diff --git a/pod-operation/Cargo.lock b/pod-operation/Cargo.lock
index 573f90d..b28178c 100644
--- a/pod-operation/Cargo.lock
+++ b/pod-operation/Cargo.lock
@@ -4,9 +4,9 @@ version = 3
 
 [[package]]
 name = "addr2line"
-version = "0.21.0"
+version = "0.22.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a30b2e23b9e17a9f90641c7ab1549cd9b44f296d3ccbf309d2863cfe398a0cb"
+checksum = "6e4503c46a5c0c7844e948c9a4d6acd9f50cccb4de1c48eb9e291ea17470c678"
 dependencies = [
  "gimli",
 ]
@@ -29,9 +29,9 @@ dependencies = [
 
 [[package]]
 name = "aho-corasick"
-version = "1.1.2"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b2969dcb958b36655471fc61f7e416fa76033bdd4bfed0678d8fee1e2d07a1f0"
+checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916"
 dependencies = [
  "memchr",
 ]
@@ -47,9 +47,9 @@ dependencies = [
 
 [[package]]
 name = "async-trait"
-version = "0.1.74"
+version = "0.1.80"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a66537f1bb974b254c98ed142ff995236e81b9d0fe4db0575f46612cb15eb0f9"
+checksum = "c6fa2087f2753a7da8cc1c0dbfcf89579dd57458e36769de5ac750b4671737ca"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -58,9 +58,9 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.1.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
+checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
 
 [[package]]
 name = "axum"
@@ -71,7 +71,7 @@ dependencies = [
  "async-trait",
  "axum-core",
  "bitflags 1.3.2",
- "bytes 1.5.0",
+ "bytes 1.6.0",
  "futures-util",
  "http",
  "http-body",
@@ -101,7 +101,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "759fa577a247914fd3f7f76d62972792636412fbfd634cd452f6a385a74d2d2c"
 dependencies = [
  "async-trait",
- "bytes 1.5.0",
+ "bytes 1.6.0",
  "futures-util",
  "http",
  "http-body",
@@ -113,9 +113,9 @@ dependencies = [
 
 [[package]]
 name = "backtrace"
-version = "0.3.69"
+version = "0.3.72"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2089b7e3f35b9dd2d0ed921ead4f6d318c27680d4a5bd167b3ee120edb105837"
+checksum = "17c6a35df3749d2e8bb1b7b21a976d82b15548788d2735b9d82f329268f71a11"
 dependencies = [
  "addr2line",
  "cc",
@@ -128,9 +128,9 @@ dependencies = [
 
 [[package]]
 name = "base64"
-version = "0.21.5"
+version = "0.21.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "35636a1494ede3b646cc98f74f8e62c773a38a659ebc777a2cf26b9b74171df9"
+checksum = "9d297deb1925b89f2ccc13d7635fa0714f12c87adce1c75356b39ca9b7178567"
 
 [[package]]
 name = "bitflags"
@@ -183,9 +183,9 @@ dependencies = [
 
 [[package]]
 name = "bytes"
-version = "1.5.0"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2bd12c1caf447e69cd4528f47f94d203fd2582878ecb9e9465484c4148a8223"
+checksum = "514de17de45fdb8dc022b1a7975556c53c86f9f0aa5f534b98977b171857c2c9"
 
 [[package]]
 name = "camino"
@@ -220,12 +220,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.0.84"
+version = "1.0.98"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0f8e7c90afad890484a21653d08b6e209ae34770fb5ee298f9c699fcc1e5c856"
-dependencies = [
- "libc",
-]
+checksum = "41c270e7540d725e65ac7f1b212ac8ce349719624d7bcff99f8e2e488e8cf03f"
 
 [[package]]
 name = "cfg-if"
@@ -241,13 +238,19 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "cpufeatures"
-version = "0.2.11"
+version = "0.2.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce420fe07aecd3e67c5f910618fe65e94158f6dcc0adf44e00d69ce2bdfe0fd0"
+checksum = "53fe5e26ff1b7aef8bca9c6080520cfb8d9333c7568e1829cef191a9723e5504"
 dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "crc16"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "338089f42c427b86394a5ee60ff321da23a5c89c9d89514c829687b26359fcff"
+
 [[package]]
 name = "crypto-common"
 version = "0.1.6"
@@ -260,9 +263,9 @@ dependencies = [
 
