Mes canvis

Test
2026-06-19 13:20:12 +02:00 · 2026-06-19 11:06:11 +02:00 · 2026-06-19 09:36:40 +02:00 · 2026-06-19 09:34:52 +02:00 · 2026-06-18 23:03:39 +02:00 · 2026-06-18 22:36:31 +02:00
60 changed files with 12494 additions and 1763 deletions
--- a/.gitea/workflows/build-apk.yml
+++ b/.gitea/workflows/build-apk.yml
@@ -2,7 +2,7 @@ name: Build APK

 on:
  push:
-    branches: [ master ]
+    branches: [ main ]

 jobs:
  build:
@@ -44,20 +44,28 @@ jobs:
        working-directory: ./apk/android
        run: |
          ./gradlew assembleRelease
-      - name: 📦 Zip APK
-        working-directory: .
-        run: |
-          mkdir -p dist
-          cp apk/android/app/build/outputs/apk/release/app-release.apk dist/
-          zip -j dist/build.zip dist/app-release.apk
+      - name: 📤 Upload APK Artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: app-release-apk
+          path: apk/android/app/build/outputs/apk/release/app-release.apk
+  release:
+    runs-on: docker
+    needs: [build]
+    steps:
+      - name: Download Web Artifact
+        uses: actions/download-artifact@v3
+        with:
+          name: app-release-apk
+          path: dist

      - name: Create Release
        uses: https://gitea.com/actions/gitea-release-action@v1
-        working-directory: dist
        with:
          tag_name: latest
          name: Latest Build
+          overwrite_files: true
          files: |
-            - build.zip
+            dist/app-release.apk
        env:
          GITEA_TOKEN: ${{ secrets.GITEA }}
--- a/.gitea/workflows/build.yml
+++ b/.gitea/workflows/build.yml
@@ -3,7 +3,7 @@ name: Build
 on:
  push:
    branches:
-      - master
+      - main

 jobs:
  build-web:
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1 @@
+node_modules/
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -0,0 +1,359 @@
+# QuiBot Project — Agent Guide
+
+## 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 two independent application layers communicating via HTTP JSON APIs.
+
+```
+[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**: TypeScript/Express | Nuxt 4/Vue 3 | Expo/React Native
+**No database**: All state is in-memory, file-based (`/tmp/quibot-audio/`), or localStorage.
+
+---
+
+## Directory Structure
+
+```
+quibot/
+├── backend/            # Express server (port 5000), proxy to Pi + LLM/TTS
+│   ├── src/
+│   │   ├── 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 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
+│   │       └── 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 backend Express
+│   │   ├── motor/step/[direction].post.ts
+│   │   └── motor/stop.post.ts
+│   ├── nuxt.config.ts      # Runtime config: QUIBOT_BASE_URL, QUIBOT_TOKEN
+│   └── .output/            # Built Nitro output
+├── apk/                    # Expo React Native voice recorder ("VoiceDrop")
+│   ├── app/index.tsx       # Recording screen + upload
+│   ├── app/settings.tsx    # Backend URL/token configuration (AsyncStorage)
+│   └── lib/recorder-settings.ts  # AsyncStorage wrapper
+├── .gitea/workflows/       # CI/CD pipelines
+│   ├── build.yml           # Web + backend → zip artifacts + Gitea release
+│   └── build-apk.yml       # Expo prebuild + signed APK → Gitea release
+├── build.sh                # Placeholder
+└── README.md               # Project overview (Catalan)
+```
+
+---
+
+## 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
+- VL53L0X ToF distance sensor (I2C bus 3)
+- PAJ7620U2 gesture sensor (I2C bus 3, polled at 50ms)
+- TCS34725 color sensor (bit-banged I2C on GPIO22/27)
+- ADS1115 ADC for TCRT5000 line-following IR sensors
+- WS2811 RGB LED matrix (2x 8x8 = 128 LEDs, GPIO26, pigpio waveforms at -s 1)
+- Servo motor (GPIO10 PWM) for block ejection
+- Hall-effect endstops on GPIOs 12, 16, 17
+- Optional: I2S audio amp (MAX98357A) + mic (SPH0645)
+
+### 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.
+- **`gesture.py`** — Raw I2C via `smbus2` (bus 3). Two-register-bank init (~240 total register writes). Polls gesture result registers 0x43/0x44 every 50ms. Returns: GS_NONE, GS_FORWARD, GS_LEFT, GS_RIGHT, GS_UP, GS_DOWN, GS_CLOCKWISE, GS_ANTICLOCKWISE, GS_WAVE
+- **`blocks.py`** — TCS34725 RGB reads classified via Manhattan distance against calibrated reference table (BK/RD/GN/BU/YE/OG/VT). Smooth servo movement with 3us micro-steps.
+- **`eyes.py`** — 128 WS2811 LEDs via pigpio waveforms at 1us resolution. Pre-defined shapes: EYES_OPEN, EYES_FW, EYES_DOWN, EYES_GESTURE. Breathing thread oscillates brightness 80-170 at 50ms intervals.
+- **`quibot.py`** — Main program (equivalent to original Arduino QuiBot.ino). Two threading tasks via FreeRTOS-style pattern: `task_read_blocks()` (color→action mapping) and `task_read_gestures()` (WAVE toggles between block/gesture mode). `threading.Lock` prevents concurrent motor movements. Handles SIGINT/SIGTERM for graceful shutdown.
+- **`main.py`** — FastAPI server on port 8000 with CORS. File-based state management using `/tmp/quibot-audio/` (incoming/locked/processed directories). Token auth via query parameter matching `QUIBOT_TOKEN`.
+
+### Color→Action Mapping (in quibot.py)
+
+| Color | Action |
+|-------|--------|
+| RED | Advance forward |
+| GREEN | Turn right |
+| BLUE | Turn left |
+| YELLOW | Take/block pick-up |
+| ORANGE | Leave/eject |
+| VIOLET | Idle |
+| BLACK | Reference / no block |
+
+### Motor Position Tracking
+
+`Stepper` class in `motion.py` tracks absolute position in steps via `_pos` and `_target`. Endstops provide physical reference during homing. The stepper loop evaluates acceleration profiles to generate STEP pulses at correct intervals.
+
+---
+
+## Backend Layer (`backend/`)
+
+**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`)
+
+| Variable | Default | Purpose |
+|----------|---------|---------|
+| `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` | `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, /tts
+config.ts         → Mutable getter/setter env vars (runtime update via PUT /settings)
+raspi.service.ts  → Axios proxy methods for Pi endpoints + multipart file upload handling
+```
+
+### Controllers
+
+- **`motor.controller.ts`** — `POST /motor/step/forward`, `/motor/step/backward`, `/motor/stop`. Also `POST /motor/upload` (multer multipart → proxied as FormData to Pi).
+- **`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
+
+```bash
+cd backend
+npm install          # Installs express, axios, multer, dotenv, cors, typescript
+npx tsc              # Compiles to dist/
+node dist/index.js   # Or use tsx/nodemon for dev
+```
+
+---
+
+## Web Frontend (`quibot-web/`)
+
+**Stack**: Nuxt 4 (Nitro) + Vue 3. Single-page dashboard SPA.
+
+### Runtime config (`nuxt.config.ts`)
+
+| Key | Default | Purpose |
+|-----|---------|---------|
+| `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)
+
+1. **Block Queue Panel** — Displays color blocks in a queue (localStorage persistence + demo fallback). Shows action descriptions per color.
+2. **Motion Controls** — D-pad grid: up=forward, down=back, left/right=turns, center=stop. Sends `$fetch('/api/motor/step/forward')` etc.
+3. **Eye Controls** — Shape selector (open/forward/down/gesture), 8-color picker. Calls `POST /api/eye/shape`, `/api/eye/color`, `/api/eye/on`, `/api/eye/off`.
+4. **Gesture Sensor Panel** — Toggle between Block Mode / Gesture Mode. Gesture detection history log. Reference table of all 8 gestures.
+
+### State & Styling
+- Dark/light theme via CSS custom properties, persisted in localStorage.
+- Block queue data stored in localStorage with demo fallback.
+- Toast notifications for success/error feedback.
+- Responsive layout with CSS Grid (mobile-adaptive).
+
+### Server Routes (`server/api/`)
+
+| Method | Path | Description |
+|--------|------|-------------|
+| 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).
+
+### Build/Run
+
+```bash
+cd quibot-web
+npm install
+npx nuxt build   # Produces .output/
+# Dev mode:
+npx nuxt dev
+```
+
+CI builds the Nuxt output and zips it for distribution.
+
+---
+
+## Android APK (`apk/`)
+
+**Stack**: Expo SDK ~54 + React Native 0.81.5 + Expo Router ~6.0. App name: "VoiceDrop".
+
+### Features
+- Records audio via `expo-av` (`Audio.Recording` — produces .m4a)
+- Auto-uploads on stop as multipart form data to configurable backend URL
+- Displays recording timer, status messages, raw server response (first 400 chars)
+
+### Screens
+- **`app/index.tsx`** — Recorder screen: start/stop recording, upload, status
+- **`app/settings.tsx`** — Backend URL, Bearer token, form field name. Saved to AsyncStorage under `recorder.*` namespace.
+
+### Persistence
+Settings stored in `@react-native-async-storage/async-storage` (keys: `recorder.backendUrl`, `recorder.authToken`, `recorder.fieldName`).
+
+### Build/Run
+
+```bash
+cd apk
+npm install
+npx expo start              # Dev mode
+# Production APK (local):
+./build.sh                  # expo prebuild → generates android/ → gradle assembleRelease
+```
+
+CI: `build-apk.yml` runs expo prebuild, decodes keystore from secrets, builds signed release APK.
+
+---
+
+## Complete API Reference
+
+### 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 |
+|--------|------|-------------|-------------|
+| POST | `/run` | query: `task`, `token` | Runs whitelisted system commands (restart_nginx, uptime, update) |
+| POST | `/motor/step/forward` | query: `token` | Starts motor forward (daemon thread) |
+| POST | `/motor/step/backwards` | query: `token` | Starts motor backward (daemon thread) |
+| POST | `/motor/stop` | query: `token` | Disables motor driver (GPIO EN HIGH) |
+| POST | `/audio/upload` | multipart: `file`, query: `format` | Saves to `/tmp/quibot-audio/incoming/`, returns filename + lock_url |
+| GET | `/audio/incoming` | — | Lists files with size and modified time |
+| POST | `/audio/lock/{filename}` | — | incoming → locked (claim for processing) |
+| POST | `/audio/unlock/{filename}` | — | locked → incoming (release) |
+| POST | `/audio/cancel/{filename}` | — | locked → incoming (cancel) |
+| POST | `/audio/process/{filename}` | — | locked → processed |
+
+**Auth**: Query parameter `token` matching `QUIBOT_TOKEN` env var (default: `MY_SECRET_TOKEN`).
+
+---
+
+## Command Flow Examples
+
+### Web → Motion Control
+```
+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 } })
+        → 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)
+```
+Child inserts colored block → quibot.py task_read_blocks() polls distance sensor
+  → When detected <80mm: read_block_color() via TCS34725
+    → 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)
+```
+
+### 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
+```
+User stops recording in VoiceDrop → expo-av .m4a file
+  → POST {backendUrl} with FormData {fieldName: "file"} + Bearer auth
+    → raspi FastAPI saves to /tmp/quibot-audio/incoming/{uuid}.wav
+      → Returns: { status: "received", filename, lock_url }
+```
+
+### Gesture Mode Toggle
+```
+User toggles mode in web UI
+  → _execute_action() locks mutex
+    → If gesture mode: eyes_gesture_mode_on() (double cyan flash on 128-LED matrix)
+      → Eyes breathing thread at MAX_BR(170) brightness
+```
+
+---
+
+## CI/CD (`/.gitea/workflows/`)
+
+### `build.yml` — Web + Backend
+- Triggers: Push to `master`
+- Builds web: `npm install && npx nuxt build`, zips `.output/`
+- Builds backend: Zips entire `backend/` directory
+- Creates Gitea release "latest" with both zip artifacts
+
+### `build-apk.yml` — Mobile
+- Triggers: Push to `master`
+- expo prebuild → decode keystore from secrets → `./gradlew assembleRelease`
+- Creates Gitea release with APK artifact
+
+---
+
+## Testing
+
+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
+
+| Test | What it verifies |
+|------|-----------------|
+| `test_simple_motor.py` | Low-level motor driver via direct GPIO writes |
+| `test_motion.py` | Wheel steppers, arm/syringe homing, VL53L0X distance, ADS1115 line sensors |
+| `test_blocks.py` | Servo sweep (open/eject/open), color sensor readings, raw RGB calibration |
+| `test_gesture.py` | PAJ7620U2 I2C connection + 30-second gesture capture |
+| `test_eyes.py` | LED shape/color rendering, animation repeat/direction, gesture animations, breathing |
+
+---
+
+## Key Conventions
+
+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 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
+8. **All paths use forward slashes** in URLs; kebab-case for params
--- a/README.md
+++ b/README.md
@@ -5,79 +5,18 @@ Normes del repositori:
 - S’ha de treballar en branques pròpies (opcional)
 - No es pot modificar la carpeta d’altres zones

+# Estructura del projecte

-# Nuxt Minimal Starter
+- robot: Carpeta amb totes les instruccions necessaries per poder reconstruir el robot
+- raspi: Carpeta amb el codi necessari que cal carregar dins de la raspberry pi
+- backend: Backend de tot el controlador del robot. S'executa en un portatil en local
+- quibot-web: Frontend web que es comunica amb el backend
+- apk: Aplicació Android que també es comunica amb el backend.

-Look at the [Nuxt documentation](https://nuxt.com/docs/getting-started/introduction) to learn more.
+# Instalació

-## Setup
+Necesitem primer una raspberry operativa. Un cop operativa cal descarregar el codi que controla el robot. Es necesari tenir python.

-Make sure to install dependencies:
+- Cal passar la carpeta backend a la raspberry pi

-```bash
-# npm
-npm install

-# pnpm
-pnpm install
-
-# yarn
-yarn install
-
-# bun
-bun install
-```
-
-## Development Server
-
-Start the development server on `http://localhost:3000`:
-
-```bash
-# npm
-npm run dev
-
-# pnpm
-pnpm dev
-
-# yarn
-yarn dev
-
-# bun
-bun run dev
-```
-
-## Production
-
-Build the application for production:
-
-```bash
-# npm
-npm run build
-
-# pnpm
-pnpm build
-
-# yarn
-yarn build
-
-# bun
-bun run build
-```
-
-Locally preview production build:
-
-```bash
-# npm
-npm run preview
-
-# pnpm
-pnpm preview
-
-# yarn
-yarn preview
-
-# bun
-bun run preview
-```
-
-Check out the [deployment documentation](https://nuxt.com/docs/getting-started/deployment) for more information.
--- a/UPCLogo.jpg
+++ b/UPCLogo.jpg
--- 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
@@ -1,6 +1,7 @@
 import { Audio, InterruptionModeAndroid, InterruptionModeIOS } from "expo-av";
 import { router, useFocusEffect } from "expo-router";
-import { useCallback, useEffect, useState } from "react";
+import { useCallback, useEffect, useRef, useState } from "react";
+import Svg, { Path } from "react-native-svg";
 import {
  ActivityIndicator,
  Alert,
@@ -12,8 +13,8 @@ import {
  Text,
  View,
 } from "react-native";
-import { SafeAreaView } from "react-native-safe-area-context";
 import { loadRecorderSettings } from "@/lib/recorder-settings";
+import { getStrings, type Locale, t } from "@/lib/translations";

 function formatDuration(durationMs: number) {
  const totalSeconds = Math.floor(durationMs / 1000);
@@ -50,14 +51,20 @@ export default function RecorderScreen() {
  const [backendUrl, setBackendUrl] = useState("");
  const [authToken, setAuthToken] = useState("");
  const [fieldName, setFieldName] = useState("file");
+  const [locale, setLocale] = useState<Locale>("ca");
+  const [strings, setStrings] = useState(() => getStrings("ca"));
  const [recording, setRecording] = useState<Audio.Recording | null>(null);
  const [recordingUri, setRecordingUri] = useState<string | null>(null);
  const [recordingMs, setRecordingMs] = useState(0);
-  const [statusMessage, setStatusMessage] = useState(
-    "Ready to record and send audio.",
-  );
+  const [statusMessage, setStatusMessage] = useState("");
  const [responsePreview, setResponsePreview] = useState("");
+  const [llmResponseText, setLlmResponseText] = useState("");
+  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;
@@ -73,9 +80,11 @@ export default function RecorderScreen() {
        setBackendUrl(settings.backendUrl);
        setAuthToken(settings.authToken);
        setFieldName(settings.fieldName);
+        setLocale(settings.language);
+        setStrings(getStrings(settings.language));
      } catch {
        if (isMounted) {
-          setStatusMessage("Could not load saved backend settings.");
+          setStatusMessage(strings.loadError);
        }
      }
    }
@@ -115,18 +124,148 @@ export default function RecorderScreen() {
    };
  }, [recording]);

