diff --git a/app.py b/app.py
index 54e3f81..c3c0ddc 100644
--- a/app.py
+++ b/app.py
@@ -6,9 +6,12 @@ import kuukar.kuukar_motion as kuukar_motion
 import kuukar.kuukar_lcd as kuukar_lcd
 import kuukar.kuukar_sensors as kuukar_sensors
 import kuukar.kuukar_environment as kuukar_environment
+from flask import Flask, request
 
 from kuukar.kuukar_config import SERIAL_MCU, SERIAL_DRV
 
+app = Flask(__name__)
+
 mcu = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_MCU)
 drv = telemetrix_rpi_pico.TelemetrixRpiPico(com_port=SERIAL_DRV)
 sensors = kuukar_sensors.sensors(mcu)
@@ -17,8 +20,7 @@ motion = kuukar_motion.motion(mcu, drv, leds, sensors)
 lcd = kuukar_lcd.lcd(motion, sensors)
 environment = kuukar_environment.environment(lcd, leds, sensors)
 collision = kuukar_collision.collision(mcu, lcd, leds)
-
-motion.roam_start()
+motion.turn(30,3000)
 
 while True:
     temp = sensors.get_temperature()
@@ -28,3 +30,37 @@ while True:
     dist3 = sensors.sonar_get_distance(2)
     print(f'temp: {temp}, humidity: {humid}, dist1: {dist1}, dist2: {dist2}, dist3: {dist3}')
     time.sleep(1)
+
+@app.route('/drive')
+def drive():
+    speed = int(request.args.get('speed'))
+    motion.drive(speed)
+
+
+@app.route("/stop")
+def stop():
+    motion.stop()
+
+
+@app.route('/turn')
+def turn():
+    speed = int(request.args.get('speed'))
+    duration = int(request.args.get('duration'))
+    motion.turn(speed, duration)
+
+
+@app.route('/set_ambient_leds')
+def set_ambient_leds():
+    r = int(request.args.get('r'))
+    g = int(request.args.get('g'))
+    b = int(request.args.get('b'))
+    leds.set_ambient_led(r, g, b)
+
+
+@app.route('/set_mode')
+def set_mode():
+    mode = str(request.args.get('mode'))
+    if mode == "AI":
+        motion.roam_start()
+    elif mode == "MANUAL":
+        motion.roam_stop()
diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index 376c529..d07f7f7 100644
--- a/kuukar/kuukar_motion.py
+++ b/kuukar/kuukar_motion.py
@@ -109,6 +109,4 @@ class motion:
                     self.turn(-23, TURN_TIME_FS_90DEG_MS)
                     self.drive(30)
             self.stop()
-        
-            print("stopping")
-        time.sleep(0.5)
\ No newline at end of file
+            print("stopping")
\ No newline at end of file