 [[package]]
 name = "data-encoding"
-version = "2.4.0"
+version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c2e66c9d817f1720209181c316d28635c050fa304f9c79e47a520882661b7308"
+checksum = "e8566979429cf69b49a5c740c60791108e86440e8be149bbea4fe54d2c32d6e2"
 
 [[package]]
 name = "digest"
@@ -307,7 +310,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a2cb8b649570e8ed01de4d938d10eb8b41103a16485397a37be921a6710d8dfa"
 dependencies = [
  "base64",
- "bytes 1.5.0",
+ "bytes 1.6.0",
  "futures",
  "http",
  "http-body",
@@ -381,9 +384,9 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "form_urlencoded"
-version = "1.2.0"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a62bc1cf6f830c2ec14a513a9fb124d0a213a629668a4186f329db21fe045652"
+checksum = "e13624c2627564efccf4934284bdd98cbaa14e79b0b5a141218e507b3a823456"
 dependencies = [
  "percent-encoding",
 ]
@@ -495,9 +498,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.11"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fe9006bed769170c11f845cf00c7c1e9092aeb3f268e007c3e760ac68008070f"
+checksum = "c4567c8db10ae91089c99af84c68c38da3ec2f087c3f82960bcdbf3656b6f4d7"
 dependencies = [
  "cfg-if 1.0.0",
  "libc",
@@ -506,9 +509,9 @@ dependencies = [
 
 [[package]]
 name = "gimli"
-version = "0.28.0"
+version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6fb8d784f27acf97159b40fc4db5ecd8aa23b9ad5ef69cdd136d3bc80665f0c0"
+checksum = "40ecd4077b5ae9fd2e9e169b102c6c330d0605168eb0e8bf79952b256dbefffd"
 
 [[package]]
 name = "glob"
@@ -524,28 +527,28 @@ checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
 
 [[package]]
 name = "hermit-abi"
-version = "0.3.3"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d77f7ec81a6d05a3abb01ab6eb7590f6083d08449fe5a1c8b1e620283546ccb7"
+checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
 
 [[package]]
 name = "http"
-version = "0.2.11"
+version = "0.2.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8947b1a6fad4393052c7ba1f4cd97bed3e953a95c79c92ad9b051a04611d9fbb"
+checksum = "601cbb57e577e2f5ef5be8e7b83f0f63994f25aa94d673e54a92d5c516d101f1"
 dependencies = [
- "bytes 1.5.0",
+ "bytes 1.6.0",
  "fnv",
  "itoa",
 ]
 
 [[package]]
 name = "http-body"
-version = "0.4.5"
+version = "0.4.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d5f38f16d184e36f2408a55281cd658ecbd3ca05cce6d6510a176eca393e26d1"
+checksum = "7ceab25649e9960c0311ea418d17bee82c0dcec1bd053b5f9a66e265a693bed2"
 dependencies = [
- "bytes 1.5.0",
+ "bytes 1.6.0",
  "http",
  "pin-project-lite",
 ]
@@ -564,11 +567,11 @@ checksum = "df3b46402a9d5adb4c86a0cf463f42e19994e3ee891101b1841f30a545cb49a9"
 
 [[package]]
 name = "hyper"
-version = "0.14.27"
+version = "0.14.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ffb1cfd654a8219eaef89881fdb3bb3b1cdc5fa75ded05d6933b2b382e395468"
+checksum = "bf96e135eb83a2a8ddf766e426a841d8ddd7449d5f00d34ea02b41d2f19eef80"
 dependencies = [
- "bytes 1.5.0",
+ "bytes 1.6.0",
  "futures-channel",
  "futures-core",
  "futures-util",
@@ -578,7 +581,7 @@ dependencies = [
  "httpdate",
  "itoa",
  "pin-project-lite",
- "socket2 0.4.10",
+ "socket2",
  "tokio",
  "tower-service",
  "tracing",
@@ -600,9 +603,9 @@ dependencies = [
 