+  useEffect(() => {
+    return () => {
+      void unloadSound();
+    };
+  }, []);
+
+  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({
+        allowsRecordingIOS: false,
+        playsInSilentModeIOS: true,
+        interruptionModeAndroid: InterruptionModeAndroid.DoNotMix,
+        interruptionModeIOS: InterruptionModeIOS.DoNotMix,
+        shouldDuckAndroid: true,
+        staysActiveInBackground: false,
+      });
+    } catch (err) {
+      console.log("[TTS] Audio mode error:", err);
+    }
+
+    try {
+      const fullUrl = audioUrl.startsWith("http")
+        ? audioUrl
+        : `${backendBase.replace(/\/+$/, "")}/${audioUrl.replace(/^\/+/, "")}`;
+
+      console.log("[TTS] Loading audio from:", fullUrl);
+      setIsPlaying(true);
+      setStatusMessage(strings.playing);
+
+      const { sound } = await Audio.Sound.createAsync(
+        { uri: fullUrl },
+        { shouldPlay: true, volume: 1.0 },
+        (status) => {
+          if (status.isLoaded && status.didJustFinish) {
+            console.log("[TTS] Audio playback finished");
+            void unloadSound();
+          }
+        },
+      );
+
+      soundRef.current = sound;
+      const status = await sound.getStatusAsync();
+      const durationMs = status.isLoaded ? (status.durationMillis ?? 0) : 0;
+      console.log("[TTS] Playing audio, duration:", durationMs, "ms");
+
+      return true;
+    } catch (err) {
+      console.log("[TTS] Audio playback error:", err);
+      setIsPlaying(false);
+      return false;
+    }
+  }
+
+  async function speakSequentially(texts: string[]) {
+    if (texts.length === 0) return;
+
+    const trimmedUrl = backendUrl.trim().replace(/\/+$/, "");
+    for (let i = 0; i < texts.length; i++) {
+      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 {
+      await unloadSound();
+      setTranscriptionText("");
      setResponsePreview("");
+      setLlmResponseText("");
      setRecordingUri(null);

      const permission = await Audio.requestPermissionsAsync();

      if (!permission.granted) {
-        setStatusMessage("Microphone permission was denied.");
+        setStatusMessage(strings.micPermissionDenied);
        Alert.alert(
-          "Microphone access required",
-          "Enable microphone access to record audio.",
+          strings.micAccessRequiredTitle,
+          strings.micAccessRequiredMsg,
        );
        return;
      }
@@ -144,26 +283,30 @@ export default function RecorderScreen() {
        Audio.RecordingOptionsPresets.HIGH_QUALITY,
      );

+      recordingRef.current = result.recording;
      setRecording(result.recording);
      setRecordingMs(0);
-      setStatusMessage("Recording in progress.");
+      setStatusMessage(strings.recording);
    } catch (error) {
-      setStatusMessage("Recording could not be started.");
+      setStatusMessage(strings.couldNotStartRecording);
      Alert.alert(
-        "Recording failed",
-        error instanceof Error ? error.message : "Unknown recording error.",
+        strings.recordingFailedTitle,
+        error instanceof Error ? error.message : "",
      );
    }
  }

-  async function stopRecording() {
-    if (!recording) {
+  async function stopRecordingAndUpload() {
+    if (!recordingRef.current) {
      return;
    }

+    console.log("[APP] stopRecordingAndUpload called");
+
    try {
-      const activeRecording = recording;
+      const activeRecording = recordingRef.current;
      const currentStatus = await activeRecording.getStatusAsync();
+      const durationMillis = currentStatus.durationMillis ?? 0;

      await activeRecording.stopAndUnloadAsync();
      await Audio.setAudioModeAsync({
@@ -172,25 +315,117 @@ export default function RecorderScreen() {
      });

      const uri = activeRecording.getURI();
+      recordingRef.current = null;
      setRecording(null);
-      setRecordingMs(currentStatus.durationMillis ?? recordingMs);
-      setRecordingUri(uri);
-      setStatusMessage(
-        uri ? "Recording finished. Preparing to send voice message." : "Recording finished.",
-      );
+      setRecordingMs(durationMillis);

-      if (uri && backendUrl.trim()) {
-        await uploadRecording(uri);
+      if (!uri) {
+        setStatusMessage(strings.readyToRecord);
+        return;
+      }
+
+      setRecordingUri(uri);
+      setStatusMessage(strings.finishedUpload);
+
+      const trimmedUrl = backendUrl.trim().replace(/\/+$/, '');
+      const uploadUrl = trimmedUrl.endsWith('/audio/upload')
+        ? trimmedUrl
+        : `${trimmedUrl}/audio/upload`;
+      if (uploadUrl) {
+        setIsUploading(true);
+        try {
+          const mimeType = buildMimeType(uri);
+          const extension = buildFileExtension(uri);
+          const formData = new FormData();
+
+          formData.append(fieldName.trim() || "file", {
+            name: `recording-${Date.now()}.${extension}`,
+            type: mimeType,
+            uri: uri,
+          } as never);
+
+          const headers: Record<string, string> = {};
+          if (authToken.trim()) {
+            headers.Authorization = `Bearer ${authToken.trim()}`;
+          }
+
+          const response = await fetch(uploadUrl, {
+            method: "POST",
+            headers,
+            body: formData,
+          });
+
+          const responseText = await response.text();
+
+          if (!response.ok) {
+            throw new Error(`${response.status}. ${responseText}`);
+          }
+
+          try {
+            const data = JSON.parse(responseText);
+            setResponsePreview(responseText.slice(0, 400));
+
+            const textsToSpeak: string[] = [];
+
+            if (data.transcription) {
+              setTranscriptionText(data.transcription);
+            }
+
+            if (data.llmResponse) {
+              setLlmResponseText(data.llmResponse);
+              textsToSpeak.push(data.llmResponse);
+            }
+
+            if (textsToSpeak.length > 0) {
+              setStatusMessage(strings.voiceMessageSent + ". " + strings.playing);
+              void speakSequentially(textsToSpeak);
+            } else {
+              setLlmResponseText("");
+            }
+          } catch (parseError) {
+            console.log("[APP] JSON parse failed:", parseError, "Response was:", responseText.substring(0, 200));
+            setResponsePreview(responseText.slice(0, 400));
+            setTranscriptionText("");
+            setLlmResponseText("");
+          }
+
+          setStatusMessage(strings.voiceMessageSent);
+        } catch (error) {
+          setStatusMessage(strings.uploadFailed);
+          Alert.alert(
+            strings.uploadFailed,
+            error instanceof Error ? error.message : "",
+          );
+        } finally {
+          setIsUploading(false);
+        }
+      } else {
+        setStatusMessage(strings.noBackendUrl);
+        setIsUploading(false);
      }
    } catch (error) {
-      setStatusMessage("Recording could not be stopped cleanly.");
+      recordingRef.current = null;
+      setRecording(null);
+      setStatusMessage(strings.stopFailedTitle);
      Alert.alert(
-        "Stop failed",
-        error instanceof Error ? error.message : "Unknown stop error.",
+        strings.stopFailedTitle,
+        error instanceof Error ? error.message : "",
      );
    }
  }

+  async function handlePressIn() {
+    if (isUploading) return;
+    setIsHolding(true);
+    await startRecording();
+  }
+
+  async function handlePressOut() {
+    if (!isHolding) return;
+    setIsHolding(false);
+    await stopRecordingAndUpload();
+  }
+
  async function uploadRecording(uriOverride?: string) {
    const targetUri = uriOverride ?? recordingUri;

@@ -198,17 +433,23 @@ export default function RecorderScreen() {
      return;
    }

-    const trimmedUrl = backendUrl.trim();
+    const trimmedUrl = backendUrl.trim().replace(/\/+$/, '');
+    const uploadUrl = trimmedUrl.endsWith('/audio/upload')
+      ? trimmedUrl
+      : `${trimmedUrl}/audio/upload`;

-    if (!trimmedUrl) {
-      Alert.alert("Missing backend URL", "Enter the backend endpoint first.");
+    if (!uploadUrl) {
+      Alert.alert(strings.missingBackendUrlTitle, strings.missingBackendUrlMsg);
      return;
    }

    try {
      setIsUploading(true);
-      setStatusMessage("Uploading recording.");
+      setStatusMessage(strings.uploadingRecording);
+      await unloadSound();
+      setTranscriptionText("");
      setResponsePreview("");
+      setLlmResponseText("");

      const mimeType = buildMimeType(targetUri);
      const extension = buildFileExtension(targetUri);
@@ -226,33 +467,72 @@ export default function RecorderScreen() {
        headers.Authorization = `Bearer ${authToken.trim()}`;
      }

-      const response = await fetch(trimmedUrl, {
+      const response = await fetch(uploadUrl, {
        method: "POST",
        headers,
        body: formData,
      });

      const responseText = await response.text();
-      setResponsePreview(responseText.slice(0, 400));

      if (!response.ok) {
-        throw new Error(`Upload failed with ${response.status}. ${responseText}`);
+        throw new Error(`${response.status}. ${responseText}`);
      }

-      setStatusMessage("Upload complete.");
+      try {
+        const data = JSON.parse(responseText);
+        setResponsePreview(responseText.slice(0, 400));
+
+        const textsToSpeak: string[] = [];
+
+        if (data.transcription) {
+          setTranscriptionText(data.transcription);
+          textsToSpeak.push(data.transcription);
+        }
+
+        if (data.llmResponse) {
+          setLlmResponseText(data.llmResponse);
+          textsToSpeak.push(data.llmResponse);
+        }
+
+        if (textsToSpeak.length > 0) {
+          setStatusMessage(strings.voiceMessageSent + ". " + strings.playing);
+          void speakSequentially(textsToSpeak);
+        } else {
+          setLlmResponseText("");
+        }
+      } catch {
+        setResponsePreview(responseText.slice(0, 400));
+        setTranscriptionText("");
+        setLlmResponseText("");
+      }
+
+      setStatusMessage(strings.uploadComplete);
    } catch (error) {
-      setStatusMessage("Upload failed.");
+      setStatusMessage(strings.uploadFailed);
      Alert.alert(
-        "Upload failed",
-        error instanceof Error ? error.message : "Unknown upload error.",
+        strings.uploadFailed,
+        error instanceof Error ? error.message : "",
      );
    } finally {
      setIsUploading(false);
    }
  }

+  function handleSpeak() {
+    const texts = [transcriptionText, llmResponseText].filter(Boolean);
+    void speakSequentially(texts);
+  }
+
+  const releaseLabel = t("releaseToStop", locale);
+  const holdLabel = t("holdToRecord", locale);
+  const openSettingsLabel = t("openSettingsHint", locale);
+  const appTitleLabel = t("appTitle", locale);
+  const recorderTitleLabel = t("recorderTitle", locale);
+  const serverResponseLabel = t("serverResponse", locale);
+
  return (
-    <SafeAreaView style={styles.safeArea}>
+    <View style={styles.safeArea}>
      <KeyboardAvoidingView
        style={styles.keyboardAvoidingView}
        behavior={Platform.OS === "ios" ? "padding" : undefined}
@@ -265,59 +545,111 @@ export default function RecorderScreen() {
          <View style={styles.hero}>
            <View style={styles.heroTopRow}>
              <View style={styles.heroBadge}>
-                <Text style={styles.heroBadgeText}>Assistant Voice</Text>
+                <Text style={styles.heroBadgeText}>{appTitleLabel}</Text>
              </View>
-              <Pressable onPress={() => router.push("/settings")} style={styles.settingsLink}>
-                <Text style={styles.settingsLinkText}>Settings</Text>
+              <Pressable
+                onPress={() => router.push("/settings")}
+                hitSlop={10}
+                style={styles.settingsCog}
+              >
+                <Svg width="20" height="20" viewBox="0 0 24 24" fill="none">
+                  <Path
+                    d="M12 15a3 3 0 1 0 0-6 3 3 0 0 0 0 6Z"
+                    fill="#d3deea"
+                  />
+                  <Path
+                    d="M19.4 15a1.65 1.65 0 0 0 .33 1.82l.06.06a2 2 0 1 1-2.83 2.83l-.06-.06a1.65 1.65 0 0 0-1.82-.33 1.65 1.65 0 0 0-1 1.51V21a2 2 0 0 1-4 0v-.09a1.65 1.65 0 0 0-1.08-1.51 1.65 1.65 0 0 0-1.82.33l-.06.06a2 2 0 1 1-2.83-2.83l-.06-.06a1.65 1.65 0 0 0 .33-1.82 1.65 1.65 0 0 0-1.51-1H3a2 2 0 0 1 0-4h.09a1.65 1.65 0 0 0 1.51-1.08 1.65 1.65 0 0 0-.33-1.82l-.06-.06a2 2 0 1 1 2.83-2.83l.06.06a1.65 1.65 0 0 0 1.82.33H9a1.65 1.65 0 0 0 1-1.51V3a2 2 0 0 1 4 0v.09a1.65 1.65 0 0 0 1.08 1.51 1.65 1.65 0 0 0 1.82-.33l.06-.06a2 2 0 1 1 2.83 2.83l-.06.06a1.65 1.65 0 0 0-.33 1.82V9c.26.604.852.997 1.51 1H21a2 2 0 0 1 0 4h-.09a1.65 1.65 0 0 0-1.51 1.08Z"
+                    stroke="#d3deea"
+                    strokeWidth="1.5"
+                  />
+                </Svg>
              </Pressable>
            </View>
-            <Text style={styles.subtitle}>
-              Record a voice message and send it to your backend.
-            </Text>
          </View>

          <View style={styles.panel}>
-            <Text style={styles.meterValueCentered}>
+            <Text style={[styles.meterValueCentered, isHolding && { color: "#d04f2d" }]}>
              {formatDuration(recordingMs)}
            </Text>

            <Pressable
              disabled={isUploading}
-              onPress={recording ? stopRecording : startRecording}
+              onPressIn={handlePressIn}
+              onPressOut={handlePressOut}
              style={[
                styles.micButton,
-                recording ? styles.stopButton : styles.recordButton,
+                isHolding ? styles.holdingButton : styles.idleButton,
                isUploading && styles.buttonDisabled,
              ]}
            >
              {isUploading ? (
                <ActivityIndicator color="#fff6f3" size="large" />
              ) : (
-                <Text style={styles.micButtonText}>
-                  {recording ? "Stop" : "Record"}
-                </Text>
+                <Svg width="64" height="64" viewBox="0 0 24 24" fill="none">
+                  <Path
+                    d="M12 3a3 3 0 0 0-3 3v6a3 3 0 0 0 6 0V6a3 3 0 0 0-3-3z"
+                    fill="#fff6f3"
+                    stroke="#fff6f3"
+                    strokeWidth="1"
+                  />
+                  <Path
+                    d="M19 10v1a7 7 0 0 1-14 0v-1"
+                    stroke="#fff6f3"
+                    strokeWidth="2"
+                    strokeLinecap="round"
+                  />
+                  <Path
+                    d="M12 18v3"
+                    stroke="#fff6f3"
+                    strokeWidth="2"
+                    strokeLinecap="round"
+                  />
+                </Svg>
              )}
            </Pressable>

-            <Text style={styles.statusText}>{statusMessage}</Text>
+            <Text style={styles.statusText}>{statusMessage || strings.readyToRecord}</Text>
            <Text style={styles.helperText}>
-              {backendUrl.trim()
-                ? recording
-                  ? "Tap again when you finish speaking."
-                  : "Tap the button to start a new voice message."
-                : "Open settings to add your backend URL before sending voice messages."}
+              {isHolding
+                ? releaseLabel
+                : backendUrl.trim()
+                  ? holdLabel
+                  : openSettingsLabel}
            </Text>

-            {responsePreview ? (
+            {transcriptionText ? (
+              <View style={styles.transcriptionBox}>
+                <Text style={styles.transcriptionLabel}>{strings.yourMessage}</Text>
+                <Text style={styles.transcriptionText}>{transcriptionText}</Text>
+              </View>
+            ) : null}
+
+            {llmResponseText ? (
+              <View style={styles.llmResponseBox}>
+                <View style={styles.llmResponseHeader}>
+                  <Text style={styles.llmResponseLabel}>{strings.aiReply}</Text>
+                  <Pressable onPress={handleSpeak} style={styles.speakButton}>
+                    <Svg width="20" height="20" viewBox="0 0 24 24" fill="none">
+                      <Path d="M11 5L6 9H2v6h4l5 4V5z" fill="#13304a" />
+                      <Path d="M15.5 8.5a5.5 5.5 0 0 1 0 7" stroke="#13304a" strokeWidth="2" strokeLinecap="round" />
+                      <Path d="M18.5 5.5a9 9 0 0 1 0 13" stroke="#13304a" strokeWidth="2" strokeLinecap="round" />
+                    </Svg>
+                  </Pressable>
+                </View>
+                <Text style={styles.llmResponseText}>{llmResponseText}</Text>
+              </View>
+            ) : null}
+
+            {responsePreview && !transcriptionText && !llmResponseText ? (
              <View style={styles.responseBox}>
-                <Text style={styles.responseLabel}>Server response</Text>
+                <Text style={styles.responseLabel}>{serverResponseLabel}</Text>
                <Text style={styles.responseText}>{responsePreview}</Text>
              </View>
            ) : null}
          </View>
        </ScrollView>
      </KeyboardAvoidingView>
-    </SafeAreaView>
+    </View>
  );
 }

