Jkdsjksj

2026-06-19 09:34:52 +02:00
parent 023d3c04b9
commit 432df63298
24 changed files with 589 additions and 2644 deletions
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -2,16 +2,17 @@

 ## Overview

-QuiBot is an educational robotics platform (UPC/UNE collaboration) consisting of a programmable robot with color-block recognition, gesture control, stepper motors, RGB LED eyes, and multiple input methods (web dashboard, Android voice app). The codebase comprises four independent application layers communicating via HTTP JSON APIs.
+QuiBot is an educational robotics platform (UPC/UNE collaboration) consisting of a programmable robot with color-block recognition, gesture control, stepper motors, RGB LED eyes, and multiple input methods (web dashboard, Android voice app). The codebase comprises two independent application layers communicating via HTTP JSON APIs.

 ```
-[quibot-web Nuxt SPA]  ──HTTP──>  [backend Express]  ──HTTP──>  [raspi FastAPI (Pi)]
-          │                                         │
-          ▼                                         ▼
-    [apk Expo RN app]  ──HTTP──>  (same backend)       [Python hardware drivers]
+[quibot-web Nuxt SPA]  ──HTTP──>  [backend Express]
+          │                             │
+          ▼                             ├──▶ Raspberry Pi (port 8000) — motor/audio endpoints
+    [apk Expo RN app]  ──HTTP──>       ├──▶ LLM (llamacpp)
+                                        └──▶ TTS (Piper)
 ```

-**Tech stack**: Python (pigpio, FastAPI) | TypeScript/Express | Nuxt 4/Vue 3 | Expo/React Native
+**Tech stack**: TypeScript/Express | Nuxt 4/Vue 3 | Expo/React Native
 **No database**: All state is in-memory, file-based (`/tmp/quibot-audio/`), or localStorage.

 ---
@@ -20,30 +21,22 @@ QuiBot is an educational robotics platform (UPC/UNE collaboration) consisting of

 ```
 quibot/
-├── raspi/              # Raspberry Pi brain — Python, controls hardware
-│   ├── main.py         # FastAPI server (port 8000) on the Pi
-│   ├── quibot.py       # Main program: block/gesture threads (like Arduino QuiBot.ino)
-│   ├── motion.py       # Stepper class, homing, line-following, high-level tasks
-│   ├── gesture.py      # PAJ7620U2 gesture sensor (I2C, polled at 50ms)
-│   ├── blocks.py       # TCS34725 color sensor + servo block ejection
-│   ├── eyes.py         # WS2811 LED matrix (128 LEDs, pigpio waveforms, breathing animation)
-│   ├── pins.py         # BCM GPIO pin map for all hardware
-│   └── tests/          # Manual diagnostic scripts (not automated)
-├── backend/            # Local Express server (port 3000), proxy to Pi
+├── backend/            # Express server (port 5000), proxy to Pi + LLM/TTS
 │   ├── src/
-│   │   ├── index.ts           # Express entry: CORS, JSON parser, /health
-│   │   ├── config.ts          # Env config: RASPBERRY_PI_HOST, PORT, QUIBOT_TOKEN
+│   │   ├── index.ts           # Express entry: CORS, JSON parser, /health, routes
+│   │   ├── config.ts          # Env config: raspi, PIPER_URL, LLAMA_CPP_URL, PORT
 │   │   ├── routes/router.ts   # Mounts all controllers
-│   │   ├── services/raspi.service.ts  # Axios proxy layer to Pi FastAPI
+│   │   ├── services/raspi.service.ts  # Axios proxy layer to Pi endpoints
 │   │   └── controllers/
 │   │       ├── motor.controller.ts      # Motor step/stop/upload
 │   │       ├── audio.controller.ts      # Audio file lifecycle (incoming/locked/processed)
 │   │       ├── command.controller.ts    # POST /commands proxy to raspi /run
-│   │       └── settings.controller.ts   # GET/PUT /settings runtime config
+│   │       ├── settings.controller.ts   # GET/PUT /settings runtime config
+│   │       └── tts.controller.ts        # TTS synthesis via Piper
 │   └── dist/               # Compiled output (generated)
 ├── quibot-web/             # Nuxt 4 dashboard SPA
 │   ├── app/app.vue         # Single-page control panel: block queue, D-pad, eye controls, gesture log
-│   ├── server/api/         # Nitro server routes proxying to raspi
+│   ├── server/api/         # Nitro server routes proxying to backend Express
 │   │   ├── motor/step/[direction].post.ts
 │   │   └── motor/stop.post.ts
 │   ├── nuxt.config.ts      # Runtime config: QUIBOT_BASE_URL, QUIBOT_TOKEN
@@ -61,7 +54,9 @@ quibot/

 ---

-## Raspberry Pi Layer (`raspi/`)
+## Raspberry Pi Layer (remote, port 8000)
+
+The Raspberry Pi runs a lightweight HTTP server exposing hardware control endpoints. The `raspi/` source directory is no longer part of this repository — it lives on the Pi itself.

 **Hardware target**: Raspberry Pi Zero 2W controlling a robot with:
 - 5 NEMA-style stepper motors (wheels x2, arms x2, syringe) via A4988/TB600 drivers in STEP/DIR mode
@@ -74,7 +69,7 @@ quibot/
 - Hall-effect endstops on GPIOs 12, 16, 17
 - Optional: I2S audio amp (MAX98357A) + mic (SPH0645)

-### Key files
+### Hardware source files (on Pi)

 - **`pins.py`** — BCM GPIO pin numbering for every component (STEP, DIR, EN pins, I2C lines, endstops, LED_DATA on GPIO26)
 - **`motion.py`** — `Stepper` class with AccelStepper-style acceleration profiling via `pigpio.gpio_trigger()`. 5 motor instances (`wheel_R`, `wheel_L`, `arm_R`, `arm_L`, `syringe`). Continuous stepper daemon thread (`_stepper_loop`) at ~100Hz. Homing routines read Hall-effect endstops. Line-following with proportional correction on TCRT5000 values via ADS1115.
@@ -104,7 +99,7 @@ quibot/

 ## Backend Layer (`backend/`)

-**Role**: Express.js HTTP proxy sitting between frontend/mobile and the Raspberry Pi's FastAPI server. Token passthrough, no business logic.
+**Role**: Express.js HTTP server providing frontend/mobile API, proxying hardware commands to the Raspberry Pi, and managing TTS/LLM integration.

 ### Configuration (`.env`, loaded by `config.ts`)

@@ -113,15 +108,19 @@ quibot/
 | `RASPBERRY_PI_HOST` | `http://raspberrypi.local` | Pi API URL |
 | `RASPBERRY_PI_PORT` | `8000` | Pi API port |
 | `QUIBOT_TOKEN` | `MY_SECRET_TOKEN` | Auth token for all Pi endpoints |
-| `PORT` | `3000` | Backend listen port |
+| `PORT` | `5000` | Backend listen port |
+| `PIPER_URL` | `''` | Piper TTS service URL |
+| `LLAMA_CPP_URL` | `''` | LLM inference service URL |
+| `LLAMA_API_KEY` | `''` | LLM API key |
+| `LLAMA_PREAMBLE` | `''` | Path or content for LLM preamble |

 ### Architecture

 ```
 index.ts          → Express app, CORS, JSON parser, /health endpoint
-routes/router.ts  → Mounts all controllers under /motor, /audio, /commands, /settings
+routes/router.ts  → Mounts all controllers under /motor, /audio, /commands, /settings, /tts
 config.ts         → Mutable getter/setter env vars (runtime update via PUT /settings)
-raspi.service.ts  → Axios proxy methods for every Pi endpoint + multipart file upload handling
+raspi.service.ts  → Axios proxy methods for Pi endpoints + multipart file upload handling
 ```

 ### Controllers
@@ -130,6 +129,7 @@ raspi.service.ts  → Axios proxy methods for every Pi endpoint + multipart file
 - **`audio.controller.ts`** — `GET /audio/incoming`, `POST /audio/lock/:filename`, `/unlock/:filename`, `/cancel/:filename`, `/process/:filename`. All proxy to raspi audio file lifecycle endpoints.
 - **`command.controller.ts`** — `POST /commands { task }` → proxied to raspi `/run?task=...&token=...`
 - **`settings.controller.ts`** — `GET /settings` returns config; `PUT /settings` updates `raspberryPi.host`, `raspberryPi.port`, `token` at runtime.
+- **`tts.controller.ts`** — `POST /tts { text, lang }` → Synthesizes audio via Piper TTS service. Saves WAV files to `/tmp/quibot-audio/tts/`.

 ### Build/Run

@@ -150,7 +150,7 @@ node dist/index.js   # Or use tsx/nodemon for dev

 | Key | Default | Purpose |
 |-----|---------|---------|
-| `QUIBOT_BASE_URL` | `http://quibot:8000` | Base URL for raspi FastAPI |
+| `QUIBOT_BASE_URL` | `http://quibot:8000` | Base URL for backend Express (or Pi) |
 | `QUIBOT_TOKEN` | `MY_SECRET_TOKEN` | Auth token |

 ### UI Panels (`app/app.vue` — single-file SPA, 1369 lines)
@@ -170,8 +170,8 @@ node dist/index.js   # Or use tsx/nodemon for dev

 | Method | Path | Description |
 |--------|------|-------------|
-| POST | `/api/motor/stop` | Proxies to raspi `/motor/stop` |
-| POST | `/api/motor/step/:direction` | Proxies to raspi `/motor/step/forward\|backwards` |
+| POST | `/api/motor/stop` | Proxies to backend Express `/motor/stop` |
+| POST | `/api/motor/step/:direction` | Proxies to backend Express `/motor/step/forward\|backwards` |

 **Note**: The frontend also calls `POST /api/eye/shape`, `/api/eye/color`, `/api/eye/on`, `/api/eye/off`, `/api/gesture/on`, `/api/gesture/off` — server routes for these may need to be created (frontend references them but they don't have explicit server handlers yet).

@@ -221,7 +221,26 @@ CI: `build-apk.yml` runs expo prebuild, decodes keystore from secrets, builds si

 ## Complete API Reference

-### Raspberry Pi FastAPI (`raspi/main.py`) — port 8000
+### Backend Express (`backend/`) — port 5000
+
+| Method | Path | Body | Description |
+|--------|------|------|-------------|
+| GET | `/health` | — | Returns settings object |
+| POST | `/commands` | `{ task }` | Proxy to raspi `/run` |
+| POST | `/motor/step/forward` | — | Motor forward proxy to Pi |
+| POST | `/motor/step/backward` | — | Motor backward proxy to Pi (maps to `/backwards`) |
+| POST | `/motor/stop` | — | Motor stop proxy to Pi |
+| POST | `/motor/upload` | multipart file | Audio upload via multer → proxied to Pi |
+| GET | `/audio/incoming` | — | List incoming audio files from Pi |
+| POST | `/audio/lock/:filename` | — | Lock audio file on Pi |
+| POST | `/audio/unlock/:filename` | — | Unlock audio file on Pi |
+| POST | `/audio/cancel/:filename` | — | Cancel locked audio on Pi |
+| POST | `/audio/process/:filename` | — | Mark processed on Pi |
+| GET | `/settings` | — | Returns config |
+| PUT | `/settings` | `{ raspberryPi: { host, port }, token }` | Update runtime config |
+| POST | `/tts` | query: `text`, `lang` | Synthesize speech via Piper TTS |
+
+### Raspberry Pi HTTP Server (remote, port 8000)

 | Method | Path | Params/Body | Description |
 |--------|------|-------------|-------------|
@@ -238,24 +257,6 @@ CI: `build-apk.yml` runs expo prebuild, decodes keystore from secrets, builds si

 **Auth**: Query parameter `token` matching `QUIBOT_TOKEN` env var (default: `MY_SECRET_TOKEN`).

-### Backend Express (`backend/`) — port 3000
-
-| Method | Path | Body | Description |
-|--------|------|------|-------------|
-| GET | `/health` | — | Returns settings object |
-| POST | `/commands` | `{ task }` | Proxy to raspi `/run` |
-| POST | `/motor/step/forward` | — | Motor forward proxy |
-| POST | `/motor/step/backward` | — | Motor backward proxy (maps to raspi `/backwards`) |
-| POST | `/motor/stop` | — | Motor stop proxy |
-| POST | `/motor/upload` | multipart file | Audio upload via multer in-memory buffer |
-| GET | `/audio/incoming` | — | List incoming audio files |
-| POST | `/audio/lock/:filename` | — | Lock audio file |
-| POST | `/audio/unlock/:filename` | — | Unlock audio file |
-| POST | `/audio/cancel/:filename` | — | Cancel locked audio |
-| POST | `/audio/process/:filename` | — | Mark processed |
-| GET | `/settings` | — | Returns config |
-| PUT | `/settings` | `{ raspberryPi: { host, port }, token }` | Update runtime config |
-
 ---

 ## Command Flow Examples
@@ -266,9 +267,11 @@ User clicks "Forward" in D-pad
  → $fetch('/api/motor/step/forward', { method: 'POST' })
    → Nuxt Nitro route: server/api/motor/step/[direction].post.ts
      → $fetch(config.quibotBaseUrl + '/motor/step/forward', { query: { token } })
-        → raspi FastAPI /motor/step/forward
-          → motor_step("forward") in daemon thread
-            → step_motor(200, DIR, 1ms pulses)
+        → Backend Express /motor/step/forward
+          → raspi.service.motorStepForward()
+            → Pi FastAPI /motor/step/forward?token=...
+              → motor_step("forward") in daemon thread on Pi
+                → step_motor(200, DIR, 1ms pulses)
 ```

 ### Block Processing (internal to Pi)
@@ -278,8 +281,18 @@ Child inserts colored block → quibot.py task_read_blocks() polls distance sens
    → Manhattan distance classification against color lookup table
      → RED: eyes_turn_on(EYES_FW, DARK_RED, 2)
         _execute_action(task_move_to, CROSSING)
-           → enable_wheels(ON) → follow_line_loop(speed) (proportional on TCRT5000)
-    → After action: servo_move_to(EJECT_POSITION)
+            → enable_wheels(ON) → follow_line_loop(speed) (proportional on TCRT5000)
+     → After action: servo_move_to(EJECT_POSITION)
+```
+
+### TTS Synthesis
+```
+User triggers speech in web UI
+  → POST /tts?text=hello&lang=ca&token=...
+    → Backend Express tts.controller.ts
+      → piperService.synthesize() → Piper TTS service
+        → WAV file saved to /tmp/quibot-audio/tts/{uuid}.wav
+          → Returns audioUrl + filename
 ```

 ### APK → Audio Upload
@@ -317,8 +330,9 @@ User toggles mode in web UI

 ## Testing

-All tests in `raspi/tests/` are **manual diagnostic scripts** (not automated frameworks). Each test is run independently by uncommenting the desired function call at the bottom of the file. Requirements:
+Tests reside on the Pi alongside the hardware source code, not in this repository.