 [[package]]
 name = "idna"
-version = "0.4.0"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d20d6b07bfbc108882d88ed8e37d39636dcc260e15e30c45e6ba089610b917c"
+checksum = "634d9b1461af396cad843f47fdba5597a4f9e6ddd4bfb6ff5d85028c25cb12f6"
 dependencies = [
  "unicode-bidi",
  "unicode-normalization",
@@ -639,9 +642,9 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.9"
+version = "1.0.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af150ab688ff2122fcef229be89cb50dd66af9e01a4ff320cc137eecc9bacc38"
+checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
 
 [[package]]
 name = "lazy_static"
@@ -651,9 +654,9 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 
 [[package]]
 name = "libc"
-version = "0.2.150"
+version = "0.2.155"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89d92a4743f9a61002fae18374ed11e7973f530cb3a3255fb354818118b2203c"
+checksum = "97b3888a4aecf77e811145cadf6eef5901f4782c53886191b2f693f24761847c"
 
 [[package]]
 name = "libm"
@@ -680,9 +683,9 @@ checksum = "78b3ae25bc7c8c38cec158d1f2757ee79e9b3740fbc7ccf0e59e4b08d793fa89"
 
 [[package]]
 name = "log"
-version = "0.4.20"
+version = "0.4.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f"
+checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
 
 [[package]]
 name = "matchers"
@@ -701,9 +704,9 @@ checksum = "0e7465ac9959cc2b1404e8e2367b43684a6d13790fe23056cc8c6c5a6b7bcb94"
 
 [[package]]
 name = "memchr"
-version = "2.6.4"
+version = "2.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f665ee40bc4a3c5590afb1e9677db74a508659dfd71e126420da8274909a0167"
+checksum = "6c8640c5d730cb13ebd907d8d04b52f55ac9a2eec55b440c8892f40d56c76c1d"
 
 [[package]]
 name = "mime"
@@ -713,18 +716,18 @@ checksum = "6877bb514081ee2a7ff5ef9de3281f14a4dd4bceac4c09388074a6b5df8a139a"
 
 [[package]]
 name = "miniz_oxide"
-version = "0.7.1"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e7810e0be55b428ada41041c41f32c9f1a42817901b4ccf45fa3d4b6561e74c7"
+checksum = "87dfd01fe195c66b572b37921ad8803d010623c0aca821bea2302239d155cdae"
 dependencies = [
  "adler",
 ]
 
 [[package]]
 name = "mio"
-version = "0.8.9"
+version = "0.8.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3dce281c5e46beae905d4de1870d8b1509a9142b62eedf18b443b011ca8343d0"
+checksum = "a4a650543ca06a924e8b371db273b2756685faae30f8487da1b56505a8f78b0c"
 dependencies = [
  "libc",
  "wasi",
@@ -865,9 +868,9 @@ dependencies = [
 
 [[package]]
 name = "object"
-version = "0.32.1"
+version = "0.35.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cf5f9dd3933bd50a9e1f149ec995f39ae2c496d31fd772c1fd45ebc27e902b0"
+checksum = "b8ec7ab813848ba4522158d5517a6093db1ded27575b070f4177b8d12b41db5e"
 dependencies = [
  "memchr",
 ]
@@ -892,24 +895,24 @@ checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
 name = "percent-encoding"
-version = "2.3.0"
+version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b2a4787296e9989611394c33f193f676704af1686e70b8f8033ab5ba9a35a94"
+checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
 [[package]]
 name = "pin-project"
-version = "1.1.3"
+version = "1.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fda4ed1c6c173e3fc7a83629421152e01d7b1f9b7f65fb301e490e8cfc656422"
+checksum = "b6bf43b791c5b9e34c3d182969b4abb522f9343702850a2e57f460d00d09b4b3"
 dependencies = [
  "pin-project-internal",
 ]
 
 [[package]]
 name = "pin-project-internal"
-version = "1.1.3"
+version = "1.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4359fd9c9171ec6e8c62926d6faaf553a8dc3f64e1507e76da7911b4f6a04405"
+checksum = "2f38a4412a78282e09a2cf38d195ea5420d15ba0602cb375210efbc877243965"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -918,9 +921,9 @@ dependencies = [
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.13"
+version = "0.2.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
+checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
 
