1000]]);
+            }
+
+            $("#allsensors").text(JSON.stringify(data));
+        });
+
+        socket.on('countup', function(data) {
+            //console.log(data);
+            $("#countup").text(data);
+        });
+
+
+        $("#forward").click(function(e) {
+            console.log('forward');
+            socket.emit('drive', {
+                left: 15,
+                right: 15
+            });
+        });
+
+        $("#backward").click(function(e) {
+            console.log('backward');
+            socket.emit('drive', {
+                left: -15,
+                right: -15
+            });
+        });
+
+         $("#overdrive").click(function(e) {
+            console.log('overdrive');
+            socket.emit('drive', {
+                left: 450,
+                right: 450
+            });
+        });
+
+        $("#overdrivereverse").click(function(e) {
+            console.log('overdrivereverse');
+            socket.emit('drive', {
+                left: -450,
+                right: -450
+            });
+        });
+
+        $("#dance").click(function(e) {
+                console.log('dance');
+                socket.emit('dance', {
+                    left: -250,
+                    right: 250
+                });
+            });
+
+        $("#quickturnleft").click(function(e) {
+            console.log('quickturnleft');
+            socket.emit('drive', {
+                left: -150,
+                right: 150
+            });
+        });
+
+         $("#quickturnright").click(function(e) {
+            console.log('quickturnright');
+            socket.emit('drive', {
+                left: 150,
+                right: -150
+            });
+        }); 
+
+        $("#stop").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 0,
+                right: 0
+            });
+        });
+
+
+        $("#turnLeft").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: -15,
+                right: 15
+            });
+        });
+
+
+        $("#turnRight").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 15,
+                right: -15
+            });
+        });
+
+        $("#playsong").click(function(e) {
+            socket.emit('sing', mysong);
+        });
+
+        $("#passiveMode").click(function(e) {
+            socket.emit('passiveMode');
+        });
+        $("#safeMode").click(function(e) {
+            socket.emit('safeMode');
+        });
+
+        $("#fullMode").click(function(e) {
+            socket.emit('fullMode');
+        });
+
+
+        $('body').keydown(function(event) {
+            console.log(event.which);
+            speed = $("#speed").text();
+            //speed = 100;
+            if (event.which === 87 || event.which === 38) //w, up arrow - move forward
+            {
+                //socket.emit('sing', [[300,300]]);
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+
+            }
+
+             if (event.which === 70) //f - move dance
+                {
+                    speed = $("#speed").text();
+                    speed = speed + 1 * 500;
+                    $("#speed").text(speed);
+                    socket.emit('drive', {
+                        left: -speed,
+                        right: speed
+                    });
+
+                }
+
+            if (event.which === 83 || event.which === 40) //s, down arrow - move backward
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 - 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 69) //e, quick turn right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 100;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 81) //q, quick turn left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 100;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+            }
+
+             if (event.which === 82) //r, overdrive
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 450;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 84) //t, overdrivereverse
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 450;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: -speed
+                });
+            }
+
+            if (event.which === 37) //left arrow - move right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+
+            }
+
+            if (event.which === 65) //a - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=200 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed),
+                    right: Math.round(speed -120)
+                });
+
+            }
+
+            if (event.which === 68) //d - forward right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=200 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed -120),
+                    right: Math.round(speed)
+                });
+
+            }
+
+            if (event.which === 39) //right arrow - move left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 32) //space - stop
+
+            {
+                event.preventDefault();
+
+
+
+                function slowtostop() {
+                    speed = $("#speed").text();
+                    if (Math.abs(speed) <= 50) {
+                        speed = 0;
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        return;
+                    }
+                    setTimeout(function() {
+                        speed = $("#speed").text() * 1;
+                        speed += speed > 0 ? Number(-75) : Number(75);
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        slowtostop();
+                    }, 40);
+                }
+
+                slowtostop();
+
+            }
+        });
+
+    });
+    </script>
+
+</head>
+
+<body>
+
+    <div class="container">
+        <div class="row">
+            <div class="col-xs-3 left_signal darkness">
+                left
+            </div>
+            <div class="col-xs-3 front_left_signal darkness">
+                front_left
+            </div>
+            <div class="col-xs-3 front_right_signal darkness">
+                front_right
+            </div>
+            <div class="col-xs-3 left_signal darkness">
+                right
+            </div>
+
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Voltage</div>
+                <div class="sensor-value" id="voltage">...</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block">
+                <div class="sensor-title">Speed</div>
+                <div class="sensor-value" id="speed">0</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block" id="darkness">
+                <div class="sensor-title">countup</div>
+                <div id="countup" class="sensor-value">0</div>
+            </div>
+        </div>
+
+    <h3>Robot Mod Package Features:</h3>        
+<ul data-role= "listview">
+    <li>Over drive forward and reverse (r and t)</li>
+    <li>Quick turn modes (e and q)</li>
+    <li>Fixed forward turning (a and d)</li>
+    <li>Dance mode! (f)</li> </ul>         
+    
+
+        <h3>Robot Control</h3>
+        <div class="row">
+            <button class="btn-success btn col-md-2" id="passiveMode">Passive Mode</button>
+            <button class="btn-warning btn col-md-2" id="safeMode">Safe Mode</button>
+            <button class="btn-danger btn col-md-2" id="fullMode">Full Mode</button>
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3">
+
+
+                <button id="playsong" class="btn-success btn-lg btn-block">Play Music
+                    <span class="glyphicon glyphicon-music"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward"><span class="glyphicon glyphicon-arrow-up rotate-left-45"></span>Forward-left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                </button>
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward-right<span class="glyphicon glyphicon-arrow-up rotate-right-45"></span>
+                </button>
+            </div>
+
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnLeft"><span class="glyphicon glyphicon-arrow-left"> Left</span>
+                </button>
+            </div>
+            <div class="col-md-2 ">
+
+                <button class="btn-lg btn-block btn-danger" id="stop">Stop
+                    <span class="glyphicon glyphicon-stop"></span>
+                </button>
+            </div>
+
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnRight">Right<span class="glyphicon glyphicon-arrow-right"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backleft">Back-Left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backright">Back-Right
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-3" id="leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="front_leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="frontrightdata" style="height:300px">.....</div>
+            <div class="col-md-3" id="rightdata" style="height:300px">.....</div>
+        </div>
+        <div class="col-md-3" id="batterycapacity" style="height:300px">bat</div>
+
+        <div class="row">
+            <div class="col-xs-6">
+                <div class="row">
+                    <div class="col-xs-6 col-sm-offset-6">
+
+                        <div> </div>
+                        <button id="togglesensors">Toggle Sensors</button>
+                        <div class="hidden" id="allsensors">...</div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    </div>
+</body>
+
+</html>
diff --git a/robotmods/USETHISONEoverdrivehenrywinter34.html b/robotmods/USETHISONEoverdrivehenrywinter34.html