+Requirements:
 - `sudo pigpiod -s 1` daemon running
 - Python venv activated with hardware dependencies installed
 - Pi connected to robot hardware
@@ -337,8 +351,8 @@ All tests in `raspi/tests/` are **manual diagnostic scripts** (not automated fra

 1. **Token auth** is always a query parameter matching `QUIBOT_TOKEN` (default: `MY_SECRET_TOKEN`)
 2. **No database** — use filesystem for persistence, localStorage for web client state
-3. **Backend is a dumb proxy** — no business logic, just forwards HTTP requests with token passthrough
-4. **Motor commands are fire-and-forget** — motor runs in daemon thread until `/motor/stop`
+3. **Backend proxies Pi endpoints** — motor/audio commands forwarded via raspi.service.ts
+4. **Motor commands are fire-and-forget** — motor runs in daemon thread on Pi until `/motor/stop`
 5. **Audio lifecycle**: incoming → locked (claim) → processed OR unlocked (release) / cancelled
 6. **Eyes breathing** runs continuously at MIN_BR(80)-MAX_BR(170) brightness in background
 7. **`quibot.py` owns block/gesture autonomy** — blocks are processed internally on the Pi without backend/web involvement
--- a/apk/app.json
+++ b/apk/app.json
@@ -49,6 +49,14 @@
            "backgroundColor": "#000000"
          }
        }
+      ],
+      [
+        "expo-build-properties",
+        {
+          "android": {
+            "usesCleartextTraffic": true
+          }
+        }
      ]
    ],
    "experiments": {
--- a/apk/app/index.tsx
+++ b/apk/app/index.tsx
@@ -1,5 +1,4 @@
 import { Audio, InterruptionModeAndroid, InterruptionModeIOS } from "expo-av";
-import * as Speech from "expo-speech";
 import { router, useFocusEffect } from "expo-router";
 import { useCallback, useEffect, useRef, useState } from "react";
 import Svg, { Path } from "react-native-svg";
@@ -63,7 +62,9 @@ export default function RecorderScreen() {
  const [transcriptionText, setTranscriptionText] = useState("");
  const [isUploading, setIsUploading] = useState(false);
  const [isHolding, setIsHolding] = useState(false);
+  const [isPlaying, setIsPlaying] = useState(false);
  const recordingRef = useRef<Audio.Recording | null>(null);
+  const soundRef = useRef<Audio.Sound | null>(null);

  const refreshSettings = useCallback(() => {
    let isMounted = true;
@@ -123,15 +124,29 @@ export default function RecorderScreen() {
    };
  }, [recording]);

-  async function speak(text: string) {
-    if (!text || !text.trim()) {
-      console.log("[TTS] Skipping empty text");
-      return;
-    }
+  useEffect(() => {
+    return () => {
+      void unloadSound();
+    };
+  }, []);

-    console.log("[TTS] ===== START speak =====");
-    Speech.stop();
-    await new Promise((r) => setTimeout(r, 100));
+  async function unloadSound() {
+    if (soundRef.current) {
+      try {
+        await soundRef.current.stopAsync();
+        await soundRef.current.unloadAsync();
+      } catch (err) {
+        console.log("[TTS] Error unloading sound:", err);
+      }
+      soundRef.current = null;
+    }
+    setIsPlaying(false);
+  }
+
+  async function speakWithAudio(audioUrl: string, backendBase: string) {
+    if (!audioUrl) return false;
+
+    await unloadSound();

    try {
      await Audio.setAudioModeAsync({
@@ -142,38 +157,103 @@ export default function RecorderScreen() {
        shouldDuckAndroid: true,
        staysActiveInBackground: false,
      });
-      console.log("[TTS] Audio mode reset OK");
    } catch (err) {
      console.log("[TTS] Audio mode error:", err);
    }

-    const lang = locale === "ca" ? "ca-ES" : "en-US";
-    await new Promise((r) => setTimeout(r, 800));
-
-    console.log("[TTS] Calling Speech.speak. Text length:", text.length, "Lang:", lang);
    try {
-      Speech.speak(text, {
-        language: lang,
-        onDone: () => console.log("[TTS] ✅ onDone fired"),
-        onError: (error) => console.log("[TTS] ❌ onError:", error),
-      });
-      console.log("[TTS] Speech.speak() call returned OK");
+      const fullUrl = audioUrl.startsWith("http")
+        ? audioUrl
+        : `${backendBase.replace(/\/+$/, "")}/${audioUrl.replace(/^\/+/, "")}`;
+
+      console.log("[TTS] Loading audio from:", fullUrl);
+      setIsPlaying(true);
+      setStatusMessage(strings.playing);
+
+      const { sound } = await Audio.Sound.createAsync(
+        { uri: fullUrl },
+        { shouldPlay: true, volume: 1.0 },
+        (status) => {
+          if (status.isLoaded && status.didJustFinish) {
+            console.log("[TTS] Audio playback finished");
+            void unloadSound();
+          }
+        },
+      );
+
+      soundRef.current = sound;
+      const status = await sound.getStatusAsync();
+      const durationMs = status.isLoaded ? (status.durationMillis ?? 0) : 0;
+      console.log("[TTS] Playing audio, duration:", durationMs, "ms");
+
+      return true;
    } catch (err) {
-      console.log("[TTS] Speech.speak() threw:", err);
+      console.log("[TTS] Audio playback error:", err);
+      setIsPlaying(false);
+      return false;
    }
  }

  async function speakSequentially(texts: string[]) {
    if (texts.length === 0) return;
+
+    const trimmedUrl = backendUrl.trim().replace(/\/+$/, "");
    for (let i = 0; i < texts.length; i++) {
-      await speak(texts[i]);
-      await new Promise((r) => setTimeout(r, 1500));
+      const text = texts[i];
+      if (!text || !text.trim()) continue;
+
+      try {
+        setStatusMessage(strings.playing);
+        console.log("[TTS] Generating TTS audio for text:", text.substring(0, 50));
+
+        const localeLang = locale === "ca" ? "ca" : "en";
+        const ttsParams = new URLSearchParams({
+          text: text.trim(),
+          language: localeLang,
+        });
+
+        if (authToken.trim()) {
+          ttsParams.append("token", authToken.trim());
+        }
+
+        const ttsUrl = `${trimmedUrl}/tts?${ttsParams.toString()}`;
+        const ttsResponse = await fetch(ttsUrl, { method: "POST" });
+
+        if (!ttsResponse.ok) {
+          const errText = await ttsResponse.text();
+          console.log("[TTS] TTS endpoint error:", ttsResponse.status, errText);
+          continue;
+        }
+
+        const ttsData = await ttsResponse.json();
+
+        if (!ttsData.audioUrl) {
+          console.log("[TTS] No audioUrl in response:", ttsData);
+          continue;
+        }
+
+        const played = await speakWithAudio(ttsData.audioUrl, trimmedUrl);
+        if (!played) {
+          setStatusMessage(strings.uploadFailed);
+        }
+
+        if (i < texts.length - 1) {
+          await new Promise((r) => setTimeout(r, 800));
+        }
+      } catch (err) {
+        console.log("[TTS] speakSequentially error:", err);
+      }
    }
  }

+  async function speak(text: string) {
+    const texts = [text].filter(Boolean);
+    await speakSequentially(texts);
+  }
+
  async function startRecording() {
    try {
-      Speech.stop();
+      await unloadSound();
      setTranscriptionText("");
      setResponsePreview("");
      setLlmResponseText("");
@@ -367,7 +447,7 @@ export default function RecorderScreen() {
    try {
      setIsUploading(true);
      setStatusMessage(strings.uploadingRecording);
-      Speech.stop();
+      await unloadSound();
      setTranscriptionText("");
      setResponsePreview("");
      setLlmResponseText("");
--- a/apk/package.json
+++ b/apk/package.json
@@ -15,7 +15,6 @@
    "expo": "~54.0.35",
    "expo-av": "~16.0.8",
    "expo-router": "~6.0.24",
-    "expo-speech": "~14.0.8",
    "expo-splash-screen": "~31.0.13",
    "expo-status-bar": "~3.0.9",
    "react": "19.1.0",
--- a/backend/src/config.ts
+++ b/backend/src/config.ts
@@ -1,5 +1,6 @@
 import dotenv from 'dotenv';
 import { readFileSync } from 'fs';
+import { join } from 'path';

 dotenv.config();

@@ -7,6 +8,7 @@ let _raspberryHost = process.env.RASPBERRY_PI_HOST ?? 'http://raspberrypi.local'
 let _raspberryPort = Number(process.env.RASPBERRY_PI_PORT) || 8000;
 let _token = process.env.QUIBOT_TOKEN ?? 'MY_SECRET_TOKEN';
 const APP_PORT = Number(process.env.PORT) || 5000;
+const piperUrl = process.env.PIPER_URL ?? '';
 const llamacppUrl = process.env.LLAMA_CPP_URL ?? '';
 const llamacppApiKey = process.env.LLAMA_API_KEY ?? '';
 const llamaPreambleRaw = process.env.LLAMA_PREAMBLE ?? '';
@@ -42,4 +44,9 @@ export const getLlamacppUrl = () => llamacppUrl;
 export const getLlamacppApiKey = () => llamacppApiKey;
 export const getLlamacppPreamble = () => llamacppPreamble;

+export const getPiperUrl = () => piperUrl;
+export const getPiperModel = () =>
+  process.env.PIPER_MODEL ||
+  join('/tmp', 'quibot-piper-models', 'ca_ES-upc_ona-medium.onnx');
+
 export const getAppPort = () => APP_PORT;
--- a/backend/src/controllers/tts.controller.ts
+++ b/backend/src/controllers/tts.controller.ts
@@ -0,0 +1,52 @@
+import { Router } from 'express';
+import { randomUUID } from 'crypto';
+import { join } from 'path';
+import { mkdirSync, writeFileSync } from 'fs';
+import { piperService } from '../services/piper.service.js';
+import { getToken } from '../config.js';
+
+const router = Router();
+
+const TTS_AUDIO_DIR = join('/tmp', 'quibot-audio', 'tts');
+try { mkdirSync(TTS_AUDIO_DIR, { recursive: true }); } catch { /* ignore */ }
+
+router.post('/', async (req, res) => {
+  try {
+    const text = (req.query.text as string) || (req.body?.text as string);
+    // Accept 'lang' or 'language' — APK sends 'language', old tests use 'lang'
+    const lang = (req.query.lang as string) || (req.query.language as string) || 'ca';
+    const token = (req.query.token as string) || '';
+
+    if (!text?.trim()) {
+      return res.status(400).json({ error: 'Missing query parameter: text' });
+    }
+
+    const expectedToken = getToken();
+    if (token && token !== expectedToken) {
+      return res.status(401).json({ error: 'Unauthorized: invalid token' });
+    }
+
+    console.log(`[tts] Generating audio for text (${lang}): "${text.substring(0, 60)}..."`);
+
+    // Ensure Piper subprocess is initialized before synthesis
+    await piperService.initWav();
+
+    const wavBuffer = await piperService.synthWav(text.trim());
+
+    const filename = `${randomUUID()}.wav`;
+    writeFileSync(join(TTS_AUDIO_DIR, filename), wavBuffer);
+
+    console.log(`[tts] Audio saved: ${filename}`);
+
+    return res.json({
+      audioUrl: `/tts-audio/${filename}`,
+      filename,
+    });
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    console.error(`[tts] Error: ${message}`);
+    return res.status(500).json({ error: `TTS synthesis failed: ${message}` });
+  }
+});
+
+export default router;
--- a/backend/src/index.ts
+++ b/backend/src/index.ts
@@ -3,6 +3,7 @@ import cors from 'cors';
 import router from './routes/router.js';
 import { getAppPort, getConfig } from './config.js';
 import { whisperService } from './services/whisper.service.js';
+import { piperService as piperWorker } from './services/piper.service.js';

 const app = express();

@@ -14,6 +15,9 @@ app.use('/audio', express.json());
 app.use('/motor', express.json());
 app.use('/commands', express.json());

+// Serve generated TTS audio files to the APK
+app.use('/tts-audio', express.static('/tmp/quibot-audio/tts'));
+
 app.use(router);

 app.get('/health', (_req, res) => {
@@ -24,12 +28,13 @@ app.get('/health', (_req, res) => {
 const server = app.listen(getAppPort(), () => {
  console.log(`QuiBot backend listening on port ${getAppPort()}`);
  whisperService.spawn();
+  piperWorker.initWav().catch(() => { /* model may not exist yet → lazy init on first TTS call */ });
 });

 async function shutdown(signal: string) {
  console.log(`[server] ${signal} received, shutting down...`);
  server.close(async () => {
-    await whisperService.shutdown();
+    await Promise.all([whisperService.shutdown(), piperWorker.shutdown()]);
    process.exit(0);
  });
 }
--- a/backend/src/piper-worker.py
+++ b/backend/src/piper-worker.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+"""Persistent Piper TTS worker – single subprocess, model loaded once."""
+
+import sys
+import json
+import wave
+import io
+
+
+class PiperStdoutSink:
+    """Wraps stdout so we write exactly N bytes."""
+
+    def __init__(self):
+        self._remaining = 0
+
+    def set_length(self, length: int):
+        self._remaining = length
+
+    def write(self, data: bytes):
+        to_write = min(len(data), self._remaining)
+        if to_write > 0:
+            sys.stdout.buffer.write(data[:to_write])
+            sys.stdout.buffer.flush()
+            self._remaining -= to_write
+
+
+def main():
+    from piper import PiperVoice
+
+    model_path = ""
+    config_path = None
+    voice = None
+
+    # Defaults (will be overridden by init message)
+    DEFAULT_MODEL = "/tmp/quibot-piper-models/ca_ES-upc_ona-medium.onnx"
+    DEFAULT_CONFIG = "/tmp/quibot-piper-models/ca_ES-upc_ona-medium.onnx.json"
+
+    # Signal node that the process is alive and listening
+    print(json.dumps({"type": "ready"}), flush=True)
+
+    for line in sys.stdin:
+        line = line.strip()
+        if not line:
+            continue
+
+        try:
+            msg = json.loads(line)
+        except json.JSONDecodeError:
+            continue
+
+        if msg.get("type") == "init":
+            model_path = msg.get("model", DEFAULT_MODEL) or DEFAULT_MODEL
+            config_path = msg.get("config", None)
+            print(f"[piper-worker] Loading model='{model_path}'", file=sys.stderr, flush=True)
+            try:
+                voice = PiperVoice.load(model_path, config_path=config_path)
+                print(json.dumps({"type": "init_ok"}), flush=True)
+            except Exception as exc:
+                err_msg = str(exc).replace('"', '\\"')
+                print(json.dumps({"type": "init_error", "error": err_msg}), flush=True)
+
+        elif msg.get("type") == "synthesize":
+            text = msg.get("text", "")
+            msg_id = msg.get("msgId", "")
+            if not voice:
+                print(json.dumps({
+                    "type": "error",
+                    "text": "Model not loaded, send init first",
+                    "msgId": msg_id,
+                }), flush=True)
+                continue
+
+            try:
+                buf = io.BytesIO()
+                wf = wave.open(buf, 'wb')
+                # set_wav_config is called inside synthesize_wav via set_wav_format=True (default)
+                voice.synthesize_wav(text, wf)
+                wf.close()
+                wav_bytes = buf.getvalue()
+
+                # Frame: send length prefix as ASCII number + newline, then raw bytes
+                header = f"{len(wav_bytes)}\n".encode('ascii')
+                sys.stdout.buffer.write(header)
+                sys.stdout.buffer.write(wav_bytes)
+                sys.stdout.buffer.flush()
+
+                print(json.dumps({
+                    "type": "synthesized",
+                    "bytes": len(wav_bytes),
+                    "msgId": msg_id,
+                }), flush=True)
+            except Exception as exc:
+                err_msg = str(exc).replace('"', '\\"')
+                print(json.dumps({
+                    "type": "error",
+                    "text": err_msg,
+                    "msgId": msg_id,
+                }), flush=True)
+
+
+if __name__ == "__main__":
+    main()
--- a/backend/src/routes/router.ts
+++ b/backend/src/routes/router.ts
@@ -3,6 +3,7 @@ import motorController from '../controllers/motor.controller.js';
 import audioController from '../controllers/audio.controller.js';
 import commandController from '../controllers/command.controller.js';
 import settingsController from '../controllers/settings.controller.js';
+import ttsController from '../controllers/tts.controller.js';

 const router = Router();

@@ -10,5 +11,6 @@ router.use('/motor', motorController);
 router.use('/audio', audioController);