 [[package]]
 name = "pin-utils"
@@ -950,6 +953,7 @@ dependencies = [
  "tokio",
  "tracing",
  "tracing-subscriber",
+ "vesc-comm",
 ]
 
 [[package]]
@@ -1026,25 +1030,16 @@ dependencies = [
  "getrandom",
 ]
 
-[[package]]
-name = "redox_syscall"
-version = "0.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4722d768eff46b75989dd134e5c353f0d6296e5aaa3132e776cbdb56be7731aa"
-dependencies = [
- "bitflags 1.3.2",
-]
-
 [[package]]
 name = "regex"
-version = "1.10.2"
+version = "1.10.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "380b951a9c5e80ddfd6136919eef32310721aa4aacd4889a8d39124b026ab343"
+checksum = "c117dbdfde9c8308975b6a18d71f3f385c89461f7b3fb054288ecf2a2058ba4c"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-automata 0.4.3",
- "regex-syntax 0.8.2",
+ "regex-automata 0.4.6",
+ "regex-syntax 0.8.3",
 ]
 
 [[package]]
@@ -1058,13 +1053,13 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.3"
+version = "0.4.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f804c7828047e88b2d32e2d7fe5a105da8ee3264f01902f796c8e067dc2483f"
+checksum = "86b83b8b9847f9bf95ef68afb0b8e6cdb80f498442f5179a29fad448fcc1eaea"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-syntax 0.8.2",
+ "regex-syntax 0.8.3",
 ]
 
 [[package]]
@@ -1075,9 +1070,9 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.2"
+version = "0.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f"
+checksum = "adad44e29e4c806119491a7f06f03de4d1af22c3a680dd47f1e6e179439d1f56"
 
 [[package]]
 name = "rppal"
@@ -1096,15 +1091,15 @@ dependencies = [
 
 [[package]]
 name = "rustc-demangle"
-version = "0.1.23"
+version = "0.1.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d626bb9dae77e28219937af045c257c28bfd3f69333c512553507f5f9798cb76"
+checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"
 
 [[package]]
 name = "rustix"
-version = "0.38.28"
+version = "0.38.34"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "72e572a5e8ca657d7366229cdde4bd14c4eb5499a9573d4d366fe1b599daa316"
+checksum = "70dc5ec042f7a43c4a73241207cecc9873a06d45debb38b329f8541d85c2730f"
 dependencies = [
  "bitflags 2.5.0",
  "errno",
@@ -1115,15 +1110,15 @@ dependencies = [
 
 [[package]]
 name = "rustversion"
-version = "1.0.14"
+version = "1.0.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ffc183a10b4478d04cbbbfc96d0873219d962dd5accaff2ffbd4ceb7df837f4"
+checksum = "955d28af4278de8121b7ebeb796b6a45735dc01436d898801014aced2773a3d6"
 
 [[package]]
 name = "ryu"
-version = "1.0.15"
+version = "1.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ad4cc8da4ef723ed60bced201181d83791ad433213d8c24efffda1eec85d741"
+checksum = "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f"
 
 [[package]]
 name = "same-file"
@@ -1165,9 +1160,9 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.108"
+version = "1.0.117"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d1c7e3eac408d115102c4c24ad393e0821bb3a5df4d506a80f85f7a742a526b"
+checksum = "455182ea6142b14f93f4bc5320a2b31c1f266b66a4a5c858b013302a5d8cbfc3"
 dependencies = [
  "itoa",
  "ryu",
@@ -1176,9 +1171,9 @@ dependencies = [
 
 [[package]]
 name = "serde_path_to_error"
-version = "0.1.14"
+version = "0.1.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4beec8bce849d58d06238cb50db2e1c417cfeafa4c63f692b15c82b7c80f8335"
+checksum = "af99884400da37c88f5e9146b7f1fd0fbcae8f6eec4e9da38b67d05486f814a6"
 dependencies = [
  "itoa",
  "serde",
@@ -1254,28 +1249,18 @@ dependencies = [
 
 [[package]]
 name = "smallvec"
-version = "1.11.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4dccd0940a2dcdf68d092b8cbab7dc0ad8fa938bf95787e1b916b0e3d0e8e970"
-
-[[package]]
-name = "socket2"
-version = "0.4.10"
+version = "1.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f7916fc008ca5542385b89a3d3ce689953c143e9304a9bf8beec1de48994c0d"
-dependencies = [
- "libc",
- "winapi",
-]
+checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
 