new file mode 100644
index 0000000..e758a8f
--- /dev/null
+++ b/robotmods/USETHISONEoverdrivehenrywinter34.html
@@ -0,0 +1,417 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>winter33</title>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width">
+    <link href="//maxcdn.bootstrapcdn.com/bootstrap/3.3.2/css/bootstrap.min.css" rel="stylesheet">
+    <link href="css/styles.css" rel="stylesheet">
+    <script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/socket.io/0.9.16/socket.io.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/flot/0.8.2/jquery.flot.min.js"></script>
+    <script src="js/batterycapacity.js"></script>
+    <script src="js/leftsignal.js"></script>
+    <script src="js/front_leftsignal.js"></script>
+
+    <!---
+    <script src="charge107.js"></script>
+    <script language="javascript" type="text/javascript" src="left107.js"></script>
+
+    <script src="https://cdn.socket.io/socket.io-1.3.4.js"></script>
+    -->
+    <style>
+    body {
+        background-color:lightred;
+    }
+    </style>
+
+    <script>
+    var tempo = 2000;
+    mysong = [
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [698, tempo * .25],
+        [880, tempo * .25],
+        [null, 50]
+    ];
+
+    function sensop(mag) {
+        //newmag = 2 * ((1 - mag) - .5);
+        newmag = mag
+            //console.log(mag, newmag);
+        return newmag;
+    }
+    $(document).ready(function() {
+
+
+        //chargeplot = makeChargePlot();
+
+        $("#togglesensors").click(function(e) {
+            //console.log("togglesensors");
+            $("#allsensors").toggleClass('hidden');
+        });
+        //var socket = io.connect('http://10.48.102.xxx:3001'); //change this to match your robot
+        var socket = io.connect('http://10.48.102.110:3001'); //change this to match your robot
+        batterycapacity(socket);
+        leftsignal(socket);
+        front_leftsignal(socket);
+        socket.on('sensordata', function(data) {
+
+            //console.log(data);
+            $("#current").text(data.battery.current.amps);
+            $("#voltage").text(data.battery.voltage.volts.toFixed(2));
+            $("#left").text(data.cliff_sensors.left.signal.raw);
+            $("#front_left").text(data.cliff_sensors.front_left.signal.raw);
+            $("#front_right").text(data.cliff_sensors.front_right.signal.raw);
+            $("#right").text(data.cliff_sensors.right.signal.raw);
+
+            $(".left_signal").css("opacity", sensop(data.cliff_sensors.left.signal.magnitude));
+            $(".left_signal").text(sensop(data.cliff_sensors.left.signal.magnitude));
+
+            $(".front_left_signal").css("opacity", sensop(data.cliff_sensors.front_left.signal.magnitude));
+            $(".front_left_signal").text(sensop(data.cliff_sensors.front_left.signal.magnitude));
+
+            $(".front_right_signal").css("opacity", sensop(data.cliff_sensors.front_right.signal.magnitude));
+            $(".front_right_signal").text(sensop(data.cliff_sensors.front_right.signal.magnitude));
+
+            $(".right_signal").css("opacity", sensop(data.cliff_sensors.right.signal.magnitude));
+            $(".right_signal").text(sensop(data.cliff_sensors.right.signal.magnitude));
+
+            if (data.song.playing == false) {
+                //socket.emit('sing', [[data.cliff_sensors.front_left.signal.magnitude * 1000,data.cliff_sensors.front_right.signal.magnitude * 1000]]);
+            }
+
+            $("#allsensors").text(JSON.stringify(data));
+        });
+
+        socket.on('countup', function(data) {
+            //console.log(data);
+            $("#countup").text(data);
+        });
+
+
+        $("#forward").click(function(e) {
+            console.log('forward');
+            socket.emit('drive', {
+                left: 15,
+                right: 15
+            });
+        });
+
+         $("#overdrive").click(function(e) {
+            console.log('overdrive');
+            socket.emit('drive', {
+                left: 500,
+                right: 500
+            });
+        });
+
+
+        $("#backward").click(function(e) {
+            console.log('backward');
+            socket.emit('drive', {
+                left: -15,
+                right: -15
+            });
+        });
+
+        $("#stop").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 0,
+                right: 0
+            });
+        });
+
+
+        $("#turnLeft").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: -15,
+                right: 15
+            });
+        });
+
+
+        $("#turnRight").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 15,
+                right: -15
+            });
+        });
+
+        $("#playsong").click(function(e) {
+            socket.emit('sing', mysong);
+        });
+
+        $("#passiveMode").click(function(e) {
+            socket.emit('passiveMode');
+        });
+        $("#safeMode").click(function(e) {
+            socket.emit('safeMode');
+        });
+
+        $("#fullMode").click(function(e) {
+            socket.emit('fullMode');
+        });
+
+
+        $('body').keydown(function(event) {
+            console.log(event.which);
+            speed = $("#speed").text();
+            //speed = 100;
+            if (event.which === 87 || event.which === 38) //w, up arrow - move forward
+            {
+                //socket.emit('sing', [[300,300]]);
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+
+            }
+
+            
+            if (event.which === 83 || event.which === 40) //s, down arrow - move backward
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 - 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 82) //r, overdrive
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 500;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 37) //left arrow - move right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+
+            }
+
+            if (event.which === 65) //a - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed),
+                    right: Math.round(speed -25)
+                });
+
+            }
+
+            if (event.which === 68) //d - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed - 25),
+                    right: Math.round(speed)
+                });
+
+            }
+
+            if (event.which === 39) //right arrow - move left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 32) //space - stop
+
+            {
+                event.preventDefault();
+
+
+
+                function slowtostop() {
+                    speed = $("#speed").text();
+                    if (Math.abs(speed) <= 50) {
+                        speed = 0;
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        return;
+                    }
+                    setTimeout(function() {
+                        speed = $("#speed").text() * 1;
+                        speed += speed > 0 ? Number(-75) : Number(75);
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        slowtostop();
+                    }, 40);
+                }
+
+                slowtostop();
+
+            }
+        });
+
+    });
+    </script>
+
+</head>
+
+<body>
+    <div class="container">
+        <div class="row">
+            <div class="col-xs-3 left_signal darkness">
+                left
+            </div>
+            <div class="col-xs-3 front_left_signal darkness">
+                front_left
+            </div>
+            <div class="col-xs-3 front_right_signal darkness">
+                front_right
+            </div>
+            <div class="col-xs-3 left_signal darkness">
+                right
+            </div>
+
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Voltage</div>
+                <div class="sensor-value" id="voltage">...</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block">
+                <div class="sensor-title">Speed</div>
+                <div class="sensor-value" id="speed">0</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block" id="darkness">
+                <div class="sensor-title">countup</div>
+                <div id="countup" class="sensor-value">0</div>
+            </div>
+        </div>
+
+
+        <h3>Robot Control</h3>
+        <div class="row">
+            <button class="btn-success btn col-md-2" id="passiveMode">Passive Mode</button>
+            <button class="btn-warning btn col-md-2" id="safeMode">Safe Mode</button>
+            <button class="btn-danger btn col-md-2" id="fullMode">Full Mode</button>
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3">
+
+
+                <button id="playsong" class="btn-success btn-lg btn-block">Play Music
+                    <span class="glyphicon glyphicon-music"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward"><span class="glyphicon glyphicon-arrow-up rotate-left-45"></span>Forward-left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                </button>
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward-right<span class="glyphicon glyphicon-arrow-up rotate-right-45"></span>
+                </button>
+            </div>
+
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnLeft"><span class="glyphicon glyphicon-arrow-left"> Left</span>
+                </button>
+            </div>
+            <div class="col-md-2 ">
+
+                <button class="btn-lg btn-block btn-danger" id="stop">Stop
