diff --git a/.github/workflows/generate_artefacts.yml b/.github/workflows/generate_artefacts.yml
index d51065d..b46e69a 100644
--- a/.github/workflows/generate_artefacts.yml
+++ b/.github/workflows/generate_artefacts.yml
@@ -42,6 +42,7 @@ jobs:
           git config user.email "41898282+github-actions[bot]@users.noreply.github.com"
 
           git add -f artefacts/
+          git add -f bindings/flutter/lib/src/trame_builder.dart
 
           git commit -m "Regenerate artefacts automatically [skip ci]" \
               || echo "nothing to commit"
diff --git a/.github/workflows/publish_to_pub.yml b/.github/workflows/publish_to_pub.yml
new file mode 100644
index 0000000..2f71a8f
--- /dev/null
+++ b/.github/workflows/publish_to_pub.yml
@@ -0,0 +1,41 @@
+name: Publish to Pub.dev
+
+on:
+  push:
+    tags:
+      - 'v[0-9]+.[0-9]+.[0-9]+' # Trigger on version tags
+
+jobs:
+  publish:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: bindings/flutter
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: subosito/flutter-action@v2
+        with:
+          flutter-version: '3.x'
+          channel: 'stable'
+
+      - name: Install dependencies
+        run: flutter pub get
+
+      - name: Verify formatting
+        run: dart format --output=none --set-exit-if-changed .
+
+      - name: Analyze project
+        run: flutter analyze
+
+      - name: Run tests
+        run: flutter test
+
+      - name: Setup Pub Credentials
+        run: |
+          mkdir -p ~/.config/dart
+          echo '${{ secrets.PUB_CREDENTIALS_JSON }}' > ~/.config/dart/pub-credentials.json
+
+      - name: Publish to Pub.dev
+        run: flutter pub publish --force
diff --git a/Makefile b/Makefile
index 1dc2793..8196cc6 100644
--- a/Makefile
+++ b/Makefile
@@ -54,6 +54,9 @@ artefacts/trames.json: trame-exporter
 .PHONY: primitives
 primitives: artefacts/trames.json
 	@ python generators/generate_primitives.py
+	@ cp artefacts/flutter/trame_builder.dart bindings/flutter/lib/src/trame_builder.dart
+	@ $(LOG_TIME) "$(C_GREEN) CP $(C_PURPLE) trame_builder.dart $(C_RESET)"
+
 
 
 .PHONY: doc
diff --git a/artefacts/cpp/trame_builder.cpp b/artefacts/cpp/trame_builder.cpp
index df096cb..fb1cfbf 100644
--- a/artefacts/cpp/trame_builder.cpp
+++ b/artefacts/cpp/trame_builder.cpp
@@ -10,6 +10,7 @@
  */
 inline std::string safety_stop() {
     std::ostringstream oss;
+        oss << "";
     return oss.str();
 }
 
@@ -38,6 +39,7 @@ inline std::string start_firmware_upload(int size) {
     std::ostringstream oss;
         oss << "500x";
         oss << size;
+        oss << "";
     return oss.str();
 }
 
@@ -48,6 +50,7 @@ inline std::string start_trame_s(std::string trame_s_params) {
     std::ostringstream oss;
         oss << "0";
         oss << trame_s_params;
+        oss << "";
     return oss.str();
 }
 
@@ -112,6 +115,7 @@ inline std::string set_line_threshold_value(int threshold) {
     std::ostringstream oss;
         oss << "13t";
         oss << threshold;
+        oss << "";
     return oss.str();
 }
 
@@ -234,13 +238,14 @@ inline std::string set_led_color_circle(std::string r, std::string g, std::strin
         oss << g;
         oss << "b";
         oss << b;
+        oss << "";
     return oss.str();
 }
 