 [[package]]
 name = "socket2"
-version = "0.5.5"
+version = "0.5.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b5fac59a5cb5dd637972e5fca70daf0523c9067fcdc4842f053dae04a18f8e9"
+checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
 dependencies = [
  "libc",
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -1324,31 +1309,30 @@ checksum = "2047c6ded9c721764247e62cd3b03c09ffc529b2ba5b10ec482ae507a4a70160"
 
 [[package]]
 name = "tempfile"
-version = "3.9.0"
+version = "3.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "01ce4141aa927a6d1bd34a041795abd0db1cccba5d5f24b009f694bdf3a1f3fa"
+checksum = "85b77fafb263dd9d05cbeac119526425676db3784113aa9295c88498cbf8bff1"
 dependencies = [
  "cfg-if 1.0.0",
  "fastrand",
- "redox_syscall",
  "rustix",
  "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "thiserror"
-version = "1.0.50"
+version = "1.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f9a7210f5c9a7156bb50aa36aed4c95afb51df0df00713949448cf9e97d382d2"
+checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.50"
+version = "1.0.61"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "266b2e40bc00e5a6c09c3584011e08b06f123c00362c92b975ba9843aaaa14b8"
+checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1357,9 +1341,9 @@ dependencies = [
 
 [[package]]
 name = "thread_local"
-version = "1.1.7"
+version = "1.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fdd6f064ccff2d6567adcb3873ca630700f00b5ad3f060c25b5dcfd9a4ce152"
+checksum = "8b9ef9bad013ada3808854ceac7b46812a6465ba368859a37e2100283d2d719c"
 dependencies = [
  "cfg-if 1.0.0",
  "once_cell",
@@ -1382,26 +1366,26 @@ checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
 [[package]]
 name = "tokio"
-version = "1.34.0"
+version = "1.38.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d0c014766411e834f7af5b8f4cf46257aab4036ca95e9d2c144a10f59ad6f5b9"
+checksum = "ba4f4a02a7a80d6f274636f0aa95c7e383b912d41fe721a31f29e29698585a4a"
 dependencies = [
  "backtrace",
- "bytes 1.5.0",
+ "bytes 1.6.0",
  "libc",
  "mio",
  "num_cpus",
  "pin-project-lite",
- "socket2 0.5.5",
+ "socket2",
  "tokio-macros",
  "windows-sys 0.48.0",
 ]
 
 [[package]]
 name = "tokio-macros"
-version = "2.2.0"
+version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b8a1e28f2deaa14e508979454cb3a223b10b938b45af148bc0986de36f1923b"
+checksum = "5f5ae998a069d4b5aba8ee9dad856af7d520c3699e6159b185c2acd48155d39a"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1500,9 +1484,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-log"
-version = "0.1.4"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f751112709b4e791d8ce53e32c4ed2d353565a795ce84da2285393f41557bdf2"
+checksum = "ee855f1f400bd0e5c02d150ae5de3840039a3f54b025156404e34c23c03f47c3"
 dependencies = [
  "log",
  "once_cell",
@@ -1511,9 +1495,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-subscriber"
-version = "0.3.17"
+version = "0.3.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30a651bc37f915e81f087d86e62a18eec5f79550c7faff886f7090b4ea757c77"
+checksum = "ad0f048c97dbd9faa9b7df56362b8ebcaa52adb06b498c050d2f4e32f90a7a8b"
 dependencies = [
  "matchers",
  "nu-ansi-term",
@@ -1529,9 +1513,9 @@ dependencies = [
 
 [[package]]
 name = "try-lock"
-version = "0.2.4"
+version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3528ecfd12c466c6f163363caf2d02a71161dd5e1cc6ae7b34207ea2d42d81ed"
+checksum = "e421abadd41a4225275504ea4d6566923418b7f05506fbc9c0fe86ba7396114b"
 
 [[package]]
 name = "tungstenite"
@@ -1540,7 +1524,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9e3dac10fd62eaf6617d3a904ae222845979aec67c615d1c842b4002c7666fb9"
 dependencies = [
  "byteorder",
- "bytes 1.5.0",
+ "bytes 1.6.0",
  "data-encoding",
  "http",
  "httparse",
@@ -1569,9 +1553,9 @@ dependencies = [
 