+                    <span class="glyphicon glyphicon-stop"></span>
+                </button>
+            </div>
+
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnRight">Right<span class="glyphicon glyphicon-arrow-right"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backleft">Back-Left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backright">Back-Right
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-3" id="leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="front_leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="frontrightdata" style="height:300px">.....</div>
+            <div class="col-md-3" id="rightdata" style="height:300px">.....</div>
+        </div>
+        <div class="col-md-3" id="batterycapacity" style="height:300px">bat</div>
+
+        <div class="row">
+            <div class="col-xs-6">
+                <div class="row">
+                    <div class="col-xs-6 col-sm-offset-6">
+
+                        <div> </div>
+                        <button id="togglesensors">Toggle Sensors</button>
+                        <div class="hidden" id="allsensors">...</div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    </div>
+</body>
+
+</html>
diff --git a/robotmods/dancehenrywinter34.html b/robotmods/dancehenrywinter34.html
new file mode 100644
index 0000000..d0dc1c0
--- /dev/null
+++ b/robotmods/dancehenrywinter34.html
@@ -0,0 +1,417 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>winter33</title>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width">
+    <link href="//maxcdn.bootstrapcdn.com/bootstrap/3.3.2/css/bootstrap.min.css" rel="stylesheet">
+    <link href="css/styles.css" rel="stylesheet">
+    <script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/socket.io/0.9.16/socket.io.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/flot/0.8.2/jquery.flot.min.js"></script>
+    <script src="js/batterycapacity.js"></script>
+    <script src="js/leftsignal.js"></script>
+    <script src="js/front_leftsignal.js"></script>
+
+    <!---
+    <script src="charge107.js"></script>
+    <script language="javascript" type="text/javascript" src="left107.js"></script>
+
+    <script src="https://cdn.socket.io/socket.io-1.3.4.js"></script>
+    -->
+    <style>
+    body {
+        background-color:lightred;
+    }
+    </style>
+
+    <script>
+    var tempo = 2000;
+    mysong = [
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [698, tempo * .25],
+        [880, tempo * .25],
+        [null, 50]
+    ];
+
+    function sensop(mag) {
+        //newmag = 2 * ((1 - mag) - .5);
+        newmag = mag
+            //console.log(mag, newmag);
+        return newmag;
+    }
+    $(document).ready(function() {
+
+
+        //chargeplot = makeChargePlot();
+
+        $("#togglesensors").click(function(e) {
+            //console.log("togglesensors");
+            $("#allsensors").toggleClass('hidden');
+        });
+        //var socket = io.connect('http://10.48.102.xxx:3001'); //change this to match your robot
+        var socket = io.connect('http://10.48.102.110:3001'); //change this to match your robot
+        batterycapacity(socket);
+        leftsignal(socket);
+        front_leftsignal(socket);
+        socket.on('sensordata', function(data) {
+
+            //console.log(data);
+            $("#current").text(data.battery.current.amps);
+            $("#voltage").text(data.battery.voltage.volts.toFixed(2));
+            $("#left").text(data.cliff_sensors.left.signal.raw);
+            $("#front_left").text(data.cliff_sensors.front_left.signal.raw);
+            $("#front_right").text(data.cliff_sensors.front_right.signal.raw);
+            $("#right").text(data.cliff_sensors.right.signal.raw);
+
+            $(".left_signal").css("opacity", sensop(data.cliff_sensors.left.signal.magnitude));
+            $(".left_signal").text(sensop(data.cliff_sensors.left.signal.magnitude));
+
+            $(".front_left_signal").css("opacity", sensop(data.cliff_sensors.front_left.signal.magnitude));
+            $(".front_left_signal").text(sensop(data.cliff_sensors.front_left.signal.magnitude));
+
+            $(".front_right_signal").css("opacity", sensop(data.cliff_sensors.front_right.signal.magnitude));
+            $(".front_right_signal").text(sensop(data.cliff_sensors.front_right.signal.magnitude));
+
+            $(".right_signal").css("opacity", sensop(data.cliff_sensors.right.signal.magnitude));
+            $(".right_signal").text(sensop(data.cliff_sensors.right.signal.magnitude));
+
+            if (data.song.playing == false) {
+                //socket.emit('sing', [[data.cliff_sensors.front_left.signal.magnitude * 1000,data.cliff_sensors.front_right.signal.magnitude * 1000]]);
+            }
+
+            $("#allsensors").text(JSON.stringify(data));
+        });
+
+        socket.on('countup', function(data) {
+            //console.log(data);
+            $("#countup").text(data);
+        });
+
+
+        $("#forward").click(function(e) {
+            console.log('forward');
+            socket.emit('drive', {
+                left: 15,
+                right: 15
+            });
+        });
+
+        $("#backward").click(function(e) {
+            console.log('backward');
+            socket.emit('drive', {
+                left: -15,
+                right: -15
+            });
+        });
+
+       $("#dance").click(function(e) {
+                console.log('dance');
+                socket.emit('dance', {
+                    left: -250,
+                    right: 250
+                });
+            });
+
+
+        $("#stop").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 0,
+                right: 0
+            });
+        });
+
+
+        $("#turnLeft").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: -15,
+                right: 15
+            });
+        });
+
+
+        $("#turnRight").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 15,
+                right: -15
+            });
+        });
+
+        $("#playsong").click(function(e) {
+            socket.emit('sing', mysong);
+        });
+
+        $("#passiveMode").click(function(e) {
+            socket.emit('passiveMode');
+        });
+        $("#safeMode").click(function(e) {
+            socket.emit('safeMode');
+        });
+
+        $("#fullMode").click(function(e) {
+            socket.emit('fullMode');
+        });
+
+
+        $('body').keydown(function(event) {
+            console.log(event.which);
+            speed = $("#speed").text();
+            //speed = 100;
+            if (event.which === 87 || event.which === 38) //w, up arrow - move forward
+            {
+                //socket.emit('sing', [[300,300]]);
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+
+            }
+
+            if (event.which === 70) //f - move dance
+                {
+                    speed = $("#speed").text();
+                    speed = speed + 1 * 500;
+                    $("#speed").text(speed);
+                    socket.emit('drive', {
+                        left: -speed,
+                        right: speed
+                    });
+
+                }
+
+            if (event.which === 83 || event.which === 40) //s, down arrow - move backward
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 - 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+
+
+            if (event.which === 37) //left arrow - move right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+
+            }
+
+            if (event.which === 65) //a - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed),
+                    right: Math.round(speed -25)
+                });
+
+            }
+
+            if (event.which === 68) //d - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed - 25),
+                    right: Math.round(speed)
+                });
+
+            }
+
+            if (event.which === 39) //right arrow - move left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 32) //space - stop
+
+            {
+                event.preventDefault();
+
+
+
+                function slowtostop() {
+                    speed = $("#speed").text();
+                    if (Math.abs(speed) <= 50) {
+                        speed = 0;
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        return;
+                    }
+                    setTimeout(function() {
+                        speed = $("#speed").text() * 1;
+                        speed += speed > 0 ? Number(-75) : Number(75);
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        slowtostop();
+                    }, 40);
+                }
+
+                slowtostop();
+
+            }
+        });
+
+    });
+    </script>
+
+</head>
+
+<body>
+    <div class="container">
+        <div class="row">
+            <div class="col-xs-3 left_signal darkness">
+                left
+            </div>
+            <div class="col-xs-3 front_left_signal darkness">
+                front_left
+            </div>
+            <div class="col-xs-3 front_right_signal darkness">
+                front_right
+            </div>
+            <div class="col-xs-3 left_signal darkness">
+                right
+            </div>
+
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Voltage</div>
+                <div class="sensor-value" id="voltage">...</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block">
+                <div class="sensor-title">Speed</div>