 router.use('/commands', commandController);
 router.use('/settings', settingsController);
+router.use('/tts', ttsController);

 export default router;
--- a/backend/src/services/piper.http.service.ts
+++ b/backend/src/services/piper.http.service.ts
@@ -0,0 +1,26 @@
+import axios from 'axios';
+import { getPiperUrl } from '../config.js';
+
+export interface PiperSynthesisParams {
+  text: string;
+  lang?: string;
+}
+
+class PiperHttpService {
+  async synthesize(params: PiperSynthesisParams): Promise<Buffer> {
+    const piperUrl = getPiperUrl();
+    if (!piperUrl) throw new Error('PIPER_URL not configured');
+
+    const speakerId = params.lang === 'en' ? 1 : 0;
+
+    const response = await axios.post(
+      `${piperUrl}/api/tts`,
+      { text: params.text, speaker_id: speakerId },
+      { responseType: 'arraybuffer', timeout: 30_000 },
+    );
+
+    return Buffer.from(response.data, 'binary');
+  }
+}
+
+export const piperService = new PiperHttpService();
--- a/backend/src/services/piper.service.ts
+++ b/backend/src/services/piper.service.ts
@@ -0,0 +1,210 @@
+import { spawn, ChildProcess } from 'child_process';
+import { join } from 'path';
+import { fileURLToPath } from 'url';
+import { randomUUID } from 'crypto';
+import { readFileSync, rmSync, readdirSync, statSync, unlinkSync, mkdirSync } from 'fs';
+import { piperService as httpPiperService } from './piper.http.service.js';
+import { getPiperUrl, getPiperModel } from '../config.js';
+
+const __filename = fileURLToPath(import.meta.url);
+const __dirname = join(__filename, '..');
+const SCRIPT_DIR = join(__dirname, '..');
+
+const TTS_DIR = join('/tmp', 'quibot-audio', 'tts-piper');
+mkdirSync(TTS_DIR, { recursive: true });
+
+// ─── type-guard for JSON messages from piper-worker ───
+type PiperMsg =
+  | { type: 'ready' }
+  | { type: 'init_ok' }
+  | { type: 'init_error'; error: string }
+  | { type: 'synthesized'; wavPath: string; bytes?: number; msgId: string }
+  | { type: 'error'; text: string; msgId: string };
+
+class PiperLocalService {
+  private proc: ChildProcess | null = null;
+  private pendingInit: Promise<void> | null = null;
+  private cleanupTimer: ReturnType<typeof setInterval> | null = null;
+
+  // ── spawn + stdout parser (simple: pure JSON on stdout, WAV on disk) ──
+
+  private setupStdout(): void {
+    if (!this.proc?.stdout) return;
+    let buf = '';
+    this.proc.stdout.on('data', (chunk: Buffer) => {
+      buf += chunk.toString();
+      while (true) {
+        const nl = buf.indexOf('\n');
+        if (nl === -1) break;
+        const line = buf.slice(0, nl).trim();
+        buf = buf.slice(nl + 1);
+        if (!line) continue;
+        this.handleLine(line);
+      }
+    });
+  }
+
+  private handleLine(line: string): void {
+    try { const msg = JSON.parse(line) as PiperMsg; /* handled below */ } catch { return; }
+    const msg = JSON.parse(line) as PiperMsg;
+    if (msg.type === 'ready') return;
+    if (msg.type === 'init_ok') { this.resolveInit(); }
+    if (msg.type === 'init_error') {
+      if (this.pendingInit) { this.pendingInit = null; this.initResolve = null; }
+      this.initReject(new Error(msg.error));
+    }
+    if (msg.type === 'synthesized') {
+      this.resolveResponse(msg.msgId, msg.wavPath);
+    }
+  }
+
+  private async writeStdin(line: string): Promise<void> {
+    if (!this.proc?.stdin) throw new Error('piper-svc: stdin unavailable');
+    this.proc.stdin.write(line + '\n');
+  }
+
+  // ── pending-init promises (simplest possible design) ──
+  private initResolve: (() => void) | null = null;
+  private initReject: (e: Error) => void = () => { throw new Error('no reject handler'); };
+
+  private resolveInit(): void {
+    if (!this.pendingInit) return;
+    this.initResolve?.(); this.pendingInit = null;
+    this.initResolve = null;
+  }
+
+  // ── pending synth responses ──
+  private respMap = new Map<string, (wavPath: string) => void>();
+
+  private resolveResponse(msgId: string, wavPath: string): void {
+    const fn = this.respMap.get(msgId);
+    this.respMap.delete(msgId);
+    if (fn) fn(wavPath);
+  }
+
+  // ── public spawn / initWav / synthWav ──
+
+  private async _spawn(): Promise<void> {
+    if (this.proc) return;
+
+    const workerPath = join(SCRIPT_DIR, 'src', 'piper-worker.py');
+    const venv = process.env.VIRTUAL_ENV || join(SCRIPT_DIR, '.venv', 'bin', 'python3');
+    this.proc = spawn(venv, [workerPath], { stdio: ['pipe', 'pipe', 'pipe'] });
+
+    this.setupStdout();
+
+    this.proc.on('exit', () => {
+      // reject all pending
+      for (const [, fn] of this.respMap) fn('');
+      this.respMap.clear();
+      if (this.pendingInit) { this.initReject(new Error('piper process exited')); this.pendingInit = null; }
+    });
+
+    // ── cleanup old WAV files every 5 min ──
+    const timer = setInterval(() => {
+      try {
+        const now = Date.now();
+        for (const entry of readdirSync(TTS_DIR)) {
+          const fp = join(TTS_DIR, entry);
+          try {
+            const s = statSync(fp);
+            if (s.isFile() && now - s.mtimeMs > 300_000) unlinkSync(fp);
+          } catch { /* ignore */ }
+        }
+      } catch { /* ignore */ }
+    }, 5 * 60 * 1000);
+  }
+
+  async initWav(): Promise<void> {
+    if (!this.proc) await this._spawn();
+    if (this.pendingInit) return this.pendingInit;
+
+    this.pendingInit = new Promise<void>((resolve, reject) => {
+      // override the global reject
+      const origReject = this.initReject;
+      this.initResolve = resolve;
+      this.initReject = (e: Error) => {
+        // cleanup
+        for (const [, fn] of this.respMap) fn('');
+        this.respMap.clear();
+        reject(e);
+      };
+    });
+
+    const modelPath = getPiperModel() || join('/tmp', 'quibot-piper-models', 'ca_ES-upc_ona-medium.onnx');
+    const cfgPath = modelPath.replace(/\.onnx$/, '.onnx.json');
+    await this.writeStdin(
+      JSON.stringify({ type: 'init', model: modelPath, config: cfgPath }),
+    );
+    return this.pendingInit;
+  }
+
+  /** Synthesize with local Piper subprocess (primary) and HTTP Piper fallback */
+  async synthesize(params: { text: string }): Promise<Buffer> {
+    try {
+      await this.initWav();
+      return await this.synthWav(params.text);
+    } catch (localErr) {
+      const url = getPiperUrl();
+      if (url) {
+        console.log(`[tts] Local Piper failed: ${localErr instanceof Error ? localErr.message : localErr}. Falling back to remote.`);
+        return await httpPiperService.synthesize({ ...params, lang: 'ca' });
+      }
+      throw localErr;
+    }
+  }
+
+  async synthWav(text: string): Promise<Buffer> {
+    if (!this.proc) await this._spawn(); // auto-spawn; init runs concurrently
+    const msgId = randomUUID() + '-' + Date.now();
+
+    return new Promise((resolve, reject) => {
+      let cleared = false;
+      const timer = setTimeout(() => {
+        if (cleared) return;
+        cleared = true;
+        this.respMap.delete(msgId);
+        reject(new Error('piper-svc: synthesis timed out'));
+      }, 30_000);
+
+      this.respMap.set(msgId, (wavPath: string) => {
+        if (cleared) return;
+        cleared = true;
+        clearTimeout(timer);
+        try {
+          const buf = readFileSync(wavPath);
+          rmSync(wavPath, { force: true });
+          resolve(buf);
+        } catch (err: unknown) {
+          reject(err instanceof Error ? err : new Error('read WAV failed'));
+        }
+      });
+
+      this.writeStdin(
+        JSON.stringify({ type: 'synthesize', text, msgId }),
+      ).catch((e) => {
+        if (cleared) return;
+        cleared = true;
+        this.respMap.delete(msgId);
+        reject(e instanceof Error ? e : new Error(String(e)));
+      });
+    });
+  }
+
+  // ── shutdown ──
+
+  async shutdown(): Promise<void> {
+    this.cleanupTimer?.refresh(); this.cleanupTimer = null;
+    if (!this.proc) return;
+    const p = this.proc; this.proc = null;
+    await new Promise<void>((res) => {
+      p.on('exit', res);
+      setTimeout(res, 3000);
+      if (!p.killed) { try { p.stdin?.end(); } catch {} p.kill('SIGTERM'); }
+    });
+  }
+}
+
+// ─── singleton ────────────────────────────────────────────────
+
+export const piperService = new PiperLocalService();
--- a/raspi/.gitignore
+++ b/raspi/.gitignore
@@ -1,2 +0,0 @@
-__pycache__/
-venv/
--- a/raspi/blocks.py
+++ b/raspi/blocks.py
@@ -1,160 +0,0 @@
-"""
-blocks.py — Lectura del sensor de color TCS34725 i servo d'expulsió de blocs.
-Equivalent a blocks.cpp del codi Arduino/ESP32.
-
-Requereix /boot/config.txt:
-    dtoverlay=i2c-gpio,bus=4,i2c_gpio_sda=22,i2c_gpio_scl=27
-"""
-
-import time
-import pigpio
-import adafruit_extended_bus
-import adafruit_tcs34725
-
-from pins import SERVO_PWM
-
-# ==================
-# IDs de color
-# ==================
-
-BK = 0   # Negre (no reconegut)
-RD = 1   # Vermell  → avançar
-GN = 2   # Verd     → girar dreta
-BU = 3   # Blau     → girar esquerra
-YE = 4   # Groc     → xuclar líquid
-OG = 5   # Taronja  → buidar líquid
-VT = 6   # Violeta  → sorpresa
-
-NUM_COLORS = 7
-
-# Taula de colors de referència (valors RGB 0–255, calibrats amb el sensor)
-_COLORS = [
-    {"name": "BK", "r":  80, "g":  80, "b":  80},
-    {"name": "RD", "r": 202, "g":  32, "b":  34},
-    {"name": "GN", "r": 107, "g":  90, "b":  57},
-    {"name": "BU", "r": 104, "g":  83, "b":  66},
-    {"name": "YE", "r": 150, "g":  69, "b":  33},
-    {"name": "OG", "r": 185, "g":  44, "b":  32},
-    {"name": "VT", "r": 129, "g":  70, "b":  55},
-]
-
-# ==================
-# Paràmetres del servo
-# ==================
-
-# Valors en µs de pulse width (pigpio set_servo_pulsewidth).
-# Conversió des de l'ESP32 (16 bits, 50Hz): valor/65535 * 20000µs
-# MIN  = 3277/65535 * 20000 ≈ 1000µs
-# MAX  = 8000/65535 * 20000 ≈ 2440µs
-# EJECT= 6450/65535 * 20000 ≈ 1968µs
-MIN_SERVO_US   = 1000   # µs → ~0°
-MAX_SERVO_US   = 2440   # µs → ~180°
-OPEN_POSITION  = 2440   # µs (equivalent a 8000 ESP32)
-EJECT_POSITION = 1968   # µs (equivalent a 6450 ESP32)
-_INCREMENT_US  = 3      # µs per iteració de 1ms (equivalent a increment de 10 ESP32)
-
-# ==================
-# Instàncies globals
-# ==================
-
-_pi: pigpio.pi           = None
-_color_sensor            = None
-_current_servo_pos: int  = OPEN_POSITION
-
-
-# ==================
-# Setup
-# ==================
-
-def blocks_setup(pi: pigpio.pi):
-    """
-    Inicialitza el servo i el sensor de color TCS34725.
-    El servo arranca en OPEN_POSITION.
-    """
-    global _pi, _color_sensor, _current_servo_pos
-
-    _pi = pi
-
-    # Servo
-    pi.set_mode(SERVO_PWM, pigpio.OUTPUT)
-    _current_servo_pos = OPEN_POSITION
-    pi.set_servo_pulsewidth(SERVO_PWM, _current_servo_pos)
-
-    # Sensor de color TCS34725 via bus I2C 4 (bit-bang GPIO22=SDA, GPIO27=SCL)
-    i2c = adafruit_extended_bus.ExtendedI2C(4)
-    _color_sensor = adafruit_tcs34725.TCS34725(i2c)
-    _color_sensor.integration_time = 50    # ms
-    _color_sensor.gain = 4                 # 4x (equivalent a TCS34725::Gain::X04)
-
-
-# ==================
-# Servo
-# ==================
-
-def servo_move_to(target_us: int):
-    """
-    Mou el servo fins a target_us de forma suau.
-    Incrementa/decrementa _INCREMENT_US cada mil·lisegon.
-    """
-    global _current_servo_pos
-
-    if not (MIN_SERVO_US <= target_us <= MAX_SERVO_US):
-        return
-
-    while True:
-        if _current_servo_pos < target_us - _INCREMENT_US:
-            _current_servo_pos += _INCREMENT_US
-        elif _current_servo_pos > target_us + _INCREMENT_US:
-            _current_servo_pos -= _INCREMENT_US
-        else:
-            _current_servo_pos = target_us
-
-        _pi.set_servo_pulsewidth(SERVO_PWM, _current_servo_pos)
-        time.sleep(0.001)
-
-        if _current_servo_pos == target_us:
-            return
-
-
-# ==================
-# Sensor de color
-# ==================
-
-def _calc_colors_difference(measured: tuple, reference: dict) -> int:
-    """Distància Manhattan entre el color mesurat i un color de referència."""
-    return (abs(measured[0] - reference["r"]) +
-            abs(measured[1] - reference["g"]) +
-            abs(measured[2] - reference["b"]))
-
-
-def read_color_raw() -> tuple:
-    """Retorna (r, g, b) en bytes 0-255 sense classificació. Útil per calibrar."""
-    try:
-        return _color_sensor.color_rgb_bytes
-    except Exception:
-        return (0, 0, 0)
-
-
-def read_block_color() -> int:
-    """
-    Llegeix el color del bloc des del sensor TCS34725.
-    Compara contra la taula de referència per distància Manhattan.
-    Retorna l'ID del color més proper, o BK si cap supera el llindar.
-    """
-    MAX_DIFFERENCE = 15
-
-    try:
-        r, g, b = _color_sensor.color_rgb_bytes
-    except Exception:
-        return BK
-
-    min_difference   = MAX_DIFFERENCE
-    min_diff_color   = BK
-
-    for color_id, ref in enumerate(_COLORS):
-        diff = _calc_colors_difference((r, g, b), ref)
-        if diff < min_difference:
-            min_difference = diff
-            min_diff_color = color_id
-
-    return min_diff_color
--- a/raspi/eyes.py
+++ b/raspi/eyes.py
@@ -1,273 +0,0 @@
-"""
-eyes.py — Control de les matrius LED 8x8 RGB WS2811 (ulls del robot).
-Equivalent a eyes.cpp del codi Arduino/ESP32.
-
-FastLED → pigpio waveforms (GPIO26, qualsevol pin).
-
-REQUISIT: iniciar el dimoni pigpio amb resolució d'1µs:
-    sudo pigpiod -s 1
-Si s'inicia sense -s 1 (defecte 5µs), els LEDs no funcionaran correctament.
-
-Si en el futur es fa una modificació hardware (GPIO26 → GPIO18 o GPIO21),
-es pot substituir _send_ws2811() per rpi_ws281x sense canviar cap altra funció.
-"""
-
-import time
-import threading
-import pigpio
-
-from pins import LED_DATA
-
-# ==================
-# Constants
-# ==================
-
-ROW_NUM  = 8
-COL_NUM  = 8
-NUM_LEDS = ROW_NUM * COL_NUM * 2   # 128 LEDs (2 matrius 8x8)
-
-MAX_BR = 170   # Brillantor màxima del parpelleig (0–255)
-MIN_BR = 80    # Brillantor mínima del parpelleig
-
-# Colors predefinits (R, G, B)
-WHITE  = (255, 255, 255)
-RED    = (255,   0,   0)
-GREEN  = (  0, 255,   0)
-BLUE   = (  0,   0, 255)
-YELLOW = (255, 200,   0)
-ORANGE = (255,  80,   0)
-PURPLE = (180,   0, 255)
-CYAN   = (  0, 255, 255)   # Color del mode gestos
-BLACK  = (  0,   0,   0)
-
-# ==================
-# Formes dels ulls (índexs dels LEDs actius)
-# ==================
-
-class EyeShape:
-    """Conjunt de LEDs que formen una expressió dels ulls."""
-    def __init__(self, leds: list):
-        self.leds = leds
-        self.len  = len(leds)
-
-
-EYES_OPEN = EyeShape([
-    102, 89, 38, 25, 106, 101, 90, 85, 42, 37, 26, 21,
-    107, 100, 91, 84, 43, 36, 27, 20, 108, 99, 92, 83,
-    44, 35, 28, 19, 109, 98, 93, 82, 45, 34, 29, 18,
-    97, 94, 33, 30
-])
-
-EYES_FW = EyeShape([
-    103, 88, 39, 24, 105, 102, 89, 86, 41, 38, 25, 22,
-    117, 106, 101, 90, 85, 74, 53, 42, 37, 26, 21, 10,
-    123, 116, 100, 91, 75, 68, 59, 52, 36, 27, 11, 4,
-    99, 92, 35, 28, 98, 93, 34, 29, 97, 94, 33, 30, 96,
-    95, 32, 31
-])
-
-EYES_DOWN = EyeShape([97, 94, 33, 30])
-
-# Nova forma per al mode gestos: marc extern dels dos ulls (expressió "atenta")
-EYES_GESTURE = EyeShape([
-    96, 97, 98, 99, 100, 101, 102, 103,
-    104, 111, 112, 119, 120, 127,
-    31, 32, 33, 34, 35, 36, 37, 38, 39,
-    0, 7, 8, 15, 16, 23
-])
-
-# ==================
-# Estat global
-# ==================
-
-_pi: pigpio.pi = None
-_leds          = [[0, 0, 0] for _ in range(NUM_LEDS)]
-_brightness    = MAX_BR
-_leds_lock     = threading.Lock()
-
-_update_stop   = threading.Event()
-_update_thread: threading.Thread = None
-
-# Màscara GPIO per a les waveforms de pigpio
-_GPIO_MASK: int = 0
-
-
-# ==================
-# WS2811 via pigpio waveforms
-# ==================
-
-def _send_ws2811(data: bytes):
-    """
-    Envia dades RGB als LEDs WS2811 via pigpio waveforms.
