diff --git a/.gitignore b/.gitignore
index 1599b8d..bb68930 100644
--- a/.gitignore
+++ b/.gitignore
@@ -17,4 +17,6 @@
 **.egg-info*
 **/dist/*
 build
-__pycache__
\ No newline at end of file
+__pycache__
+
+Pods
\ No newline at end of file
diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index 8276e9a..4834459 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
+  <component name="GradleMigrationSettings" migrationVersion="1" />
   <component name="GradleSettings">
     <option name="linkedExternalProjectsSettings">
       <GradleProjectSettings>
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index 3e7f7d9..35eb1dd 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -2,6 +2,5 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/car" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/.vscode/launch.json b/.vscode/launch.json
index bc78a2e..8973bfd 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -5,10 +5,14 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "Python: Module",
+            "name": "Car Module",
             "type": "python",
             "request": "launch",
-            "module": "car"
+            "module": "car",
+            "env": {
+                "CAR_LIDAR": "LIDAR_MOCK",
+                "CAR_VEHICLE": "CAR_MOCK"
+            }
         },
         {
             "name": "Python: Current File",
diff --git a/CarControlleriOS/CarController/CarController.xcodeproj/project.pbxproj b/CarControlleriOS/CarController/CarController.xcodeproj/project.pbxproj
new file mode 100644
index 0000000..412dde7
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController.xcodeproj/project.pbxproj
@@ -0,0 +1,425 @@
+// !$*UTF8*$!
+{
+	archiveVersion = 1;
+	classes = {
+	};
+	objectVersion = 51;
+	objects = {
+
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+			);
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+			sourceTree = "<group>";
+		};
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+			isa = PBXGroup;
+			children = (
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+				5A9EB274240100960053D3CF /* Resources */,
+				E0B3D65287999242E7AD3ABB /* [CP] Embed Pods Frameworks */,
+			);
+			buildRules = (
+			);
+			dependencies = (
+			);
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+			productName = CarController;
+			productReference = 5A9EB276240100960053D3CF /* CarController.app */;
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+		};
+/* End PBXNativeTarget section */
+
+/* Begin PBXProject section */
+		5A9EB26E240100950053D3CF /* Project object */ = {
+			isa = PBXProject;
+			attributes = {
+				LastSwiftUpdateCheck = 1130;
+				LastUpgradeCheck = 1130;
+				ORGANIZATIONNAME = "Michael Pivato";
+				TargetAttributes = {
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+				5A9EB280240100970053D3CF /* Assets.xcassets in Resources */,
+			);
+			runOnlyForDeploymentPostprocessing = 0;
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+/* End PBXResourcesBuildPhase section */
+
+/* Begin PBXShellScriptBuildPhase section */
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+			inputFileListPaths = (
+			);
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+			outputFileListPaths = (
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+			outputPaths = (
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+			shellScript = "diff \"${PODS_PODFILE_DIR_PATH}/Podfile.lock\" \"${PODS_ROOT}/Manifest.lock\" > /dev/null\nif [ $? != 0 ] ; then\n    # print error to STDERR\n    echo \"error: The sandbox is not in sync with the Podfile.lock. Run 'pod install' or update your CocoaPods installation.\" >&2\n    exit 1\nfi\n# This output is used by Xcode 'outputs' to avoid re-running this script phase.\necho \"SUCCESS\" > \"${SCRIPT_OUTPUT_FILE_0}\"\n";
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+				5A9C27132443F52500DBDF12 /* SimpleControllerView.swift in Sources */,
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+				CLANG_ENABLE_OBJC_ARC = YES;
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+				CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
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+				CLANG_WARN_STRICT_PROTOTYPES = YES;
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+				GCC_PREPROCESSOR_DEFINITIONS = (
+					"DEBUG=1",
+					"$(inherited)",
+				);
+				GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
+				GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
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+				GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
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+				CLANG_WARN_BLOCK_CAPTURE_AUTORELEASING = YES;
+				CLANG_WARN_BOOL_CONVERSION = YES;
+				CLANG_WARN_COMMA = YES;
+				CLANG_WARN_CONSTANT_CONVERSION = YES;
+				CLANG_WARN_DEPRECATED_OBJC_IMPLEMENTATIONS = YES;
+				CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR;
+				CLANG_WARN_DOCUMENTATION_COMMENTS = YES;
+				CLANG_WARN_EMPTY_BODY = YES;
+				CLANG_WARN_ENUM_CONVERSION = YES;
+				CLANG_WARN_INFINITE_RECURSION = YES;
+				CLANG_WARN_INT_CONVERSION = YES;
+				CLANG_WARN_NON_LITERAL_NULL_CONVERSION = YES;
+				CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES;
+				CLANG_WARN_OBJC_LITERAL_CONVERSION = YES;
+				CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR;
+				CLANG_WARN_RANGE_LOOP_ANALYSIS = YES;
+				CLANG_WARN_STRICT_PROTOTYPES = YES;
+				CLANG_WARN_SUSPICIOUS_MOVE = YES;
+				CLANG_WARN_UNGUARDED_AVAILABILITY = YES_AGGRESSIVE;
+				CLANG_WARN_UNREACHABLE_CODE = YES;
+				CLANG_WARN__DUPLICATE_METHOD_MATCH = YES;
+				COPY_PHASE_STRIP = NO;
+				DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
+				ENABLE_NS_ASSERTIONS = NO;
+				ENABLE_STRICT_OBJC_MSGSEND = YES;
+				GCC_C_LANGUAGE_STANDARD = gnu11;
+				GCC_NO_COMMON_BLOCKS = YES;
+				GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
+				GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR;
+				GCC_WARN_UNDECLARED_SELECTOR = YES;
+				GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE;
+				GCC_WARN_UNUSED_FUNCTION = YES;
+				GCC_WARN_UNUSED_VARIABLE = YES;
+				IPHONEOS_DEPLOYMENT_TARGET = 13.2;
+				MTL_ENABLE_DEBUG_INFO = NO;
+				MTL_FAST_MATH = YES;
+				SDKROOT = iphoneos;
+				SWIFT_COMPILATION_MODE = wholemodule;
+				SWIFT_OPTIMIZATION_LEVEL = "-O";
+				VALIDATE_PRODUCT = YES;
+			};
+			name = Release;
+		};
+		5A9EB28B240100970053D3CF /* Debug */ = {
+			isa = XCBuildConfiguration;
+			baseConfigurationReference = 4C5C85A33DD98E3CA9FCEF6B /* Pods-CarController.debug.xcconfig */;
+			buildSettings = {
+				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
+				CODE_SIGN_STYLE = Automatic;