+                <div class="sensor-value" id="speed">0</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block" id="darkness">
+                <div class="sensor-title">countup</div>
+                <div id="countup" class="sensor-value">0</div>
+            </div>
+        </div>
+
+
+        <h3>Robot Control</h3>
+        <div class="row">
+            <button class="btn-success btn col-md-2" id="passiveMode">Passive Mode</button>
+            <button class="btn-warning btn col-md-2" id="safeMode">Safe Mode</button>
+            <button class="btn-danger btn col-md-2" id="fullMode">Full Mode</button>
+            
+        <div class="row">
+            <div class="col-xs-3">
+
+
+                <button id="playsong" class="btn-success btn-lg btn-block">Play Music
+                    <span class="glyphicon glyphicon-music"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward"><span class="glyphicon glyphicon-arrow-up rotate-left-45"></span>Forward-left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                </button>
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward-right<span class="glyphicon glyphicon-arrow-up rotate-right-45"></span>
+                </button>
+            </div>
+
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnLeft"><span class="glyphicon glyphicon-arrow-left"> Left</span>
+                </button>
+            </div>
+            <div class="col-md-2 ">
+
+                <button class="btn-lg btn-block btn-danger" id="stop">Stop
+                    <span class="glyphicon glyphicon-stop"></span>
+                </button>
+            </div>
+
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnRight">Right<span class="glyphicon glyphicon-arrow-right"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backleft">Back-Left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backright">Back-Right
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-3" id="leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="front_leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="frontrightdata" style="height:300px">.....</div>
+            <div class="col-md-3" id="rightdata" style="height:300px">.....</div>
+        </div>
+        <div class="col-md-3" id="batterycapacity" style="height:300px">bat</div>
+
+        <div class="row">
+            <div class="col-xs-6">
+                <div class="row">
+                    <div class="col-xs-6 col-sm-offset-6">
+
+                        <div> </div>
+                        <button id="togglesensors">Toggle Sensors</button>
+                        <div class="hidden" id="allsensors">...</div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    </div>
+</body>
+
+</html>
diff --git a/robotmods/forwardturnfixhenrywinter34.html b/robotmods/forwardturnfixhenrywinter34.html
new file mode 100644
index 0000000..2304a65
--- /dev/null
+++ b/robotmods/forwardturnfixhenrywinter34.html
@@ -0,0 +1,396 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>winter33</title>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width">
+    <link href="//maxcdn.bootstrapcdn.com/bootstrap/3.3.2/css/bootstrap.min.css" rel="stylesheet">
+    <link href="css/styles.css" rel="stylesheet">
+    <script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/socket.io/0.9.16/socket.io.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/flot/0.8.2/jquery.flot.min.js"></script>
+    <script src="js/batterycapacity.js"></script>
+    <script src="js/leftsignal.js"></script>
+    <script src="js/front_leftsignal.js"></script>
+
+    <!---
+    <script src="charge107.js"></script>
+    <script language="javascript" type="text/javascript" src="left107.js"></script>
+
+    <script src="https://cdn.socket.io/socket.io-1.3.4.js"></script>
+    -->
+    <style>
+    body {
+        background-color:lightred;
+    }
+    </style>
+
+    <script>
+    var tempo = 2000;
+    mysong = [
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [698, tempo * .25],
+        [880, tempo * .25],
+        [null, 50]
+    ];
+
+    function sensop(mag) {
+        //newmag = 2 * ((1 - mag) - .5);
+        newmag = mag
+            //console.log(mag, newmag);
+        return newmag;
+    }
+    $(document).ready(function() {
+
+
+        //chargeplot = makeChargePlot();
+
+        $("#togglesensors").click(function(e) {
+            //console.log("togglesensors");
+            $("#allsensors").toggleClass('hidden');
+        });
+        //var socket = io.connect('http://10.48.102.xxx:3001'); //change this to match your robot
+        var socket = io.connect('http://10.48.102.110:3001'); //change this to match your robot
+        batterycapacity(socket);
+        leftsignal(socket);
+        front_leftsignal(socket);
+        socket.on('sensordata', function(data) {
+
+            //console.log(data);
+            $("#current").text(data.battery.current.amps);
+            $("#voltage").text(data.battery.voltage.volts.toFixed(2));
+            $("#left").text(data.cliff_sensors.left.signal.raw);
+            $("#front_left").text(data.cliff_sensors.front_left.signal.raw);
+            $("#front_right").text(data.cliff_sensors.front_right.signal.raw);
+            $("#right").text(data.cliff_sensors.right.signal.raw);
+
+            $(".left_signal").css("opacity", sensop(data.cliff_sensors.left.signal.magnitude));
+            $(".left_signal").text(sensop(data.cliff_sensors.left.signal.magnitude));
+
+            $(".front_left_signal").css("opacity", sensop(data.cliff_sensors.front_left.signal.magnitude));
+            $(".front_left_signal").text(sensop(data.cliff_sensors.front_left.signal.magnitude));
+
+            $(".front_right_signal").css("opacity", sensop(data.cliff_sensors.front_right.signal.magnitude));
+            $(".front_right_signal").text(sensop(data.cliff_sensors.front_right.signal.magnitude));
+
+            $(".right_signal").css("opacity", sensop(data.cliff_sensors.right.signal.magnitude));
+            $(".right_signal").text(sensop(data.cliff_sensors.right.signal.magnitude));
+
+            if (data.song.playing == false) {
+                //socket.emit('sing', [[data.cliff_sensors.front_left.signal.magnitude * 1000,data.cliff_sensors.front_right.signal.magnitude * 1000]]);
+            }
+
+            $("#allsensors").text(JSON.stringify(data));
+        });
+
+        socket.on('countup', function(data) {
+            //console.log(data);
+            $("#countup").text(data);
+        });
+
+
+        $("#forward").click(function(e) {
+            console.log('forward');
+            socket.emit('drive', {
+                left: 15,
+                right: 15
+            });
+        });
+
+        $("#backward").click(function(e) {
+            console.log('backward');
+            socket.emit('drive', {
+                left: -15,
+                right: -15
+            });
+        });
+
+        $("#stop").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 0,
+                right: 0
+            });
+        });
+
+
+        $("#turnLeft").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: -15,
+                right: 15
+            });
+        });
+
+
+        $("#turnRight").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 15,
+                right: -15
+            });
+        });
+
+        $("#playsong").click(function(e) {
+            socket.emit('sing', mysong);
+        });
+
+        $("#passiveMode").click(function(e) {
+            socket.emit('passiveMode');
+        });
+        $("#safeMode").click(function(e) {
+            socket.emit('safeMode');
+        });
+
+        $("#fullMode").click(function(e) {
+            socket.emit('fullMode');
+        });
+
+
+        $('body').keydown(function(event) {
+            console.log(event.which);
+            speed = $("#speed").text();
+            //speed = 100;
+            if (event.which === 87 || event.which === 38) //w, up arrow - move forward
+            {
+                //socket.emit('sing', [[300,300]]);
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+
+            }
+
+            
+            if (event.which === 83 || event.which === 40) //s, down arrow - move backward
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 - 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 37) //left arrow - move right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+
+            }
+
+            if (event.which === 65) //a - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 50) ? speed=50 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed),
+                    right: Math.round(speed -35)
+                });
+
+            }
+
+            if (event.which === 68) //d - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 50) ? speed=50 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed - 35),
+                    right: Math.round(speed)
+                });
+
+            }
+
+            if (event.which === 39) //right arrow - move left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 32) //space - stop
+
+            {
+                event.preventDefault();
+
+
+
+                function slowtostop() {
+                    speed = $("#speed").text();
+                    if (Math.abs(speed) <= 50) {
+                        speed = 0;
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        return;
+                    }
+                    setTimeout(function() {