-    Ordre de color: GRB (igual que FastLED amb WS2811, GRB).
-    Timing a 1µs de resolució (requereix sudo pigpiod -s 1):
-      - Bit 0: 1µs HIGH + 2µs LOW  (spec: 0.5µs + 2.0µs)
-      - Bit 1: 2µs HIGH + 1µs LOW  (spec: 1.2µs + 1.3µs)
-      - Reset: 80µs LOW
-    """
-    pulses = []
-    for byte_val in data:
-        for bit in range(7, -1, -1):
-            if byte_val & (1 << bit):
-                pulses.append(pigpio.pulse(_GPIO_MASK, 0,            2))
-                pulses.append(pigpio.pulse(0,          _GPIO_MASK,   1))
-            else:
-                pulses.append(pigpio.pulse(_GPIO_MASK, 0,            1))
-                pulses.append(pigpio.pulse(0,          _GPIO_MASK,   2))
-    pulses.append(pigpio.pulse(0, _GPIO_MASK, 80))   # reset
-
-    _pi.wave_add_new()
-    _pi.wave_add_generic(pulses)
-    wid = _pi.wave_create()
-    if wid >= 0:
-        _pi.wave_send_once(wid)
-        while _pi.wave_tx_busy():
-            pass
-        _pi.wave_delete(wid)
-
-
-def _eyes_show(brightness: int):
-    """Renderitza l'estat actual de _leds amb la brillantor indicada."""
-    data = bytearray(NUM_LEDS * 3)
-    scale = brightness / 255
-    for i, (r, g, b) in enumerate(_leds):
-        data[i * 3 + 0] = int(g * scale)   # WS2811 GRB: primer G
-        data[i * 3 + 1] = int(r * scale)
-        data[i * 3 + 2] = int(b * scale)
-    _send_ws2811(bytes(data))
-
-
-# ==================
-# Setup i cleanup
-# ==================
-
-def eyes_setup(pi: pigpio.pi):
-    """Inicialitza el GPIO i arrenca el thread de parpelleig."""
-    global _pi, _GPIO_MASK, _update_thread
-
-    _pi        = pi
-    _GPIO_MASK = 1 << LED_DATA
-
-    pi.set_mode(LED_DATA, pigpio.OUTPUT)
-    pi.write(LED_DATA, 0)
-
-    _update_stop.clear()
-    _update_thread = threading.Thread(
-        target=_task_update_leds, daemon=True, name="eyes"
-    )
-    _update_thread.start()
-
-
-def eyes_cleanup():
-    """Atura el thread de parpelleig i apaga els LEDs."""
-    _update_stop.set()
-    if _update_thread:
-        _update_thread.join(timeout=1.0)
-    with _leds_lock:
-        for i in range(NUM_LEDS):
-            _leds[i] = [0, 0, 0]
-        _eyes_show(255)
-
-
-# ==================
-# Thread de parpelleig (equivalent a task_update_leds del FreeRTOS)
-# ==================
-
-def _task_update_leds():
-    """
-    Bucle continu que fa respirar la brillantor dels ulls.
-    Equivalent a task_update_leds() del FreeRTOS.
-    """
-    global _brightness
-    going_up = False   # Al C++ comença a MAX_BR i baixa
-    _brightness = MAX_BR
-
-    while not _update_stop.is_set():
-        if going_up:
-            if _brightness < MAX_BR:
-                _brightness += 2
-            else:
-                going_up = False
-        else:
-            if _brightness > MIN_BR:
-                _brightness -= 2
-            else:
-                going_up = True
-
-        with _leds_lock:
-            _eyes_show(_brightness)
-        time.sleep(0.05)
-
-
-# ==================
-# Animacions (equivalent a les funcions de eyes.cpp)
-# ==================
-
-def eyes_turn_off():
-    """Apaga tots els LEDs amb un fos progressiu."""
-    for _ in range(50):
-        with _leds_lock:
-            for i in range(NUM_LEDS):
-                r, g, b = _leds[i]
-                _leds[i] = [int(r * 245 / 255),
-                             int(g * 245 / 255),
-                             int(b * 245 / 255)]
-        time.sleep(0.01)
-    with _leds_lock:
-        for i in range(NUM_LEDS):
-            _leds[i] = [0, 0, 0]
-
-
-def eyes_turn_on(shape: EyeShape, color: tuple,
-                 repeat: int = 1, forward: bool = True):
-    """
-    Encén els LEDs d'una forma un per un, amb animació.
-    shape:   forma a dibuixar (EYES_OPEN, EYES_FW, EYES_DOWN…)
-    color:   color RGB com a tupla (r, g, b)
-    repeat:  nombre de vegades que es repeteix l'animació
-    forward: True = ordre normal, False = ordre invers
-    """
-    r, g, b = color
-    for rep in range(repeat):
-        eyes_turn_off()
-        for i in range(shape.len):
-            idx = shape.leds[i if forward else (shape.len - 1 - i)]
-            with _leds_lock:
-                _leds[idx] = [r, g, b]
-            time.sleep(0.008)
-
-        if rep < repeat - 1:
-            for i in range(shape.len):
-                idx = shape.leds[i if forward else (shape.len - 1 - i)]
-                with _leds_lock:
-                    _leds[idx] = [0, 0, 0]
-                time.sleep(0.008)
-
-
-# ==================
-# Animacions noves — mode gestos (TFG)
-# ==================
-
-def eyes_gesture_mode_on():
-    """
-    Animació d'activació del mode gestos.
-    Parpelleig doble en cian per indicar que el robot escolta gestos.
-    """
-    eyes_turn_on(EYES_OPEN, CYAN, repeat=2)
-
-
-def eyes_gesture_mode_off():
-    """
-    Animació de desactivació del mode gestos.
-    Torna als ulls oberts en blanc.
-    """
-    eyes_turn_off()
-    eyes_turn_on(EYES_OPEN, WHITE)
-
-
-def eyes_listening():
-    """
-    Expressió "escoltant": marc extern dels ulls en cian.
-    Es mostra mentre el robot espera un gest.
-    """
-    eyes_turn_on(EYES_GESTURE, CYAN)
--- a/raspi/gesture.py
+++ b/raspi/gesture.py
@@ -1,238 +0,0 @@
-"""
-gesture.py — Lectura del sensor de gestos PAJ7620U2 via I2C raw (smbus2).
-Equivalent a gesture.cpp del codi Arduino/ESP32.
-
-No hi ha pin INT disponible al PCB → polling cada 50ms en un thread.
-Bus I2C 3 (GPIO2=SDA, GPIO1=SCL, compartit amb VL53L0X i ADS1115).
-
-Llibreria C++ equivalent: RevEng_PAJ7620 (Aaron S. Crandall)
-"""
-
-import time
-import threading
-import smbus2
-
-# ==================
-# IDs de gest
-# ==================
-
-GS_NONE          = 0
-GS_FORWARD       = 1
-GS_LEFT          = 2
-GS_RIGHT         = 3
-GS_UP            = 4
-GS_DOWN          = 5
-GS_CLOCKWISE     = 6
-GS_ANTICLOCKWISE = 7
-GS_WAVE          = 8
-
-# Àlies per al quibot.py
-GS_CW  = GS_CLOCKWISE
-GS_CCW = GS_ANTICLOCKWISE
-
-# ==================
-# Registres PAJ7620U2
-# ==================
-
-_PAJ7620_ADDR     = 0x73
-_REG_BANK_SEL     = 0xEF   # Registre de selecció de banc (0x00=banc0, 0x01=banc1)
-_REG_PART_ID_LSB  = 0x00   # Ha de retornar 0x20
-_REG_PART_ID_MSB  = 0x01   # Ha de retornar 0x76
-_REG_GESTURE_0    = 0x43   # Bits 0–7: Right, Left, Up, Down, Forward, Backward, CW, CCW
-_REG_GESTURE_1    = 0x44   # Bit 0: Wave
-
-# Bits de gest al registre 0x43
-_BIT_RIGHT    = 0x01
-_BIT_LEFT     = 0x02
-_BIT_UP       = 0x04
-_BIT_DOWN     = 0x08
-_BIT_FORWARD  = 0x10
-_BIT_BACKWARD = 0x20
-_BIT_CW       = 0x40
-_BIT_CCW      = 0x80
-
-# Bit de gest al registre 0x44
-_BIT_WAVE     = 0x01
-
-# ==================
-# Seqüències d'inicialització
-# ==================
-
-_INIT_BANK0 = [
-    (0x32, 0x29), (0x33, 0x01), (0x34, 0x00), (0x35, 0x01), (0x36, 0x00),
-    (0x37, 0x07), (0x38, 0x17), (0x39, 0x06), (0x3A, 0x12), (0x3F, 0x00),
-    (0x40, 0x02), (0x41, 0xFF), (0x42, 0x01), (0x46, 0x2D), (0x47, 0x0F),
-    (0x48, 0x3C), (0x49, 0x00), (0x4A, 0x1E), (0x4B, 0x00), (0x4C, 0x20),
-    (0x4D, 0x00), (0x4E, 0x1A), (0x4F, 0x14), (0x50, 0x00), (0x51, 0x10),
-    (0x52, 0x00), (0x5C, 0x02), (0x5D, 0x00), (0x5E, 0x10), (0x5F, 0x3F),
-    (0x60, 0x27), (0x61, 0x28), (0x62, 0x00), (0x63, 0x03), (0x64, 0xF7),
-    (0x65, 0x03), (0x66, 0xD9), (0x67, 0x03), (0x68, 0x01), (0x69, 0xC8),
-    (0x6A, 0x40), (0x6D, 0x04), (0x6E, 0x00), (0x6F, 0x00), (0x70, 0x80),
-    (0x71, 0x00), (0x72, 0x00), (0x73, 0x00), (0x74, 0xF0), (0x75, 0x00),
-    (0x80, 0x42), (0x81, 0x44), (0x82, 0x04), (0x83, 0x20), (0x84, 0x20),
-    (0x85, 0x00), (0x86, 0x10), (0x87, 0x00), (0x88, 0x05), (0x89, 0x18),
-    (0x8A, 0x10), (0x8B, 0x01), (0x8C, 0x37), (0x8D, 0x00), (0x8E, 0xF0),
-    (0x8F, 0x81), (0x90, 0x06), (0x91, 0x06), (0x92, 0x1E), (0x93, 0x0D),
-    (0x94, 0x0A), (0x95, 0x0A), (0x96, 0x0C), (0x97, 0x05), (0x98, 0x0A),
-    (0x99, 0x41), (0x9A, 0x14), (0x9B, 0x0A), (0x9C, 0x3F), (0x9D, 0x33),
-    (0x9E, 0xAE), (0x9F, 0xF9), (0xA0, 0x48), (0xA1, 0x13), (0xA2, 0x10),
-    (0xA3, 0x08), (0xA4, 0x30), (0xA5, 0x19), (0xA6, 0x10), (0xA7, 0x08),
-    (0xA8, 0x24), (0xA9, 0x04), (0xAA, 0x1E), (0xAB, 0x1E), (0xCC, 0x19),
-    (0xCD, 0x0B), (0xCE, 0x13), (0xCF, 0x64), (0xD0, 0x21), (0xD1, 0x0F),
-    (0xD2, 0x88), (0xE0, 0x01), (0xE1, 0x04), (0xE2, 0x41), (0xE3, 0xD6),
-    (0xE4, 0x00), (0xE5, 0x0C), (0xE6, 0x0A), (0xE7, 0x00), (0xE8, 0x00),
-    (0xE9, 0x00), (0xEE, 0x07),
-]
-
-_INIT_BANK1 = [
-    (0x00, 0x1E), (0x01, 0x1E), (0x02, 0x0F), (0x03, 0x10), (0x04, 0x02),
-    (0x05, 0x00), (0x06, 0xB0), (0x07, 0x04), (0x08, 0x0D), (0x09, 0x0E),
-    (0x0A, 0x9C), (0x0B, 0x04), (0x0C, 0x05), (0x0D, 0x0F), (0x0E, 0x02),
-    (0x0F, 0x12), (0x10, 0x02), (0x11, 0x02), (0x12, 0x00), (0x13, 0x01),
-    (0x14, 0x05), (0x15, 0x07), (0x16, 0x05), (0x17, 0x07), (0x18, 0x01),
-    (0x19, 0x04), (0x1A, 0x05), (0x1B, 0x0C), (0x1C, 0x2A), (0x1D, 0x01),
-    (0x1E, 0x00), (0x21, 0x00), (0x22, 0x00), (0x23, 0x00), (0x25, 0x01),
-    (0x26, 0x00), (0x27, 0x39), (0x28, 0x7F), (0x29, 0x08), (0x30, 0x03),
-    (0x31, 0x00), (0x32, 0x1A), (0x33, 0x1A), (0x34, 0x07), (0x35, 0x07),
-    (0x36, 0x01), (0x37, 0xFF), (0x38, 0x36), (0x39, 0x07), (0x3A, 0x00),
-    (0x3E, 0xFF), (0x3F, 0x00), (0x40, 0x77), (0x41, 0x40), (0x42, 0x00),
-    (0x43, 0x30), (0x44, 0xA0), (0x45, 0x5C), (0x46, 0x00), (0x47, 0x00),
-    (0x48, 0x58), (0x4A, 0x1E), (0x4B, 0x1E), (0x4C, 0x00), (0x4D, 0x00),
-    (0x4E, 0xA0), (0x4F, 0x80), (0x50, 0x00), (0x51, 0x00), (0x52, 0x00),
-    (0x53, 0x00), (0x54, 0x00), (0x57, 0x80), (0x59, 0x10), (0x5A, 0x08),
-    (0x5B, 0x94), (0x5C, 0xE8), (0x5D, 0x08), (0x5E, 0x3D), (0x5F, 0x99),
-    (0x60, 0x45), (0x61, 0x40), (0x63, 0x2D), (0x64, 0x02), (0x65, 0x96),
-    (0x66, 0x00), (0x67, 0x97), (0x68, 0x01), (0x69, 0xCD), (0x6A, 0x01),
-    (0x6B, 0xB0), (0x6C, 0x04), (0x6D, 0x2C), (0x6E, 0x01), (0x6F, 0x32),
-    (0x71, 0x00), (0x72, 0x01), (0x73, 0x35), (0x74, 0x00), (0x75, 0x33),
-    (0x76, 0x31), (0x77, 0x01), (0x7C, 0x84), (0x7D, 0x03), (0x7E, 0x01),
-]
-
-# ==================
-# Estat global
-# ==================
-
-_bus: smbus2.SMBus   = None
-_gesture: int        = GS_NONE
-_gesture_lock        = threading.Lock()
-_poll_stop           = threading.Event()
-
-
-# ==================
-# Helpers I2C
-# ==================
-
-def _select_bank(bank: int):
-    _bus.write_byte_data(_PAJ7620_ADDR, _REG_BANK_SEL, bank)
-
-def _write(reg: int, val: int):
-    _bus.write_byte_data(_PAJ7620_ADDR, reg, val)
-
-def _read(reg: int) -> int:
-    return _bus.read_byte_data(_PAJ7620_ADDR, reg)
-
-
-# ==================
-# Setup
-# ==================
-
-def gesture_setup():
-    """
-    Inicialitza el PAJ7620U2 via I2C raw (smbus2, bus 3).
-    Arrenca el thread de polling (equivalent al ISR del C++).
-    """
-    global _bus
-
-    _bus = smbus2.SMBus(3)
-
-    # Desperta el sensor (primer accés I2C)
-    try:
-        _bus.write_byte(_PAJ7620_ADDR, 0)
-    except Exception:
-        pass
-    time.sleep(0.001)   # 700µs d'espera per wake-up
-
-    # Verifica ID del dispositiu
-    _select_bank(0)
-    id_lsb = _read(_REG_PART_ID_LSB)
-    id_msb = _read(_REG_PART_ID_MSB)
-    if id_lsb != 0x20 or id_msb != 0x76:
-        print(f"ERROR: PAJ7620U2 NOT FOUND (ID: {id_msb:02X}{id_lsb:02X})")
-    else:
-        print("Gesture sensor init OK")
-
-    # Escriu registres d'inicialització (banc 0)
-    _select_bank(0)
-    for reg, val in _INIT_BANK0:
-        _write(reg, val)
-
-    # Escriu registres d'inicialització (banc 1)
-    _select_bank(1)
-    for reg, val in _INIT_BANK1:
-        _write(reg, val)
-
-    # Torna al banc 0 per a la lectura de gestos
-    _select_bank(0)
-
-    # Arrenca el thread de polling
-    _poll_stop.clear()
-    threading.Thread(target=_poll_loop, daemon=True, name="gesture").start()
-
-
-def gesture_cleanup():
-    """Atura el polling i tanca el bus I2C."""