+				DEVELOPMENT_ASSET_PATHS = "\"CarController/Preview Content\"";
+				DEVELOPMENT_TEAM = KZ66DBVG63;
+				ENABLE_PREVIEWS = YES;
+				INFOPLIST_FILE = CarController/Info.plist;
+				LD_RUNPATH_SEARCH_PATHS = (
+					"$(inherited)",
+					"@executable_path/Frameworks",
+				);
+				PRODUCT_BUNDLE_IDENTIFIER = com.Vato.CarController;
+				PRODUCT_NAME = "$(TARGET_NAME)";
+				SWIFT_VERSION = 5.0;
+				TARGETED_DEVICE_FAMILY = "1,2";
+			};
+			name = Debug;
+		};
+		5A9EB28C240100970053D3CF /* Release */ = {
+			isa = XCBuildConfiguration;
+			baseConfigurationReference = 460C6595E5C32777EF7F2A4E /* Pods-CarController.release.xcconfig */;
+			buildSettings = {
+				ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon;
+				CODE_SIGN_STYLE = Automatic;
+				DEVELOPMENT_ASSET_PATHS = "\"CarController/Preview Content\"";
+				DEVELOPMENT_TEAM = KZ66DBVG63;
+				ENABLE_PREVIEWS = YES;
+				INFOPLIST_FILE = CarController/Info.plist;
+				LD_RUNPATH_SEARCH_PATHS = (
+					"$(inherited)",
+					"@executable_path/Frameworks",
+				);
+				PRODUCT_BUNDLE_IDENTIFIER = com.Vato.CarController;
+				PRODUCT_NAME = "$(TARGET_NAME)";
+				SWIFT_VERSION = 5.0;
+				TARGETED_DEVICE_FAMILY = "1,2";
+			};
+			name = Release;
+		};
+/* End XCBuildConfiguration section */
+
+/* Begin XCConfigurationList section */
+		5A9EB271240100950053D3CF /* Build configuration list for PBXProject "CarController" */ = {
+			isa = XCConfigurationList;
+			buildConfigurations = (
+				5A9EB288240100970053D3CF /* Debug */,
+				5A9EB289240100970053D3CF /* Release */,
+			);
+			defaultConfigurationIsVisible = 0;
+			defaultConfigurationName = Release;
+		};
+		5A9EB28A240100970053D3CF /* Build configuration list for PBXNativeTarget "CarController" */ = {
+			isa = XCConfigurationList;
+			buildConfigurations = (
+				5A9EB28B240100970053D3CF /* Debug */,
+				5A9EB28C240100970053D3CF /* Release */,
+			);
+			defaultConfigurationIsVisible = 0;
+			defaultConfigurationName = Release;
+		};
+/* End XCConfigurationList section */
+	};
+	rootObject = 5A9EB26E240100950053D3CF /* Project object */;
+}
diff --git a/CarControlleriOS/CarController/CarController.xcodeproj/project.xcworkspace/contents.xcworkspacedata b/CarControlleriOS/CarController/CarController.xcodeproj/project.xcworkspace/contents.xcworkspacedata
new file mode 100644
index 0000000..4a8720b
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController.xcodeproj/project.xcworkspace/contents.xcworkspacedata
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Workspace
+   version = "1.0">
+   <FileRef
+      location = "self:CarController.xcodeproj">
+   </FileRef>
+</Workspace>
diff --git a/CarControlleriOS/CarController/CarController.xcodeproj/project.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist b/CarControlleriOS/CarController/CarController.xcodeproj/project.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist
new file mode 100644
index 0000000..18d9810
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController.xcodeproj/project.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>IDEDidComputeMac32BitWarning</key>
+	<true/>
+</dict>
+</plist>
diff --git a/CarControlleriOS/CarController/CarController.xcodeproj/project.xcworkspace/xcuserdata/piv.xcuserdatad/UserInterfaceState.xcuserstate b/CarControlleriOS/CarController/CarController.xcodeproj/project.xcworkspace/xcuserdata/piv.xcuserdatad/UserInterfaceState.xcuserstate
new file mode 100644
index 0000000..48d4abe
Binary files /dev/null and b/CarControlleriOS/CarController/CarController.xcodeproj/project.xcworkspace/xcuserdata/piv.xcuserdatad/UserInterfaceState.xcuserstate differ
diff --git a/CarControlleriOS/CarController/CarController.xcworkspace/contents.xcworkspacedata b/CarControlleriOS/CarController/CarController.xcworkspace/contents.xcworkspacedata
new file mode 100644
index 0000000..4ffc8d6
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController.xcworkspace/contents.xcworkspacedata
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Workspace
+   version = "1.0">
+   <FileRef
+      location = "group:CarController.xcodeproj">
+   </FileRef>
+   <FileRef
+      location = "group:Pods/Pods.xcodeproj">
+   </FileRef>
+</Workspace>
diff --git a/CarControlleriOS/CarController/CarController.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist b/CarControlleriOS/CarController/CarController.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist
new file mode 100644
index 0000000..18d9810
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>IDEDidComputeMac32BitWarning</key>
+	<true/>
+</dict>
+</plist>
diff --git a/CarControlleriOS/CarController/CarController/AppDelegate.swift b/CarControlleriOS/CarController/CarController/AppDelegate.swift
new file mode 100644
index 0000000..fd47dc0
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController/AppDelegate.swift
@@ -0,0 +1,37 @@
+//
+//  AppDelegate.swift
+//  CarController
+//
+//  Created by Michael Pivato on 22/2/20.
+//  Copyright © 2020 Michael Pivato. All rights reserved.
+//
+
+import UIKit
+
+@UIApplicationMain
+class AppDelegate: UIResponder, UIApplicationDelegate {
+
+
+
+    func application(_ application: UIApplication, didFinishLaunchingWithOptions launchOptions: [UIApplication.LaunchOptionsKey: Any]?) -> Bool {
+        // Override point for customization after application launch.
+        return true
+    }
+
+    // MARK: UISceneSession Lifecycle
+
+    func application(_ application: UIApplication, configurationForConnecting connectingSceneSession: UISceneSession, options: UIScene.ConnectionOptions) -> UISceneConfiguration {
+        // Called when a new scene session is being created.
+        // Use this method to select a configuration to create the new scene with.
+        return UISceneConfiguration(name: "Default Configuration", sessionRole: connectingSceneSession.role)
+    }
+
+    func application(_ application: UIApplication, didDiscardSceneSessions sceneSessions: Set<UISceneSession>) {
+        // Called when the user discards a scene session.
+        // If any sessions were discarded while the application was not running, this will be called shortly after application:didFinishLaunchingWithOptions.
+        // Use this method to release any resources that were specific to the discarded scenes, as they will not return.
+    }
+
+
+}
+
diff --git a/CarControlleriOS/CarController/CarController/Assets.xcassets/AppIcon.appiconset/Contents.json b/CarControlleriOS/CarController/CarController/Assets.xcassets/AppIcon.appiconset/Contents.json
new file mode 100644
index 0000000..d8db8d6
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController/Assets.xcassets/AppIcon.appiconset/Contents.json
@@ -0,0 +1,98 @@