+                        speed = $("#speed").text() * 1;
+                        speed += speed > 0 ? Number(-75) : Number(75);
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        slowtostop();
+                    }, 40);
+                }
+
+                slowtostop();
+
+            }
+        });
+
+    });
+    </script>
+
+</head>
+
+<body>
+    <div class="container">
+        <div class="row">
+            <div class="col-xs-3 left_signal darkness">
+                left
+            </div>
+            <div class="col-xs-3 front_left_signal darkness">
+                front_left
+            </div>
+            <div class="col-xs-3 front_right_signal darkness">
+                front_right
+            </div>
+            <div class="col-xs-3 left_signal darkness">
+                right
+            </div>
+
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Voltage</div>
+                <div class="sensor-value" id="voltage">...</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block">
+                <div class="sensor-title">Speed</div>
+                <div class="sensor-value" id="speed">0</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block" id="darkness">
+                <div class="sensor-title">countup</div>
+                <div id="countup" class="sensor-value">0</div>
+            </div>
+        </div>
+
+
+        <h3>Robot Control</h3>
+        <div class="row">
+            <button class="btn-success btn col-md-2" id="passiveMode">Passive Mode</button>
+            <button class="btn-warning btn col-md-2" id="safeMode">Safe Mode</button>
+            <button class="btn-danger btn col-md-2" id="fullMode">Full Mode</button>
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3">
+
+
+                <button id="playsong" class="btn-success btn-lg btn-block">Play Music
+                    <span class="glyphicon glyphicon-music"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward"><span class="glyphicon glyphicon-arrow-up rotate-left-45"></span>Forward-left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                </button>
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward-right<span class="glyphicon glyphicon-arrow-up rotate-right-45"></span>
+                </button>
+            </div>
+
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnLeft"><span class="glyphicon glyphicon-arrow-left"> Left</span>
+                </button>
+            </div>
+            <div class="col-md-2 ">
+
+                <button class="btn-lg btn-block btn-danger" id="stop">Stop
+                    <span class="glyphicon glyphicon-stop"></span>
+                </button>
+            </div>
+
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnRight">Right<span class="glyphicon glyphicon-arrow-right"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backleft">Back-Left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backright">Back-Right
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-3" id="leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="front_leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="frontrightdata" style="height:300px">.....</div>
+            <div class="col-md-3" id="rightdata" style="height:300px">.....</div>
+        </div>
+        <div class="col-md-3" id="batterycapacity" style="height:300px">bat</div>
+
+        <div class="row">
+            <div class="col-xs-6">
+                <div class="row">
+                    <div class="col-xs-6 col-sm-offset-6">
+
+                        <div> </div>
+                        <button id="togglesensors">Toggle Sensors</button>
+                        <div class="hidden" id="allsensors">...</div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    </div>
+</body>
+
+</html>
diff --git a/robotmods/overdrivehenrywinter34.html b/robotmods/overdrivehenrywinter34.html
new file mode 100644
index 0000000..e758a8f
--- /dev/null
+++ b/robotmods/overdrivehenrywinter34.html
@@ -0,0 +1,417 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>winter33</title>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width">
+    <link href="//maxcdn.bootstrapcdn.com/bootstrap/3.3.2/css/bootstrap.min.css" rel="stylesheet">
+    <link href="css/styles.css" rel="stylesheet">
+    <script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/socket.io/0.9.16/socket.io.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/flot/0.8.2/jquery.flot.min.js"></script>
+    <script src="js/batterycapacity.js"></script>
+    <script src="js/leftsignal.js"></script>
+    <script src="js/front_leftsignal.js"></script>
+
+    <!---
+    <script src="charge107.js"></script>
+    <script language="javascript" type="text/javascript" src="left107.js"></script>
+
+    <script src="https://cdn.socket.io/socket.io-1.3.4.js"></script>
+    -->
+    <style>
+    body {
+        background-color:lightred;
+    }
+    </style>
+
+    <script>
+    var tempo = 2000;
+    mysong = [
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [698, tempo * .25],
+        [880, tempo * .25],
+        [null, 50]
+    ];
+
+    function sensop(mag) {
+        //newmag = 2 * ((1 - mag) - .5);
+        newmag = mag
+            //console.log(mag, newmag);
+        return newmag;
+    }
+    $(document).ready(function() {
+
+
+        //chargeplot = makeChargePlot();
+
+        $("#togglesensors").click(function(e) {
+            //console.log("togglesensors");
+            $("#allsensors").toggleClass('hidden');
+        });
+        //var socket = io.connect('http://10.48.102.xxx:3001'); //change this to match your robot
+        var socket = io.connect('http://10.48.102.110:3001'); //change this to match your robot
+        batterycapacity(socket);
+        leftsignal(socket);
+        front_leftsignal(socket);
+        socket.on('sensordata', function(data) {
+
+            //console.log(data);
+            $("#current").text(data.battery.current.amps);
+            $("#voltage").text(data.battery.voltage.volts.toFixed(2));
+            $("#left").text(data.cliff_sensors.left.signal.raw);
+            $("#front_left").text(data.cliff_sensors.front_left.signal.raw);
+            $("#front_right").text(data.cliff_sensors.front_right.signal.raw);
+            $("#right").text(data.cliff_sensors.right.signal.raw);
+
+            $(".left_signal").css("opacity", sensop(data.cliff_sensors.left.signal.magnitude));
+            $(".left_signal").text(sensop(data.cliff_sensors.left.signal.magnitude));
+
+            $(".front_left_signal").css("opacity", sensop(data.cliff_sensors.front_left.signal.magnitude));
+            $(".front_left_signal").text(sensop(data.cliff_sensors.front_left.signal.magnitude));
+
+            $(".front_right_signal").css("opacity", sensop(data.cliff_sensors.front_right.signal.magnitude));
+            $(".front_right_signal").text(sensop(data.cliff_sensors.front_right.signal.magnitude));
+
+            $(".right_signal").css("opacity", sensop(data.cliff_sensors.right.signal.magnitude));
+            $(".right_signal").text(sensop(data.cliff_sensors.right.signal.magnitude));
+
+            if (data.song.playing == false) {
+                //socket.emit('sing', [[data.cliff_sensors.front_left.signal.magnitude * 1000,data.cliff_sensors.front_right.signal.magnitude * 1000]]);
+            }
+
+            $("#allsensors").text(JSON.stringify(data));
+        });
+
+        socket.on('countup', function(data) {
+            //console.log(data);
+            $("#countup").text(data);
+        });
+
+
+        $("#forward").click(function(e) {
+            console.log('forward');
+            socket.emit('drive', {
+                left: 15,
+                right: 15
+            });
+        });
+
+         $("#overdrive").click(function(e) {
+            console.log('overdrive');
+            socket.emit('drive', {
+                left: 500,
+                right: 500
+            });
+        });
+
+
+        $("#backward").click(function(e) {
+            console.log('backward');
+            socket.emit('drive', {
+                left: -15,
+                right: -15
+            });
+        });
+
+        $("#stop").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 0,
+                right: 0
+            });
+        });
+
+
+        $("#turnLeft").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: -15,
+                right: 15
+            });
+        });
+
+
+        $("#turnRight").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 15,
+                right: -15
+            });
+        });
+
+        $("#playsong").click(function(e) {
+            socket.emit('sing', mysong);
+        });
+
+        $("#passiveMode").click(function(e) {
+            socket.emit('passiveMode');
+        });
+        $("#safeMode").click(function(e) {
+            socket.emit('safeMode');
+        });
+
+        $("#fullMode").click(function(e) {
+            socket.emit('fullMode');
+        });
+
+
+        $('body').keydown(function(event) {
+            console.log(event.which);
+            speed = $("#speed").text();
+            //speed = 100;
+            if (event.which === 87 || event.which === 38) //w, up arrow - move forward
+            {
+                //socket.emit('sing', [[300,300]]);
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+
+            }
+
+            
+            if (event.which === 83 || event.which === 40) //s, down arrow - move backward