@@ -333,17 +665,17 @@ const styles = StyleSheet.create({
    flex: 1,
  },
  content: {
+    flex: 1,
+    alignItems: "center",
+    justifyContent: "center",
+    paddingVertical: 32,
    paddingHorizontal: 20,
-    paddingBottom: 32,
-    paddingTop: 8,
    gap: 18,
  },
  hero: {
-    backgroundColor: "#13304a",
-    borderRadius: 28,
+    backgroundColor: "transparent",
    paddingHorizontal: 22,
-    paddingVertical: 24,
-    gap: 12,
+    paddingTop: 40,
  },
  heroTopRow: {
    alignItems: "center",
@@ -351,7 +683,6 @@ const styles = StyleSheet.create({
    justifyContent: "space-between",
  },
  heroBadge: {
-    alignSelf: "flex-start",
    backgroundColor: "#f2b15d",
    borderRadius: 999,
    paddingHorizontal: 12,
@@ -364,22 +695,14 @@ const styles = StyleSheet.create({
    letterSpacing: 0.5,
    textTransform: "uppercase",
  },
-  settingsLink: {
-    borderColor: "#58718d",
+  settingsCog: {
+    alignItems: "center",
+    justifyContent: "center",
+    width: 40,
+    height: 40,
    borderRadius: 999,
-    borderWidth: 1,
-    paddingHorizontal: 12,
-    paddingVertical: 7,
-  },
-  settingsLinkText: {
-    color: "#d3deea",
-    fontSize: 13,
-    fontWeight: "700",
-  },
-  subtitle: {
-    color: "#d3deea",
-    fontSize: 16,
-    lineHeight: 22,
+    backgroundColor: "#13304a",
+    marginLeft: 12,
  },
  panel: {
    backgroundColor: "#fffaf1",
@@ -388,6 +711,8 @@ const styles = StyleSheet.create({
    borderWidth: 1,
    gap: 12,
    padding: 18,
+    alignSelf: "center",
+    maxWidth: 340,
  },
  meterValueCentered: {
    color: "#d04f2d",
@@ -404,17 +729,21 @@ const styles = StyleSheet.create({
    width: 164,
    alignSelf: "center",
  },
-  recordButton: {
-    backgroundColor: "#d04f2d",
+  idleButton: {
+    backgroundColor: "#13304a",
  },
-  stopButton: {
-    backgroundColor: "#8c1c13",
+  holdingButton: {
+    backgroundColor: "#d04f2d",
+    transform: [{ scale: 1.08 }],
  },
  micButtonText: {
    color: "#fff6f3",
-    fontSize: 24,
+    fontSize: 20,
    fontWeight: "800",
  },
+  recordingLabel: {
+    fontSize: 18,
+  },
  buttonDisabled: {
    opacity: 0.45,
  },
@@ -422,11 +751,13 @@ const styles = StyleSheet.create({
    color: "#1f2d3d",
    fontSize: 15,
    lineHeight: 21,
+    textAlign: "center",
  },
  helperText: {
    color: "#665f54",
    fontSize: 13,
    lineHeight: 18,
+    textAlign: "center",
  },
  responseBox: {
    backgroundColor: "#f7f0e0",
@@ -440,10 +771,65 @@ const styles = StyleSheet.create({
    fontSize: 13,
    fontWeight: "700",
    textTransform: "uppercase",
+    textAlign: "center",
  },
  responseText: {
    color: "#36475a",
    fontSize: 14,
    lineHeight: 20,
  },
+  llmResponseBox: {
+    backgroundColor: "#e8f4e8",
+    borderRadius: 16,
+    gap: 6,
+    marginTop: 4,
+    padding: 14,
+    borderWidth: 1,
+    borderColor: "#b8d9b8",
+  },
+  llmResponseHeader: {
+    flexDirection: "row",
+    alignItems: "center",
+    justifyContent: "space-between",
+  },
+  llmResponseLabel: {
+    color: "#2a6a2a",
+    fontSize: 13,
+    fontWeight: "700",
+    textTransform: "uppercase",
+    textAlign: "center",
+  },
+  llmResponseText: {
+    color: "#2d4a2d",
+    fontSize: 16,
+    lineHeight: 24,
+  },
+  speakButton: {
+    backgroundColor: "#f7f0e0",
+    borderRadius: 20,
+    padding: 6,
+    borderWidth: 1,
+    borderColor: "#dccfb9",
+  },
+  transcriptionBox: {
+    backgroundColor: "#e8ecf4",
+    borderRadius: 16,
+    gap: 6,
+    marginTop: 4,
+    padding: 14,
+    borderWidth: 1,
+    borderColor: "#b8c9d9",
+  },
+  transcriptionLabel: {
+    color: "#1a4a6a",
+    fontSize: 13,
+    fontWeight: "700",
+    textTransform: "uppercase",
+    textAlign: "center",
+  },
+  transcriptionText: {
+    color: "#1f3a52",
+    fontSize: 16,
+    lineHeight: 24,
+  },
 });
--- a/apk/app/settings.tsx
+++ b/apk/app/settings.tsx
@@ -1,3 +1,4 @@
+import { Picker } from "@react-native-picker/picker";
 import { router } from "expo-router";
 import { useEffect, useState } from "react";
 import {
@@ -16,11 +17,20 @@ import {
  loadRecorderSettings,
  saveRecorderSettings,
 } from "@/lib/recorder-settings";
+import { AVAILABLE_LOCALES, t, type Locale, getStrings } from "@/lib/translations";
+
+function localeLabel(locale: Locale) {
+  if (locale === "ca") return "Catal\u00e0";
+  if (locale === "en") return "English";
+  return locale;
+}

 export default function SettingsScreen() {
  const [backendUrl, setBackendUrl] = useState("");
  const [authToken, setAuthToken] = useState("");
  const [fieldName, setFieldName] = useState("file");
+  const [language, setLanguage] = useState<Locale>("ca");
+  const [strings, setStrings] = useState(() => getStrings("ca"));

  useEffect(() => {
    let isMounted = true;
@@ -36,9 +46,11 @@ export default function SettingsScreen() {
        setBackendUrl(settings.backendUrl);
        setAuthToken(settings.authToken);
        setFieldName(settings.fieldName);
+        setLanguage(settings.language);
+        setStrings(getStrings(settings.language));
      } catch {
        if (isMounted) {
-          Alert.alert("Settings error", "Could not load backend settings.");
+          Alert.alert(strings.loadError, strings.loadError);
        }
      }
    }
@@ -50,19 +62,28 @@ export default function SettingsScreen() {
    };
  }, []);

+  const langStrings = getStrings(language);
+
  async function handleSave() {
    try {
      await saveRecorderSettings({
        authToken,
        backendUrl,
        fieldName,
+        language,
      });
+      setStrings(getStrings(language));
      router.back();
    } catch {
-      Alert.alert("Save failed", "Could not save backend settings.");
+      Alert.alert(langStrings.saveError, langStrings.saveError);
    }
  }

+  function handleLanguageChange(val: Locale) {
+    setLanguage(val);
+    setStrings(getStrings(val));
+  }
+
  return (
    <SafeAreaView style={styles.safeArea}>
      <KeyboardAvoidingView
@@ -76,54 +97,73 @@ export default function SettingsScreen() {
        >
          <View style={styles.headerRow}>
            <Pressable onPress={() => router.back()} style={styles.navButton}>
-              <Text style={styles.navButtonText}>Back</Text>
+              <Text style={styles.navButtonText}>{langStrings.back}</Text>
            </Pressable>
-            <Text style={styles.title}>Settings</Text>
+            <Text style={styles.title}>{langStrings.settingsTitle}</Text>
            <Pressable onPress={handleSave} style={styles.navButton}>
-              <Text style={styles.navButtonText}>Save</Text>
+              <Text style={styles.navButtonText}>{langStrings.save}</Text>
            </Pressable>
          </View>

          <View style={styles.panel}>
-            <Text style={styles.label}>Backend URL</Text>
+            <Text style={styles.label}>{langStrings.backendUrl}</Text>
            <TextInput
              autoCapitalize="none"
              autoCorrect={false}
              keyboardType="url"
              onChangeText={setBackendUrl}
-              placeholder="https://api.example.com/upload"
+              placeholder={langStrings.urlPlaceholder}
              placeholderTextColor="#8f8a7c"
              style={styles.input}
              value={backendUrl}
            />

-            <Text style={styles.label}>Bearer token</Text>
+            <Text style={styles.label}>{langStrings.bearerToken}</Text>
            <TextInput
              autoCapitalize="none"
              autoCorrect={false}
              onChangeText={setAuthToken}
-              placeholder="Optional"
+              placeholder={langStrings.tokenOptional}
              placeholderTextColor="#8f8a7c"
              secureTextEntry
              style={styles.input}
              value={authToken}
            />

-            <Text style={styles.label}>Form field name</Text>
+            <Text style={styles.label}>{langStrings.formFieldName}</Text>
            <TextInput
              autoCapitalize="none"
              autoCorrect={false}
              onChangeText={setFieldName}
-              placeholder="file"
+              placeholder={langStrings.fieldNamePlaceholder}
              placeholderTextColor="#8f8a7c"
              style={styles.input}
              value={fieldName}
            />

            <Text style={styles.helperText}>
-              The recording is uploaded as multipart field `{fieldName.trim() || "file"}`.
+              {t("helperText", language, fieldName.trim() || "file")}
            </Text>
          </View>
+
+          <View style={styles.panel}>
+            <Text style={styles.label}>{langStrings.languageTitle}</Text>
+            <View style={styles.pickerWrapper}>
+              <Picker
+                selectedValue={language}
+                onValueChange={handleLanguageChange}
+                style={styles.picker}
+              >
+                {AVAILABLE_LOCALES.map((loc) => (
+                  <Picker.Item
+                    key={loc}
+                    label={localeLabel(loc)}
+                    value={loc}
+                  />
+                ))}
+              </Picker>
+            </View>
+          </View>
        </ScrollView>
      </KeyboardAvoidingView>
    </SafeAreaView>
@@ -199,4 +239,14 @@ const styles = StyleSheet.create({
    fontSize: 13,
    lineHeight: 18,
  },
+  pickerWrapper: {
+    backgroundColor: "#f7f0e0",
+    borderColor: "#d9ccb5",
+    borderRadius: 16,
+    borderWidth: 1,
+    overflow: "hidden",
+  },
+  picker: {
+    height: 50,
+  },
 });
--- a/apk/lib/recorder-settings.ts
+++ b/apk/lib/recorder-settings.ts
@@ -1,15 +1,19 @@
 import AsyncStorage from "@react-native-async-storage/async-storage";

+import type { Locale } from "./translations";
+
 export const STORAGE_KEYS = {
  authToken: "recorder.authToken",
  backendUrl: "recorder.backendUrl",
  fieldName: "recorder.fieldName",
+  language: "recorder.language",
 };

 export type RecorderSettings = {
  authToken: string;
  backendUrl: string;
  fieldName: string;
+  language: Locale;
 };

 export async function loadRecorderSettings(): Promise<RecorderSettings> {
@@ -17,6 +21,7 @@ export async function loadRecorderSettings(): Promise<RecorderSettings> {
    STORAGE_KEYS.backendUrl,
    STORAGE_KEYS.authToken,
    STORAGE_KEYS.fieldName,
+    STORAGE_KEYS.language,
  ]);

  const values = Object.fromEntries(entries);
@@ -25,6 +30,7 @@ export async function loadRecorderSettings(): Promise<RecorderSettings> {
    authToken: values[STORAGE_KEYS.authToken] ?? "",
    backendUrl: values[STORAGE_KEYS.backendUrl] ?? "",
    fieldName: values[STORAGE_KEYS.fieldName] ?? "file",
+    language: (values[STORAGE_KEYS.language] as Locale) ?? "ca",
  };
 }