+{
+  "images" : [
+    {
+      "idiom" : "iphone",
+      "size" : "20x20",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "iphone",
+      "size" : "20x20",
+      "scale" : "3x"
+    },
+    {
+      "idiom" : "iphone",
+      "size" : "29x29",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "iphone",
+      "size" : "29x29",
+      "scale" : "3x"
+    },
+    {
+      "idiom" : "iphone",
+      "size" : "40x40",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "iphone",
+      "size" : "40x40",
+      "scale" : "3x"
+    },
+    {
+      "idiom" : "iphone",
+      "size" : "60x60",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "iphone",
+      "size" : "60x60",
+      "scale" : "3x"
+    },
+    {
+      "idiom" : "ipad",
+      "size" : "20x20",
+      "scale" : "1x"
+    },
+    {
+      "idiom" : "ipad",
+      "size" : "20x20",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "ipad",
+      "size" : "29x29",
+      "scale" : "1x"
+    },
+    {
+      "idiom" : "ipad",
+      "size" : "29x29",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "ipad",
+      "size" : "40x40",
+      "scale" : "1x"
+    },
+    {
+      "idiom" : "ipad",
+      "size" : "40x40",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "ipad",
+      "size" : "76x76",
+      "scale" : "1x"
+    },
+    {
+      "idiom" : "ipad",
+      "size" : "76x76",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "ipad",
+      "size" : "83.5x83.5",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "ios-marketing",
+      "size" : "1024x1024",
+      "scale" : "1x"
+    }
+  ],
+  "info" : {
+    "version" : 1,
+    "author" : "xcode"
+  }
+}
\ No newline at end of file
diff --git a/CarControlleriOS/CarController/CarController/Assets.xcassets/Contents.json b/CarControlleriOS/CarController/CarController/Assets.xcassets/Contents.json
new file mode 100644
index 0000000..da4a164
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController/Assets.xcassets/Contents.json
@@ -0,0 +1,6 @@
+{
+  "info" : {
+    "version" : 1,
+    "author" : "xcode"
+  }
+}
\ No newline at end of file
diff --git a/CarControlleriOS/CarController/CarController/Base.lproj/LaunchScreen.storyboard b/CarControlleriOS/CarController/CarController/Base.lproj/LaunchScreen.storyboard
new file mode 100644
index 0000000..865e932
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController/Base.lproj/LaunchScreen.storyboard
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="13122.16" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" launchScreen="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="01J-lp-oVM">
+    <dependencies>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="13104.12"/>
+        <capability name="Safe area layout guides" minToolsVersion="9.0"/>
+        <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/>
+    </dependencies>
+    <scenes>
+        <!--View Controller-->
+        <scene sceneID="EHf-IW-A2E">
+            <objects>
+                <viewController id="01J-lp-oVM" sceneMemberID="viewController">
+                    <view key="view" contentMode="scaleToFill" id="Ze5-6b-2t3">
+                        <rect key="frame" x="0.0" y="0.0" width="375" height="667"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <color key="backgroundColor" xcode11CocoaTouchSystemColor="systemBackgroundColor" cocoaTouchSystemColor="whiteColor"/>
+                        <viewLayoutGuide key="safeArea" id="6Tk-OE-BBY"/>
+                    </view>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="iYj-Kq-Ea1" userLabel="First Responder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="53" y="375"/>
+        </scene>
+    </scenes>
+</document>
diff --git a/CarControlleriOS/CarController/CarController/ContentView.swift b/CarControlleriOS/CarController/CarController/ContentView.swift
new file mode 100644
index 0000000..5f8de90
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController/ContentView.swift
@@ -0,0 +1,35 @@
+//
+//  ContentView.swift
+//  CarController
+//
+//  Created by Michael Pivato on 22/2/20.
+//  Copyright © 2020 Michael Pivato. All rights reserved.
+//
+
+import SwiftUI
+
+struct ContentView: View {
+    var body: some View {
+        NavigationView{
+            List{
+                NavigationLink(destination: SimpleControllerView()){
+                    Text("Simple Controller")
+                }
+                
+                // TODO: Change these when other functionality is implemented
+                NavigationLink(destination: SimpleControllerView()){
+                    Text("SLAM Controller")
+                }
+                NavigationLink(destination: SimpleControllerView()){
+                    Text("Tracking Controller")
+                }
+            }
+        }
+    }
+}
+
+struct ContentView_Previews: PreviewProvider {
+    static var previews: some View {
+        ContentView()
+    }
+}
diff --git a/CarControlleriOS/CarController/CarController/Info.plist b/CarControlleriOS/CarController/CarController/Info.plist
new file mode 100644
index 0000000..9742bf0
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController/Info.plist
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>$(DEVELOPMENT_LANGUAGE)</string>
+	<key>CFBundleExecutable</key>
+	<string>$(EXECUTABLE_NAME)</string>
+	<key>CFBundleIdentifier</key>
+	<string>$(PRODUCT_BUNDLE_IDENTIFIER)</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>$(PRODUCT_NAME)</string>
+	<key>CFBundlePackageType</key>
+	<string>$(PRODUCT_BUNDLE_PACKAGE_TYPE)</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleVersion</key>
+	<string>1</string>
+	<key>LSRequiresIPhoneOS</key>
+	<true/>
+	<key>UIApplicationSceneManifest</key>
+	<dict>
+		<key>UIApplicationSupportsMultipleScenes</key>
+		<false/>
+		<key>UISceneConfigurations</key>
+		<dict>
+			<key>UIWindowSceneSessionRoleApplication</key>
+			<array>
+				<dict>
+					<key>UISceneConfigurationName</key>
+					<string>Default Configuration</string>
+					<key>UISceneDelegateClassName</key>
+					<string>$(PRODUCT_MODULE_NAME).SceneDelegate</string>
+				</dict>
+			</array>
+		</dict>
+	</dict>
+	<key>UILaunchStoryboardName</key>
+	<string>LaunchScreen</string>
+	<key>UIRequiredDeviceCapabilities</key>
+	<array>
+		<string>armv7</string>
+	</array>
+	<key>UISupportedInterfaceOrientations</key>
+	<array>
+		<string>UIInterfaceOrientationPortrait</string>
+		<string>UIInterfaceOrientationLandscapeLeft</string>
+		<string>UIInterfaceOrientationLandscapeRight</string>
+	</array>
+	<key>UISupportedInterfaceOrientations~ipad</key>
+	<array>
+		<string>UIInterfaceOrientationPortrait</string>
+		<string>UIInterfaceOrientationPortraitUpsideDown</string>