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 - 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 82) //r, overdrive
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 500;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 37) //left arrow - move right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+
+            }
+
+            if (event.which === 65) //a - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed),
+                    right: Math.round(speed -25)
+                });
+
+            }
+
+            if (event.which === 68) //d - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed - 25),
+                    right: Math.round(speed)
+                });
+
+            }
+
+            if (event.which === 39) //right arrow - move left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 32) //space - stop
+
+            {
+                event.preventDefault();
+
+
+
+                function slowtostop() {
+                    speed = $("#speed").text();
+                    if (Math.abs(speed) <= 50) {
+                        speed = 0;
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        return;
+                    }
+                    setTimeout(function() {
+                        speed = $("#speed").text() * 1;
+                        speed += speed > 0 ? Number(-75) : Number(75);
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        slowtostop();
+                    }, 40);
+                }
+
+                slowtostop();
+
+            }
+        });
+
+    });
+    </script>
+
+</head>
+
+<body>
+    <div class="container">
+        <div class="row">
+            <div class="col-xs-3 left_signal darkness">
+                left
+            </div>
+            <div class="col-xs-3 front_left_signal darkness">
+                front_left
+            </div>
+            <div class="col-xs-3 front_right_signal darkness">
+                front_right
+            </div>
+            <div class="col-xs-3 left_signal darkness">
+                right
+            </div>
+
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Voltage</div>
+                <div class="sensor-value" id="voltage">...</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block">
+                <div class="sensor-title">Speed</div>
+                <div class="sensor-value" id="speed">0</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block" id="darkness">
+                <div class="sensor-title">countup</div>
+                <div id="countup" class="sensor-value">0</div>
+            </div>
+        </div>
+
+
+        <h3>Robot Control</h3>
+        <div class="row">
+            <button class="btn-success btn col-md-2" id="passiveMode">Passive Mode</button>
+            <button class="btn-warning btn col-md-2" id="safeMode">Safe Mode</button>
+            <button class="btn-danger btn col-md-2" id="fullMode">Full Mode</button>
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3">
+
+
+                <button id="playsong" class="btn-success btn-lg btn-block">Play Music
+                    <span class="glyphicon glyphicon-music"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward"><span class="glyphicon glyphicon-arrow-up rotate-left-45"></span>Forward-left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                </button>
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward-right<span class="glyphicon glyphicon-arrow-up rotate-right-45"></span>
+                </button>
+            </div>
+
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnLeft"><span class="glyphicon glyphicon-arrow-left"> Left</span>
+                </button>
+            </div>
+            <div class="col-md-2 ">
+
+                <button class="btn-lg btn-block btn-danger" id="stop">Stop
+                    <span class="glyphicon glyphicon-stop"></span>
+                </button>
+            </div>
+
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnRight">Right<span class="glyphicon glyphicon-arrow-right"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backleft">Back-Left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backright">Back-Right
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-3" id="leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="front_leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="frontrightdata" style="height:300px">.....</div>
+            <div class="col-md-3" id="rightdata" style="height:300px">.....</div>
+        </div>
+        <div class="col-md-3" id="batterycapacity" style="height:300px">bat</div>
+
+        <div class="row">
+            <div class="col-xs-6">
+                <div class="row">
+                    <div class="col-xs-6 col-sm-offset-6">
+
+                        <div> </div>
+                        <button id="togglesensors">Toggle Sensors</button>
+                        <div class="hidden" id="allsensors">...</div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    </div>
+</body>
+
+</html>
diff --git a/robotmods/overdrivereversehenrywinter34.html b/robotmods/overdrivereversehenrywinter34.html
new file mode 100644
index 0000000..d2b83bd
--- /dev/null
+++ b/robotmods/overdrivereversehenrywinter34.html
@@ -0,0 +1,417 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>winter33</title>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width">
+    <link href="//maxcdn.bootstrapcdn.com/bootstrap/3.3.2/css/bootstrap.min.css" rel="stylesheet">
+    <link href="css/styles.css" rel="stylesheet">
+    <script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/socket.io/0.9.16/socket.io.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/flot/0.8.2/jquery.flot.min.js"></script>
+    <script src="js/batterycapacity.js"></script>
+    <script src="js/leftsignal.js"></script>
+    <script src="js/front_leftsignal.js"></script>
+
+    <!---
+    <script src="charge107.js"></script>
+    <script language="javascript" type="text/javascript" src="left107.js"></script>
+
+    <script src="https://cdn.socket.io/socket.io-1.3.4.js"></script>
+    -->
+    <style>
+    body {
+        background-color:lightred;
+    }
+    </style>
+
+    <script>
+    var tempo = 2000;
+    mysong = [
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [698, tempo * .25],
+        [880, tempo * .25],
+        [null, 50]
+    ];
+
+    function sensop(mag) {
+        //newmag = 2 * ((1 - mag) - .5);
+        newmag = mag
+            //console.log(mag, newmag);
+        return newmag;
+    }
+    $(document).ready(function() {
+
+
+        //chargeplot = makeChargePlot();
+
+        $("#togglesensors").click(function(e) {
+            //console.log("togglesensors");
+            $("#allsensors").toggleClass('hidden');
+        });
+        //var socket = io.connect('http://10.48.102.xxx:3001'); //change this to match your robot
+        var socket = io.connect('http://10.48.102.110:3001'); //change this to match your robot
+        batterycapacity(socket);
+        leftsignal(socket);
+        front_leftsignal(socket);
+        socket.on('sensordata', function(data) {
+
+            //console.log(data);
+            $("#current").text(data.battery.current.amps);
+            $("#voltage").text(data.battery.voltage.volts.toFixed(2));
+            $("#left").text(data.cliff_sensors.left.signal.raw);
+            $("#front_left").text(data.cliff_sensors.front_left.signal.raw);
+            $("#front_right").text(data.cliff_sensors.front_right.signal.raw);
+            $("#right").text(data.cliff_sensors.right.signal.raw);
+
+            $(".left_signal").css("opacity", sensop(data.cliff_sensors.left.signal.magnitude));
+            $(".left_signal").text(sensop(data.cliff_sensors.left.signal.magnitude));
+
+            $(".front_left_signal").css("opacity", sensop(data.cliff_sensors.front_left.signal.magnitude));
+            $(".front_left_signal").text(sensop(data.cliff_sensors.front_left.signal.magnitude));
+
+            $(".front_right_signal").css("opacity", sensop(data.cliff_sensors.front_right.signal.magnitude));
+            $(".front_right_signal").text(sensop(data.cliff_sensors.front_right.signal.magnitude));
+
+            $(".right_signal").css("opacity", sensop(data.cliff_sensors.right.signal.magnitude));
+            $(".right_signal").text(sensop(data.cliff_sensors.right.signal.magnitude));
+
+            if (data.song.playing == false) {
+                //socket.emit('sing', [[data.cliff_sensors.front_left.signal.magnitude * 1000,data.cliff_sensors.front_right.signal.magnitude * 1000]]);
+            }
+
+            $("#allsensors").text(JSON.stringify(data));
+        });
+
+        socket.on('countup', function(data) {
+            //console.log(data);
+            $("#countup").text(data);
+        });
+
+
+        $("#forward").click(function(e) {
+            console.log('forward');
+            socket.emit('drive', {
+                left: 15,
+                right: 15
+            });
+        });
+
+         $("#overdrivereverse").click(function(e) {
+            console.log('overdrivereverse');
+            socket.emit('drive', {
+                left: -500,
+                right: -500
+            });
+        });
+
+
+        $("#backward").click(function(e) {
+            console.log('backward');
+            socket.emit('drive', {
+                left: -15,
+                right: -15
+            });
+        });