 [[package]]
 name = "unicode-bidi"
-version = "0.3.13"
+version = "0.3.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "92888ba5573ff080736b3648696b70cafad7d250551175acbaa4e0385b3e1460"
+checksum = "08f95100a766bf4f8f28f90d77e0a5461bbdb219042e7679bebe79004fed8d75"
 
 [[package]]
 name = "unicode-ident"
@@ -1581,18 +1565,18 @@ checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "unicode-normalization"
-version = "0.1.22"
+version = "0.1.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5c5713f0fc4b5db668a2ac63cdb7bb4469d8c9fed047b1d0292cc7b0ce2ba921"
+checksum = "a56d1686db2308d901306f92a263857ef59ea39678a5458e7cb17f01415101f5"
 dependencies = [
  "tinyvec",
 ]
 
 [[package]]
 name = "url"
-version = "2.4.1"
+version = "2.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "143b538f18257fac9cad154828a57c6bf5157e1aa604d4816b5995bf6de87ae5"
+checksum = "31e6302e3bb753d46e83516cae55ae196fc0c309407cf11ab35cc51a4c2a4633"
 dependencies = [
  "form_urlencoded",
  "idna",
@@ -1617,6 +1601,18 @@ version = "0.9.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
 
+[[package]]
+name = "vesc-comm"
+version = "0.2.0"
+source = "git+https://github.com/UCI-HyperXite/vesc-comm.git#f2f6a94a84297fc851a96cb5de86a394fedc14c9"
+dependencies = [
+ "byteorder",
+ "crc16",
+ "embedded-hal 1.0.0",
+ "embedded-hal-nb",
+ "nb 1.1.0",
+]
+
 [[package]]
 name = "void"
 version = "1.0.2"
diff --git a/pod-operation/Cargo.toml b/pod-operation/Cargo.toml
index 66d927c..0a81ffc 100644
--- a/pod-operation/Cargo.toml
+++ b/pod-operation/Cargo.toml
@@ -24,6 +24,7 @@ mpu6050 = "0.1.6"
 lidar_lite_v3 = { version = "0.1.0", optional = true }
 i2cdev = "0.3.1"
 byteorder = "1.4.3"
+vesc-comm = { git = "https://github.com/UCI-HyperXite/vesc-comm.git" }
 