+		<string>UIInterfaceOrientationLandscapeLeft</string>
+		<string>UIInterfaceOrientationLandscapeRight</string>
+	</array>
+</dict>
+</plist>
diff --git a/CarControlleriOS/CarController/CarController/Preview Content/Preview Assets.xcassets/Contents.json b/CarControlleriOS/CarController/CarController/Preview Content/Preview Assets.xcassets/Contents.json
new file mode 100644
index 0000000..da4a164
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController/Preview Content/Preview Assets.xcassets/Contents.json	
@@ -0,0 +1,6 @@
+{
+  "info" : {
+    "version" : 1,
+    "author" : "xcode"
+  }
+}
\ No newline at end of file
diff --git a/CarControlleriOS/CarController/CarController/SceneDelegate.swift b/CarControlleriOS/CarController/CarController/SceneDelegate.swift
new file mode 100644
index 0000000..33efa61
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController/SceneDelegate.swift
@@ -0,0 +1,64 @@
+//
+//  SceneDelegate.swift
+//  CarController
+//
+//  Created by Michael Pivato on 22/2/20.
+//  Copyright © 2020 Michael Pivato. All rights reserved.
+//
+
+import UIKit
+import SwiftUI
+
+class SceneDelegate: UIResponder, UIWindowSceneDelegate {
+
+    var window: UIWindow?
+
+
+    func scene(_ scene: UIScene, willConnectTo session: UISceneSession, options connectionOptions: UIScene.ConnectionOptions) {
+        // Use this method to optionally configure and attach the UIWindow `window` to the provided UIWindowScene `scene`.
+        // If using a storyboard, the `window` property will automatically be initialized and attached to the scene.
+        // This delegate does not imply the connecting scene or session are new (see `application:configurationForConnectingSceneSession` instead).
+
+        // Create the SwiftUI view that provides the window contents.
+        let contentView = ContentView()
+
+        // Use a UIHostingController as window root view controller.
+        if let windowScene = scene as? UIWindowScene {
+            let window = UIWindow(windowScene: windowScene)
+            window.rootViewController = UIHostingController(rootView: contentView.environmentObject(ServerData()))
+            self.window = window
+            window.makeKeyAndVisible()
+        }
+    }
+
+    func sceneDidDisconnect(_ scene: UIScene) {
+        // Called as the scene is being released by the system.
+        // This occurs shortly after the scene enters the background, or when its session is discarded.
+        // Release any resources associated with this scene that can be re-created the next time the scene connects.
+        // The scene may re-connect later, as its session was not neccessarily discarded (see `application:didDiscardSceneSessions` instead).
+    }
+
+    func sceneDidBecomeActive(_ scene: UIScene) {
+        // Called when the scene has moved from an inactive state to an active state.
+        // Use this method to restart any tasks that were paused (or not yet started) when the scene was inactive.
+    }
+
+    func sceneWillResignActive(_ scene: UIScene) {
+        // Called when the scene will move from an active state to an inactive state.
+        // This may occur due to temporary interruptions (ex. an incoming phone call).
+    }
+
+    func sceneWillEnterForeground(_ scene: UIScene) {
+        // Called as the scene transitions from the background to the foreground.
+        // Use this method to undo the changes made on entering the background.
+    }
+
+    func sceneDidEnterBackground(_ scene: UIScene) {
+        // Called as the scene transitions from the foreground to the background.
+        // Use this method to save data, release shared resources, and store enough scene-specific state information
+        // to restore the scene back to its current state.
+    }
+
+
+}
+
diff --git a/CarControlleriOS/CarController/CarController/ServerData.swift b/CarControlleriOS/CarController/CarController/ServerData.swift
new file mode 100644
index 0000000..816144a
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController/ServerData.swift
@@ -0,0 +1,29 @@
+//
+//  ServerData.swift
+//  CarController
+//
+//  Created by Michael Pivato on 13/4/20.
+//  Copyright © 2020 Michael Pivato. All rights reserved.
+//
+
+import Foundation
+
+final class ServerData: ObservableObject{
+    
+    // TODO: Find a way to save/represent this stuff in iOS settings (user can access via settings app).
+    // Then load the below values ar runtime, from settings.
+    
+    
+    @Published var port: Int = 50051
+    @Published var grpcPort: Int = 50050
+    @Published var host: String = "10.0.0.53"
+    
+    func load(){
+        // Load the server values from settings, if they had been
+        // previously saved.
+    }
+    
+    func save(){
+        // Save the current state to be remembered for next time.
+    }
+}
diff --git a/CarControlleriOS/CarController/CarController/SimpleControllerView.swift b/CarControlleriOS/CarController/CarController/SimpleControllerView.swift
new file mode 100644
index 0000000..ddddf3c
--- /dev/null
+++ b/CarControlleriOS/CarController/CarController/SimpleControllerView.swift
@@ -0,0 +1,28 @@
+//
+//  SimpleControllerView.swift
+//  CarController
+//
+//  Created by Michael Pivato on 13/4/20.
+//  Copyright © 2020 Michael Pivato. All rights reserved.
+//
+
+import SwiftUI
+
+struct SimpleControllerView: View {
+    @EnvironmentObject var server: ServerData
+    @State var throttle: Float = 0
+    
+    var body: some View {
+        HStack{
+            Text("Opened Simple Controller!")
+            Slider(value: $throttle)
+        }
+    }
+}
+
+struct SimpleControllerView_Previews: PreviewProvider {
+    static var previews: some View {
+        SimpleControllerView()
+            .environmentObject(ServerData())
+    }
+}
diff --git a/CarControlleriOS/CarController/Podfile b/CarControlleriOS/CarController/Podfile
new file mode 100644
index 0000000..a14c476
--- /dev/null
+++ b/CarControlleriOS/CarController/Podfile
@@ -0,0 +1,12 @@
+# Uncomment the next line to define a global platform for your project
+# platform :ios, '9.0'
+
+target 'CarController' do
+  # Comment the next line if you don't want to use dynamic frameworks
+  use_frameworks!
+
+  # Pods for CarController
+  pod 'SwiftGRPC'
+  pod 'SwiftyZeroMQ5'
+  pod 'SwiftProtobuf', '~> 1.0'
+end
diff --git a/app/src/main/java/org/vato/carcontroller/LIDAR/LidarView.java b/app/src/main/java/org/vato/carcontroller/LIDAR/LidarView.java
index 89f0ac3..c6142b2 100644
--- a/app/src/main/java/org/vato/carcontroller/LIDAR/LidarView.java
+++ b/app/src/main/java/org/vato/carcontroller/LIDAR/LidarView.java
@@ -13,7 +13,8 @@ import android.view.SurfaceView;
 