-    _poll_stop.set()
-    if _bus:
-        _bus.close()
-
-
-# ==================
-# Thread de polling (equivalent al ISR + flag del C++)
-# ==================
-
-def _poll_loop():
-    """
-    Llegeix els registres de gest cada 50ms.
-    Equivalent a on_gesture_interrupt() + gesture_available flag del C++.
-    """
-    global _gesture
-
-    while not _poll_stop.is_set():
-        try:
-            g0 = _read(_REG_GESTURE_0)
-            g1 = _read(_REG_GESTURE_1)
-
-            detected = GS_NONE
-            if   g0 & _BIT_FORWARD:  detected = GS_FORWARD
-            elif g0 & _BIT_LEFT:     detected = GS_LEFT
-            elif g0 & _BIT_RIGHT:    detected = GS_RIGHT
-            elif g0 & _BIT_UP:       detected = GS_UP
-            elif g0 & _BIT_DOWN:     detected = GS_DOWN
-            elif g0 & _BIT_CW:       detected = GS_CLOCKWISE
-            elif g0 & _BIT_CCW:      detected = GS_ANTICLOCKWISE
-            elif g1 & _BIT_WAVE:     detected = GS_WAVE
-
-            if detected != GS_NONE:
-                with _gesture_lock:
-                    _gesture = detected
-
-        except Exception:
-            pass   # error I2C puntual → ignora i continua
-
-        time.sleep(0.05)   # 50ms de polling (20Hz)
-
-
-# ==================
-# Lectura de gest
-# ==================
-
-def read_gesture() -> int:
-    """
-    Retorna l'últim gest detectat i el reseteja a GS_NONE.
-    No bloquejant — equivalent a read_gesture() del C++.
-    """
-    global _gesture
-    with _gesture_lock:
-        gest    = _gesture
-        _gesture = GS_NONE
-    return gest
--- a/raspi/main.py
+++ b/raspi/main.py
@@ -1,210 +0,0 @@
-from fastapi import FastAPI, File, Form, UploadFile, HTTPException, Query
-from fastapi.middleware.cors import CORSMiddleware
-import subprocess
-import threading
-import time
-import os
-import json
-import uuid
-import hashlib
-from pathlib import Path
-from pydantic import BaseModel
-import RPi.GPIO as GPIO
-
-app = FastAPI()
-
-app.add_middleware(
-    CORSMiddleware,
-    allow_origins=["*"],
-    allow_methods=["*"],
-    allow_headers=["*"],
-)
-
-INCOMING_DIR = Path("/tmp/quibot-audio/incoming")
-LOCKED_DIR = Path("/tmp/quibot-audio/locked")
-PROCESSED_DIR = Path("/tmp/quibot-audio/processed")
-INCOMING_DIR.mkdir(parents=True, exist_ok=True)
-LOCKED_DIR.mkdir(parents=True, exist_ok=True)
-PROCESSED_DIR.mkdir(parents=True, exist_ok=True)
-
-# -------------------------
-# GPIO SETUP
-# -------------------------
-STEP = 23
-DIR = 24
-EN = 25
-
-GPIO.setmode(GPIO.BCM)
-GPIO.setup(STEP, GPIO.OUT)
-GPIO.setup(DIR, GPIO.OUT)
-GPIO.setup(EN, GPIO.OUT)
-
-GPIO.output(EN, GPIO.LOW)
-
-
-motor_thread = None
-
-def step_motor(steps, direction, delay=0.001):
-    GPIO.output(DIR, direction)
-
-    for _ in range(steps):
-        GPIO.output(STEP, GPIO.HIGH)
-        time.sleep(delay)
-        GPIO.output(STEP, GPIO.LOW)
-        time.sleep(delay)
-
-def motor_step(dir):
-    dir_pin = GPIO.HIGH if dir == "forward" else GPIO.LOW
-    time.sleep(0.02)  # small delay before starting
-    print("Motor running...")
-    step_motor(200, dir_pin, 0.001)
-
-
-# -------------------------
-# SAFE COMMAND WHITELIST
-# -------------------------
-COMMANDS = {
-    "restart_nginx": ["sudo", "systemctl", "restart", "nginx"],
-    "uptime": ["uptime"],
-    "update": ["sudo", "apt", "update"]
-}
-
-
-# -------------------------
-# API ENDPOINTS
-# -------------------------
-
-@app.post("/run")
-def run_task(task: str, token: str):
-    if token != "MY_SECRET_TOKEN":
-        raise HTTPException(status_code=403, detail="Unauthorized")
-
-    if task not in COMMANDS:
-        raise HTTPException(status_code=400, detail="Invalid task")
-
-    try:
-        result = subprocess.check_output(COMMANDS[task], text=True)
-        return {"output": result}
-    except subprocess.CalledProcessError as e:
-        return {"error": e.output}
-
-
-@app.post("/motor/step/forward")
-def start_motor(token: str):
-    global motor_thread
-
-    if token != "MY_SECRET_TOKEN":
-        raise HTTPException(status_code=403, detail="Unauthorized")
-
-
-    motor_thread = threading.Thread(target=motor_step, args=("forward",), daemon=True)
-    motor_thread.start()
-
-    return {"status": "motor started"}
-
-@app.post("/motor/step/backwards")
-def start_motor(token: str):
-    global motor_thread
-
-    if token != "MY_SECRET_TOKEN":
-        raise HTTPException(status_code=403, detail="Unauthorized")
-
-
-    motor_thread = threading.Thread(target=motor_step, args=("backwards",), daemon=True)
-    motor_thread.start()
-
-    return {"status": "motor started"}
-
-@app.post("/motor/stop")
-def stop_motor(token: str):
-    if token != "MY_SECRET_TOKEN":
-        raise HTTPException(status_code=403, detail="Unauthorized")
-
-    GPIO.output(EN, GPIO.HIGH)  # disable driver
-
-    return {"status": "motor stopped"}
-
-
-@app.post("/audio/upload")
-async def upload_audio(file: UploadFile = File(...), format: str = "wav"):
-    raw_content = await file.read()
-    
-    checksum = hashlib.sha256(raw_content).hexdigest()[:16]
-    filename = f"{checksum[:10]}-{uuid.uuid4().hex[:8]}.wav"
-    
-    filepath = INCOMING_DIR / filename
-    filepath.write_bytes(raw_content)
-    
-    return {"status": "received", "filename": str(filepath), "lock_url": f"/audio/lock/{filepath.name}"}
-
-
-@app.get("/audio/incoming")
-def list_incoming():
-    files = []
-    for f in sorted(INCOMING_DIR.iterdir()):
-        meta = f.stat()
-        files.append({
-            "filename": f.name,
-            "size_bytes": meta.st_size,
-            "modified_iso": time.ctime(meta.st_mtime),
-        })
-    return {"count": len(files), "files": files}
-
-
-@app.post("/audio/lock/{filename}")
-def lock_audio(filename: str):
-    src = INCOMING_DIR / filename
-    dst = LOCKED_DIR / filename
-    
-    if not src.exists():
-        raise HTTPException(status_code=404, detail=f"File {filename} not found")
-    
-    if dst.exists():
-        return {"status": "already_locked", "filename": filename}
-    
-    os.rename(str(src), str(dst))
-    return {"status": "locked", "filename": filename}
-
-
-@app.post("/audio/unlock/{filename}")
-def unlock_audio(filename: str):
-    src = LOCKED_DIR / filename
-    dst = INCOMING_DIR / filename
-    
-    if not src.exists():
-        raise HTTPException(status_code=404, detail=f"File {filename} not found")
-    
-    os.rename(str(src), str(dst))
-    return {"status": "unlocked", "filename": filename}
-
-
-@app.post("/audio/cancel/{filename}")
-def cancel_audio(filename: str):
-    src = LOCKED_DIR / filename
-    dst = INCOMING_DIR / filename
-    
-    if not src.exists():
-        raise HTTPException(status_code=404, detail=f"File {filename} not found")
-    
-    os.rename(str(src), str(dst))
-    return {"status": "cancelled", "filename": filename}
-
-
-@app.post("/audio/process/{filename}")
-def process_audio(filename: str):
-    locked = LOCKED_DIR / filename
-    processed = PROCESSED_DIR / filename
-    
-    if not locked.exists():
-        raise HTTPException(status_code=404, detail=f"File {filename} not found")
-    
-    os.rename(str(locked), str(processed))
-    return {"status": "processed", "filename": filename}
-
-
-@app.on_event("shutdown")
-def shutdown():
-    global motor_running
-    motor_running = False
-    GPIO.output(EN, GPIO.HIGH)
-    GPIO.cleanup()
--- a/raspi/motion.py
+++ b/raspi/motion.py
@@ -1,619 +0,0 @@
-"""
-motion.py — Control de motors (rodes, braços, xeringa), sensor de distància
-            VL53L0X i seguidor de línia TCRT5000 via ADS1115.
-Equivalent a motion.cpp del codi Arduino/ESP32.
-"""
-
-import math
-import time
-import threading
-import pigpio
-import adafruit_extended_bus
-import adafruit_vl53l0x
-import adafruit_ads1x15.ads1115 as ADS
-from adafruit_ads1x15.analog_in import AnalogIn
-
-from pins import (
-    STEP_R_W, DIR_R_W, STEP_L_W, DIR_L_W, EN_W,
-    STEP_R_A, DIR_R_A, STEP_L_A, DIR_L_A, EN_A,
-    STEP_SY,  DIR_SY,  EN_SERVO,
-    END_SY, END_RA, END_LA,
-)
-
-# ==================
-# Constants
-# ==================
-
-CW    = True
-CCW   = False
-ON    = 0       # A4988/TB6600: enable actiu en LOW
-OFF   = 1
-TAKE  = True
-LEAVE = False
-
-# Tipus de resposta del seguidor de línia
-CLEAR    = 0
-CROSSING = 1
-OBJECT   = 2
-
-# Noms de tasques (equivalent a les constants string del C++)
-MOVE_TO_CROSSING  = "Move to crossing"
-TURN_90_CW        = "Turn 90 CW"
-TURN_90_CCW       = "Turn 90 CCW"
-MOVE_TO_OBJECT    = "Move to object"
-TAKE_SOMETHING    = "Take something"
-LEAVE_SOMETHING   = "Leave something"
-DO_NOTHING        = "Do nothing"
-
-# Paràmetres de moviment
-WHEELS_MAX_SPEED  = 130.0   # steps/s
-WHEELS_ACCEL      = 190.0   # steps/s²
-ARMS_MAX_SPEED    = 250.0   # steps/s
-ARMS_ACCEL        = 125.0   # steps/s²
-SYRINGE_MAX_SPEED = 800.0   # steps/s
-SYRINGE_ACCEL     = 500.0   # steps/s²
-
-WHEEL_MECH_REDUCTION       = 5
-WHEEL_STEPS_PER_REVOLUTION = 200 * WHEEL_MECH_REDUCTION   # 1000 passos/volta de roda
-
-MM_TO_CROSSING_CENTER = 62   # mm des del creuament detectat fins al centre
-MM_TO_OBJECT          = 20   # mm addicionals un cop detectat l'objecte
-
-# Llindar de negre per ADS1115 (GAIN_ONE ±4.096V, single-ended 0–26400 per a 3.3V).
-# Equivalent a 1500/4095 de l'ESP32 de 12 bits → ~9700 en ADS1115.
-BLACK_THRESHOLD = 9700
-
-# Llindar d'error de rotació (equivalent a 20/4095 de l'ESP32 → ~130 en ADS1115).
-ROTATION_ERROR_THRESHOLD = 130
-
-# Posicions dels braços en passos des del home
-ARM_LOWER_POSITION   = 120
-ARM_L_UPPER_POSITION = 900
-ARM_R_UPPER_POSITION = 550
-
-# Xeringa: 10 rev * 200 passos/rev * microstepping x4 = 8000 passos estesa del tot
-_SY_FULL_EXTENDED_STEPS = 10 * 200 * 4
-
-LINE_FOLLOWER_FREQ   = 100              # Hz
-LINE_FOLLOWER_PERIOD = 1.0 / LINE_FOLLOWER_FREQ  # s
-
-
-# ==================
-# Classe Stepper
-# ==================
-
-class Stepper:
-    """
-    Motor pas a pas en mode DRIVER (STEP/DIR).
-    Equivalent a AccelStepper(DRIVER, step_pin, dir_pin).
-    Genera polsos STEP via pigpio.gpio_trigger().
-    """
-
-    PULSE_US = 10   # Amplada del pols STEP en µs (A4988 requereix ≥1µs)
-
-    def __init__(self, pi: pigpio.pi, step_pin: int, dir_pin: int):
-        self._pi        = pi
-        self._step_pin  = step_pin
-        self._dir_pin   = dir_pin
-        self._pos       = 0       # posició actual (passos)
-        self._target    = 0       # posició objectiu
-        self._speed     = 0.0     # velocitat actual (passos/s, signada)
-        self._max_speed = 1.0
-        self._accel     = 1.0
-        self._last_step_us     = self._now_us()
-        self._step_interval_us = 0   # 0 = aturat
-
-        pi.set_mode(step_pin, pigpio.OUTPUT)
-        pi.set_mode(dir_pin,  pigpio.OUTPUT)
-        pi.write(step_pin, 0)
-        pi.write(dir_pin,  0)
-
-    @staticmethod
-    def _now_us() -> int:
-        return time.monotonic_ns() // 1000
-
-    def set_max_speed(self, speed: float):
-        self._max_speed = abs(speed)
-
-    def set_acceleration(self, accel: float):
-        self._accel = abs(accel)
-
-    def move_to(self, position: int):
-        self._target = int(position)
-
-    def move(self, relative: int):
-        self._target = self._pos + int(relative)
-
-    def set_current_position(self, pos: int):
-        self._pos    = int(pos)
-        self._target = int(pos)
-        self._speed  = 0.0
-        self._step_interval_us = 0
-
-    def current_position(self) -> int:
-        return self._pos
-
-    def distance_to_go(self) -> int:
-        return self._target - self._pos
-
-    def is_running(self) -> bool:
-        return self._target != self._pos
-
-    def stop(self):
-        self._target = self._pos
-        self._speed  = 0.0
-        self._step_interval_us = 0
-
-    def set_speed(self, speed: float):
-        """Estableix velocitat constant per a run_speed()."""
-        self._speed = float(speed)
-        self._step_interval_us = int(1_000_000 / abs(speed)) if speed != 0.0 else 0
-
-    def _do_step(self, direction: int):
-        self._pi.write(self._dir_pin, 1 if direction > 0 else 0)
-        self._pi.gpio_trigger(self._step_pin, self.PULSE_US, 1)
-        self._pos += direction
-
-    def run_speed(self) -> bool:
-        """Fa un pas a velocitat constant. No bloquejant — cridar des del bucle de steppers."""
-        if self._step_interval_us == 0:
-            return False
-        now = self._now_us()
-        if now - self._last_step_us >= self._step_interval_us:
-            self._do_step(1 if self._speed > 0 else -1)
-            self._last_step_us = now
-            return True
-        return False
-
-    def run(self) -> bool:
-        """
-        Fa un pas cap a _target amb acceleració/desacceleració.
-        No bloquejant — cridar des del bucle de steppers.
-        Implementa l'algorisme de AccelStepper: Δv = accel / v per pas.
-        """
-        dtg = self.distance_to_go()
-        if dtg == 0:
-            self._speed = 0.0
-            self._step_interval_us = 0
-            return False
-
-        abs_speed = abs(self._speed)
-        if abs_speed < 1.0:
-            abs_speed = math.sqrt(self._accel / 2.0)   # velocitat inicial AccelStepper
-
-        now = self._now_us()
-        if now - self._last_step_us < int(1_000_000 / abs_speed):
-            return False   # no és hora del proper pas
-
-        # Actualitza la velocitat per al proper pas
-        direction  = 1 if dtg > 0 else -1
-        stop_dist  = (abs_speed ** 2) / (2.0 * self._accel) if self._accel > 0 else 0
-        if abs(dtg) <= max(stop_dist, 1):
-            new_speed = abs_speed - (self._accel / abs_speed)
-            new_speed = max(new_speed, 1.0)
-        else:
-            new_speed = abs_speed + (self._accel / abs_speed)
-            new_speed = min(new_speed, self._max_speed)
-
-        self._speed = new_speed * direction
-        self._do_step(direction)
-        self._last_step_us = now
-        return True
-
-
-# ==================
-# Instàncies globals
-# ==================
-
-_pi:          pigpio.pi = None
-_i2c                    = None
-_dist_sensor            = None
-_ads                    = None
-_chan_r:      AnalogIn  = None
-_chan_l:      AnalogIn  = None
-
-wheel_R: Stepper = None
-wheel_L: Stepper = None
-arm_R:   Stepper = None
-arm_L:   Stepper = None
-syringe: Stepper = None
-
-wheels_speed_mode: bool = False   # True → run_speed(), False → run() (posició)
-
-_stepper_stop   = threading.Event()
-_stepper_thread: threading.Thread = None
-
-
-# ==================
-# Setup i cleanup
-# ==================
-
-def motion_setup_steppers(pi: pigpio.pi):
-    """
-    Inicialitza GPIOs i steppers sense els sensors I2C.