@@ -33,5 +39,6 @@ export async function saveRecorderSettings(settings: RecorderSettings) {
    [STORAGE_KEYS.backendUrl, settings.backendUrl],
    [STORAGE_KEYS.authToken, settings.authToken],
    [STORAGE_KEYS.fieldName, settings.fieldName || "file"],
+    [STORAGE_KEYS.language, settings.language],
  ]);
 }
--- a/apk/lib/translations/index.ts
+++ b/apk/lib/translations/index.ts
@@ -0,0 +1,106 @@
+export type TranslationKeys = ReturnType<typeof getStrings>;
+
+export function en() {
+  return {
+    appTitle: "Quibot Control",
+    settingsTitle: "Settings",
+    back: "Back",
+    save: "Save",
+    backendUrl: "Backend URL",
+    bearerToken: "Bearer token",
+    formFieldName: "Form field name",
+    tokenOptional: "Optional",
+    fieldNamePlaceholder: "file",
+    urlPlaceholder: "https://api.example.com/upload",
+    helperText: `The recording is uploaded as multipart field '{field}'.`,
+    savedAlert: "Settings saved.",
+    loadError: "Could not load backend settings.",
+    saveError: "Could not save backend settings.",
+    languageTitle: "Language",
+    recorderTitle: "Voice recorder",
+    readyToRecord: "Ready to record.",
+    recording: "Recording...",
+    micPermissionDenied: "Microphone permission was denied.",
+    micAccessRequiredTitle: "Microphone access required",
+    micAccessRequiredMsg: "Enable microphone access to record audio.",
+    couldNotStartRecording: "Could not start recording.",
+    recordingFailedTitle: "Recording failed",
+    finishedUpload: "Recording finished. Uploading...",
+    voiceMessageSent: "Voice message sent.",
+    uploadFailed: "Upload failed.",
+    noBackendUrl: "Recording finished. No backend URL set.",
+    stopFailedTitle: "Stop failed",
+    missingBackendUrlTitle: "Missing backend URL",
+    missingBackendUrlMsg: "Enter the backend endpoint first.",
+    uploadingRecording: "Uploading recording.",
+    uploadComplete: "Upload complete.",
+    serverResponse: "Server response",
+    releaseToStop: "Release your finger to stop recording and send the audio.",
+    holdToRecord: "Hold the microphone button to record a voice message. Release to send it immediately.",
+    openSettingsHint: "Open settings to add your backend URL before sending voice messages.",
+     aiReply: "Quibot reply",
+     yourMessage: "Your message",
+    playing: "Playing audio...",
+  };
+}
+
+export function ca() {
+  return {
+    appTitle: "Quibot Control",
+    settingsTitle: "Configuraci\u00f3",
+    back: "Enrere",
+    save: "Desa",
+    backendUrl: "URL del servidor",
+    bearerToken: "Bearer token",
+    formFieldName: "Nom del camp del formulari",
+    tokenOptional: "Opcional",
+    fieldNamePlaceholder: "file",
+    urlPlaceholder: "https://api.example.com/upload",
+    helperText: `La gravaci\u00f3 es penja com el camp multipart '{field}'.`,
+    savedAlert: "Configuraci\u00f3 desada.",
+    loadError: "No s'han pogut carregar les configuracions.",
+    saveError: "No s'han pogut desar les configuracions.",
+    languageTitle: "Llenguatge",
+    recorderTitle: "Enregistrador de veu",
+    readyToRecord: "Preparat per enregistrar.",
+    recording: "Enregistrant...",
+    micPermissionDenied: "S'ha denegat el perm\u00eds del micr\u00f2fon.",
+    micAccessRequiredTitle: "Acc\u00e9s al micr\u00f2fon necess\u00e0ri",
+    micAccessRequiredMsg: "Activa l'acc\u00e9s al micr\u00f2fon per enregistrar \u00e0udio.",
+    couldNotStartRecording: "No s'ha pogut iniciar l'enregistrament.",
+    recordingFailedTitle: "L'enregistrament ha fallat",
+    finishedUpload: "Gravaci\u00f3 finalitzada. S'est\u00e0 penjant...",
+    voiceMessageSent: "Missatge de veu enviat.",
+    uploadFailed: "No s'ha pogut penjar.",
+    noBackendUrl: "Gravaci\u00f3 finalitzada. No hi ha URL configurada.",
+    stopFailedTitle: "S'ha aturat",
+    missingBackendUrlTitle: "Falta la URL del servidor",
+    missingBackendUrlMsg: "Introdueix primer l'URL del servidor.",
+    uploadingRecording: "S'est\u00e0 penjant la gravaci\u00f3.",
+    uploadComplete: "Penjada completada.",
+    serverResponse: "Resposta del servidor",
+    releaseToStop: "Allibera el dit per aturar l'enregistrament i enviar l'\u00e0udio.",
+    holdToRecord: "Mant\u00e9s premut el micr\u00f2fon per enregistrar un missatge de veu. Allibera'l per enviar-lo immediatament.",
+    openSettingsHint: "Obre la configuraci\u00f3 per afegir l'URL del servidor abans d'enviar missatges de veu.",
+     aiReply: "Resposta del Quibot",
+    yourMessage: "El teu missatge",
+    playing: "Reproduint àudio...",
+  };
+}
+
+const translations = { en, ca };
+export type Locale = keyof typeof translations;
+const DEFAULT_LOCALE: Locale = "ca";
+export const AVAILABLE_LOCALES: readonly Locale[] = Object.keys(translations) as Locale[];
+
+export function getStrings(locale: Locale) {
+  const fn = translations[locale] ?? en;
+  return fn();
+}
+
+export function t(key: keyof ReturnType<typeof ca>, locale: Locale, field?: string) {
+  const strings = getStrings(locale);
+  const value = strings[key as keyof typeof strings];
+  if (typeof value !== "string") return String(value);
+  return field ? value.replace("{field}", field) : value;
+}
--- a/apk/package-lock.json
+++ b/apk/package-lock.json
--- a/apk/package.json
+++ b/apk/package.json
@@ -11,17 +11,20 @@
  },
  "dependencies": {
    "@react-native-async-storage/async-storage": "2.2.0",
-    "expo": "~54.0.33",
+    "@react-native-picker/picker": "2.11.1",
+    "expo": "~54.0.35",
    "expo-av": "~16.0.8",
-    "expo-router": "~6.0.23",
+    "expo-build-properties": "~1.0.10",
+    "expo-router": "~6.0.24",
    "expo-splash-screen": "~31.0.13",
    "expo-status-bar": "~3.0.9",
    "react": "19.1.0",
    "react-dom": "19.1.0",
    "react-native": "0.81.5",
    "react-native-safe-area-context": "~5.6.0",
-    "react-native-web": "~0.21.0",
-    "react-native-screens": "~4.16.0"
+    "react-native-screens": "~4.16.0",
+    "react-native-svg": "15.12.1",
+    "react-native-web": "~0.21.0"
  },
  "devDependencies": {
    "@types/react": "~19.1.0",
--- a/backend/.env.example
+++ b/backend/.env.example
@@ -0,0 +1,23 @@
+# Raspberry Pi connection config
+RASPBERRY_PI_HOST=http://raspberrypi.local
+RASPBERRY_PI_PORT=8000
+
+# Auth token for API endpoints
+QUIBOT_TOKEN=MY_SECRET_TOKEN
+
+# Backend server config
+PORT=5000
+
+# Piper TTS config (optional — local model)
+PIPER_MODELS_DIR=./piper
+PIPER_MODEL=./src/ca_ES-upc_ona-medium.onnx
+
+# Remote Piper TTS service (alternative to local model)
+PIPER_URL=
+
+LLAMA_CPP_URL=https://ollama.epsem.aranroig.com/v1/chat/completitions
+LLAMA_PREAMBLE=./prompts/preamble.md
+LLAMA_API_KEY=your_api_key
+
+# MCP server (Python FastMCP) — SSH-tunelled from remote machine
+MCP_URL=http://localhost:5001
--- a/backend/.gitignore
+++ b/backend/.gitignore
@@ -1,2 +1,6 @@
-__pycache__/
-venv/
+node_modules/
+dist/
+.env
+*.log
+quibot-audio-*.txt
+**/quibot-audio-*.txt
--- a/backend/main.py
+++ b/backend/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/backend/package-lock.json
+++ b/backend/package-lock.json
--- a/backend/package.json
+++ b/backend/package.json
@@ -0,0 +1,29 @@
+{
+  "name": "quibot-backend",
+  "version": "1.0.0",
+  "description": "QuiBot robot controller backend - runs on local laptop",
+  "type": "module",
+  "main": "dist/index.js",
+  "scripts": {
+    "dev": "tsx watch src/index.ts",
+    "build": "tsc",
+    "start": "node dist/index.js"
+  },
+  "dependencies": {
+    "@modelcontextprotocol/sdk": "^1.29.0",
+    "axios": "^1.7.0",
+    "cors": "^2.8.5",
+    "dotenv": "^16.4.5",
+    "express": "^4.21.0",
+    "multer": "^1.4.5-lts.1",
+    "openai": "^6.44.0"
+  },
+  "devDependencies": {
+    "@types/cors": "^2.8.17",
+    "@types/express": "^4.17.21",
+    "@types/multer": "^1.4.12",
+    "@types/node": "^22.19.21",
+    "tsx": "^4.19.0",
+    "typescript": "^5.6.0"
+  }
+}
--- a/backend/piper/ca_ES-upc_ona-medium.onnx
+++ b/backend/piper/ca_ES-upc_ona-medium.onnx
--- a/backend/piper/ca_ES-upc_ona-medium.onnx.json
+++ b/backend/piper/ca_ES-upc_ona-medium.onnx.json
@@ -0,0 +1,493 @@
+{
+  "audio": {
+    "sample_rate": 22050,
+    "quality": "medium"
+  },
+  "espeak": {
+    "voice": "ca"
+  },
+  "inference": {
+    "noise_scale": 0.667,
+    "length_scale": 1,
+    "noise_w": 0.8
+  },
+  "phoneme_type": "espeak",
+  "phoneme_map": {},
+  "phoneme_id_map": {
+    "_": [
+      0
+    ],
+    "^": [
+      1
+    ],
+    "$": [
+      2
+    ],
+    " ": [
+      3
+    ],
+    "!": [
+      4
+    ],
+    "'": [
+      5
+    ],
+    "(": [
+      6
+    ],
+    ")": [
+      7
+    ],
+    ",": [
+      8
+    ],
+    "-": [
+      9
+    ],
+    ".": [
+      10
+    ],
+    ":": [
+      11
+    ],
+    ";": [
+      12
+    ],
+    "?": [
+      13
+    ],
+    "a": [
+      14
+    ],
+    "b": [
+      15
+    ],
+    "c": [
+      16
+    ],
+    "d": [
+      17
+    ],
+    "e": [
+      18
+    ],
+    "f": [
+      19
+    ],
+    "h": [
+      20
+    ],
+    "i": [
+      21
+    ],
+    "j": [
+      22
+    ],
+    "k": [
+      23
+    ],
+    "l": [
+      24
+    ],
+    "m": [
+      25
+    ],
+    "n": [
+      26
+    ],
+    "o": [
+      27
+    ],
+    "p": [
+      28
+    ],
+    "q": [
+      29
+    ],
+    "r": [
+      30
+    ],
+    "s": [
+      31
+    ],
+    "t": [
+      32
+    ],
+    "u": [
+      33
+    ],
+    "v": [
+      34
+    ],
+    "w": [
+      35
+    ],
+    "x": [
+      36
+    ],
+    "y": [
+      37
+    ],
+    "z": [
+      38
+    ],
+    "æ": [
+      39
+    ],
+    "ç": [
+      40
+    ],
+    "ð": [
+      41
+    ],
+    "ø": [
+      42
+    ],
+    "ħ": [
+      43
+    ],
+    "ŋ": [
+      44
+    ],
+    "œ": [
+      45
+    ],
+    "ǀ": [
+      46
+    ],
+    "ǁ": [
+      47
+    ],
+    "ǂ": [
+      48
+    ],
+    "ǃ": [
+      49
+    ],
+    "ɐ": [
+      50
+    ],
+    "ɑ": [
+      51
+    ],
+    "ɒ": [
+      52
+    ],
+    "ɓ": [
+      53
+    ],
+    "ɔ": [
+      54
+    ],
+    "ɕ": [
+      55
+    ],
+    "ɖ": [
+      56
+    ],
+    "ɗ": [
+      57
+    ],
+    "ɘ": [
+      58
+    ],
+    "ə": [
+      59
+    ],
+    "ɚ": [
+      60
+    ],
+    "ɛ": [
+      61
+    ],
+    "ɜ": [
+      62
+    ],
+    "ɞ": [
+      63
+    ],
+    "ɟ": [
+      64
+    ],
+    "ɠ": [
+      65
+    ],
+    "ɡ": [
+      66
+    ],
+    "ɢ": [
+      67
+    ],
+    "ɣ": [
+      68
+    ],
+    "ɤ": [
+      69
+    ],
+    "ɥ": [
+      70
+    ],
+    "ɦ": [
+      71
+    ],
+    "ɧ": [
+      72
+    ],
+    "ɨ": [
+      73
+    ],
+    "ɪ": [
+      74
+    ],
+    "ɫ": [
+      75
+    ],
+    "ɬ": [
+      76
+    ],
+    "ɭ": [
+      77
+    ],
+    "ɮ": [
+      78
+    ],
+    "ɯ": [
+      79
+    ],
+    "ɰ": [
+      80
+    ],
+    "ɱ": [
+      81
+    ],
+    "ɲ": [
+      82
+    ],
+    "ɳ": [
+      83
+    ],
+    "ɴ": [
+      84
+    ],
+    "ɵ": [
+      85
+    ],
+    "ɶ": [
+      86
+    ],
+    "ɸ": [
+      87
+    ],
+    "ɹ": [
+      88
+    ],
+    "ɺ": [
+      89
+    ],
+    "ɻ": [
+      90
+    ],
+    "ɽ": [
+      91
+    ],
+    "ɾ": [
+      92
+    ],
+    "ʀ": [
+      93
+    ],
+    "ʁ": [
+      94
+    ],
+    "ʂ": [
+      95
+    ],
+    "ʃ": [
+      96
+    ],
+    "ʄ": [
+      97
+    ],
+    "ʈ": [
+      98
+    ],
+    "ʉ": [
+      99
+    ],
+    "ʊ": [
+      100
+    ],
+    "ʋ": [
+      101
+    ],
+    "ʌ": [
+      102
+    ],
+    "ʍ": [
+      103
+    ],
+    "ʎ": [
+      104
+    ],
+    "ʏ": [
+      105
+    ],
+    "ʐ": [
+      106
+    ],
+    "ʑ": [
+      107
+    ],
+    "ʒ": [
+      108
+    ],
+    "ʔ": [
+      109
+    ],
+    "ʕ": [
+      110
+    ],
+    "ʘ": [
+      111
+    ],
+    "ʙ": [
+      112
+    ],
+    "ʛ": [
+      113
+    ],
+    "ʜ": [
+      114
+    ],
+    "ʝ": [
+      115
+    ],
+    "ʟ": [
+      116
+    ],
+    "ʡ": [
+      117
+    ],
+    "ʢ": [
+      118
+    ],
+    "ʲ": [
+      119
+    ],
+    "ˈ": [
+      120
+    ],
+    "ˌ": [
+      121
+    ],
+    "ː": [
+      122
+    ],
+    "ˑ": [
+      123
+    ],
+    "˞": [
+      124
+    ],
+    "β": [
+      125
+    ],
+    "θ": [
+      126
+    ],
+    "χ": [
+      127
+    ],
+    "ᵻ": [
+      128
+    ],
+    "ⱱ": [
+      129
+    ],
+    "0": [
+      130
+    ],
+    "1": [
+      131
+    ],
+    "2": [
+      132
+    ],
+    "3": [
+      133
+    ],
+    "4": [
+      134
+    ],
+    "5": [
+      135
+    ],
+    "6": [
+      136
+    ],
+    "7": [
+      137
+    ],
+    "8": [
+      138
+    ],
+    "9": [
+      139
+    ],
+    "̧": [
+      140
+    ],
+    "̃": [
+      141
+    ],
+    "̪": [
+      142
+    ],
+    "̯": [
+      143
+    ],
+    "̩": [
+      144
+    ],
+    "ʰ": [
+      145
+    ],
+    "ˤ": [
+      146
+    ],
+    "ε": [
+      147
+    ],
+    "↓": [
+      148
+    ],
+    "#": [
+      149
+    ],
+    "\"": [
+      150
+    ],
+    "↑": [
+      151
+    ],
+    "̺": [
+      152
+    ],
+    "̻": [
+      153
+    ]
+  },
+  "num_symbols": 256,
+  "num_speakers": 1,
+  "speaker_id_map": {},
+  "piper_version": "1.0.0",
+  "language": {
+    "code": "ca_ES",
+    "family": "ca",
+    "region": "ES",
+    "name_native": "Català",
+    "name_english": "Catalan",
+    "country_english": "Spain"
+  },
+  "dataset": "upc_ona"
+}
--- a/backend/prompts/preamble.md
+++ b/backend/prompts/preamble.md
@@ -0,0 +1,5 @@
+Ets la QuiBot, un robot femení que ajuda als nens a aprendre sobre quimica. Disposes de dos rodes i dos braços.
+Has de ser educada i tenir perspectiva de gènere.
+Les teves respostes han de ser curtes.
+
+
--- a/backend/run-mcp.sh
+++ b/backend/run-mcp.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+REMOTE_PORT=2223
+HOST=ollama.epsem.aranroig.com
+PORT=5001
+REMOTE_USER=root
+REMOTE_HOST=ollama.epsem.aranroig.com
+ssh -p ${REMOTE_PORT} -N -R ${HOST}:${PORT}:localhost:${PORT} -o ServerAliveInterval=30 \
+			-o ServerAliveCountMax=3 \
+			-o ExitOnForwardFailure=yes \
+    			${REMOTE_USER}@${REMOTE_HOST}
--- a/backend/src/config.ts
+++ b/backend/src/config.ts
@@ -0,0 +1,56 @@
+import dotenv from 'dotenv';
+import { readFileSync } from 'fs';
+import { join } from 'path';
+
+dotenv.config();
+
+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 mcpUrl = process.env.MCP_URL ?? '';
+const llamacppUrl = process.env.LLAMA_CPP_URL ?? '';
+const llamacppApiKey = process.env.LLAMA_API_KEY ?? '';
+const llamaPreambleRaw = process.env.LLAMA_PREAMBLE ?? '';
+const llamacppPreamble = llamaPreambleRaw.endsWith('.md')
+  ? readFileSync(llamaPreambleRaw, 'utf-8')
+  : llamaPreambleRaw;
+
+export const getRaspberryHost = () => _raspberryHost;
+export const getRaspberryPort = () => _raspberryPort;
+export const getToken = () => _token;
+
+export function setRaspberryHost(host: string) {
+  _raspberryHost = host;
+}
+
+export function setRaspberryPort(port: number) {
+  _raspberryPort = port;
+}
+
+export function setToken(token: string) {
+  _token = token;
+}
+
+export const getConfig = () => ({
+  raspberryPi: {
+    host: getRaspberryHost(),
+    port: getRaspberryPort(),
+  },
+  token: getToken(),
+});
+
+export const getLlamacppUrl = () => llamacppUrl;
+export const getLlamacppApiKey = () => llamacppApiKey;
+export const getLlamacppPreamble = () => llamacppPreamble;
+
+export const getPiperUrl = () => piperUrl;
+export const getPiperModelDir = () =>
+  process.env.PIPER_MODELS_DIR || join('/tmp', 'quibot-piper-models');
+export const getPiperModel = () =>
+  process.env.PIPER_MODEL ||
+  join(getPiperModelDir(), 'ca_ES-upc_ona-medium.onnx');
+export const getMcpUrl = () => mcpUrl;
+
+export const getAppPort = () => APP_PORT;
--- a/backend/src/controllers/audio.controller.ts
+++ b/backend/src/controllers/audio.controller.ts
@@ -0,0 +1,124 @@
+import { Router } from 'express';
+import multer from 'multer';
+import { join } from 'path';
+import { tmpdir } from 'os';
+import { rm, writeFile } from 'fs';
+import { promisify } from 'util';
+import { whisperService } from '../services/whisper.service.js';
+import { raspiService } from '../services/raspi.service.js';
+import { llamacppService } from '../services/llama.service.js';
+const unlinkAsync = promisify(rm);
+const writeFileAsync = promisify(writeFile);
+
+const router = Router();
+
+const upload = multer({ storage: multer.memoryStorage() });
+
+router.get('/incoming', async (_req, res) => {
+  try {
+    const result = await raspiService.listIncomingAudio();
+    res.json(result);
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `List incoming failed: ${message}` });
+  }
+});
+
+router.post('/lock/:filename', async (req, res) => {
+  try {
+    const { filename } = req.params;
+    const result = await raspiService.lockAudio({ filename });
+    res.json(result);
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `Lock audio failed: ${message}` });
+  }
+});
+
+router.post('/unlock/:filename', async (req, res) => {
+  try {
+    const { filename } = req.params;
+    const result = await raspiService.unlockAudio({ filename });
+    res.json(result);
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `Unlock audio failed: ${message}` });
+  }
+});
+
+router.post('/cancel/:filename', async (req, res) => {
+  try {
+    const { filename } = req.params;
+    const result = await raspiService.cancelAudio({ filename });
+    res.json(result);
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `Cancel audio failed: ${message}` });
+  }
+});
+
+router.post('/process/:filename', async (req, res) => {
+  try {
+    const { filename } = req.params;
+    const result = await raspiService.processAudio({ filename });
+    res.json(result);
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `Process audio failed: ${message}` });
+  }
+});
+
+router.post('/upload', upload.single('file'), async (req, res) => {
+  let tmpFile: string | undefined;
+  let tmpTxt: string | undefined;
+  try {
+    if (!req.file) {
+      return res.status(400).json({ error: 'No audio file provided' });
+    }
+
+    const ext = req.file.originalname.split('.').pop()?.toLowerCase() || 'wav';
+    tmpFile = join(tmpdir(), `quibot-audio-${Date.now()}.${ext}`);
+    await writeFileAsync(tmpFile, req.file.buffer);
+
+    const transcription = await whisperService.transcribe(tmpFile);
+    console.log(transcription);
+
+    const txtPath = join(tmpdir(), `quibot-audio-${Date.now()}.txt`);
+    tmpTxt = txtPath;
+    await writeFileAsync(txtPath, transcription);
+
+    const llmResponse = await llamacppService.chatWithMcpTools(transcription).catch(
+      (err: unknown) => {
+        const msg = err instanceof Error ? err.message : String(err);
+        console.error(`[audio] llama.cpp failed: ${msg}`);
+        return undefined;
+      },
+    );
+
+    res.json({
+      transcription,
+      llmResponse,
+      originalFilename: req.file.originalname,
+    });
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `Audio transcription failed: ${message}` });