 import androidx.preference.PreferenceManager;
 
-import org.vato.carcontroller.Empty;
+import com.google.protobuf.Empty;
+
 import org.vato.carcontroller.Int32Value;
 import org.vato.carcontroller.PersonTrackingGrpc;
 import org.vato.carcontroller.PointScan;
@@ -89,7 +90,7 @@ public class LidarView extends SurfaceView implements AbstractUpdater.MapChanged
             }
         };
         // use async grpc method, ZMQ doesn't need to connect straight away.
-        stub.startTracking(Int32Value.newBuilder().setValue(Integer.parseInt(port)).build(), response);
+        stub.startTracking(Empty.newBuilder().build(), response);
     }
 
     @Override
diff --git a/app/src/main/java/org/vato/carcontroller/PiLoader.java b/app/src/main/java/org/vato/carcontroller/PiLoader.java
index 83f440e..484064d 100644
--- a/app/src/main/java/org/vato/carcontroller/PiLoader.java
+++ b/app/src/main/java/org/vato/carcontroller/PiLoader.java
@@ -1,6 +1,8 @@
 package org.vato.carcontroller;
 
 
+import com.google.protobuf.Empty;
+
 import java.util.concurrent.TimeUnit;
 import java.util.concurrent.atomic.AtomicBoolean;
 
@@ -68,4 +70,15 @@ public class PiLoader implements Runnable {
             }
         }
     }
+
+    public void saveRecording() {
+        // Ideally don't want to use a blocking stub here, android may complain.
+        Empty done = stub.saveRecordedData(SaveRequest.newBuilder().setFile("Test").build());
+    }
+
+
+    public void record(boolean record) {
+        // Ideally don't want to use a blocking stub here, android may complain.
+        Empty done = stub.record(RecordingReqeust.newBuilder().setRecord(record).build());
+    }
 }
diff --git a/app/src/main/java/org/vato/carcontroller/SLAM/SlamView.java b/app/src/main/java/org/vato/carcontroller/SLAM/SlamView.java
index ddc017c..91a9263 100644
--- a/app/src/main/java/org/vato/carcontroller/SLAM/SlamView.java
+++ b/app/src/main/java/org/vato/carcontroller/SLAM/SlamView.java
@@ -13,8 +13,8 @@ import android.view.SurfaceView;
 import androidx.preference.PreferenceManager;
 
 import com.google.protobuf.ByteString;
+import com.google.protobuf.Empty;
 
-import org.vato.carcontroller.Empty;
 import org.vato.carcontroller.SlamControlGrpc;
 import org.vato.carcontroller.SlamDetails;
 import org.vato.carcontroller.SlamLocation;
@@ -57,7 +57,7 @@ public class SlamView extends SurfaceView implements AbstractUpdater.MapChangedL
     private void init() {
         SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getContext());
         String host = prefs.getString("host", "10.0.0.53");
-        port = prefs.getString("zmqPort", "5050");
+        port = prefs.getString("zmqPort", "50052");
         String gRPCPort = prefs.getString("port", "50051");
         mapSizePixels = Integer.parseInt(prefs.getString("MAPSIZEPIXELS", "540"));
         mapSizeMeters = Integer.parseInt(prefs.getString("MAPSIZEMETRES", "10"));
@@ -96,7 +96,6 @@ public class SlamView extends SurfaceView implements AbstractUpdater.MapChangedL
         stub.startMapStreaming(SlamDetails.newBuilder()
                 .setMapSizePixels(mapSizePixels)
                 .setMapSizeMeters(mapSizeMeters)
-                .setPort(Integer.parseInt(port))
                 .build(), response);
     }
 
diff --git a/app/src/main/java/org/vato/carcontroller/SimpleController.java b/app/src/main/java/org/vato/carcontroller/SimpleController.java
index 0ce0b45..8c6f814 100644
--- a/app/src/main/java/org/vato/carcontroller/SimpleController.java
+++ b/app/src/main/java/org/vato/carcontroller/SimpleController.java
@@ -2,16 +2,31 @@ package org.vato.carcontroller;
 
 import android.content.SharedPreferences;
 import android.os.Bundle;
+import android.view.View;
 import android.widget.SeekBar;
+import android.widget.Switch;
+import android.widget.Toast;
 
 import androidx.appcompat.app.AppCompatActivity;
 import androidx.preference.PreferenceManager;
 
+import com.google.protobuf.Empty;
+
+import org.vato.carcontroller.LIDAR.LidarTrackingController;
+
+import java.util.stream.Stream;
+
+import io.grpc.stub.StreamObserver;
+
 public class SimpleController extends AppCompatActivity implements SeekBar.OnSeekBarChangeListener {
 