+
+        $("#stop").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 0,
+                right: 0
+            });
+        });
+
+
+        $("#turnLeft").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: -15,
+                right: 15
+            });
+        });
+
+
+        $("#turnRight").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 15,
+                right: -15
+            });
+        });
+
+        $("#playsong").click(function(e) {
+            socket.emit('sing', mysong);
+        });
+
+        $("#passiveMode").click(function(e) {
+            socket.emit('passiveMode');
+        });
+        $("#safeMode").click(function(e) {
+            socket.emit('safeMode');
+        });
+
+        $("#fullMode").click(function(e) {
+            socket.emit('fullMode');
+        });
+
+
+        $('body').keydown(function(event) {
+            console.log(event.which);
+            speed = $("#speed").text();
+            //speed = 100;
+            if (event.which === 87 || event.which === 38) //w, up arrow - move forward
+            {
+                //socket.emit('sing', [[300,300]]);
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+
+            }
+
+            
+            if (event.which === 83 || event.which === 40) //s, down arrow - move backward
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 - 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 84) //t, overdrivereverse
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 500;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: -speed
+                });
+            }
+
+            if (event.which === 37) //left arrow - move right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+
+            }
+
+            if (event.which === 65) //a - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed),
+                    right: Math.round(speed -25)
+                });
+
+            }
+
+            if (event.which === 68) //d - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed - 25),
+                    right: Math.round(speed)
+                });
+
+            }
+
+            if (event.which === 39) //right arrow - move left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 32) //space - stop
+
+            {
+                event.preventDefault();
+
+
+
+                function slowtostop() {
+                    speed = $("#speed").text();
+                    if (Math.abs(speed) <= 50) {
+                        speed = 0;
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        return;
+                    }
+                    setTimeout(function() {
+                        speed = $("#speed").text() * 1;
+                        speed += speed > 0 ? Number(-75) : Number(75);
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        slowtostop();
+                    }, 40);
+                }
+
+                slowtostop();
+
+            }
+        });
+
+    });
+    </script>
+
+</head>
+
+<body>
+    <div class="container">
+        <div class="row">
+            <div class="col-xs-3 left_signal darkness">
+                left
+            </div>
+            <div class="col-xs-3 front_left_signal darkness">
+                front_left
+            </div>
+            <div class="col-xs-3 front_right_signal darkness">
+                front_right
+            </div>
+            <div class="col-xs-3 left_signal darkness">
+                right
+            </div>
+
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Voltage</div>
+                <div class="sensor-value" id="voltage">...</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block">
+                <div class="sensor-title">Speed</div>
+                <div class="sensor-value" id="speed">0</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block" id="darkness">
+                <div class="sensor-title">countup</div>
+                <div id="countup" class="sensor-value">0</div>
+            </div>
+        </div>
+
+
+        <h3>Robot Control</h3>
+        <div class="row">
+            <button class="btn-success btn col-md-2" id="passiveMode">Passive Mode</button>
+            <button class="btn-warning btn col-md-2" id="safeMode">Safe Mode</button>
+            <button class="btn-danger btn col-md-2" id="fullMode">Full Mode</button>
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3">
+
+
+                <button id="playsong" class="btn-success btn-lg btn-block">Play Music
+                    <span class="glyphicon glyphicon-music"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward"><span class="glyphicon glyphicon-arrow-up rotate-left-45"></span>Forward-left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                </button>
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward-right<span class="glyphicon glyphicon-arrow-up rotate-right-45"></span>
+                </button>
+            </div>
+
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnLeft"><span class="glyphicon glyphicon-arrow-left"> Left</span>
+                </button>
+            </div>
+            <div class="col-md-2 ">
+
+                <button class="btn-lg btn-block btn-danger" id="stop">Stop
+                    <span class="glyphicon glyphicon-stop"></span>
+                </button>
+            </div>
+
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnRight">Right<span class="glyphicon glyphicon-arrow-right"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backleft">Back-Left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backright">Back-Right
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-3" id="leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="front_leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="frontrightdata" style="height:300px">.....</div>
+            <div class="col-md-3" id="rightdata" style="height:300px">.....</div>
+        </div>
+        <div class="col-md-3" id="batterycapacity" style="height:300px">bat</div>
+
+        <div class="row">
+            <div class="col-xs-6">
+                <div class="row">
+                    <div class="col-xs-6 col-sm-offset-6">
+
+                        <div> </div>
+                        <button id="togglesensors">Toggle Sensors</button>
+                        <div class="hidden" id="allsensors">...</div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    </div>
+</body>
+
+</html>
diff --git a/robotmods/quickturnhenrywinter34.html b/robotmods/quickturnhenrywinter34.html
new file mode 100644
index 0000000..4437c6d
--- /dev/null
+++ b/robotmods/quickturnhenrywinter34.html
@@ -0,0 +1,436 @@
+<!DOCTYPE html>
+<html>
+
+<head>
+    <title>winter33</title>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width">
+    <link href="//maxcdn.bootstrapcdn.com/bootstrap/3.3.2/css/bootstrap.min.css" rel="stylesheet">
+    <link href="css/styles.css" rel="stylesheet">
+    <script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/socket.io/0.9.16/socket.io.min.js"></script>
+    <script src="//cdnjs.cloudflare.com/ajax/libs/flot/0.8.2/jquery.flot.min.js"></script>
+    <script src="js/batterycapacity.js"></script>
+    <script src="js/leftsignal.js"></script>
+    <script src="js/front_leftsignal.js"></script>
+
+    <!---
+    <script src="charge107.js"></script>
+    <script language="javascript" type="text/javascript" src="left107.js"></script>
+
+    <script src="https://cdn.socket.io/socket.io-1.3.4.js"></script>
+    -->
+    <style>
+    body {
+        background-color:lightred;
+    }
+    </style>
+
+    <script>
+    var tempo = 2000;
+    mysong = [
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [261, tempo * .125],
+        [698, tempo * .25],
+        [880, tempo * .25],
+        [null, 50]
+    ];
+
+    function sensop(mag) {
+        //newmag = 2 * ((1 - mag) - .5);
+        newmag = mag
+            //console.log(mag, newmag);
+        return newmag;
+    }
+    $(document).ready(function() {
+
+
+        //chargeplot = makeChargePlot();
+
+        $("#togglesensors").click(function(e) {
+            //console.log("togglesensors");
+            $("#allsensors").toggleClass('hidden');
+        });
+        //var socket = io.connect('http://10.48.102.xxx:3001'); //change this to match your robot
+        var socket = io.connect('http://10.48.102.110:3001'); //change this to match your robot
+        batterycapacity(socket);
+        leftsignal(socket);
+        front_leftsignal(socket);
+        socket.on('sensordata', function(data) {
+
+            //console.log(data);
+            $("#current").text(data.battery.current.amps);
+            $("#voltage").text(data.battery.voltage.volts.toFixed(2));
+            $("#left").text(data.cliff_sensors.left.signal.raw);
+            $("#front_left").text(data.cliff_sensors.front_left.signal.raw);
+            $("#front_right").text(data.cliff_sensors.front_right.signal.raw);
+            $("#right").text(data.cliff_sensors.right.signal.raw);
+
+            $(".left_signal").css("opacity", sensop(data.cliff_sensors.left.signal.magnitude));
+            $(".left_signal").text(sensop(data.cliff_sensors.left.signal.magnitude));
+
+            $(".front_left_signal").css("opacity", sensop(data.cliff_sensors.front_left.signal.magnitude));
+            $(".front_left_signal").text(sensop(data.cliff_sensors.front_left.signal.magnitude));
+
+            $(".front_right_signal").css("opacity", sensop(data.cliff_sensors.front_right.signal.magnitude));