+  } finally {
+    if (tmpFile) {
+      try {
+        await unlinkAsync(tmpFile);
+      } catch {
+        // ignore cleanup errors
+      }
+    }
+    if (tmpTxt) {
+      try {
+        await unlinkAsync(tmpTxt);
+      } catch {
+        // ignore cleanup errors
+      }
+    }
+  }
+});
+
+export default router;
--- a/backend/src/controllers/command.controller.ts
+++ b/backend/src/controllers/command.controller.ts
@@ -0,0 +1,20 @@
+import { Router } from 'express';
+import { raspiService } from '../services/raspi.service.js';
+
+const router = Router();
+
+router.post('/', async (req, res) => {
+  const { task } = req.body;
+  if (!task) {
+    return res.status(400).json({ error: 'Task name is required' });
+  }
+  try {
+    const result = await raspiService.runTask({ task });
+    res.json(result);
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `Run task failed: ${message}` });
+  }
+});
+
+export default router;
--- a/backend/src/controllers/motor.controller.ts
+++ b/backend/src/controllers/motor.controller.ts
@@ -0,0 +1,53 @@
+import { Router } from 'express';
+import multer from 'multer';
+import { raspiService } from '../services/raspi.service.js';
+
+const router = Router();
+
+// Multer config - store in memory for proxying to RasPi
+const upload = multer({ storage: multer.memoryStorage() });
+
+router.post('/step/forward', async (_req, res) => {
+  try {
+    const result = await raspiService.motorStepForward();
+    res.json(result);
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `Motor step forward failed: ${message}` });
+  }
+});
+
+router.post('/step/backward', async (_req, res) => {
+  try {
+    const result = await raspiService.motorStepBackward();
+    res.json(result);
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `Motor step backward failed: ${message}` });
+  }
+});
+
+router.post('/stop', async (_req, res) => {
+  try {
+    const result = await raspiService.motorStop();
+    res.json(result);
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `Motor stop failed: ${message}` });
+  }
+});
+
+router.post('/upload', upload.single('file'), async (req, res) => {
+  try {
+    if (!req.file) {
+      return res.status(400).json({ error: 'No audio file provided' });
+    }
+    const result = await raspiService.uploadAudio(req.file.buffer, req.file.originalname);
+    res.json(result);
+  } catch (err: unknown) {
+    const message = err instanceof Error ? err.message : 'Unknown error';
+    res.status(500).json({ error: `Audio upload failed: ${message}` });
+  }
+});
+
+export default router;
--- a/backend/src/controllers/settings.controller.ts
+++ b/backend/src/controllers/settings.controller.ts
@@ -0,0 +1,25 @@
+import { Router } from 'express';
+import { getConfig, setRaspberryHost, setRaspberryPort, setToken } from '../config.js';
+
+const router = Router();
+
+router.get('/', (_req, res) => {
+  const settings = getConfig();
+  res.json(settings);
+});
+
+router.put('/', (req, res) => {
+  const { raspberryPi, token } = req.body;
+  if (raspberryPi?.host !== undefined) {
+    setRaspberryHost(raspberryPi.host);
+  }
+  if (raspberryPi?.port !== undefined) {
+    setRaspberryPort(Number(raspberryPi.port));
+  }
+  if (token !== undefined) {
+    setToken(token);
+  }
+  res.json(getConfig());
+});
+
+export default router;
--- 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
@@ -0,0 +1,47 @@
+import express from 'express';
+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';
+import { mcpClient } from './services/mcp.service.js';
+
+const app = express();
+
+app.use(cors());
+app.use(express.json());
+
+// Handle multipart in motor controller separately
+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) => {
+  const settings = getConfig();
+  res.json({ status: 'ok', settings });
+});
+
+const server = app.listen(getAppPort(), async () => {
+  console.log(`QuiBot backend listening on port ${getAppPort()}`);
+  whisperService.spawn();
+  piperWorker.initWav().catch(() => { /* model may not exist yet → lazy init on first TTS call */ });
+  mcpClient.connect().catch((err) => {
+    console.error(`[mcp] Failed to start MCP client: ${err instanceof Error ? err.message : String(err)}`);
+  });
+});
+
+async function shutdown(signal: string) {
+  console.log(`[server] ${signal} received, shutting down...`);
+  server.close(async () => {
+    await Promise.all([whisperService.shutdown(), piperWorker.shutdown(), mcpClient.shutdown()]);
+    process.exit(0);
+  });
+}
+
+process.on('SIGINT', () => shutdown('SIGINT'));
+process.on('SIGTERM', () => shutdown('SIGTERM'));
--- a/backend/src/piper-worker.py
+++ b/backend/src/piper-worker.py
@@ -0,0 +1,120 @@
+#!/usr/bin/env python3
+"""Persistent Piper TTS worker – single subprocess, model loaded once."""
+
+import os
+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_dir = os.environ.get("PIPER_MODELS_DIR", "/tmp/quibot-piper-models")
+    DEFAULT_MODEL = os.path.join(_default_dir, "ca_ES-upc_ona-medium.onnx")
+    DEFAULT_CONFIG = os.path.join(_default_dir, "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", "")
+
+            # NEW: output file path from message
+            out_path = msg.get("outPath")
+
+            if not voice:
+                print(json.dumps({
+                    "type": "error",
+                    "text": "Model not loaded, send init first",
+                    "msgId": msg_id,
+                }), flush=True)
+                continue
+
+            if not out_path:
+                print(json.dumps({
+                    "type": "error",
+                    "text": "Missing outPath",
+                    "msgId": msg_id,
+                }), flush=True)
+                continue
+
+            try:
+                import io
+                import wave
+
+                buf = io.BytesIO()
+                wf = wave.open(buf, 'wb')
+
+                voice.synthesize_wav(text, wf)
+                wf.close()
+
+                wav_bytes = buf.getvalue()
+
+                # Write to file instead of stdout
+                os.makedirs(os.path.dirname(out_path) or ".", exist_ok=True)
+                with open(out_path, "wb") as f:
+                    f.write(wav_bytes)
+
+                print(json.dumps({
+                    "type": "synthesized",
+                    "bytes": len(wav_bytes),
+                    "msgId": msg_id,
+                    "outPath": out_path
+                }), 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
@@ -0,0 +1,16 @@
+import { Router } from 'express';
+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();
+
+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/llama.service.ts
+++ b/backend/src/services/llama.service.ts
@@ -0,0 +1,171 @@
+import { getLlamacppUrl, getLlamacppApiKey, getLlamacppPreamble } from '../config.js';
+import { mcpClient, McpToolDef } from './mcp.service.js';
+
+interface LlamaMessage {
+  role: string;
+  content?: string | null;
+  tool_call_id?: string;
+  tool_calls?: Array<{
+    id: string;
+    type: string;
+    function: { name: string; arguments: string };
+  }>;
+}
+
+interface LlamaToolCallResult {
+  content: Array<{
+    type: string;
+    text?: string;
+  }>;
+  isError?: boolean;
+}
+
+interface LlamaToolDefinition {
+  type: 'function';
+  function: {
+    name: string;
+    description: string;
+    parameters: object;
+  };
+}
+
+interface LlamaRequest {
+  messages: LlamaMessage[];
+  tools?: LlamaToolDefinition[];
+  tool_choice?: 'auto' | 'none';
+}
+
+interface LlamaResponseChoice {
+  message?: {
+    content?: string;
+    tool_calls?: Array<{
+      id: string;
+      type: string;
+      function: { name: string; arguments: string };
+    }>;
+  };
+}
+
+interface LlamaResponse {
+  choices?: LlamaResponseChoice[];
+}
+
+const MAX_TOOL_ITERATIONS = 10;
+
+export const llamacppService = {
+  async chat(messages: Array<{ role: string; content: string }>): Promise<string> {
+    let history: LlamaMessage[] = messages.map(m => ({ role: m.role, content: m.content }));
+
+    const apiUrl = getLlamacppUrl();
+    if (!apiUrl) return '';
+
+    const apiKey = getLlamacppApiKey();
+    const headers: Record<string, string> = { 'Content-Type': 'application/json' };
+    if (apiKey) headers['Authorization'] = `Bearer ${apiKey}`;
+
+    const request: LlamaRequest = { messages: history };
+    const res = await fetch(apiUrl, { method: 'POST', headers, body: JSON.stringify(request) });
+
+    if (!res.ok) {
+      const text = await res.text().catch(() => '');
+      throw new Error(`llama.cpp request failed (${res.status}): ${text.slice(0, 300)}`);
+    }
+
+    const data = (await res.json()) as LlamaResponse;
+    const choice = data.choices?.[0];
+
+    if (!choice?.message || !choice.message.content) {
+      return '';
+    }
+
+    return choice.message.content.trim();
+  },
+
+  async chatWithPreamble(userText: string): Promise<string> {
+    const preamble = getLlamacppPreamble();
+    const msgs = preamble
+      ? [{ role: 'system' as const, content: preamble }, { role: 'user' as const, content: userText }]
+      : [{ role: 'user' as const, content: userText }];
+    return this.chat(msgs);
+  },
+
+  async chatWithMcpTools(userText: string): Promise<string> {
+    const preamble = getLlamacppPreamble();
+    const initialMessages: LlamaMessage[] = preamble
+      ? [{ role: 'system', content: preamble }, { role: 'user', content: userText }]
+      : [{ role: 'user', content: userText }];
+
+    if (!mcpClient.getReady()) {
+      console.log('[llama] MCP not ready, falling back to preamble-only chat');
+      return this.chatWithPreamble(userText);
+    }
+
+    const tools = mcpClient.getTools();
+    const llamaTools: LlamaToolDefinition[] = tools.map((t) => ({
+      type: 'function',
+      function: {
+        name: t.name,
+        description: t.description,
+        parameters: t.inputSchema,
+      },
+    }));
+
+    return this._chatWithTools(initialMessages, llamaTools);
+  },
+
+  async _chatWithTools(messages: LlamaMessage[], tools: LlamaToolDefinition[]): Promise<string> {
+    const apiUrl = getLlamacppUrl();
+    if (!apiUrl) return '';
+
+    let iter = 0;
+    const history: LlamaMessage[] = messages.map((m) => ({ ...m }));
+
+    while (iter < MAX_TOOL_ITERATIONS) {
+      const apiKey = getLlamacppApiKey();
+      const headers: Record<string, string> = { 'Content-Type': 'application/json' };
+      if (apiKey) headers['Authorization'] = `Bearer ${apiKey}`;
+
+      const body: LlamaRequest = { messages: history, tools, tool_choice: 'auto' };
+      const res = await fetch(apiUrl, { method: 'POST', headers, body: JSON.stringify(body) });
+
+      if (!res.ok) {
+        const text = await res.text().catch(() => '');
+        throw new Error(`llama.cpp request failed (${res.status}): ${text.slice(0, 300)}`);
+      }
+
+      const data = (await res.json()) as LlamaResponse;
+      const choice = data.choices?.[0];
+
+      if (!choice?.message) {
+        throw new Error('llama.cpp response has no message');
+      }
+
+      if (!choice.message.tool_calls || choice.message.tool_calls.length === 0) {
+        return choice.message.content?.trim() ?? '';
+      }
+
+      history.push({ role: 'assistant', ...choice.message });
+
+      for (const toolCall of choice.message.tool_calls) {
+        let resultText = '';
+        try {
+          const args = JSON.parse(toolCall.function.arguments);
+          resultText = await mcpClient.callTool(toolCall.function.name, args);
+        } catch (err) {
+          const msg = err instanceof Error ? err.message : String(err);
+          resultText = `Error calling tool "${toolCall.function.name}": ${msg}`;
+        }
+
+        history.push({
+          role: 'tool',
+          content: resultText,
+          tool_call_id: toolCall.id,
+        });
+      }
+
+      iter++;
+    }
+
+    throw new Error(`Exceeded max tool-call iterations (${MAX_TOOL_ITERATIONS})`);
+  },
+};
--- a/backend/src/services/mcp.service.ts
+++ b/backend/src/services/mcp.service.ts
@@ -0,0 +1,105 @@
+import { Client } from '@modelcontextprotocol/sdk/client/index.js';
+import { SSEClientTransport } from '@modelcontextprotocol/sdk/client/sse.js';
+import { getMcpUrl } from '../config.js';
+
+export interface McpToolDef {
+  name: string;
+  description: string;
+  inputSchema: object;
+}
+
+let mc: Client | null = null;
+let cachedTools: McpToolDef[] = [];
+let connected = false;
+let connecting = false;
+
+async function connectInternal(): Promise<void> {
+  if (connected) return;
+  if (connecting) throw new Error('MCP client connection already in progress');
+  connecting = true;
+
+  const rawUrl = getMcpUrl();
+  if (!rawUrl) {
+    console.warn('[mcp] MCP_URL not configured, tools disabled');
+    connecting = false;
+    return;
+  }
+
+  // Ensure the URL points at the /sse endpoint (FastMCP default)
+  let connectUrl = rawUrl;
+  try {
+    const u = new URL(rawUrl);
+    if (u.pathname === '/' || u.pathname === '') {
+      u.pathname = '/sse';
+      connectUrl = u.toString();
+    }
+  } catch {
+    // not a valid URL, use as-is
+  }
+
+  console.log(`[mcp] Connecting to ${connectUrl}...`);
+
+  try {
+    mc = new Client(
+      { name: 'quibot-backend', version: '1.0.0' },
+      { capabilities: {} },
+    );
+
+    const transport = new SSEClientTransport(new URL(connectUrl));
+    await mc.connect(transport);
+
+    console.log('[mcp] Connected, listing tools...');
+    const toolsResult = await mc.listTools();
+    cachedTools = (toolsResult.tools ?? []).map((t) => ({
+      name: t.name,
+      description: t.description ?? '',
+      inputSchema: t.inputSchema as object,
+    }));
+
+    connected = true;
+    connecting = false;
+    console.log(`[mcp] Connected to MCP server with ${cachedTools.length} tool(s): ${cachedTools.map((t) => t.name).join(', ') || '(none)'}`);
+  } catch (err) {
+    const msg = err instanceof Error ? err.message : String(err);
+    connecting = false;
+    console.error(`[mcp] Connection failed: ${msg}`);
+    throw err;
+  }
+}
+
+export const mcpClient = {
+  async connect(): Promise<void> {
+    await connectInternal();
+  },
+
+  getReady(): boolean {
+    return connected;
+  },
+
+  getTools(): readonly McpToolDef[] {
+    return cachedTools;
+  },
+
+  async callTool(name: string, args: Record<string, unknown>): Promise<string> {
+    if (!mc) throw new Error('MCP client not connected');
+    const result = await mc.callTool({ name, arguments: args });
+    const content = result.content as Array<{ type: string; text?: string }>;
+    const texts = content
+      .filter((c) => c.type === 'text')
+      .map((c) => c.text ?? '');
+    return texts.join('\n') || '[MCP tool returned no text content]';
+  },
+
+  async shutdown(): Promise<void> {
+    if (mc) {
+      try {
+        await mc.close();
+      } catch {
+        // ignore close errors on shutdown
+      }
+      mc = null;
+    }
+    connected = false;
+    cachedTools = [];
+  },
+};
--- a/backend/src/services/piper.http.service.ts
+++ b/backend/src/services/piper.http.service.ts
@@ -0,0 +1,26 @@
+import axios from 'axios';
+import { getPiperUrl } from '../config.js';
+
+export interface PiperSynthesisParams {
+  text: string;
+  lang?: string;
+}
+
+class PiperHttpService {
+  async synthesize(params: PiperSynthesisParams): Promise<Buffer> {
+    const piperUrl = getPiperUrl();
+    if (!piperUrl) throw new Error('PIPER_URL not configured');
+
+    const speakerId = params.lang === 'en' ? 1 : 0;
+
+    const response = await axios.post(
+      `${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 +1,285 @@
+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'; outPath: 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 {
+    console.log('[RX]', line);
+  let msg: PiperMsg;
+
+  try {
+    msg = JSON.parse(line) as PiperMsg;
+  } catch {
+    console.warn('[piper-svc] Invalid JSON:', line);
+    return;
+  }
+
+  switch (msg.type) {
+    case 'ready':
+      break;
+
+    case 'init_ok':
+      this.resolveInit();
+      break;
+
+    case 'init_error':
+      this.resolveInitError(new Error(msg.error));
+      break;
+
+    case 'synthesized':
+      this.resolveResponse(msg.msgId, msg.outPath);
+      break;
+
+    case 'error':
+      this.rejectResponse(
+        msg.msgId,
+        new Error(msg.text)
+      );
+      break;
+  }
+}
+
+  private async writeStdin(line: string): Promise<void> {
+  if (!this.proc?.stdin) {
+    throw new Error('piper-svc: stdin unavailable');
+  }
+
+  console.log('[TX]', line);
+
+  this.proc.stdin.write(line + '\n');
+}
+
+  // ── pending-init promises (separate from synth to avoid clearing respMap on init failure) ──
+  private initResolve: (() => void) | null = null;
+private initReject: ((e: Error) => void) | null = null;
+
+  private resolveInit(): void {
+  if (!this.pendingInit) return;
+
+  this.initResolve?.();
+
+  this.pendingInit = null;
+  this.initResolve = null;
+  this.initReject = null;
+}
+
+private rejectResponse(msgId: string, err: Error): void {
+  const entry = this.respMap.get(msgId);
+
+  this.respMap.delete(msgId);
+
+  if (entry) {
+    entry.reject(err);
+  }
+}
+
+private resolveInitError(err: Error): void {
+  if (!this.pendingInit) return;
+
+  this.initReject?.(err);
+
+  this.pendingInit = null;
+  this.initResolve = null;
+  this.initReject = null;
+}
+
+  // ── pending synth responses (separate from init so init failure doesn't clear them) ──
+  private respMap = new Map<string, {
+    resolve: (wavPath: string) => void;
+    reject: (e: Error) => void;
+  }>();
+
+  private resolveResponse(msgId: string, wavPath: string): void {
+    const entry = this.respMap.get(msgId);
+    this.respMap.delete(msgId);
+    if (entry?.resolve) entry.resolve(wavPath);
+  }
+
+  // ── public spawn / initWav / synthWav ──
+
+  private async _spawn(): Promise<void> {
+    if (this.proc) return;
+
+    const workerPath = join(SCRIPT_DIR, '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();
+
+    if (this.proc.stderr) {
+      this.proc.stderr.on('data', (chunk: Buffer) => {
+        console.error(
+          '[piper-worker]',
+          chunk.toString().trim()
+        );
+      });
+    }
+
+    this.proc.on('exit', () => {
+      console.log('[piper-svc] Process exited, rejecting all pending synths');
+      // reject all pending (new format: {resolve, reject})
+      for (const [, entry] of this.respMap) entry.reject(new Error('piper process exited'));
+      this.respMap.clear();
+      if (this.pendingInit && this.initReject) {
+        this.initReject(new Error('piper process exited'));
+        this.pendingInit = null;
+      }
+    });
+
+    // ── cleanup old WAV files every 5 min ──
+    this.cleanupTimer = 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) => {
+      this.initResolve = resolve;
+      this.initReject = reject;
+    });