-    SeekBar steeringSlider;
-    SeekBar throttleSlider;
+    private SeekBar steeringSlider;
+    private SeekBar throttleSlider;
+    private Switch recordSwitch;
+    private Switch recordLidarSwitch;
+
     private static PiLoader grpcController;
+    private PersonTrackingGrpc.PersonTrackingStub trackingStub;
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
@@ -26,6 +41,9 @@ public class SimpleController extends AppCompatActivity implements SeekBar.OnSee
         if (throttleSlider != null) {
             throttleSlider.setOnSeekBarChangeListener(this);
         }
+
+        recordSwitch = findViewById(R.id.recordSwitch);
+        recordLidarSwitch = findViewById(R.id.lidarSwitch);
     }
 
     @Override
@@ -83,4 +101,33 @@ public class SimpleController extends AppCompatActivity implements SeekBar.OnSee
         steeringSlider.setProgress(50);
         throttleSlider.setProgress(50);
     }
+
+    public void saveRecording(View view) {
+        grpcController.saveRecording();
+
+    }
+
+    public void record(View view) {
+        grpcController.record(recordSwitch.isChecked());
+    }
+
+    public void recordLidar(View view) {
+        StreamObserver<Empty> response = new StreamObserver<Empty>() {
+            @Override
+            public void onNext(Empty value) {
+                Toast.makeText(getApplicationContext(), "Started Recording Lidar", Toast.LENGTH_SHORT).show();
+            }
+
+            @Override
+            public void onError(Throwable t) {
+                Toast.makeText(getApplicationContext(), "Failed to set lidar recording", Toast.LENGTH_SHORT).show();
+            }
+
+            @Override
+            public void onCompleted() {
+
+            }
+        };
+
+    }
 }
diff --git a/app/src/main/res/layout-land/activity_lidar_tracking_controller.xml b/app/src/main/res/layout-land/activity_lidar_tracking_controller.xml
index 7b8dff5..93940a3 100644
--- a/app/src/main/res/layout-land/activity_lidar_tracking_controller.xml
+++ b/app/src/main/res/layout-land/activity_lidar_tracking_controller.xml
@@ -7,14 +7,17 @@
     tools:context=".LIDAR.LidarTrackingController">
 
     <org.vato.carcontroller.LIDAR.LidarView
+        android:id="@+id/lidarMap"
         android:layout_width="match_parent"
         android:layout_height="match_parent"
-        android:id="@+id/lidarMap"/>
+        app:layout_constraintBottom_toBottomOf="parent"
+        app:layout_constraintTop_toTopOf="parent"
+        tools:layout_editor_absoluteX="-45dp" />
 
     <ImageView
         android:id="@+id/imageView"
-        android:layout_width="37dp"
-        android:layout_height="21dp"
+        android:layout_width="96dp"
+        android:layout_height="89dp"
         android:rotation="270"
         android:scaleType="fitCenter"
         app:layout_constraintBottom_toBottomOf="parent"
@@ -23,5 +26,13 @@
         app:layout_constraintTop_toTopOf="parent"
         app:srcCompat="@drawable/ic_car" />
 
+    <Switch
+        android:id="@+id/switch1"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="Switch"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
 
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/app/src/main/res/layout-land/activity_simple_controller.xml b/app/src/main/res/layout-land/activity_simple_controller.xml
index 7858f7e..92185d2 100644
--- a/app/src/main/res/layout-land/activity_simple_controller.xml
+++ b/app/src/main/res/layout-land/activity_simple_controller.xml
@@ -28,4 +28,37 @@
         app:layout_constraintBottom_toBottomOf="parent"
         app:layout_constraintStart_toStartOf="parent" />
 
+    <Switch
+        android:id="@+id/recordSwitch"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="20dp"
+        android:layout_marginTop="20dp"
+        android:onClick="record"
+        android:text="Record Vehicle"
+        app:layout_constraintStart_toStartOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <Button
+        android:id="@+id/saveButton"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginTop="20dp"
+        android:layout_marginEnd="16dp"
+        android:onClick="saveRecording"
+        android:text="Save"
+        app:layout_constraintEnd_toEndOf="parent"
+        app:layout_constraintTop_toTopOf="parent" />
+
+    <Switch
+        android:id="@+id/lidarSwitch"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginStart="20dp"
+        android:layout_marginTop="20dp"
+        android:onClick="recordLidar"
+        android:text="Record LiDAR"
+        app:layout_constraintStart_toEndOf="@+id/recordSwitch"
+        app:layout_constraintTop_toTopOf="parent" />
+
 </androidx.constraintlayout.widget.ConstraintLayout>
\ No newline at end of file
diff --git a/car/src/car/Messaging/message_factory.py b/car/src/car/Messaging/message_factory.py
index 1888468..0076666 100644
--- a/car/src/car/Messaging/message_factory.py
+++ b/car/src/car/Messaging/message_factory.py
@@ -22,7 +22,7 @@ class ZmqPubSubStreamer:
         self.send_message_topic("", message)
 
     def send_message_topic(self, topic, message):
-        self._socket.send_multipart([bytes(topic), message.serialise()])
+        self._socket.send_multipart([topic, message.serialise()])
 