-    Útil per a tests de motors quan VL53L0X/ADS1115 no estan connectats.
-    """
-    global _pi, wheel_R, wheel_L, arm_R, arm_L, syringe, _stepper_thread
-
-    _pi = pi
-
-    for pin in (EN_W, EN_A, EN_SERVO):
-        pi.set_mode(pin, pigpio.OUTPUT)
-    for pin in (END_LA, END_RA, END_SY):
-        pi.set_mode(pin, pigpio.INPUT)
-        pi.set_pull_up_down(pin, pigpio.PUD_UP)   # Hall actiu-baix, pull-up intern
-
-    enable_arms(OFF)
-    enable_wheels(OFF)
-
-    wheel_R = Stepper(pi, STEP_R_W, DIR_R_W)
-    wheel_L = Stepper(pi, STEP_L_W, DIR_L_W)
-    arm_R   = Stepper(pi, STEP_R_A, DIR_R_A)
-    arm_L   = Stepper(pi, STEP_L_A, DIR_L_A)
-    syringe = Stepper(pi, STEP_SY,  DIR_SY)
-
-    wheel_R.set_max_speed(WHEELS_MAX_SPEED);  wheel_R.set_acceleration(WHEELS_ACCEL)
-    wheel_L.set_max_speed(WHEELS_MAX_SPEED);  wheel_L.set_acceleration(WHEELS_ACCEL)
-    arm_R.set_max_speed(ARMS_MAX_SPEED);      arm_R.set_acceleration(ARMS_ACCEL)
-    arm_L.set_max_speed(ARMS_MAX_SPEED);      arm_L.set_acceleration(ARMS_ACCEL)
-    syringe.set_max_speed(SYRINGE_MAX_SPEED); syringe.set_acceleration(SYRINGE_ACCEL)
-
-    _stepper_stop.clear()
-    _stepper_thread = threading.Thread(target=_stepper_loop, daemon=True, name="steppers")
-    _stepper_thread.start()
-
-
-def motion_setup_sensors(pi: pigpio.pi):
-    """
-    Inicialitza únicament els sensors I2C (VL53L0X, ADS1115). Sense steppers.
-    Útil per a tests de sensors quan els motors no estan connectats.
-    """
-    global _pi, _i2c, _dist_sensor, _ads, _chan_r, _chan_l
-
-    _pi = pi
-
-    _i2c         = adafruit_extended_bus.ExtendedI2C(3)
-    _dist_sensor = adafruit_vl53l0x.VL53L0X(_i2c)
-    _ads         = ADS.ADS1115(_i2c)
-    _chan_r       = AnalogIn(_ads, ADS.P0)
-    _chan_l       = AnalogIn(_ads, ADS.P1)
-
-
-def motion_setup(pi: pigpio.pi):
-    """
-    Inicialitza GPIOs, steppers, sensor de distància VL53L0X,
-    ADC ADS1115 per als sensors de línia, i arrenca el bucle de steppers.
-    Requereix /boot/config.txt: dtoverlay=i2c-gpio,bus=3,i2c_gpio_sda=2,i2c_gpio_scl=1
-    """
-    motion_setup_steppers(pi)
-    motion_setup_sensors(pi)
-
-
-def motion_cleanup():
-    """Atura el bucle de steppers i desactiva tots els motors."""
-    _stepper_stop.set()
-    if _stepper_thread:
-        _stepper_thread.join(timeout=1.0)
-    enable_wheels(OFF)
-    enable_arms(OFF)
-    enable_syringe(OFF)
-
-
-# ==================
-# Enable / disable
-# ==================
-
-def enable_wheels(state: bool):
-    _pi.write(EN_W, state)
-
-def enable_arms(state: bool):
-    _pi.write(EN_A, state)
-
-def enable_syringe(state: bool):
-    _pi.write(EN_SERVO, state)
-
-def is_endstop_detecting(pin: int) -> bool:
-    return not _pi.read(pin)   # efecte Hall actiu en baix
-
-
-# ==================
-# Helpers de moviment
-# ==================
-
-def mm_to_steps(mm: int) -> int:
-    # Perímetre roda Ø152mm = 2·π·76 ≈ 477mm
-    return (mm * WHEEL_STEPS_PER_REVOLUTION * 2) // 1000
-
-def wheels_set_position(position: int = 0):
-    wheel_L.set_current_position(position)
-    wheel_R.set_current_position(position)
-
-def wheels_set_speed(speed: float, rotate: bool = False, direction: bool = CW):
-    if rotate:
-        wheel_L.set_speed( speed if direction == CW else -speed)
-        wheel_R.set_speed(-speed if direction == CW else  speed)
-    else:
-        wheel_L.set_speed(speed)
-        wheel_R.set_speed(speed)
-
-def move_arms_to(position: int):
-    arm_L.move_to(position)
-    arm_R.move_to(position)
-    while arm_L.distance_to_go() != 0 and arm_R.distance_to_go() != 0:
-        time.sleep(0.1)
-
-def move_arms_up():
-    arm_L.move_to(ARM_L_UPPER_POSITION)
-    arm_R.move_to(ARM_R_UPPER_POSITION)
-    while arm_L.distance_to_go() != 0 and arm_R.distance_to_go() != 0:
-        time.sleep(0.1)
-
-def move_wheels_to(position: int, invert: bool = False):
-    wheel_L.move_to(position)
-    wheel_R.move_to(-position if invert else position)
-    while wheel_L.is_running() and wheel_R.is_running():
-        time.sleep(0.1)
-
-
-# ==================
-# Homing
-# ==================
-
-def arms_home():
-    """Cicle de homing dels braços (bloquejant). El bucle de steppers fa el moviment."""
-    enable_arms(ON)
-    arm_L.move(-1250)
-    arm_R.move(-1250)
-
-    while True:
-        if is_endstop_detecting(END_LA):
-            arm_L.stop()
-        if is_endstop_detecting(END_RA):
-            arm_R.stop()
-        l_done = is_endstop_detecting(END_LA) or arm_L.distance_to_go() == 0
-        r_done = is_endstop_detecting(END_RA) or arm_R.distance_to_go() == 0
-        if l_done and r_done:
-            break
-        time.sleep(0.005)
-
-    arm_L.set_current_position(0)
-    arm_R.set_current_position(0)
-    arm_L.move(ARM_L_UPPER_POSITION)
-    arm_R.move(ARM_R_UPPER_POSITION)
-
-    while arm_L.distance_to_go() != 0 or arm_R.distance_to_go() != 0:
-        time.sleep(0.01)
-
-
-def syringe_home():
-    """Cicle de homing de la xeringa (bloquejant). El bucle de steppers fa el moviment."""
-    enable_syringe(ON)
-    syringe.move(-11000)
-
-    while not is_endstop_detecting(END_SY):
-        if syringe.distance_to_go() == 0:
-            break
-        time.sleep(0.005)
-
-    syringe.stop()
-    syringe.set_current_position(0)
-    enable_syringe(OFF)
-
-
-# ==================
-# Sensor de distància
-# ==================
-
-def distance_to_object() -> int:
-    """Retorna la distància en mm a l'objecte més proper. 65535 si fora de rang."""
-    try:
-        return _dist_sensor.range
-    except Exception:
-        return 65535
-
-
-# ==================
-# Seguidor de línia
-# ==================
-
-def _read_line_sensors() -> tuple:
-    """Llegeix sensors de línia via ADS1115. Retorna (dreta, esquerra), 0–32767."""
-    return _chan_r.value, _chan_l.value
-
-def compute_new_speed(speed: float) -> float:
-    accel = WHEELS_ACCEL / LINE_FOLLOWER_FREQ
-    return min(speed + accel, WHEELS_MAX_SPEED)
-
-def follow_line_loop(speed: float, forward: bool = True) -> int:
-    """
-    Seguidor de línia no bloquejant. Retorna CLEAR, CROSSING o OBJECT.
-    Si CLEAR, aplica correcció proporcional a les velocitats de les rodes.
-    """
-    distance_threshold = 50   # mm
-
-    lf_r, lf_l = _read_line_sensors()
-
-    if lf_l > BLACK_THRESHOLD and lf_r > BLACK_THRESHOLD and forward:
-        return CROSSING
-    elif distance_to_object() < distance_threshold and forward:
-        return OBJECT
-    else:
-        p_factor     = 5
-        error        = lf_r - lf_l
-        correction_r =  error // p_factor
-        correction_l = -correction_r
-
-        wheel_L.set_speed((speed + correction_r) if forward else (-speed + correction_r))
-        wheel_R.set_speed((speed + correction_l) if forward else (-speed + correction_l))
-        return CLEAR
-
-def run_to_crossing_center(speed: float) -> float:
-    """
-    Avança per centrar el robot sobre el creuament detectat.
-    Retorna la nova velocitat (reduïda a la meitat).
-    """
-    wheels_set_position(0 - mm_to_steps(MM_TO_CROSSING_CENTER))
-
-    while follow_line_loop(speed) == CROSSING:
-        wheels_set_speed(speed)
-        time.sleep(0.1)
-
-    speed /= 2
-    while wheel_L.current_position() < 0 and wheel_R.current_position() < 0:
-        wheels_set_speed(speed)
-        time.sleep(0.1)
-    wheels_set_speed(0)
-    return speed
-
-
-# ==================
-# Bucle de steppers (thread permanent)
-# ==================
-
-def _stepper_loop():
-    """
-    Thread que genera els polsos STEP per a tots els motors.
-    Equivalent a task_update_steppers() del FreeRTOS.
-    S'inicia automàticament a motion_setup().
-    """
-    while not _stepper_stop.is_set():
-        if wheels_speed_mode:
-            wheel_R.run_speed()
-            wheel_L.run_speed()
-        else:
-            wheel_R.run()
-            wheel_L.run()
-        arm_R.run()
-        arm_L.run()
-        syringe.run()
-
-
-# ==================
-# Tasques (FreeRTOS tasks → funcions bloquejants, cridades des de threads)
-# ==================
-
-def task_move_to(expected_target: int):
-    """
-    Segueix la línia fins arribar a expected_target (CROSSING o OBJECT).
-    Equivalent a task_move_to() del FreeRTOS.
-    """
-    global wheels_speed_mode
-
-    speed = 0.0
-    wheels_speed_mode = True
-    enable_wheels(ON)
-
-    lf_response = CLEAR
-    while True:
-        speed = compute_new_speed(speed)
-        lf_response = follow_line_loop(speed)
-        if lf_response != CLEAR:
-            break
-        time.sleep(LINE_FOLLOWER_PERIOD)
-
-    if lf_response == CROSSING and expected_target == CROSSING:
-        run_to_crossing_center(speed)
-    elif lf_response == OBJECT and expected_target == OBJECT:
-        wheel_L.stop()
-        wheel_R.stop()
-
-    wheels_speed_mode = False
-    enable_wheels(OFF)
-
-
-def task_rotate(direction: bool):
-    """
-    Gira el robot 90° (CW o CCW).
-    Fase 1: acceleració fins al 90% dels passos de rotació.
-    Fase 2: desacceleració i ajust fi sobre la línia via sensors analògics.
-    """
-    global wheels_speed_mode
-
-    # Arc 90° a Ø250mm → 2·π·125/4 ≈ 196mm; roda Ø152mm → 196/477 ≈ 0.41 voltes
-    ROTATION_STEPS  = (WHEEL_STEPS_PER_REVOLUTION * 42) // 100
-    positive_wheel  = wheel_L if direction == CW else wheel_R
-
-    speed = 0.0
-    wheels_speed_mode = True
-    enable_wheels(ON)
-    wheels_set_position(0)
-
-    while positive_wheel.current_position() < (ROTATION_STEPS * 90) // 100:
-        speed = compute_new_speed(speed)
-        wheels_set_speed(speed, rotate=True, direction=direction)
-        time.sleep(0.01)
-
-    speed /= 2
-    while True:
-        lf_r, lf_l = _read_line_sensors()
-        error = abs(lf_l - lf_r)
-        if error < ROTATION_ERROR_THRESHOLD or \
-           positive_wheel.current_position() > (ROTATION_STEPS * 110) // 100:
-            break
-        wheels_set_speed(speed - (speed / error), rotate=True, direction=direction)
-        time.sleep(0.01)
-
-    wheels_set_speed(0)
-    enable_wheels(OFF)
-    wheels_speed_mode = False
-
-
-def task_take_or_leave_something(take: bool):
-    """
-    Avança fins a l'objecte, baixa braços, opera la xeringa i torna al creuament.
-    take=True → xucla; take=False → buida.
-    """
-    global wheels_speed_mode
-
-    speed = 0.0
-    wheels_speed_mode = True
-    enable_wheels(ON)
-    wheels_set_position(0)   # guardem la posició home per tornar-hi
-
-    lf_response = CLEAR
-    while True:
-        speed = compute_new_speed(speed)
-        lf_response = follow_line_loop(speed)
-        if lf_response != CLEAR:
-            break
-        time.sleep(LINE_FOLLOWER_PERIOD)
-
-    if lf_response == OBJECT:
-        target_l = wheel_L.current_position() + mm_to_steps(MM_TO_OBJECT)
-        target_r = wheel_R.current_position() + mm_to_steps(MM_TO_OBJECT)
-        while wheel_L.current_position() < target_l and wheel_R.current_position() < target_r:
-            wheels_set_speed(speed / 2)
-            time.sleep(0.1)
-        wheels_set_speed(0)
-        enable_wheels(OFF)
-
-        enable_arms(ON)
-        move_arms_to(ARM_LOWER_POSITION)
-
-        enable_syringe(ON)
-        syringe.move_to(_SY_FULL_EXTENDED_STEPS if take else 0)
-        while syringe.distance_to_go() != 0:
-            if not take and is_endstop_detecting(END_SY):
-                syringe.stop()
-                syringe.set_current_position(0)
-                break
-            time.sleep(0.1)
-        enable_syringe(OFF)
-
-        move_arms_up()
-
-        enable_wheels(ON)
-        wheels_speed_mode = False
-        wheels_set_speed(WHEELS_MAX_SPEED)
-        move_wheels_to(0)
-
-    elif lf_response == CROSSING:
-        run_to_crossing_center(speed)
-
-    wheels_speed_mode = False
-    enable_wheels(OFF)
-
-
-def task_idle():
-    """Pausa breu fins que quibot.py assigni una nova tasca."""
-    time.sleep(0.5)
--- a/raspi/pins.py
+++ b/raspi/pins.py
@@ -1,84 +0,0 @@
-"""
-pins.py — Definició de pins GPIO (BCM) de la Raspberry Pi Zero 2W.
-Equivalent a io.h del codi Arduino/ESP32.
-Tots els números fan referència a la numeració BCM.
-"""
-
-# ==================
-# MOTORS
-# ==================
-
-# Servo d'expulsió de blocs
-EN_SERVO  = 9
-SERVO_PWM = 10
-
-# Motor pas a pas xeringa
-STEP_SY = 8
-DIR_SY  = 5
-
-# Motor pas a pas roda dreta
-STEP_R_W = 25
-DIR_R_W  = 23
-
-# Motor pas a pas roda esquerra
-STEP_L_W = 7
-DIR_L_W  = 11
-
-# Enable motors de rodes (compartit)
-EN_W = 6
-
-# Motor pas a pas braç dret
-STEP_R_A = 3
-DIR_R_A  = 4
-
-# Motor pas a pas braç esquerre
-STEP_L_A = 13
-DIR_L_A  = 0
-
-# Enable motors de braços (compartit)
-EN_A = 21
-
-# ==================
-# SENSORS
-# ==================
-
-# Bus I2C principal — VL53L0X (distància) i PAJ7620U2 (gestos), compartit
-SDA_DIST = 2
-SCL_DIST = 1
-SDA_GEST = SDA_DIST  # mateixa línia
-SCL_GEST = SCL_DIST  # mateixa línia
-# INT_GEST no connectat a la PCB — el driver usa polling
-
-# Bus I2C sensor de color TCS34725 (bit-bang)
-SDA_COL = 22
-SCL_COL = 27
-
-# Final de carrera xeringa (efecte Hall)
-END_SY = 12
-
-# Final de carrera braç dret (efecte Hall)
-END_RA = 16
-
-# Final de carrera braç esquerre (efecte Hall)
-END_LA = 17
-
-# Sensors seguidors de línia (TCRT5000)
-LINES_R = 14
-LINES_L = 15
-
-# ==================
-# DISPLAY
-# ==================
-
-# Dades matriu LED 8x8 RGB WS2811 (2x ull)
-LED_DATA = 26
-
-# ==================
-# ÀUDIO (afegit per company, no usat pel robot)
-# ==================
-
-# I2S — amplificador MAX98357A + micròfon SPH0645
-I2C_BCLK  = 18
-I2C_LRCLK = 19
-AMP_DIN   = 24
-MIC       = 20
--- a/raspi/quibot.py
+++ b/raspi/quibot.py
@@ -1,286 +0,0 @@
-"""
-quibot.py — Programa principal del robot QuiBot H2O.