+    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: ${localErr instanceof Error ? localErr.message : localErr}. Falling back to remote.`);
+        return await httpPiperService.synthesize({ ...params, lang: 'ca' });
+      }
+      throw localErr;
+    }
+  }
+
+  async synthWav(text: string): Promise<Buffer> {
+    await this.initWav();
+    if (!this.proc) await this._spawn(); // auto-spawn; init runs concurrently
+    const msgId = randomUUID() + '-' + Date.now();
+    const outPath = join(TTS_DIR, `${msgId}.wav`);
+
+    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 after 120s'));
+      }, 120_000);
+
+      this.respMap.set(msgId, {
+        resolve: (wavPath: string) => {
+          if (cleared) return;
+          cleared = true;
+          clearTimeout(timer);
+          console.log(`[piper-svc] Synthesized ${wavPath} (${Date.now()})`);
+          try {
+            const buf = readFileSync(wavPath);
+            rmSync(wavPath, { force: true });
+            resolve(buf);
+          } catch (err: unknown) {
+            reject(err instanceof Error ? err : new Error('read WAV failed'));
+          }
+        },
+        reject: (e: Error) => {
+          if (cleared) return;
+          cleared = true;
+          clearTimeout(timer);
+          this.respMap.delete(msgId);
+          reject(e);
+        },
+      });
+
+      console.log(`[piper-svc] synthesize ${text.substring(0, 40)}... (msgId=${msgId})`);
+      this.writeStdin(
+        JSON.stringify({ type: 'synthesize', text, msgId, outPath }),
+      ).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> {
+    if (this.cleanupTimer) {
+      clearInterval(this.cleanupTimer);
+      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/backend/src/services/raspi.service.ts
+++ b/backend/src/services/raspi.service.ts
@@ -0,0 +1,77 @@
+import axios from 'axios';
+import { getRaspberryHost, getRaspberryPort, getToken } from '../config.js';
+
+interface RunTaskParams {
+  task: string;
+}
+
+interface AudioLockParams {
+  filename: string;
+}
+
+export const raspiService = {
+  async runTask(params: RunTaskParams) {
+    const res = await axios.post(`${getRaspberryHost()}:${getRaspberryPort()}/run`, null, {
+      params: { task: params.task, token: getToken() },
+    });
+    return res.data;
+  },
+
+  async motorStepForward() {
+    const res = await axios.post(`${getRaspberryHost()}:${getRaspberryPort()}/motor/step/forward`, null, {
+      params: { token: getToken() },
+    });
+    return res.data;
+  },
+
+  async motorStepBackward() {
+    const res = await axios.post(`${getRaspberryHost()}:${getRaspberryPort()}/motor/step/backwards`, null, {
+      params: { token: getToken() },
+    });
+    return res.data;
+  },
+
+  async motorStop() {
+    const res = await axios.post(`${getRaspberryHost()}:${getRaspberryPort()}/motor/stop`, null, {
+      params: { token: getToken() },
+    });
+    return res.data;
+  },
+
+  async uploadAudio(buffer: Buffer, filename?: string) {
+    const fname = filename || 'audio.wav';
+    const ext = fname.split('.').pop()?.toLowerCase() || 'wav';
+    const formData = new FormData();
+    formData.append('file', new Blob([buffer]), fname);
+    const res = await axios.post(`${getRaspberryHost()}:${getRaspberryPort()}/audio/upload`, formData, {
+      params: { format: ext },
+      headers: { 'Content-Type': 'multipart/form-data' },
+    });
+    return res.data;
+  },
+
+  async listIncomingAudio() {
+    const res = await axios.get(`${getRaspberryHost()}:${getRaspberryPort()}/audio/incoming`);
+    return res.data;
+  },
+
+  async lockAudio(params: AudioLockParams) {
+    const res = await axios.post(`${getRaspberryHost()}:${getRaspberryPort()}/audio/lock/${params.filename}`);
+    return res.data;
+  },
+
+  async unlockAudio(params: AudioLockParams) {
+    const res = await axios.post(`${getRaspberryHost()}:${getRaspberryPort()}/audio/unlock/${params.filename}`);
+    return res.data;
+  },
+
+  async cancelAudio(params: AudioLockParams) {
+    const res = await axios.post(`${getRaspberryHost()}:${getRaspberryPort()}/audio/cancel/${params.filename}`);
+    return res.data;
+  },
+
+  async processAudio(params: AudioLockParams) {
+    const res = await axios.post(`${getRaspberryHost()}:${getRaspberryPort()}/audio/process/${params.filename}`);
+    return res.data;
+  },
+};
--- a/backend/src/services/whisper.service.ts
+++ b/backend/src/services/whisper.service.ts
@@ -0,0 +1,218 @@
+import { spawn, ChildProcess } from 'child_process';
+import { join } from 'path';
+import { fileURLToPath } from 'url';
+import { randomUUID } from 'crypto';
+
+const __filename = fileURLToPath(import.meta.url);
+const __dirname = join(__filename, '..');
+
+const SCRIPT_DIR = join(__dirname, '..');
+
+const PYTHON = join(SCRIPT_DIR, '..', '.venv', 'bin', 'python3');
+
+const whisperModel = process.env.WHISPER_MODEL ?? 'small';
+const whisperLanguage = process.env.WHISPER_LANGUAGE ?? 'ca';
+
+interface TranscriptResult {
+  msgId: string;
+  text?: string;
+  error?: string;
+}
+
+interface InitResult {
+  type: 'init_ok' | 'init_error';
+}
+
+class WhisperService {
+  private proc: ChildProcess | null = null;
+  private onInitResolve: (() => void) | null = null;
+  private onInitReject: ((err: Error) => void) | null = null;
+
+  spawn(): void {
+    if (this.proc) return;
+
+    const scriptPath = join(SCRIPT_DIR, 'whisper-worker.py');
+
+    this.proc = spawn(PYTHON, [scriptPath], {
+      stdio: ['pipe', 'pipe', 'pipe'],
+      env: { ...process.env },
+    });
+
+    if (!this.proc.stdout || !this.proc.stderr || !this.proc.stdin) {
+      console.error('[whisper-svc] Missing stdin/stdout/stderr');
+      this.proc = null;
+      return;
+    }
+
+    const proc = this.proc;
+    if (!proc?.stdout) return;
+    let buf = '';
+    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;
+        try {
+          const msg = JSON.parse(line);
+          if (msg.type === 'ready') {
+            console.log('[whisper-svc] Worker ready, sending init...');
+            proc.stdin!.write(
+              JSON.stringify({ type: 'init', model: whisperModel, language: whisperLanguage }) + '\n',
+            );
+          } else if (msg.type === 'init_ok') {
+            console.log(`[whisper-svc] Model loaded (model=${whisperModel}, lang=${whisperLanguage})`);
+            if (this.onInitResolve) {
+              const r = this.onInitResolve;
+              this.onInitResolve = null;
+              this.onInitReject = null;
+              r();
+            }
+          } else if (msg.type === 'init_error') {
+            const err = new Error(`whisper-svc init failed: ${msg.error || 'unknown'}`);
+            if (this.onInitReject) {
+              const r = this.onInitReject;
+              this.onInitResolve = null;
+              this.onInitReject = null;
+              r(err);
+            }
+          } else if (msg.type === 'transcript' || msg.type === 'error') {
+            this.resolveTranscript(msg.msgId, msg);
+          }
+        } catch { /* skip */ }
+      }
+    });
+
+    const stderr = proc.stderr;
+    if (stderr) {
+      stderr.on('data', (chunk: Buffer) => {
+        const text = chunk.toString().trim();
+        if (text) console.log(`[whisper-svc] stderr: ${text}`);
+      });
+    }
+
+    proc.on('exit', (code, signal) => {
+      console.log(`[whisper-svc] Exited code=${code} signal=${signal}`);
+      this.proc = null;
+    });
+
+    proc.on('error', (err) => {
+      console.error(`[whisper-svc] Error: ${err.message}`);
+      this.proc = null;
+    });
+  }
+
+  private pending: Map<string, (result: TranscriptResult) => void> = new Map();
+
+  private resolveTranscript(msgId: string, msg: { type?: string; text?: string; error?: string }) {
+    const cb = this.pending.get(msgId);
+    this.pending.delete(msgId);
+    if (cb) {
+      if (msg.type === 'error') {
+        cb({
+          msgId,
+          text: msg.text,
+          error: msg.error ?? msg.text ?? 'unknown error',
+        });
+      } else {
+        cb({ msgId, text: msg.text });
+      }
+    }
+  }
+
+  private waitForInit(): Promise<void> {
+    if (this.onInitResolve) return Promise.resolve(); // already initializing
+
+    return new Promise<void>((resolve, reject) => {
+      let cleared = false;
+      const timer = setTimeout(() => {
+        if (cleared) return;
+        cleared = true;
+        this.onInitReject = null;
+        reject(new Error('whisper-svc init timed out'));
+      }, 90_000);
+      this.onInitResolve = () => {
+        if (cleared) return;
+        cleared = true;
+        clearTimeout(timer);
+        resolve();
+      };
+      this.onInitReject = (err: Error) => {
+        if (cleared) return;
+        cleared = true;
+        clearTimeout(timer);
+        reject(err);
+      };
+    });
+  }
+
+  async transcribe(audioPath: string): Promise<string> {
+    if (!this.proc) {
+      this.spawn();
+    }
+
+    // await this.waitForInit();
+
+    const msgId = randomUUID() + '-' + Date.now();
+
+    return new Promise((resolve, reject) => {
+      let cleared = false;
+      let timer: ReturnType<typeof setTimeout> | null = null;
+
+      const resolvePromise = (result: TranscriptResult) => {
+        if (cleared) return;
+        cleared = true;
+        if (timer) clearTimeout(timer);
+        if (result.error) {
+          reject(new Error(`whisper-svc: ${result.error}`));
+        } else if (result.text) {
+          resolve(result.text.trim());
+        } else {
+          reject(new Error('whisper-svc: empty response'));
+        }
+      };
+
+      this.pending.set(msgId, resolvePromise);
+
+      timer = setTimeout(() => {
+        if (cleared) return;
+        cleared = true;
+        this.pending.delete(msgId);
+        reject(new Error('whisper-svc: transcription timed out'));
+      }, 120_000);
+
+      const proc = this.proc;
+      if (proc && proc.stdin) {
+        proc.stdin.write(
+          JSON.stringify({ type: 'transcribe', path: audioPath, msgId }) + '\n',
+        );
+      } else {
+        cleared = true;
+        if (timer) clearTimeout(timer);
+        this.pending.delete(msgId);
+        reject(new Error('whisper subprocess not running'));
+      }
+    });
+  }
+
+  async shutdown(): Promise<void> {
+    const proc = this.proc;
+    if (proc) {
+      try {
+        proc.stdin!.end();
+        await new Promise<void>((resolve) => {
+          proc.on('exit', () => resolve());
+          setTimeout(() => {
+            if (!proc.killed) proc.kill('SIGTERM');
+            resolve();
+          }, 3000);
+        });
+      } catch { /* ignore */ }
+      this.proc = null;
+    }
+  }
+}
+
+export const whisperService = new WhisperService();
--- a/backend/src/whisper-worker.py
+++ b/backend/src/whisper-worker.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+"""Persistent Whisper transcription worker – single subprocess, model loaded once."""
+
+import sys
+import json
+
+
+def main():
+    from faster_whisper import WhisperModel
+
+    model_path = "base"
+    language = "ca"
+    model = None
+
+    # 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", "base")
+            language = msg.get("language", "ca") or "ca"
+            print(f"[whisper-worker] Loading model='{model_path}' language='{language}'", file=sys.stderr, flush=True)
+            model = WhisperModel(model_path, device="cpu", compute_type="int8")
+            print(json.dumps({"type": "init_ok"}), flush=True)
+            continue
+
+        if msg.get("type") == "transcribe":
+            audio_path = msg.get("path")
+            msg_id = msg.get("msgId", "")
+            if not audio_path:
+                print(json.dumps({"type": "error", "text": "no path provided", "msgId": msg_id}), flush=True)
+                continue
+
+            try:
+                segments, info = model.transcribe(audio_path, language=language or None)
+                transcript = ""
+                for seg in segments:
+                    transcript += seg.text + " "
+                result_text = transcript.strip()
+                print(json.dumps({"type": "transcript", "text": result_text, "msgId": msg_id}), flush=True)
+            except Exception as exc:
+                print(json.dumps({"type": "error", "text": str(exc), "msgId": msg_id}), flush=True)
+
+
+if __name__ == "__main__":
+    main()
--- a/backend/tsconfig.json
+++ b/backend/tsconfig.json
@@ -0,0 +1,20 @@
+{
+  "compilerOptions": {
+    "target": "ES2022",
+    "module": "Node16",
+    "moduleResolution": "Node16",
+    "lib": ["ES2022"],
+    "outDir": "./dist",
+    "rootDir": "./src",
+    "strict": true,
+    "esModuleInterop": true,
+    "skipLibCheck": true,
+    "forceConsistentCasingInFileNames": true,
+    "resolveJsonModule": true,
+    "declaration": true,
+    "declarationMap": true,
+    "sourceMap": true
+  },
+  "include": ["src/**/*"],
+  "exclude": ["node_modules", "dist"]
+}
--- a/igualtat_h3.png
+++ b/igualtat_h3.png
--- a/logo-qui-bot-capcalera.png
+++ b/logo-qui-bot-capcalera.png
--- a/mcp/.gitignore
+++ b/mcp/.gitignore
@@ -0,0 +1 @@
+.venv/
--- a/mcp/mcp_server.py
+++ b/mcp/mcp_server.py
@@ -0,0 +1,46 @@
+from fastmcp import FastMCP
+import requests
+import threading
+
+mcp = FastMCP("Test MCP server")
+
+def fire_and_forget(url: str):
+    try:
+        requests.get(url, timeout=2)
+    except Exception:
+        pass  # ignore all errors so it never affects the tool
+
+@mcp.tool()
+def add(a: int, b: int) -> int:
+    """Add two numbers together"""
+    return a + b
+
+@mcp.tool()
+def greet(name: str) -> str:
+    """Greet someome by its name"""
+    return f"Hello {name}! Welcome!"
+
+@mcp.tool()
+def multiply(a: int, b: int) -> int:
+    """Multiply two numbers"""
+    return a * b
+
+@mcp.tool()
+def get_time() -> str:
+    """Get the current time"""
+    from datetime import datetime
+    return datetime.now().strftime("%I:%M %p")
+
+@mcp.tool()
+def moure_brac() -> str:
+    """Mou els braços"""
+
+    url = "http://quibot.local:8000/greet"
+
+    # start background request (non-blocking)
+    threading.Thread(target=fire_and_forget, args=(url,), daemon=True).start()
+
+    return "Braços moguts"
+
+if __name__ == "__main__":
+    mcp.run(transport="sse", port=5001)
--- a/package-lock.json
+++ b/package-lock.json
@@ -0,0 +1,399 @@
+{
+  "name": "quibot",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "": {
+      "dependencies": {
+        "formdata-node": "^6.0.3",
+        "vue-i18n": "^11.4.5"
+      }
+    },
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+      "peer": true,
+      "engines": {
+        "node": ">=6.9.0"
+      }
+    },
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+      "license": "MIT",
+      "peer": true,
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+      "peer": true,
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+        "parser": "bin/babel-parser.js"
+      },
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+}
--- a/package.json
+++ b/package.json
@@ -0,0 +1,6 @@
+{
+  "dependencies": {
+    "formdata-node": "^6.0.3",
+    "vue-i18n": "^11.4.5"
+  }
+}
--- a/quibot-web/README.md
+++ b/quibot-web/README.md
@@ -0,0 +1,67 @@
+# Quibot Web
+
+Interfície web per controlar el robit de la Quibot. Construida amb [Nuxt 3](https://nuxt.com/) i [Vue 3](https://vuejs.org/).
+
+## Requisits previs
+
+- [Node.js](https://nodejs.org/) (versió 20 o superior)
+- npm, yarn o pnpm
+
+## Instal·lació
+
+```bash
+npm install
+```
+
+## Execució en mode desenvolupament
+
+```bash
+npm run dev
+```
+
+L'aplicació estarà disponible a `http://localhost:3000`.
+
+## Configuració
+
+L'aplicació es configura mitjançant variables d'entorn:
+
+| Variable          | Descripció                       | Valor per defecte     |
+|-------------------|----------------------------------|------------------------|
+| `QUIBOT_BASE_URL` | URL del backend del Quibot       | `http://quibot:8000`   |
+| `QUIBOT_TOKEN`    | Token d'autenticació del backend | `MY_SECRET_TOKEN`      |
+
+## Comandos disponibles
+
+| Comando         | Descripció                                 |
+|-----------------|--------------------------------------------|
+| `npm run dev`   | Inicia el servidor de desenvolupament      |
+| `npm run build` | Compila l'aplicació per a producció        |
+| `npm run generate` | Genera l'aplicació estàtica             |
+| `npm run preview` | Previsualitza la versió de producció     |
+
+## Funcionalitat
+
+L'interfície permet enviar comandes al motor del Quibot:
+
+- **Step Forward** – Mou el motor cap endavant
+- **Step Backwards** – Mou el motor cap enrere
+- **Stop** – Atura el motor
+
+## Estructura del projecte
+
+```
+quibot-web/
+├── app/
+│   └── app.vue                     # Pàgina principal amb els controls del motor
+├── server/
+│   └── api/motor/                  # Rutes API del servidor
+│       ├── stop.post.ts            # Comanda d'aturada
+│       └── step/[direction].post.ts # Comandes de moviment
+├── public/
+│   └── favicon.ico                 # Icona del navegador
+├── nuxt.config.ts                  # Configuració del Nuxt
+├── package.json
+└── tsconfig.json                   # Configuració de TypeScript
+```
+
+## Llicència
--- a/quibot-web/app/app.vue
+++ b/quibot-web/app/app.vue
--- a/quibot-web/app/locales/ca.ts
+++ b/quibot-web/app/locales/ca.ts
@@ -0,0 +1,149 @@
+export default {
+  header: {
+    subtitle: 'Monitor de Control del Robot',
+    online: 'EN LÍNIA',
+    offline: 'DESCONNECTAT',
+  },
+  panels: {
+    blockQueue: 'Cua de Blocs',
+    motionControls: 'Controls de Moviment',
+    eyeControls: 'Controls dels Ulls',
+    gestureSensor: 'Sensor de Gestos',
+  },
+  blocks: {
+    empty: 'No hi ha blocs a la cua',
+    clear: 'Buidar Cua',
+    queued: 'A l\'espera',
+    processing: 'Procesant',
+  },
+  blockActions: {
+    rd: 'Avançar fins al creuament',
+    gn: 'Girar a la dreta 90\u00B0',
+    bu: 'Girar a l\'esquerra 90\u00B0',
+    ye: 'Agafar / Extrair líquid',
+    og: 'Deixar / Dispensar líquid',
+    vt: 'Pausa sorpresa',
+  },
+  colors: {
+    red: 'Vermell',
+    green: 'Verd',
+    blue: 'Blau',
+    yellow: 'Groc',
+    orange: 'Taronja',
+    violet: 'Violeta',
+  },
+  motion: {
+    forward: 'Endavant',
+    backward: 'Enrere',
+    left: 'Esquerra',
+    right: 'Dreta',
+    sending: 'Enviant: {dir}',
+    sent: 'Comanda de motor enviada: {dir}',
+    failed: 'La comanda ha fallat',
+  },
+  motionToast: {
+    success: 'Moviment {dir}',
+  },
+  eyes: {
+    shapeLabel: 'Color dels Ulls',
+    actionsLabel: 'Accions',
+    applyShape: 'Aplicar Forma',
+    applyColor: 'Aplicar Color',
+    eyeOn: 'Encendre',
+    eyeOff: 'Apagar',
+    toastSetShape: 'Forma dels ulls establerta: {shape}',
+    toastFailedShape: 'No s\'ha pogut establir la forma dels ulls',
+    toastSetColor: 'Color dels ulls establert: {color}',
+    toastFailedColor: 'No s\'ha pogut establir el color dels ulls',
+    toastOn: 'Ulls encesos',