 
 class BluetoothStreamer:
diff --git a/car/src/car/control/gpio/recording_vehicle_decorator.py b/car/src/car/control/gpio/recording_vehicle_decorator.py
new file mode 100644
index 0000000..1b839f6
--- /dev/null
+++ b/car/src/car/control/gpio/recording_vehicle_decorator.py
@@ -0,0 +1,86 @@
+import datetime
+
+
+class VehicleRecordingDecorator:
+    def __init__(self, vehicle):
+        """
+        A decorator for a vehicle object to record the changes in steering/throttle.
+        This will be recorded to memory, and will save to the given file when save is called.
+
+        Parameters
+        ----------
+
+        vehicle
+            Base vehicle to decorate.
+
+        outfile: str
+            Filename to write to. Will create/overwrite existing file. You must call save to save the 
+            data to the file.
+        """
+        self._vehicle = vehicle
+        self._recording = False
+        self._records = []
+
+    @property
+    def vehicle(self):
+        return self._vehicle
+
+    def save_data(self, outfile):
+        """
+        Flushes all current records to disk.
+        """
+        with open(outfile, 'w') as f:
+            for line in self._records:
+                f.write('%s\n' % line)
+        self._records = []
+
+    @property
+    def record(self):
+        return self._recording
+
+    @record.setter
+    def record(self, value: bool):
+        if not value:
+            self._records = []
+        self._recording = value
+
+    @property
+    def throttle(self):
+        return self._vehicle.throttle
+
+    @throttle.setter
+    def throttle(self, value):
+        if self._recording:
+            self._records.append(
+                't,' + str(value) + ',' + datetime.datetime.now().isoformat(sep=' ', timespec='seconds'))
+        self._vehicle.throttle = value
+
+    @property
+    def steering(self):
+        return self._vehicle.steering
+
+    @steering.setter
+    def steering(self, value):
+        if self._recording:
+            self._records.append(
+                's,' + str(value) + ',' + datetime.datetime.now().isoformat(sep=' ', timespec='seconds'))
+        self._vehicle.steering = value
+
+    @property
+    def motor_pin(self):
+        return self._vehicle.motor_pin
+
+    @motor_pin.setter
+    def motor_pin(self, value):
+        self._vehicle.motor_pin = value
+
+    @property
+    def steering_pin(self):
+        return self._vehicle.steering_pin
+
+    @steering_pin.setter
+    def steering_pin(self, value):
+        self._vehicle.steering_pin = value
+
+    def stop(self):
+        self.throttle = 0
diff --git a/car/src/car/control/motor_servicer.py b/car/src/car/control/motor_servicer.py
index 2b3052a..673681e 100644
--- a/car/src/car/control/motor_servicer.py
+++ b/car/src/car/control/motor_servicer.py
@@ -4,13 +4,16 @@ import time
 
 import car.control.motorService_pb2 as motorService_pb2
 import car.control.motorService_pb2_grpc as motorService_pb2_grpc
+from car.control.gpio.recording_vehicle_decorator import VehicleRecordingDecorator
+import google.protobuf.empty_pb2 as empty
+
 
 class MotorServicer(motorService_pb2_grpc.CarControlServicer):
     def __init__(self, vehicle):
-        self.vehicle = vehicle
+        self.vehicle = VehicleRecordingDecorator(vehicle)
         self._timer = None
 
-    def SetThrottle(self, request, context):
+    def set_throttle(self, request, context):
         # gRPC streams currently don't work between python and android.
         # If we don't get a response every 3 seconds, stop the car.
         print('Setting throttle to: ' + str(request.throttle))
@@ -18,7 +21,7 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         self.vehicle.throttle = request.throttle
         return motorService_pb2.ThrottleResponse(throttleSet=True)
 
-    def SetSteering(self, request, context):
+    def set_steering(self, request, context):
         print('Setting steering to: ' + str(request.steering))
         self.vehicle.steering = request.steering
         return motorService_pb2.SteeringResponse(steeringSet=True)
@@ -38,3 +41,11 @@ class MotorServicer(motorService_pb2_grpc.CarControlServicer):
         print("Node timeout elapsed")
         self.vehicle.stop()
 
+    def record(self, request, context):
+        """Indicate whether the vehicle data should be recorded."""
+        self.vehicle.record = request.record
+        return empty.Empty()        
+
+    def save_recorded_data(self, request, context):
+        self.vehicle.save_data(request.file)
+        return empty.Empty()
diff --git a/car/src/car/slam/slam_streamer.py b/car/src/car/slam/slam_streamer.py
index 1602b1f..117a37b 100644
--- a/car/src/car/slam/slam_streamer.py
+++ b/car/src/car/slam/slam_streamer.py
@@ -83,7 +83,7 @@ class SlamStreamer:
                                                            location=SlamLocation(x=location[0], y=location[1], theta=location[2])))
         print('Sending map')
         self._mFactory.send_message_topic(
-            'slam_map', protoScan)
+            b'slam_map', protoScan)
 
     def stop_scanning(self):
         self.can_scan = False
diff --git a/car/src/car/tracking/devices/recording_lidar.py b/car/src/car/tracking/devices/recording_lidar.py
new file mode 100644
index 0000000..8f486a4
--- /dev/null
+++ b/car/src/car/tracking/devices/recording_lidar.py
@@ -0,0 +1,52 @@
+import datetime
+
+
+class RecordingLidarDecorator:
+
+    def __init__(self, lidar):
+        self._lidar = lidar
+        self._scans = []
+        self._record = False
+
+    @property
+    def record(self):
+        return self._record
+
+    @record.setter
+    def record(self, value):
+        self.record = value
+
+    def save_data(self, filename):
+        with open(filename, 'w') as f:
+            for scan in self._scans:
+                f.write("%s\n" % scan)
+
+    def iter_scans(self, min_len=100):
+        # Need to customise the iterable.
+        return RecordingIterator(self._lidar.iter_scans(min_len), self._scans)
+
+    def get_health(self):
+        return self._lidar.get_health()
+
+    def get_info(self):
+        return self._lidar.get_info()
+
+    def stop(self):
+        return self._lidar.stop()
+
+    def disconnect(self):
+        return self._lidar.disconnect()
+
+
+class RecordingIterator:
+    def __init__(self, iterator, scan_list):
+        self._iterator = iterator
+        self._scans = scan_list
+
+    def __iter__(self):
+        return self
+
+    def __next__(self):
+        nextIter = next(self._iterator)
+        self._scans.append((nextIter, str(datetime.datetime.now())))
+        return nextIter
diff --git a/car/src/car/tracking/lidar_servicer.py b/car/src/car/tracking/lidar_servicer.py
index c987f8c..9038428 100644
--- a/car/src/car/tracking/lidar_servicer.py
+++ b/car/src/car/tracking/lidar_servicer.py
@@ -4,42 +4,65 @@ from car.tracking.lidar_cache import LidarCache
 from multiprocessing import Process
 import car.messaging.message_factory as mf
 import car.tracking.devices.factory as lidar_factory
+from car.tracking.devices.recording_lidar import RecordingLidarDecorator
 
 from car.messaging import messages
 import car.tracking.algorithms as alg
 import os
+import google.protobuf.empty_pb2 as empty
 
 
 class LidarServicer(PersonTrackingServicer):
 
     def __init__(self, vehicle=None):
-        # TODO: Put the rplidar creation in a factory or something, to make it possible to test this servicer.
-        # Also, it would allow creating the service without the lidar being connected.
-        self.cache = LidarCache(lidar_factory.get_lidar(), measurements=100)
+        self._lidar = RecordingLidarDecorator(
+            lidar_factory.get_lidar())
+        self.cache = LidarCache(self._lidar, measurements=100)
         self.cache.add_groups_changed_listener(self)
         self._mFactory = None
         self._port = 50052 if 'CAR_ZMQ_PORT' not in os.environ else os.environ[
             'CAR_ZMQ_PORT']
         self._vehicle = vehicle
         self._tracked_group = None
+        self._should_stream = False
 