+            $(".front_right_signal").text(sensop(data.cliff_sensors.front_right.signal.magnitude));
+
+            $(".right_signal").css("opacity", sensop(data.cliff_sensors.right.signal.magnitude));
+            $(".right_signal").text(sensop(data.cliff_sensors.right.signal.magnitude));
+
+            if (data.song.playing == false) {
+                //socket.emit('sing', [[data.cliff_sensors.front_left.signal.magnitude * 1000,data.cliff_sensors.front_right.signal.magnitude * 1000]]);
+            }
+
+            $("#allsensors").text(JSON.stringify(data));
+        });
+
+        socket.on('countup', function(data) {
+            //console.log(data);
+            $("#countup").text(data);
+        });
+
+
+        $("#forward").click(function(e) {
+            console.log('forward');
+            socket.emit('drive', {
+                left: 15,
+                right: 15
+            });
+        });
+
+         $("#quickturnleft").click(function(e) {
+            console.log('quickturnleft');
+            socket.emit('drive', {
+                left: -100,
+                right: 100
+            });
+        });
+
+         $("#quickturnright").click(function(e) {
+            console.log('quickturnright');
+            socket.emit('drive', {
+                left: 100,
+                right: -100
+            });
+        }); 
+
+        $("#backward").click(function(e) {
+            console.log('backward');
+            socket.emit('drive', {
+                left: -15,
+                right: -15
+            });
+        });
+
+        $("#stop").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 0,
+                right: 0
+            });
+        });
+
+
+        $("#turnLeft").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: -15,
+                right: 15
+            });
+        });
+
+
+        $("#turnRight").click(function(e) {
+            console.log('stop');
+            socket.emit('drive', {
+                left: 15,
+                right: -15
+            });
+        });
+
+        $("#playsong").click(function(e) {
+            socket.emit('sing', mysong);
+        });
+
+        $("#passiveMode").click(function(e) {
+            socket.emit('passiveMode');
+        });
+        $("#safeMode").click(function(e) {
+            socket.emit('safeMode');
+        });
+
+        $("#fullMode").click(function(e) {
+            socket.emit('fullMode');
+        });
+
+
+        $('body').keydown(function(event) {
+            console.log(event.which);
+            speed = $("#speed").text();
+            //speed = 100;
+            if (event.which === 87 || event.which === 38) //w, up arrow - move forward
+            {
+                //socket.emit('sing', [[300,300]]);
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+
+            }
+
+            
+            if (event.which === 83 || event.which === 40) //s, down arrow - move backward
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 - 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 69) //e, quick turn right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 100;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 81) //q, quick turn left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = speed * 1 + 100;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+            }
+
+            if (event.which === 37) //left arrow - move right
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: speed,
+                    right: -speed
+                });
+
+            }
+
+            if (event.which === 65) //a - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed),
+                    right: Math.round(speed -25)
+                });
+
+            }
+
+            if (event.which === 68) //d - forward left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                (speed < 25) ? speed=25 : speed = speed;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: Math.round(speed - 25),
+                    right: Math.round(speed)
+                });
+
+            }
+
+            if (event.which === 39) //right arrow - move left
+            {
+                event.preventDefault();
+                speed = $("#speed").text();
+                speed = 25;
+                $("#speed").text(speed);
+                socket.emit('drive', {
+                    left: -speed,
+                    right: speed
+                });
+            }
+
+            if (event.which === 32) //space - stop
+
+            {
+                event.preventDefault();
+
+
+
+                function slowtostop() {
+                    speed = $("#speed").text();
+                    if (Math.abs(speed) <= 50) {
+                        speed = 0;
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        return;
+                    }
+                    setTimeout(function() {
+                        speed = $("#speed").text() * 1;
+                        speed += speed > 0 ? Number(-75) : Number(75);
+                        $("#speed").text(speed);
+                        socket.emit('drive', {
+                            left: speed,
+                            right: speed
+                        });
+                        slowtostop();
+                    }, 40);
+                }
+
+                slowtostop();
+
+            }
+        });
+
+    });
+    </script>
+
+</head>
+
+<body>
+    <div class="container">
+        <div class="row">
+            <div class="col-xs-3 left_signal darkness">
+                left
+            </div>
+            <div class="col-xs-3 front_left_signal darkness">
+                front_left
+            </div>
+            <div class="col-xs-3 front_right_signal darkness">
+                front_right
+            </div>
+            <div class="col-xs-3 left_signal darkness">
+                right
+            </div>
+
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3 sensor-block col-xs-offset-1">
+                <div class="sensor-title">Voltage</div>
+                <div class="sensor-value" id="voltage">...</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block">
+                <div class="sensor-title">Speed</div>
+                <div class="sensor-value" id="speed">0</div>
+            </div>
+            <div class="col-xs-3 col-xs-offset-1 sensor-block" id="darkness">
+                <div class="sensor-title">countup</div>
+                <div id="countup" class="sensor-value">0</div>
+            </div>
+        </div>
+
+
+        <h3>Robot Control</h3>
+        <div class="row">
+            <button class="btn-success btn col-md-2" id="passiveMode">Passive Mode</button>
+            <button class="btn-warning btn col-md-2" id="safeMode">Safe Mode</button>
+            <button class="btn-danger btn col-md-2" id="fullMode">Full Mode</button>
+
+        </div>
+        <div class="row">
+            <div class="col-xs-3">
+
+
+                <button id="playsong" class="btn-success btn-lg btn-block">Play Music
+                    <span class="glyphicon glyphicon-music"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward"><span class="glyphicon glyphicon-arrow-up rotate-left-45"></span>Forward-left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward<span class="glyphicon glyphicon-arrow-up"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                </button>
+                <button class="btn-primary btn-lg btn-block" id="forward">Forward-right<span class="glyphicon glyphicon-arrow-up rotate-right-45"></span>
+                </button>
+            </div>
+
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnLeft"><span class="glyphicon glyphicon-arrow-left"> Left</span>
+                </button>
+            </div>
+            <div class="col-md-2 ">
+
+                <button class="btn-lg btn-block btn-danger" id="stop">Stop
+                    <span class="glyphicon glyphicon-stop"></span>
+                </button>
+            </div>
+
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="turnRight">Right<span class="glyphicon glyphicon-arrow-right"></span>
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backleft">Back-Left
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backward">Back<span class="glyphicon glyphicon-arrow-down"></span>
+                </button>
+            </div>
+            <div class="col-md-2">
+                <button class="btn-primary btn-lg btn-block" id="backright">Back-Right
+                </button>
+            </div>
+        </div>
+        <div class="row">
+            <div class="col-md-3" id="leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="front_leftsignal" style="height:300px">.....</div>
+            <div class="col-md-3" id="frontrightdata" style="height:300px">.....</div>
+            <div class="col-md-3" id="rightdata" style="height:300px">.....</div>
+        </div>
+        <div class="col-md-3" id="batterycapacity" style="height:300px">bat</div>
+
+        <div class="row">
+            <div class="col-xs-6">
+                <div class="row">
+                    <div class="col-xs-6 col-sm-offset-6">
+
+                        <div> </div>
+                        <button id="togglesensors">Toggle Sensors</button>
+                        <div class="hidden" id="allsensors">...</div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    </div>
+</body>
+
+</html>