+    toastOff: 'Ulls apagats',
+    toastFailedOn: 'No s\'han pogut encendre els ulls',
+    toastFailedOff: 'No s\'han pogut apagar els ulls',
+  },
+  eyeShapes: {
+    open: 'Oberts',
+    fw: 'Endavant',
+    down: 'Baix',
+    gesture: 'Gest',
+  },
+  eyeColors: {
+    white: 'Blanc',
+    red: 'Vermell',
+    green: 'Verd',
+    blue: 'Blau',
+    yellow: 'Groc',
+    orange: 'Taronja',
+    purple: 'Lila',
+    cyan: 'Cian',
+    black: 'Apagat',
+  },
+  gestures: {
+    modeLabel: 'Mode de Funcionament',
+    blockMode: 'Mode Blocs',
+    gestureMode: 'Mode Gestos',
+    detectedLabel: 'Gestos Detectats',
+    empty: 'Encara no s\'han detectat gestos',
+    reference: 'Referència de Gestos',
+    clearLog: 'Buidar Registre',
+    toggleToast: 'Canviar mode',
+  },
+  gestureNames: {
+    forward: 'Empènyer Endavant',
+    left: 'Ona Esquerra',
+    right: 'Ona Dreta',
+    up: 'Ona Amunt',
+    down: 'Ona Avall',
+    clockwise: 'Cercle CW',
+    anticlockwise: 'Cercle CCW',
+    wave: 'Ona (Commute)',
+  },
+  gestureActions: {
+    forward: 'Avançar creuament',
+    right: 'Girar a la dreta 90\u00B0',
+    left: 'Girar a l\'esquerra 90\u00B0',
+    up: 'Agafar / Extreure',
+    down: 'Deixar / Dispensar',
+    clockwise: 'Inactiu',
+    anticlockwise: 'Inactiu',
+    wave: 'Canviar mode',
+  },
+  gestureRef: {
+    forward: 'Empènyer Endavant',
+    left: 'Ona Esquerra',
+    right: 'Ona Dreta',
+    up: 'Ona Amunt',
+    down: 'Ona Avall',
+    clockwise: 'Cercle CW',
+    anticlockwise: 'Cercle CCW',
+    wave: 'Ona (Ambdues)',
+  },
+  modes: {
+    block: 'Mode Blocs',
+    gesture: 'Mode Gestos',
+  },
+  toast: {
+    cleared: 'Cua buidada',
+    switched: 'Canviat a mode {mode}',
+  },
+  theme: {
+    light: 'Canviar a mode clar',
+    dark: 'Canviar a mode fosc',
+  },
+  settings: {
+    title: 'Configuració',
+    save: 'Desar',
+    saved: 'Configuració desada',
+    theme: {
+      label: 'Tema',
+      dark: 'Fosc',
+      light: 'Clar',
+    },
+    language: {
+      label: 'Idioma',
+    },
+    piUrl: {
+      label: 'URL del Raspberry Pi',
+      placeholder: 'http://raspberrypi.local:8000',
+    },
+  },
+}
--- a/quibot-web/app/locales/en.ts
+++ b/quibot-web/app/locales/en.ts
@@ -0,0 +1,149 @@
+export default {
+  header: {
+    subtitle: 'Robot Control Monitor',
+    online: 'ONLINE',
+    offline: 'OFFLINE',
+  },
+  panels: {
+    blockQueue: 'Block Queue',
+    motionControls: 'Motion Controls',
+    eyeControls: 'Eye Controls',
+    gestureSensor: 'Gesture Sensor',
+  },
+  blocks: {
+    empty: 'No blocks in queue',
+    clear: 'Clear Queue',
+    queued: 'Queued',
+    processing: 'Processing',
+  },
+  blockActions: {
+    rd: 'Advance to crossing',
+    gn: 'Turn right 90\u00B0',
+    bu: 'Turn left 90\u00B0',
+    ye: 'Take / Extract liquid',
+    og: 'Leave / Dispense liquid',
+    vt: 'Surprise pause',
+  },
+  colors: {
+    red: 'Red',
+    green: 'Green',
+    blue: 'Blue',
+    yellow: 'Yellow',
+    orange: 'Orange',
+    violet: 'Violet',
+  },
+  motion: {
+    forward: 'Forward',
+    backward: 'Back',
+    left: 'Left',
+    right: 'Right',
+    sending: 'Sending: {dir}',
+    sent: 'Motor command sent: {dir}',
+    failed: 'Command failed',
+  },
+  motionToast: {
+    success: 'Motion {dir}',
+  },
+  eyes: {
+    shapeLabel: 'Eye Color',
+    actionsLabel: 'Actions',
+    applyShape: 'Apply Shape',
+    applyColor: 'Apply Color',
+    eyeOn: 'Turn On',
+    eyeOff: 'Turn Off',
+    toastSetShape: 'Eye shape set: {shape}',
+    toastFailedShape: 'Failed to set eye shape',
+    toastSetColor: 'Eye color set: {color}',
+    toastFailedColor: 'Failed to set eye color',
+    toastOn: 'Eyes turned on',
+    toastOff: 'Eyes turned off',
+    toastFailedOn: 'Failed to turn eyes on',
+    toastFailedOff: 'Failed to turn eyes off',
+  },
+  eyeShapes: {
+    open: 'Open',
+    fw: 'Forward',
+    down: 'Down',
+    gesture: 'Gesture',
+  },
+  eyeColors: {
+    white: 'White',
+    red: 'Red',
+    green: 'Green',
+    blue: 'Blue',
+    yellow: 'Yellow',
+    orange: 'Orange',
+    purple: 'Purple',
+    cyan: 'Cyan',
+    black: 'Off',
+  },
+  gestures: {
+    modeLabel: 'Operating Mode',
+    blockMode: 'Block Mode',
+    gestureMode: 'Gesture Mode',
+    detectedLabel: 'Detected Gestures',
+    empty: 'No gestures detected yet',
+    reference: 'Gesture Reference',
+    clearLog: 'Clear Log',
+    toggleToast: 'Toggle mode',
+  },
+  gestureNames: {
+    forward: 'Push Forward',
+    left: 'Wave Left',
+    right: 'Wave Right',
+    up: 'Wave Up',
+    down: 'Wave Down',
+    clockwise: 'Circle CW',
+    anticlockwise: 'Circle CCW',
+    wave: 'Wave (Toggle)',
+  },
+  gestureActions: {
+    forward: 'Advance crossing',
+    right: 'Turn right 90\u00B0',
+    left: 'Turn left 90\u00B0',
+    up: 'Take / Extract',
+    down: 'Leave / Dispense',
+    clockwise: 'Idle',
+    anticlockwise: 'Idle',
+    wave: 'Toggle mode',
+  },
+  gestureRef: {
+    forward: 'Push Forward',
+    left: 'Wave Left',
+    right: 'Wave Right',
+    up: 'Wave Up',
+    down: 'Wave Down',
+    clockwise: 'Circle CW',
+    anticlockwise: 'Circle CCW',
+    wave: 'Wave (Both)',
+  },
+  modes: {
+    block: 'Block Mode',
+    gesture: 'Gesture Mode',
+  },
+  toast: {
+    cleared: 'Queue cleared',
+    switched: 'Switched to {mode} mode',
+  },
+  theme: {
+    light: 'Switch to light mode',
+    dark: 'Switch to dark mode',
+  },
+  settings: {
+    title: 'Settings',
+    save: 'Save',
+    saved: 'Settings saved',
+    theme: {
+      label: 'Theme',
+      dark: 'Dark',
+      light: 'Light',
+    },
+    language: {
+      label: 'Language',
+    },
+    piUrl: {
+      label: 'Raspberry Pi URL',
+      placeholder: 'http://raspberrypi.local:8000',
+    },
+  },
+}
--- a/quibot-web/app/locales/es.ts
+++ b/quibot-web/app/locales/es.ts
@@ -0,0 +1,149 @@
+export default {
+  header: {
+    subtitle: 'Monitor de Control del Robot',
+    online: 'EN LÍNEA',
+    offline: 'DESCONNECTADO',
+  },
+  panels: {
+    blockQueue: 'Cola de Bloques',
+    motionControls: 'Controles de Movimiento',
+    eyeControls: 'Controles de los Ojos',
+    gestureSensor: 'Sensor de Gestos',
+  },
+  blocks: {
+    empty: 'No hay bloques en la cola',
+    clear: 'Borrar Cola',
+    queued: 'En espera',
+    processing: 'Procesando',
+  },
+  blockActions: {
+    rd: 'Avanzar hasta el cruce',
+    gn: 'Girar a la derecha 90\u00B0',
+    bu: 'Girar a la izquierda 90\u00B0',
+    ye: 'Tomar / Extraer líquido',
+    og: 'Dejar / Dispensar líquido',
+    vt: 'Pausa sorpresa',
+  },
+  colors: {
+    red: 'Rojo',
+    green: 'Verde',
+    blue: 'Azul',
+    yellow: 'Amarillo',
+    orange: 'Naranja',
+    violet: 'Violeta',
+  },
+  motion: {
+    forward: 'Adelante',
+    backward: 'Atrás',
+    left: 'Izquierda',
+    right: 'Derecha',
+    sending: 'Enviando: {dir}',
+    sent: 'Comando de motor enviado: {dir}',
+    failed: 'El comando falló',
+  },
+  motionToast: {
+    success: 'Movimiento {dir}',
+  },
+  eyes: {
+    shapeLabel: 'Color de los Ojos',
+    actionsLabel: 'Acciones',
+    applyShape: 'Aplicar Forma',
+    applyColor: 'Aplicar Color',
+    eyeOn: 'Encender',
+    eyeOff: 'Apagar',
+    toastSetShape: 'Forma de ojos establecida: {shape}',
+    toastFailedShape: 'No se pudo establecer la forma de los ojos',
+    toastSetColor: 'Color de ojos establecido: {color}',
+    toastFailedColor: 'No se pudo establecer el color de los ojos',
+    toastOn: 'Ojos encendidos',
+    toastOff: 'Ojos apagados',
+    toastFailedOn: 'No se pudieron encender los ojos',
+    toastFailedOff: 'No se pudieron apagar los ojos',
+  },
+  eyeShapes: {
+    open: 'Abiertos',
+    fw: 'Adelante',
+    down: 'Abajo',
+    gesture: 'Gesto',
+  },
+  eyeColors: {
+    white: 'Blanco',
+    red: 'Rojo',
+    green: 'Verde',
+    blue: 'Azul',
+    yellow: 'Amarillo',
+    orange: 'Naranja',
+    purple: 'Morado',
+    cyan: 'Cian',
+    black: 'Apagado',
+  },
+  gestures: {
+    modeLabel: 'Modo de Funcionamiento',
+    blockMode: 'Modo Bloques',
+    gestureMode: 'Modo Gestos',
+    detectedLabel: 'Gestos Detectados',
+    empty: 'Aún no se han detectado gestos',
+    reference: 'Referencia de Gestos',
+    clearLog: 'Borrar Registro',
+    toggleToast: 'Cambiar modo',
+  },
+  gestureNames: {
+    forward: 'Empujar Adelante',
+    left: 'Onda Izquierda',
+    right: 'Onda Derecha',
+    up: 'Onda Arriba',
+    down: 'Onda Abajo',
+    clockwise: 'Círculo CW',
+    anticlockwise: 'Círculo CCW',
+    wave: 'Onda (Conmute)',
+  },
+  gestureActions: {
+    forward: 'Avanzar cruce',
+    right: 'Girar a la derecha 90\u00B0',
+    left: 'Girar a la izquierda 90\u00B0',
+    up: 'Tomar / Extraer',
+    down: 'Dejar / Dispensar',
+    clockwise: 'Inactivo',
+    anticlockwise: 'Inactivo',
+    wave: 'Cambiar modo',
+  },
+  gestureRef: {
+    forward: 'Empujar Adelante',
+    left: 'Onda Izquierda',
+    right: 'Onda Derecha',
+    up: 'Onda Arriba',
+    down: 'Onda Abajo',
+    clockwise: 'Círculo CW',
+    anticlockwise: 'Círculo CCW',
+    wave: 'Onda (Ambas)',
+  },
+  modes: {
+    block: 'Modo Bloques',
+    gesture: 'Modo Gestos',
+  },
+  toast: {
+    cleared: 'Cola borrada',
+    switched: 'Cambiado a modo {mode}',
+  },
+  theme: {
+    light: 'Cambiar a modo claro',
+    dark: 'Cambiar a modo oscuro',
+  },
+  settings: {
+    title: 'Configuración',
+    save: 'Guardar',
+    saved: 'Configuración guardada',
+    theme: {
+      label: 'Tema',
+      dark: 'Oscuro',
+      light: 'Claro',
+    },
+    language: {
+      label: 'Idioma',
+    },
+    piUrl: {
+      label: 'URL de Raspberry Pi',
+      placeholder: 'http://raspberrypi.local:8000',
+    },
+  },
+}
--- a/quibot-web/app/plugins/i18n.ts
+++ b/quibot-web/app/plugins/i18n.ts
@@ -0,0 +1,38 @@
+import { defineNuxtPlugin, useRuntimeConfig } from '#app'
+import { createI18n } from 'vue-i18n'
+import en from '~/locales/en'
+import ca from '~/locales/ca'
+import es from '~/locales/es'
+
+const locales = ['en', 'ca', 'es'] as const
+type LocaleType = (typeof locales)[number]
+
+function getSavedLocale(): LocaleType {
+  if (typeof window !== 'undefined') {
+    const saved = localStorage.getItem('quibot-locale')
+    if (saved && locales.includes(saved as LocaleType)) {
+      return saved as LocaleType
+    }
+  }
+  return 'en'
+}
+
+export default defineNuxtPlugin((nuxtApp) => {
+  const locale = getSavedLocale()
+  const i18n = createI18n({
+    legacy: false,
+    locale,
+    fallbackLocale: 'en',
+    messages: { en, ca, es },
+  })
+
+  nuxtApp.vueApp.use(i18n)
+
+  // Expose setLocale for global access
+  nuxtApp.provide('setLocale', (l: LocaleType) => {
+    if (locales.includes(l)) {
+      i18n.global.locale.value = l
+      localStorage.setItem('quibot-locale', l)
+    }
+  })
+})
--- a/quibot-web/components/SettingsModal.vue
+++ b/quibot-web/components/SettingsModal.vue
@@ -0,0 +1,269 @@
+<script setup lang="ts">
+import { ref, watch, onMounted } from 'vue'
+import { useI18n } from 'vue-i18n'
+
+const { t } = useI18n()
+const { locale } = useI18n()
+
+const props = defineProps<{
+  show: boolean
+}>()
+
+const emit = defineEmits<{
+  'update:show': [value: boolean]
+  toast: [msg: string, type: 'success' | 'error']
+}>()
+
+const localShow = ref(props.show)
+
+watch(() => props.show, (val) => {
+  localShow.value = val
+})
+
+const selectedTheme = ref(localStorage.getItem('quibot-theme') || 'dark')
+const selectedLanguage = ref(localStorage.getItem('quibot-locale') || 'en')
+const piUrl = ref(localStorage.getItem('quibot-pi-url') || 'http://raspberrypi.local:8000')
+
+function applyTheme(theme: string) {
+  document.documentElement.setAttribute('data-theme', theme)
+  localStorage.setItem('quibot-theme', theme)
+}
+
+function saveSettings() {
+  applyTheme(selectedTheme.value)
+  locale.value = selectedLanguage.value as any
+  localStorage.setItem('quibot-locale', selectedLanguage.value)
+  localStorage.setItem('quibot-pi-url', piUrl.value)
+  document.cookie = `quibot-pi-url=${encodeURIComponent(piUrl.value)};path=/`
+  emit('toast', t('settings.saved'), 'success')
+  emit('update:show', false)
+}
+
+function close() {
+  localShow.value = false
+  emit('update:show', false)
+}
+
+function backdropClick(e: MouseEvent) {
+  if ((e.target as HTMLElement).classList.contains('settings-backdrop')) {
+    close()
+  }
+}
+</script>
+
+<template>
+  <Teleport to="body">
+    <div v-show="localShow" class="settings-backdrop" @click="backdropClick">
+      <div class="settings-modal">
+        <div class="settings-header">
+          <h2>{{ $t('settings.title') }}</h2>
+          <button class="close-btn" @click="close">
+            <svg width="20" height="20" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2.5"><path d="M18 6L6 18M6 6l12 12"/></svg>
+          </button>
+        </div>
+
+        <!-- Theme -->
+        <div class="setting-row">
+          <span class="setting-label">{{ $t('settings.theme.label') }}</span>
+          <div class="theme-options">
+            <button
+              :class="['theme-option', { active: selectedTheme === 'light' }]"
+              @click="selectedTheme = 'light'"
+            >
+              <svg width="18" height="18" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><path d="M21 12.79A9 9 0 1111.21 3a7 7 0 009.79 9.79z"/></svg>
+              <span>{{ $t('settings.theme.light') }}</span>
+            </button>
+            <button
+              :class="['theme-option', { active: selectedTheme === 'dark' }]"
+              @click="selectedTheme = 'dark'"
+            >
+              <svg width="18" height="18" viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="2"><circle cx="12" cy="12" r="5"/><path d="M12 1v2m0 18v2m11-11h-2M3 12H1m17.07-7.07l-1.41 1.41M6.34 17.66l-1.41 1.41m14.14 0l-1.41-1.41M6.34 6.34L4.93 4.93"/></svg>
+              <span>{{ $t('settings.theme.dark') }}</span>
+            </button>
+          </div>
+        </div>
+
+        <!-- Language -->
+        <div class="setting-row">
+          <span class="setting-label">{{ $t('settings.language.label') }}</span>
+          <select v-model="selectedLanguage" class="lang-select">
+            <option value="en">English</option>
+            <option value="ca">Català</option>
+            <option value="es">Español</option>
+          </select>
+        </div>
+
+        <!-- PI URL -->
+        <div class="setting-row">
+          <span class="setting-label">{{ $t('settings.piUrl.label') }}</span>
+          <input
+            v-model="piUrl"
+            :placeholder="$t('settings.piUrl.placeholder')"
+            type="text"
+            class="url-input"
+          />
+        </div>
+
+        <!-- Save -->
+        <button class="btn-save" @click="saveSettings">{{ $t('settings.save') }}</button>
+      </div>
+    </div>
+  </Teleport>
+</template>
+
+<style scoped>
+.settings-backdrop {
+  position: fixed;
+  inset: 0;
+  background: rgba(0, 0, 0, 0.6);
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  z-index: 1000;
+  opacity: 0;
+  transition: opacity 0.15s ease;
+}
+
+.settings-backdrop[style*="display: block"],
+.settings-backdrop[style*="display:flex"] {
+  display: flex !important;
+  opacity: 1;
+}
+
+.settings-modal {
+  background: var(--bg-panel);
+  border: 1px solid var(--border-color);
+  border-radius: 1rem;
+  padding: 1.5rem;
+  width: 90%;
+  max-width: 420px;
+  box-shadow: 0 8px 32px rgba(0, 0, 0, 0.4);
+}
+
+.settings-header {
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+  margin-bottom: 1.5rem;
+}
+
+.settings-header h2 {
+  font-size: 1rem;
+  font-weight: 700;
+  color: var(--text-primary);
+  margin: 0;
+  text-transform: uppercase;
+  letter-spacing: 0.1em;
+}
+
+.close-btn {
+  display: grid;
+  place-content: center;
+  width: 32px;
+  height: 32px;
+  padding: 0;
+  background: var(--btn-bg);
+  border: 2px solid var(--border-color);
+  border-radius: 0.5rem;
+  color: var(--text-muted);
+  cursor: pointer;
+  transition: all 0.15s ease;
+}
+
+.close-btn:hover {
+  border-color: #ef4444;
+  color: #ef4444;
+}
+
+.setting-row {
+  margin-bottom: 1.25rem;
+}
+
+.setting-label {
+  display: block;
+  font-size: 0.75rem;
+  font-weight: 600;
+  color: var(--text-muted);
+  text-transform: uppercase;
+  letter-spacing: 0.08em;
+  margin-bottom: 0.5rem;
+}
+
+.theme-options {
+  display: flex;
+  gap: 0.5rem;
+}
+
+.theme-option {
+  flex: 1;
+  display: flex;
+  align-items: center;
+  justify-content: center;
+  gap: 0.375rem;
+  padding: 0.625rem 1rem;
+  font-size: 0.8rem;
+  font-weight: 600;
+  font-family: inherit;
+  color: var(--text-muted);
+  background: var(--bg-secondary);
+  border: 2px solid var(--border-color);
+  border-radius: 0.625rem;
+  cursor: pointer;
+  transition: all 0.15s ease;
+}
+
+.theme-option.active {
+  border-color: var(--accent);
+  color: var(--accent);
+  background: var(--active-bg);
+}
+
+.theme-option:not(:disabled):hover {
+  border-color: var(--border-subtle);
+  color: var(--text-primary);
+}
+
+.lang-select,
+.url-input {
+  width: 100%;
+  padding: 0.625rem 0.75rem;
+  font-family: inherit;
+  font-size: 0.85rem;
+  color: var(--text-primary);
+  background: var(--bg-secondary);
+  border: 2px solid var(--border-color);
+  border-radius: 0.625rem;
+  outline: none;
+  transition: border-color 0.15s ease;
+  box-sizing: border-box;
+}
+
+.lang-select:focus,
+.url-input:focus {
+  border-color: var(--accent);
+}
+
+.url-input::placeholder {
+  color: var(--text-ghost);
+}
+
+.btn-save {
+  width: 100%;
+  padding: 0.75rem 1rem;
+  font-size: 0.85rem;
+  font-weight: 700;
+  font-family: inherit;
+  color: #fff;
+  background: linear-gradient(135deg, var(--accent), #ea580c);
+  border: none;
+  border-radius: 0.625rem;
+  cursor: pointer;
+  transition: all 0.2s ease;
+  margin-top: 0.5rem;
+}
+
+.btn-save:hover {
+  box-shadow: 0 4px 16px var(--accent-glow);
+  transform: translateY(-1px);
+}
+</style>
--- a/quibot-web/nuxt.config.ts
+++ b/quibot-web/nuxt.config.ts
@@ -5,6 +5,10 @@ export default defineNuxtConfig({
  runtimeConfig: {
    quibotBaseUrl: process.env.QUIBOT_BASE_URL || 'http://quibot:8000',
    quibotToken: process.env.QUIBOT_TOKEN || 'MY_SECRET_TOKEN',
+    public: {
+      defaultLocale: 'en',
+      supportedLocales: ['en', 'ca', 'es'],
+    }
  },
  vite: {
    optimizeDeps: {
--- a/quibot-web/package-lock.json
+++ b/quibot-web/package-lock.json
--- a/quibot-web/package.json
+++ b/quibot-web/package.json
@@ -11,9 +11,8 @@
  },
  "dependencies": {
    "nuxt": "^4.4.2",
+    "react-native-svg": "^15.15.5",
    "vue": "^3.5.32",
    "vue-router": "^5.0.4"
-  },
-  "devDependencies": {
  }
 }
--- a/quibot-web/server/api/motor/step/[direction].post.ts
+++ b/quibot-web/server/api/motor/step/[direction].post.ts
@@ -1,5 +1,4 @@
 export default defineEventHandler(async (event) => {
-  const config = useRuntimeConfig()
  const direction = getRouterParam(event, 'direction')