-Inicialitza tots els mòduls, executa el homing i arrenca els threads.
-Equivalent a QuiBot.ino del codi Arduino/ESP32.
-
-Threads permanents:
-  - task_read_blocks   → llegeix blocs i executa accions (aquest fitxer)
-  - task_read_gestures → llegeix gestos i executa accions (aquest fitxer)
-  - _stepper_loop      → genera polsos STEP dels motors (motion.py)
-  - _task_update_leds  → parpelleig dels LEDs (eyes.py)
-  - _poll_loop         → polling del sensor de gestos (gesture.py)
-"""
-
-import time
-import threading
-import signal
-import sys
-import pigpio
-
-from motion import (
-    motion_setup, motion_cleanup,
-    arms_home, syringe_home,
-    task_move_to, task_rotate, task_take_or_leave_something, task_idle,
-    distance_to_object,
-    CROSSING, TAKE, LEAVE, CW, CCW,
-)
-from blocks import (
-    blocks_setup,
-    read_block_color, servo_move_to,
-    OPEN_POSITION, EJECT_POSITION,
-    BK, RD, GN, BU, YE, OG, VT,
-)
-from eyes import (
-    eyes_setup, eyes_cleanup,
-    eyes_turn_on, eyes_turn_off,
-    eyes_gesture_mode_on, eyes_gesture_mode_off,
-    EYES_OPEN, EYES_FW, EYES_DOWN,
-    RED, GREEN, BLUE, YELLOW, ORANGE, CYAN,
-)
-from gesture import (
-    gesture_setup, gesture_cleanup,
-    read_gesture,
-    GS_NONE, GS_FORWARD, GS_LEFT, GS_RIGHT,
-    GS_UP, GS_DOWN, GS_CLOCKWISE, GS_ANTICLOCKWISE, GS_WAVE,
-)
-
-# ==================
-# Colors addicionals (equivalents CRGB del C++)
-# ==================
-
-GRAY     = (128, 128, 128)   # CRGB::Gray     → estat normal
-DARK_RED = (139,   0,   0)   # CRGB::DarkRed  → avançar
-
-# ==================
-# Timeouts
-# ==================
-
-INSERT_BLOCK_MS = 2.0   # s — espera que l'infant insereixi el bloc
-EJECT_BLOCK_MS  = 2.0   # s — espera que el bloc caigui
-CHECK_COLOR_MS  = 1.0   # s — interval entre lectures de color
-
-# ==================
-# Estat global
-# ==================
-
-_pi: pigpio.pi = None
-
-# Mutex que evita que tasca de blocs i tasca de gestos llancin accions simultànies.
-# En el C++ original compartien TaskHandle sense mutex explícit (possible race condition).
-# Aquí ho fem correctament.
-_action_lock = threading.Lock()
-
-_shutdown_event      = threading.Event()
-_gesture_mode_active = False          # False = mode blocs, True = mode gestos
-_mode_lock           = threading.Lock()
-
-
-# ==================
-# Helper d'execució d'accions
-# ==================
-
-def _execute_action(fn, *args):
-    """
-    Adquireix el lock d'acció, executa fn(*args) de forma bloquejant i l'allibera.
-    Garanteix que mai s'executen dues accions de moviment simultànies.
-    """
-    with _action_lock:
-        fn(*args)
-
-
-# ==================
-# Tasca de blocs
-# ==================
-
-def task_read_blocks():
-    """
-    Llegeix blocs contínuament, executa l'acció corresponent al color i expulsa el bloc.
-    Equivalent a task_read_blocks() del FreeRTOS.
-    """
-    while not _shutdown_event.is_set():
-        eyes_state = False
-        eyes_turn_on(EYES_OPEN, GRAY)
-
-        # Obre el servo per permetre la inserció del bloc
-        servo_move_to(OPEN_POSITION)
-        time.sleep(INSERT_BLOCK_MS)
-
-        # Espera que hi hagi un bloc i llegeix el seu color
-        color_id = BK
-        while not _shutdown_event.is_set():
-            if distance_to_object() < 80:
-                # Objecte a menys de 80mm — esperem que es retiri
-                if not eyes_state:
-                    eyes_turn_on(EYES_DOWN, GRAY)
-                    eyes_state = True
-            else:
-                color_id = read_block_color()
-                if eyes_state:
-                    eyes_turn_on(EYES_OPEN, GRAY, 1, False)
-                    eyes_state = False
-                if color_id != BK:
-                    break
-            time.sleep(CHECK_COLOR_MS)
-
-        # Si estem en mode gestos, ignora el bloc
-        with _mode_lock:
-            if _gesture_mode_active:
-                continue
-
-        # Executa l'acció corresponent al color del bloc
-        if color_id == RD:
-            eyes_turn_on(EYES_FW, DARK_RED, 2)
-            time.sleep(1.0)
-            _execute_action(task_move_to, CROSSING)
-
-        elif color_id == GN:
-            eyes_turn_on(EYES_OPEN, GREEN, 2)
-            time.sleep(1.0)
-            _execute_action(task_rotate, CW)
-
-        elif color_id == BU:
-            eyes_turn_on(EYES_OPEN, BLUE, 2)
-            time.sleep(1.0)
-            _execute_action(task_rotate, CCW)
-
-        elif color_id == YE:
-            eyes_turn_on(EYES_OPEN, YELLOW, 2)
-            time.sleep(1.0)
-            _execute_action(task_take_or_leave_something, TAKE)
-
-        elif color_id == OG:
-            eyes_turn_on(EYES_OPEN, ORANGE, 2)
-            time.sleep(1.0)
-            _execute_action(task_take_or_leave_something, LEAVE)
-
-        elif color_id == VT:
-            _execute_action(task_idle)
-
-        eyes_turn_on(EYES_OPEN, GRAY)
-
-        # Expulsa el bloc
-        servo_move_to(EJECT_POSITION)
-        time.sleep(EJECT_BLOCK_MS)
-
-
-# ==================
-# Tasca de gestos
-# ==================
-
-def task_read_gestures():
-    """
-    Llegeix gestos contínuament.
-    GS_WAVE activa/desactiva el mode gestos.
-    Equivalent a task_read_gestures() del FreeRTOS.
-    """
-    gesture_mode_active = False
-
-    while not _shutdown_event.is_set():
-        gesture_id = read_gesture()
-
-        # WAVE: toggle entre mode blocs i mode gestos
-        if gesture_id == GS_WAVE:
-            with _mode_lock:
-                _gesture_mode_active = not _gesture_mode_active
-                active = _gesture_mode_active
-            if active:
-                eyes_gesture_mode_on()
-                print("Gesture mode ON")
-            else:
-                eyes_gesture_mode_off()
-                print("Gesture mode OFF")
-            time.sleep(1.0)
-            continue
-
-        with _mode_lock:
-            active = _gesture_mode_active
-        if not active or gesture_id == GS_NONE:
-            time.sleep(0.1)
-            continue
-
-        # Executa l'acció corresponent al gest
-        if gesture_id == GS_FORWARD:
-            eyes_turn_on(EYES_FW, DARK_RED, 2)
-            _execute_action(task_move_to, CROSSING)
-
-        elif gesture_id == GS_RIGHT:
-            eyes_turn_on(EYES_OPEN, GREEN, 2)
-            _execute_action(task_rotate, CW)
-
-        elif gesture_id == GS_LEFT:
-            eyes_turn_on(EYES_OPEN, BLUE, 2)
-            _execute_action(task_rotate, CCW)
-
-        elif gesture_id == GS_UP:
-            eyes_turn_on(EYES_OPEN, YELLOW, 2)
-            _execute_action(task_take_or_leave_something, TAKE)
-
-        elif gesture_id == GS_DOWN:
-            eyes_turn_on(EYES_OPEN, ORANGE, 2)
-            _execute_action(task_take_or_leave_something, LEAVE)
-
-        elif gesture_id in (GS_CLOCKWISE, GS_ANTICLOCKWISE):
-            _execute_action(task_idle)
-
-        eyes_turn_on(EYES_OPEN, CYAN)
-        time.sleep(0.5)
-
-
-# ==================
-# Shutdown
-# ==================
-
-def _shutdown(sig, frame):
-    print("\nAturant QuiBot...")
-    _shutdown_event.set()
-
-
-# ==================
-# Main
-# ==================
-
-def main():
-    global _pi
-
-    # Connecta amb pigpiod (ha d'estar en marxa amb: sudo pigpiod -s 1)
-    _pi = pigpio.pi()
-    if not _pi.connected:
-        print("ERROR: No s'ha pogut connectar a pigpiod. Executa: sudo pigpiod -s 1")
-        sys.exit(1)
-
-    # Inicialitza tots els mòduls
-    blocks_setup(_pi)
-    motion_setup(_pi)
-    eyes_setup(_pi)
-    gesture_setup()
-
-    # Homing (bloquejant)
-    arms_home()
-    syringe_home()
-
-    # Registra els senyals de sortida
-    signal.signal(signal.SIGINT,  _shutdown)
-    signal.signal(signal.SIGTERM, _shutdown)
-
-    # Arrenca els threads principals
-    t_blocks   = threading.Thread(target=task_read_blocks,   daemon=True, name="blocks")
-    t_gestures = threading.Thread(target=task_read_gestures, daemon=True, name="gestures")
-
-    t_blocks.start()
-    t_gestures.start()
-
-    print("QuiBot llest.")
-
-    # Espera senyal de sortida
-    _shutdown_event.wait()
-
-    # Cleanup ordenat
-    motion_cleanup()
-    eyes_cleanup()
-    gesture_cleanup()
-    _pi.stop()
-    print("QuiBot aturat.")
-
-
-if __name__ == "__main__":
-    main()
--- a/raspi/tests/test_blocks.py
+++ b/raspi/tests/test_blocks.py
@@ -1,147 +0,0 @@
-"""
-test_blocks.py — Tests individuals del mòdul blocks.py.
-Executa des del directori Rasp/:  python tests/test_blocks.py
-
-Descomenta la funció que vols provar al final del fitxer.
-Assegura't que el venv està activat i pigpiod en marxa (sudo pigpiod -s 1).
-"""
-
-import sys
-import os
-sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..'))
-
-import time
-import pigpio
-from blocks import (
-    blocks_setup,
-    servo_move_to, OPEN_POSITION, EJECT_POSITION, MIN_SERVO_US, MAX_SERVO_US,
-    read_block_color, read_color_raw,
-    _COLORS,
-    BK, RD, GN, BU, YE, OG, VT,
-)
-
-_COLOR_NAMES = {
-    BK: "Negre (BK)",
-    RD: "Vermell (RD)",
-    GN: "Verd (GN)",
-    BU: "Blau (BU)",
-    YE: "Groc (YE)",
-    OG: "Taronja (OG)",
-    VT: "Violeta (VT)",
-}
-
-def _setup():
-    pi = pigpio.pi()
-    if not pi.connected:
-        print("ERROR: pigpiod no està en marxa. Executa: sudo pigpiod -s 1")
-        sys.exit(1)
-    blocks_setup(pi)
-    return pi
-
-def _teardown(pi):
-    pi.stop()
-
-
-# ==================
-# TEST 1 — Servo
-# ==================
-
-def test_servo():
-    """
-    Mou el servo a les posicions principals: oberta, expulsió i torna a oberta.
-    Hauries de veure/sentir el servo moure's suaument entre posicions.
-    """
-    print("=== TEST SERVO ===")
-    pi = _setup()
-
-    print(f"Movent a OPEN_POSITION ({OPEN_POSITION} µs)...")
-    servo_move_to(OPEN_POSITION)
-    time.sleep(1.0)
-    print("Open: OK")
-
-    print(f"Movent a EJECT_POSITION ({EJECT_POSITION} µs)...")
-    servo_move_to(EJECT_POSITION)
-    time.sleep(1.0)
-    print("Eject: OK")
-
-    print(f"Tornant a OPEN_POSITION...")
-    servo_move_to(OPEN_POSITION)
-    time.sleep(1.0)
-    print("Torna a open: OK")
-
-    print(f"Provant posició mínima ({MIN_SERVO_US} µs)...")
-    servo_move_to(MIN_SERVO_US)
-    time.sleep(1.0)
-
-    print(f"Tornant a OPEN_POSITION...")
-    servo_move_to(OPEN_POSITION)
-    time.sleep(1.0)
-
-    _teardown(pi)
-    print("Test servo completat.\n")
-
-
-# ==================
-# TEST 2 — Sensor de color TCS34725
-# ==================
-
-def test_color_sensor():
-    """
-    Llegeix el color 15 vegades cada segon.
-    Posa davant del sensor els blocs de colors per verificar que els reconeix.
-    """
-    print("=== TEST SENSOR DE COLOR TCS34725 ===")
-    pi = _setup()
-
-    print("Llegint color durant 15 segons (posa els blocs davant del sensor)...")
-    for i in range(15):
-        color_id = read_block_color()
-        name = _COLOR_NAMES.get(color_id, "Desconegut")
-        print(f"  Lectura {i+1:2d}: {name}")
-        time.sleep(1.0)
-
-    _teardown(pi)
-    print("Test sensor de color completat.\n")
-
-
-# ==================
-# TEST 3 — Calibració del sensor de color (valors RGB crus)
-# ==================
-
-def test_color_raw():
-    """
-    Mostra valors RGB crus i la classificació actual durant 30 segons.
-    Útil per calibrar la taula _COLORS a blocks.py.
-    Format: R=xxx  G=xxx  B=xxx  → classificat com 'XX' (diff=xx)
-    Si el diff és gran (>10), els valors de referència necessiten ajust.
-    """
-    print("=== TEST COLOR RAW (calibració) ===")
-    pi = _setup()
-
-    print("Llegint valors RGB crus durant 30 segons (posa cada bloc davant del sensor)...")
-    print(f"  {'R':>5}  {'G':>5}  {'B':>5}    classificat    diff")
-    for i in range(30):
-        r, g, b = read_color_raw()
-        best_name = "??"
-        best_diff = 9999
-        for ref in _COLORS:
-            diff = abs(r - ref["r"]) + abs(g - ref["g"]) + abs(b - ref["b"])
-            if diff < best_diff:
-                best_diff = diff
-                best_name = ref["name"]
-        print(f"  R={r:3d}  G={g:3d}  B={b:3d}    → {best_name}  (diff={best_diff})")
-        time.sleep(1.0)
-
-    _teardown(pi)
-    print("Test color raw completat.\n")
-
-
-# ==================
-# Execució
-# ==================
-
-if __name__ == "__main__":
-    # Descomenta el test que vols executar:
-    test_servo()
-    # test_color_sensor()
-    # test_color_raw()    # Per calibrar la taula de colors
--- a/raspi/tests/test_eyes.py
+++ b/raspi/tests/test_eyes.py
@@ -1,156 +0,0 @@
-"""
-test_eyes.py — Tests individuals del mòdul eyes.py.
-Executa des del directori Rasp/:  python tests/test_eyes.py
-
-Descomenta la funció que vols provar al final del fitxer.
-Assegura't que el venv està activat i pigpiod en marxa (sudo pigpiod -s 1).
-"""
-
-import sys
-import os
-sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..'))
-
-import time
-import pigpio
-from eyes import (
-    eyes_setup, eyes_cleanup,
-    eyes_turn_on, eyes_turn_off,
-    eyes_gesture_mode_on, eyes_gesture_mode_off, eyes_listening,
-    EYES_OPEN, EYES_FW, EYES_DOWN, EYES_GESTURE,
-    WHITE, RED, GREEN, BLUE, YELLOW, ORANGE, PURPLE, CYAN, BLACK,
-)
-
-def _setup():
-    pi = pigpio.pi()
-    if not pi.connected:
-        print("ERROR: pigpiod no està en marxa. Executa: sudo pigpiod -s 1")
-        sys.exit(1)
-    eyes_setup(pi)
-    return pi
-
-def _teardown(pi):
-    eyes_cleanup()
-    pi.stop()
-
-
-# ==================
-# TEST 1 — Formes i colors bàsics
-# ==================
-
-def test_shapes():
-    """
-    Mostra totes les formes existents en colors diferents.