     def set_tracking_group(self, request, context):
         # Invalid groups should stop tracking
         self._tracked_group = None if request.value < 0 else request.value
+        return empty.Empty()
 
     def stop_tracking(self, request, context):
+        self._should_stream = False
         self.cache.stop_scanning()
+        return empty.Empty()
 
     def start_tracking(self, request, context):
         """Starts the lidar cache, streaming on the provided port."""
+        self._should_stream = True
         self.cache.start_cache()
+        return empty.Empty()
+
+    def record(self, request, context):
+        # TODO: Fix this to not require 
+        if request.value:
+            self.cache.start_cache()
+        else:
+            self.cache.stop_scanning()
+        self._lidar.record = request.value
+        return empty.Empty()
+
+    def save_lidar(self, request, context):
+        self._lidar.save_data(request.file)
+        return empty.Empty()
 
     def onGroupsChanged(self, message):
         if self._mFactory is None:
             # Create the zmq socket in the thread that it will be used, just to be safe.
             self._mFactory = mf.getZmqPubSubStreamer(self._port)
-        self._mFactory.send_message_topic(
-            "lidar_map", messages.ProtoMessage(message=message.SerializeToString()))
+
+        if self._should_stream:
+            self._mFactory.send_message_topic(
+                "lidar_map", messages.ProtoMessage(message=message.SerializeToString()))
 
         if self._tracked_group is not None and self._vehicle is not None:
             # Update vehicle to correctly follow the tracked group.
diff --git a/protobuf/src/main/proto/car/control/motorService.proto b/protobuf/src/main/proto/car/control/motorService.proto
index 87b2372..dd15142 100644
--- a/protobuf/src/main/proto/car/control/motorService.proto
+++ b/protobuf/src/main/proto/car/control/motorService.proto
@@ -7,6 +7,8 @@ option java_multiple_files = true;
 option java_package = "org.vato.carcontroller";
 option java_outer_classname = "MotorServiceProto";
 
+import "google/protobuf/empty.proto";
+
 message ThrottleRequest{
     float throttle = 1;
 }
@@ -23,7 +25,17 @@ message SteeringResponse{
     bool steeringSet = 1;
 }
 
+message RecordingReqeust{
+    bool record = 1;
+}
+
+message SaveRequest{
+    string file = 1;
+}
+
 service CarControl{
-    rpc SetThrottle(ThrottleRequest) returns (ThrottleResponse){}
-    rpc SetSteering(SteeringRequest) returns (SteeringResponse){}
-}
\ No newline at end of file
+    rpc set_throttle(ThrottleRequest) returns (ThrottleResponse){}
+    rpc set_steering(SteeringRequest) returns (SteeringResponse){}
+    rpc record(RecordingReqeust) returns (google.protobuf.Empty) {}
+    rpc save_recorded_data(SaveRequest) returns (google.protobuf.Empty) {}
+}
diff --git a/protobuf/src/main/proto/car/empty.proto b/protobuf/src/main/proto/car/empty.proto
deleted file mode 100644
index b69a8a3..0000000
--- a/protobuf/src/main/proto/car/empty.proto
+++ /dev/null
@@ -1,9 +0,0 @@
-syntax = "proto3";
-
-option java_multiple_files = true;
-option java_package = "org.vato.carcontroller";
-option java_outer_classname = "EmptyProto";
-
-message Empty{
-
-}
\ No newline at end of file
diff --git a/protobuf/src/main/proto/car/slam/SlamController.proto b/protobuf/src/main/proto/car/slam/SlamController.proto
index 95c96cd..d47b7a3 100644
--- a/protobuf/src/main/proto/car/slam/SlamController.proto
+++ b/protobuf/src/main/proto/car/slam/SlamController.proto
@@ -4,7 +4,7 @@ option java_multiple_files = true;
 option java_package = "org.vato.carcontroller";
 option java_outer_classname = "SlamControllerProto";
 
-import "car/empty.proto";
+import "google/protobuf/empty.proto";
 
 message SlamDetails {
     int32 map_size_pixels = 1;
@@ -27,7 +27,7 @@ message SlamScan{
 }
 
 service SlamControl {
-    rpc start_map_streaming(SlamDetails) returns (Empty) {}
+    rpc start_map_streaming(SlamDetails) returns (google.protobuf.Empty) {}
 
-    rpc stop_streaming(Empty) returns (Empty) {}
+    rpc stop_streaming(google.protobuf.Empty) returns (google.protobuf.Empty) {}
 }
\ No newline at end of file
diff --git a/protobuf/src/main/proto/car/tracking/lidar_tracker.proto b/protobuf/src/main/proto/car/tracking/lidar_tracker.proto
index 01ec62b..b988413 100644
--- a/protobuf/src/main/proto/car/tracking/lidar_tracker.proto
+++ b/protobuf/src/main/proto/car/tracking/lidar_tracker.proto
@@ -6,7 +6,9 @@ option java_multiple_files = true;
 option java_package = "org.vato.carcontroller";
 option java_outer_classname = "PersonTrackingProto";
 
-import "car/empty.proto";
+import "google/protobuf/empty.proto";
+import "google/protobuf/wrappers.proto";
+import "car/control/motorService.proto";
 
 message Int32Value{
     int32 value = 1;
@@ -22,10 +24,16 @@ message PointScan{
     repeated Point points = 1;
 }
 
+
 service PersonTracking{
-    rpc set_tracking_group(Int32Value) returns (Empty) {}
+    rpc set_tracking_group(Int32Value) returns (google.protobuf.Empty) {}
 
-    rpc stop_tracking(Empty) returns (Empty) {}
+    rpc stop_tracking(google.protobuf.Empty) returns (google.protobuf.Empty) {}
+
+    rpc start_tracking(google.protobuf.Empty) returns (google.protobuf.Empty) {}
+
+    rpc record(google.protobuf.BoolValue) returns (google.protobuf.Empty) {}
+
+    rpc save_lidar(MotorControl.SaveRequest) returns (google.protobuf.Empty) {}
 
-    rpc start_tracking(Empty) returns (Empty) {}
 }
\ No newline at end of file