  if (direction !== 'forward' && direction !== 'backwards') {
@@ -9,7 +8,10 @@ export default defineEventHandler(async (event) => {
    })
  }

-  return await $fetch(`${config.quibotBaseUrl}/motor/step/${direction}`, {
+  const baseUrl = getPiBaseUrl(event)
+  const config = useRuntimeConfig()
+
+  return await $fetch(`${baseUrl}/motor/step/${direction}`, {
    method: 'POST',
    query: {
      token: config.quibotToken,
--- a/quibot-web/server/api/motor/stop.post.ts
+++ b/quibot-web/server/api/motor/stop.post.ts
@@ -1,7 +1,8 @@
-export default defineEventHandler(async () => {
+export default defineEventHandler(async (event) => {
+  const baseUrl = getPiBaseUrl(event)
  const config = useRuntimeConfig()

-  return await $fetch(`${config.quibotBaseUrl}/motor/stop`, {
+  return await $fetch(`${baseUrl}/motor/stop`, {
    method: 'POST',
    query: {
      token: config.quibotToken,
--- a/quibot-web/server/plugins/settings.ts
+++ b/quibot-web/server/plugins/settings.ts
@@ -0,0 +1,10 @@
+export default defineNitroPlugin((nitroApp) => {
+  const base = useRuntimeConfig().quibotBaseUrl
+  nitroApp.hooks.hook('request', (event) => {
+    const url = getCookie(event, 'quibot-pi-url')
+    if (url && url !== decodeURIComponent(base)) {
+      // Override the base URL for this request
+      (event.context as any).__piBaseUrl = url
+    }
+  })
+})
--- a/quibot-web/server/utils/pi-url.ts
+++ b/quibot-web/server/utils/pi-url.ts
@@ -0,0 +1,9 @@
+import { getCookie } from 'h3'
+
+export function getPiBaseUrl(event: any): string {
+  const cookieUrl = getCookie(event, 'quibot-pi-url')
+  if (cookieUrl) return decodeURIComponent(cookieUrl)
+
+  const config = useRuntimeConfig()
+  return config.quibotBaseUrl
+}
--- a/rasp/server.py
+++ b/rasp/server.py
@@ -0,0 +1,81 @@
+from flask import Flask, request, jsonify
+import sys
+import os
+
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), 'Rasp'))
+
+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()
+
+def test_arms_pair():
+    pi = _setup_motors()
+    enable_arms(ON); time.sleep(0.1)
+    motion.arm_R.move(+200); motion.arm_L.move(+200)
+    time.sleep(1.5)
+    motion.arm_R.move(-200); motion.arm_L.move(-200)
+    time.sleep(0.5)
+    enable_arms(OFF)
+
+app = Flask(__name__)
+
+@app.route("/")
+def home():
+    return jsonify({
+        "message": "Flask API is running"
+    })
+
+@app.route("/greet", methods=["GET"])
+def greet():
+    test_arms_pair()
+    return jsonify({
+        "message": "Hello, world!"
+    })
+
+
+# Simple error handlers
+@app.errorhandler(404)
+def not_found(e):
+    return jsonify({"error": "Route not found"}), 404
+
+
+@app.errorhandler(500)
+def server_error(e):
+    return jsonify({"error": "Internal server error"}), 500
+
+
+if __name__ == "__main__":
+    app.run(debug=True, host="0.0.0.0", port=8000)
Author	SHA1	Message	Date
BinarySandia04	c6ac77a8b2	Mes canvis Some checks failed Build / build-web (push) Failing after 19s Details Build / build-backend (push) Successful in 9s Details Build / release (push) Has been skipped Details Build APK / build (push) Successful in 8m42s Details Build APK / release (push) Successful in 3s Details	2026-06-19 13:20:12 +02:00
BinarySandia04	23235e8249	Test Some checks failed Build / build-web (push) Failing after 15s Details Build / build-backend (push) Successful in 10s Details Build / release (push) Has been skipped Details Build APK / build (push) Successful in 8m28s Details Build APK / release (push) Successful in 3s Details	2026-06-19 11:06:11 +02:00
BinarySandia04	63903e6f7e	Test Some checks failed Build / build-web (push) Failing after 10s Details Build / build-backend (push) Successful in 2s Details Build / release (push) Has been skipped Details Build APK / build (push) Successful in 8m23s Details Build APK / release (push) Successful in 3s Details	2026-06-19 09:36:40 +02:00
BinarySandia04	432df63298	Jkdsjksj Some checks failed Build / build-web (push) Failing after 17s Details Build / build-backend (push) Successful in 2s Details Build / release (push) Has been skipped Details Build APK / build (push) Failing after 41s Details Build APK / release (push) Has been skipped Details	2026-06-19 09:34:52 +02:00
BinarySandia04	023d3c04b9	jdksjkdsj Some checks failed Build / build-web (push) Failing after 16s Details Build / build-backend (push) Successful in 2s Details Build / release (push) Has been skipped Details Build APK / build (push) Successful in 8m39s Details Build APK / release (push) Successful in 3s Details	2026-06-18 23:03:39 +02:00
BinarySandia04	f24cbd248d	Debug Some checks failed Build / build-web (push) Failing after 19s Details Build / build-backend (push) Successful in 2s Details Build / release (push) Has been skipped Details Build APK / build (push) Successful in 8m38s Details Build APK / release (push) Failing after 2s Details	2026-06-18 22:36:31 +02:00
BinarySandia04	bf13fdc33c	Build apk Some checks failed Build / build-web (push) Failing after 10s Details Build / build-backend (push) Successful in 2s Details Build / release (push) Has been skipped Details Build APK / build (push) Successful in 8m51s Details Build APK / release (push) Failing after 2s Details	2026-06-18 22:17:00 +02:00
BinarySandia04	8ae828fb6e	Action 2 Some checks failed Build / build-backend (push) Successful in 5s Details Build / build-web (push) Failing after 19s Details Build / release (push) Has been skipped Details	2026-06-18 22:15:22 +02:00
BinarySandia04	a16f31a331	jdskjkdj Some checks failed Build / build-web (push) Failing after 21s Details Build / build-backend (push) Successful in 2s Details Build / release (push) Has been skipped Details Build APK / build (push) Successful in 8m55s Details	2026-06-18 21:47:33 +02:00
BinarySandia04	76a56d1a42	si	2026-06-18 21:46:44 +02:00
BinarySandia04	5086743a11	LLM connection	2026-06-18 21:16:28 +02:00
BinarySandia04	9a23863320	TTs whisper	2026-06-18 13:45:32 +02:00