 [features]
 gpio = ["dep:rppal"]
@@ -31,5 +32,6 @@ ina219 = ["dep:rppal"]
 ads1015 = ["dep:rppal"]
 mpu6050 = ["dep:rppal"]
 inverter = ["dep:rppal"]
+vesc = ["dep:rppal"]
 lidar = ["dep:lidar_lite_v3"]
-rpi = ["gpio", "ads1015", "ina219", "mpu6050", "inverter", "lidar"]
+rpi = ["gpio", "ads1015", "ina219", "mpu6050", "inverter", "vesc", "lidar"]
diff --git a/pod-operation/src/components/mod.rs b/pod-operation/src/components/mod.rs
index 296b622..6483e52 100644
--- a/pod-operation/src/components/mod.rs
+++ b/pod-operation/src/components/mod.rs
@@ -5,6 +5,7 @@ pub mod inverter_board;
 pub mod lidar;
 pub mod lim_current;
 pub mod lim_temperature;
+pub mod motors;
 pub mod pressure_transducer;
 pub mod signal_light;
 pub mod wheel_encoder;
diff --git a/pod-operation/src/components/motors.rs b/pod-operation/src/components/motors.rs
new file mode 100644
index 0000000..c727594
--- /dev/null
+++ b/pod-operation/src/components/motors.rs
@@ -0,0 +1,55 @@
+#[cfg(feature = "vesc")]
+use {rppal::uart::Uart, vesc_comm::VescConnection};
+
+use tracing::debug;
+use tracing::info;
+use vesc_comm::VescErrorWithBacktrace;
+
+#[cfg(feature = "vesc")]
+mod serial_constants {
+	use rppal::uart::Parity;
+
+	pub const BAUD_RATE: u32 = 115200;
+	pub const PARITY: Parity = Parity::None;
+	pub const DATA_BITS: u8 = 8;
+	pub const STOP_BITS: u8 = 1;
+}
+
+const WHEEL_DIAMETER: f32 = 1.5; // inches
+const MPH_TO_IN_PER_MIN: f32 = 1056.0;
+const MPH_TO_RPM: f32 = MPH_TO_IN_PER_MIN / WHEEL_DIAMETER;
+
+pub struct Motors {
+	#[cfg(feature = "vesc")]
+	pub vesc: VescConnection<Uart>,
+}
+
+impl Motors {
+	#[cfg(feature = "vesc")]
+	pub fn new(serial_path: &str) -> Self {
+		use serial_constants::*;
+		let uart = Uart::with_path(serial_path, BAUD_RATE, PARITY, DATA_BITS, STOP_BITS).unwrap();
+		let conn = VescConnection::new(uart);
+		info!("Initialized VESC on {}", serial_path);
+		Self { vesc: conn }
+	}
+
+	#[cfg(not(feature = "vesc"))]
+	pub fn new(serial_path: &str) -> Self {
+		info!("Mocking VESC on {}", serial_path);
+		Self {}
+	}
+
+	#[cfg(feature = "vesc")]
+	pub fn set_speed_mph(&mut self, new_speed_mph: f32) -> Result<(), VescErrorWithBacktrace> {
+		debug!("Driving motors at {}", new_speed_mph);
+		self.vesc
+			.set_rpm((new_speed_mph * MPH_TO_RPM).round() as u32)
+	}
+
+	#[cfg(not(feature = "vesc"))]
+	pub fn set_speed_mph(&mut self, new_speed_mph: f32) -> Result<(), VescErrorWithBacktrace> {
+		debug!("Mocking motors at {} RPM", new_speed_mph * MPH_TO_RPM);
+		Ok(())
+	}
+}
diff --git a/pod-operation/src/demo.rs b/pod-operation/src/demo.rs
index 4059736..d9e86f8 100644
--- a/pod-operation/src/demo.rs
+++ b/pod-operation/src/demo.rs
@@ -7,6 +7,7 @@ use crate::components::inverter_board::InverterBoard;
 use crate::components::lidar::Lidar;
 use crate::components::lim_current::LimCurrent;
 use crate::components::lim_temperature::LimTemperature;
+use crate::components::motors::Motors;
 use crate::components::pressure_transducer::PressureTransducer;
 use crate::components::signal_light::SignalLight;
 use crate::components::wheel_encoder::WheelEncoder;
@@ -135,3 +136,13 @@ pub async fn read_lidar(mut lidar: Lidar) {
 		tokio::time::sleep(std::time::Duration::from_millis(100)).await;
 	}
 }
+
+pub async fn vesc_motors(mut motors: Motors) {
+	loop {
+		motors.set_speed_mph(10.0).unwrap();
+		tokio::time::sleep(std::time::Duration::from_millis(1000)).await;
+		// println!("{:?}", motors.vesc.get_fw_version().unwrap());
+		motors.set_speed_mph(0.0).unwrap();
+		tokio::time::sleep(std::time::Duration::from_millis(1000)).await;
+	}
+}
diff --git a/pod-operation/src/main.rs b/pod-operation/src/main.rs
index d53b109..8c06f9a 100644
--- a/pod-operation/src/main.rs
+++ b/pod-operation/src/main.rs
@@ -15,6 +15,7 @@ use crate::components::inverter_board::InverterBoard;
 use crate::components::lidar::Lidar;
 use crate::components::lim_current::LimCurrent;
 use crate::components::lim_temperature::LimTemperature;
+use crate::components::motors::Motors;
 use crate::components::pressure_transducer::PressureTransducer;
 use crate::components::signal_light::SignalLight;
 use crate::components::wheel_encoder::WheelEncoder;
@@ -63,6 +64,9 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
 	let inverter_board = InverterBoard::new();
 	tokio::spawn(demo::inverter_control(inverter_board));
 
+	let motors = Motors::new("/dev/ttyACM0");
+	tokio::spawn(demo::vesc_motors(motors));
+
 	let mut state_machine = StateMachine::new(io);
 	tokio::spawn(async move {
 		state_machine.run().await;