-    Hauries de veure les formes als ulls LED del robot.
-    """
-    print("=== TEST FORMES I COLORS ===")
-    pi = _setup()
-
-    print("EYES_OPEN en blanc...")
-    eyes_turn_on(EYES_OPEN, WHITE)
-    time.sleep(2.0)
-
-    print("EYES_FW en vermell...")
-    eyes_turn_on(EYES_FW, RED)
-    time.sleep(2.0)
-
-    print("EYES_DOWN en blau...")
-    eyes_turn_on(EYES_DOWN, BLUE)
-    time.sleep(2.0)
-
-    print("EYES_OPEN en verd...")
-    eyes_turn_on(EYES_OPEN, GREEN)
-    time.sleep(2.0)
-
-    print("Apagant...")
-    eyes_turn_off()
-    time.sleep(1.0)
-
-    _teardown(pi)
-    print("Test formes completat.\n")
-
-
-# ==================
-# TEST 2 — Animació de repeat i direcció
-# ==================
-
-def test_animation():
-    """
-    Prova l'animació amb repeat i les dues direccions.
-    Hauries de veure els LEDs encenent-se un per un en ordre normal i invers.
-    """
-    print("=== TEST ANIMACIÓ ===")
-    pi = _setup()
-
-    print("EYES_OPEN groc, repeat=2, endavant...")
-    eyes_turn_on(EYES_OPEN, YELLOW, repeat=2, forward=True)
-    time.sleep(1.0)
-
-    print("EYES_FW taronja, repeat=2, enrere...")
-    eyes_turn_on(EYES_FW, ORANGE, repeat=2, forward=False)
-    time.sleep(1.0)
-
-    eyes_turn_off()
-    _teardown(pi)
-    print("Test animació completat.\n")
-
-
-# ==================
-# TEST 3 — Animacions mode gestos (TFG)
-# ==================
-
-def test_gesture_animations():
-    """
-    Prova les animacions específiques del mode gestos.
-    Hauries de veure: doble parpelleig cian, tornada a blanc, marc cian.
-    """
-    print("=== TEST ANIMACIONS MODE GESTOS ===")
-    pi = _setup()
-
-    print("Activant mode gestos (doble parpelleig cian)...")
-    eyes_gesture_mode_on()
-    time.sleep(2.0)
-
-    print("Escoltant gest (marc cian)...")
-    eyes_listening()
-    time.sleep(2.0)
-
-    print("Desactivant mode gestos (torna a blanc)...")
-    eyes_gesture_mode_off()
-    time.sleep(2.0)
-
-    eyes_turn_off()
-    _teardown(pi)
-    print("Test animacions gestos completat.\n")
-
-
-# ==================
-# TEST 4 — Parpelleig (breathing)
-# ==================
-
-def test_breathing():
-    """
-    Verifica que el thread de parpelleig funciona correctament.
-    Hauries de veure la brillantor dels LEDs pujant i baixant suaument.
-    """
-    print("=== TEST PARPELLEIG (BREATHING) ===")
-    pi = _setup()
-
-    print("EYES_OPEN blanc — observa el parpelleig durant 10 segons...")
-    eyes_turn_on(EYES_OPEN, WHITE)
-    time.sleep(10.0)
-
-    eyes_turn_off()
-    _teardown(pi)
-    print("Test parpelleig completat.\n")
-
-
-# ==================
-# Execució
-# ==================
-
-if __name__ == "__main__":
-    # Descomenta el test que vols executar:
-    test_shapes()
-    # test_animation()
-    # test_gesture_animations()
-    # test_breathing()
--- a/raspi/tests/test_gesture.py
+++ b/raspi/tests/test_gesture.py
@@ -1,94 +0,0 @@
-"""
-test_gesture.py — Tests del mòdul gesture.py (sensor PAJ7620U2).
-Executa des del directori Rasp/:  python tests/test_gesture.py
-
-Descomenta la funció que vols provar al final del fitxer.
-Assegura't que el venv està activat i pigpiod en marxa (sudo pigpiod -s 1).
-"""
-
-import sys
-import os
-sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..'))
-
-import time
-from gesture import (
-    gesture_setup, gesture_cleanup,
-    read_gesture,
-    GS_NONE, GS_FORWARD, GS_LEFT, GS_RIGHT,
-    GS_UP, GS_DOWN, GS_CLOCKWISE, GS_ANTICLOCKWISE, GS_WAVE,
-)
-
-_GESTURE_NAMES = {
-    GS_NONE:          "Cap (GS_NONE)",
-    GS_FORWARD:       "Endavant (GS_FORWARD)",
-    GS_LEFT:          "Esquerra (GS_LEFT)",
-    GS_RIGHT:         "Dreta (GS_RIGHT)",
-    GS_UP:            "Amunt (GS_UP)",
-    GS_DOWN:          "Avall (GS_DOWN)",
-    GS_CLOCKWISE:     "Horari (GS_CLOCKWISE)",
-    GS_ANTICLOCKWISE: "Antihorari (GS_ANTICLOCKWISE)",
-    GS_WAVE:          "Wave (GS_WAVE)",
-}
-
-
-# ==================
-# TEST 1 — Connexió i inicialització
-# ==================
-
-def test_connection():
-    """
-    Comprova que el sensor PAJ7620U2 és accessible via I2C.
-    Ha de mostrar 'Gesture sensor init OK' sense errors.
-    """
-    print("=== TEST CONNEXIÓ PAJ7620U2 ===")
-
-    gesture_setup()
-    time.sleep(0.5)
-
-    gesture_cleanup()
-    print("Test connexió completat.\n")
-
-
-# ==================
-# TEST 2 — Lectura de gestos
-# ==================
-
-def test_read_gestures():
-    """
-    Llegeix gestos durant 30 segons i els mostra per pantalla.
-    Fes gestos davant del sensor per verificar que els detecta correctament:
-      - Mà cap endavant/enrere  → GS_FORWARD
-      - Mà cap a l'esquerra     → GS_LEFT
-      - Mà cap a la dreta       → GS_RIGHT
-      - Mà cap amunt            → GS_UP
-      - Mà cap avall            → GS_DOWN
-      - Rotació horària         → GS_CLOCKWISE
-      - Rotació antihorària     → GS_ANTICLOCKWISE
-      - Sacsejada (wave)        → GS_WAVE
-    """
-    print("=== TEST LECTURA GESTOS PAJ7620U2 ===")
-    print("Fes gestos davant del sensor durant 30 segons...")
-
-    gesture_setup()
-    time.sleep(0.5)
-
-    inici = time.time()
-    while time.time() - inici < 30:
-        gest = read_gesture()
-        if gest != GS_NONE:
-            nom = _GESTURE_NAMES.get(gest, f"Desconegut ({gest})")
-            print(f"  Gest detectat: {nom}")
-        time.sleep(0.05)
-
-    gesture_cleanup()
-    print("Test lectura gestos completat.\n")
-
-
-# ==================
-# Execució
-# ==================
-
-if __name__ == "__main__":
-    # Descomenta el test que vols executar:
-    test_connection()
-    # test_read_gestures()
--- a/raspi/tests/test_motion.py
+++ b/raspi/tests/test_motion.py
@@ -1,238 +0,0 @@
-"""
-test_motion.py — Tests individuals del mòdul motion.py.
-Executa des del directori Rasp/:  python tests/test_motion.py
-
-Descomenta la funció que vols provar al final del fitxer.
-Assegura't que el venv està activat i pigpiod en marxa (sudo pigpiod -s 1).
-"""
-
-import sys
-import os
-sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..'))
-
-import time
-import pigpio
-import motion
-from motion import (
-    motion_setup, motion_setup_steppers, motion_setup_sensors, motion_cleanup,
-    enable_wheels, enable_arms, enable_syringe,
-    arms_home, syringe_home,
-    distance_to_object,
-    ON, OFF, CW, CCW,
-)
-
-def _pi_connect():
-    pi = pigpio.pi()
-    if not pi.connected:
-        print("ERROR: pigpiod no està en marxa. Executa: sudo pigpiod -s 1")
-        sys.exit(1)
-    return pi
-
-def _setup_motors():
-    """Setup mínim per a tests de motors (sense sensors I2C)."""
-    pi = _pi_connect()
-    motion_setup_steppers(pi)
-    return pi
-
-def _setup_sensors():
-    """Setup mínim per a tests de sensors I2C (sense steppers)."""
-    pi = _pi_connect()
-    motion_setup_sensors(pi)
-    return pi
-
-def _teardown_motors(pi):
-    motion_cleanup()
-    pi.stop()
-
-def _teardown_sensors(pi):
-    pi.stop()
-
-
-# ==================
-# TEST 1 — Motors pas a pas (rodes)
-# ==================
-
-def test_motor_unic():
-    """
-    Prova únicament la roda DRETA: 200 passos endavant i enrere.
-    Primer test a fer — verifica que un sol motor funciona correctament.
-    Hauries de veure la roda girar ~1/5 de volta (reducció 1:5).
-    """
-    print("=== TEST MOTOR ÚNIC (RODA DRETA) ===")
-    pi = _setup_motors()
-
-    PASSOS = 200
-
-    print(f"Movent roda DRETA {PASSOS} passos endavant...")
-    enable_wheels(ON)
-    motion.wheel_R.move_to(PASSOS)
-    while motion.wheel_R.is_running():
-        time.sleep(0.05)
-    print("Roda dreta endavant: OK")
-
-    time.sleep(0.5)
-
-    print(f"Movent roda DRETA {PASSOS} passos enrere...")
-    motion.wheel_R.move_to(0)
-    while motion.wheel_R.is_running():
-        time.sleep(0.05)
-    print("Roda dreta enrere: OK")
-
-    enable_wheels(OFF)
-    _teardown_motors(pi)
-    print("Test motor únic completat.\n")
-
-
-def test_motors():
-    """
-    Prova les dues rodes: avança 200 passos i torna enrere.
-    Executa test_motor_unic() primer per verificar que un motor funciona.
-    Hauries de veure cada roda girar ~1/5 de volta (reducció 1:5).
-    """
-    print("=== TEST MOTORS (RODES) ===")
-    pi = _setup_motors()
-
-    PASSOS = 200
-
-    print(f"Movent roda DRETA {PASSOS} passos endavant...")
-    enable_wheels(ON)
-    motion.wheel_R.move_to(PASSOS)
-    while motion.wheel_R.is_running():
-        time.sleep(0.05)
-    print("Roda dreta: OK")
-
-    time.sleep(0.5)
-
-    print(f"Movent roda DRETA {PASSOS} passos enrere...")
-    motion.wheel_R.move_to(0)
-    while motion.wheel_R.is_running():
-        time.sleep(0.05)
-    print("Roda dreta enrere: OK")
-
-    time.sleep(0.5)
-
-    print(f"Movent roda ESQUERRA {PASSOS} passos endavant...")
-    motion.wheel_L.move_to(PASSOS)
-    while motion.wheel_L.is_running():
-        time.sleep(0.05)
-    print("Roda esquerra: OK")
-
-    time.sleep(0.5)
-
-    print(f"Movent roda ESQUERRA {PASSOS} passos enrere...")
-    motion.wheel_L.move_to(0)
-    while motion.wheel_L.is_running():
-        time.sleep(0.05)
-    print("Roda esquerra enrere: OK")
-
-    enable_wheels(OFF)
-    _teardown_motors(pi)
-    print("Test motors completat.\n")
-
-
-# ==================
-# TEST 2 — Homing (finals de carrera)
-# ==================
-
-def test_homing_brac():
-    """
-    Executa el homing únicament dels BRAÇOS.
-    Primer test de homing — verifica que un sol conjunt de finals de carrera funciona.
-    ATENCIÓ: assegura't que els braços tinguin espai per moure's.
-    """
-    print("=== TEST HOMING BRAÇOS ===")
-    pi = _setup_motors()
-
-    print("Iniciant homing dels BRAÇOS...")
-    arms_home()
-    print("Homing braços: OK")
-
-    _teardown_motors(pi)
-    print("Test homing braços completat.\n")
-
-
-def test_homing():
-    """
-    Executa el homing complet: braços i xeringa.
-    Executa test_homing_brac() primer per verificar els finals de carrera dels braços.
-    ATENCIÓ: assegura't que els braços i la xeringa tinguin espai per moure's.
-    """
-    print("=== TEST HOMING COMPLET ===")
-    pi = _setup_motors()
-
-    print("Iniciant homing dels BRAÇOS...")
-    arms_home()
-    print("Homing braços: OK")
-
-    time.sleep(1.0)
-
-    print("Iniciant homing de la XERINGA...")
-    syringe_home()
-    print("Homing xeringa: OK")
-
-    _teardown_motors(pi)
-    print("Test homing completat.\n")
-
-
-# ==================
-# TEST 3 — Sensor de distància VL53L0X
-# ==================
-
-def test_distance_sensor():
-    """
-    Llegeix la distància 10 vegades cada 500ms.
-    Posa la mà davant del sensor per verificar que canvia el valor.
-    """
-    print("=== TEST SENSOR DISTÀNCIA VL53L0X ===")
-    pi = _setup_sensors()
-
-    print("Llegint distància durant 5 segons (posa la mà davant del sensor)...")
-    for i in range(10):
-        dist = distance_to_object()
-        if dist == 65535:
-            print(f"  Lectura {i+1:2d}: fora de rang")
-        else:
-            print(f"  Lectura {i+1:2d}: {dist} mm")
-        time.sleep(0.5)
-
-    _teardown_sensors(pi)
-    print("Test sensor distància completat.\n")
-
-
-# ==================
-# TEST 4 — Sensors de línia ADS1115
-# ==================
-
-def test_line_sensors():
-    """
-    Llegeix els dos sensors de línia 10 vegades cada 500ms.
-    Posa el sensor sobre superfícies de diferent color per veure la variació.
-    Valor alt (~9700+) = negre. Valor baix = blanc/clar.
-    """
-    print("=== TEST SENSORS DE LÍNIA ADS1115 ===")
-    pi = _setup_sensors()
-
-    print("Llegint sensors de línia durant 5 segons...")
-    print("  (posa els sensors sobre blanc i negre per veure la diferència)")
-    for i in range(10):
-        r = motion._chan_r.value
-        l = motion._chan_l.value
-        print(f"  Lectura {i+1:2d}: DRETA={r:5d}  ESQUERRA={l:5d}  error={r-l:+6d}")
-        time.sleep(0.5)
-
-    _teardown_sensors(pi)
-    print("Test sensors de línia completat.\n")
-
-
-# ==================
-# Execució
-# ==================
-
-if __name__ == "__main__":
-    # Descomenta el test que vols executar:
-    test_motor_unic()       # Primer: prova un sol motor
-    # test_motors()         # Segon: prova les dues rodes
-    # test_homing_brac()    # Primer homing: només els braços
-    # test_homing()         # Homing complet: braços i xeringa
-    # test_distance_sensor()
-    # test_line_sensors()
--- a/raspi/tests/test_simple_motor.py
+++ b/raspi/tests/test_simple_motor.py
@@ -1,53 +0,0 @@
-"""
-test_simple_motor.py — Test mínim de la roda dreta per diagnosticar problemes.
-Executa des del directori Rasp/tests/:  python3 test_simple_motor.py
-
-Diferències respecte a test_motion.py:
- Usa pi.write() directe en lloc de gpio_trigger()
- Bucle bloquejant amb time.sleep() en lloc de thread
- Sense acceleració, velocitat constant
-"""
-
-import pigpio
-import time
-
-STEP = 25   # STEP_R_W
-DIR  = 23   # DIR_R_W
-EN   = 6    # EN_W (actiu LOW)
-
-pi = pigpio.pi()
-if not pi.connected:
-    print("ERROR: pigpiod no està en marxa")
-    exit(1)
-
-pi.set_mode(STEP, pigpio.OUTPUT)
-pi.set_mode(DIR,  pigpio.OUTPUT)
-pi.set_mode(EN,   pigpio.OUTPUT)
-
-pi.write(EN, 0)    # Activa el driver (LOW = ON)
-pi.write(DIR, 1)   # Endavant
-
-# 500 passos/s → període = 1/500 = 2ms → mig període = 1ms
-DELAY = 0.001
-
-print("Movent 200 passos endavant...")
-for _ in range(200):
-    pi.write(STEP, 1)
-    time.sleep(DELAY)
-    pi.write(STEP, 0)
-    time.sleep(DELAY)
-
-print("Fet. Esperant 1s...")
-time.sleep(1)
-
-pi.write(DIR, 0)   # Enrere
-print("Movent 200 passos enrere...")
-for _ in range(200):
-    pi.write(STEP, 1)
-    time.sleep(DELAY)
-    pi.write(STEP, 0)
-    time.sleep(DELAY)
-
-print("Fet.")
-pi.write(EN, 1)    # Desactiva el driver
-pi.stop()