 /**
- * Primitive for set_led_color_circle
+ * Primitive for set_led_color_circle_2
  */
-inline std::string set_led_color_circle(std::string r, std::string g, std::string b) {
+inline std::string set_led_color_circle_2(std::string r, std::string g, std::string b) {
     std::ostringstream oss;
         oss << "512r";
         oss << r;
@@ -248,6 +253,7 @@ inline std::string set_led_color_circle(std::string r, std::string g, std::strin
         oss << g;
         oss << "b";
         oss << b;
+        oss << "";
     return oss.str();
 }
 
@@ -258,6 +264,7 @@ inline std::string set_led_shape(std::string shape) {
     std::ostringstream oss;
         oss << "52v";
         oss << shape;
+        oss << "";
     return oss.str();
 }
 
@@ -270,6 +277,7 @@ inline std::string set_led_mode(std::string mode, int nb_loop) {
         oss << mode;
         oss << "/";
         oss << nb_loop;
+        oss << "";
     return oss.str();
 }
 
@@ -280,6 +288,7 @@ inline std::string set_led_captor(int brightness) {
     std::ostringstream oss;
         oss << "54l";
         oss << brightness;
+        oss << "";
     return oss.str();
 }
 
@@ -298,6 +307,7 @@ inline std::string set_led_single(std::string type, int id, int red, int green,
         oss << green;
         oss << "b";
         oss << blue;
+        oss << "";
     return oss.str();
 }
 
@@ -312,6 +322,7 @@ inline std::string display_word(std::string word, int delay, int nb_loops) {
         oss << delay;
         oss << "/";
         oss << nb_loops;
+        oss << "";
     return oss.str();
 }
 
@@ -340,6 +351,7 @@ inline std::string run_command_motor(std::string params) {
     std::ostringstream oss;
         oss << "a";
         oss << params;
+        oss << "";
     return oss.str();
 }
 
@@ -352,6 +364,7 @@ inline std::string ping_motor(int ping_status_0, int ping_status_1) {
         oss << ping_status_0;
         oss << "s";
         oss << ping_status_1;
+        oss << "";
     return oss.str();
 }
 
@@ -366,6 +379,7 @@ inline std::string drive_single_motor_speed(int motor_index, int acc, int speed)
         oss << acc;
         oss << "v";
         oss << speed;
+        oss << "";
     return oss.str();
 }
 
@@ -376,6 +390,7 @@ inline std::string get_single_motor_speed(int motor_index) {
     std::ostringstream oss;
         oss << "611i";
         oss << motor_index;
+        oss << "";
     return oss.str();
 }
 
@@ -392,6 +407,7 @@ inline std::string drive_single_motor_angle(int motor_index, int acc, int vel, i
         oss << vel;
         oss << "p";
         oss << position;
+        oss << "";
     return oss.str();
 }
 
@@ -402,6 +418,7 @@ inline std::string get_single_motor_angle(int motor_index) {
     std::ostringstream oss;
         oss << "621i";
         oss << motor_index;
+        oss << "";
     return oss.str();
 }
 
@@ -412,6 +429,7 @@ inline std::string get_single_motor_temp(int motor_index) {
     std::ostringstream oss;
         oss << "63i";
         oss << motor_index;
+        oss << "";
     return oss.str();
 }
 
@@ -422,6 +440,7 @@ inline std::string get_single_motor_volt(int motor_index) {
     std::ostringstream oss;
         oss << "64i";
         oss << motor_index;
+        oss << "";
     return oss.str();
 }
 
@@ -432,6 +451,7 @@ inline std::string get_single_motor_load(int motor_index) {
     std::ostringstream oss;
         oss << "65i";
         oss << motor_index;
+        oss << "";
     return oss.str();
 }
 
@@ -442,6 +462,7 @@ inline std::string get_single_motor_current(int motor_index) {
     std::ostringstream oss;
         oss << "66i";
         oss << motor_index;
+        oss << "";
     return oss.str();
 }
 
@@ -452,6 +473,7 @@ inline std::string get_single_motor_move(int motor_index) {
     std::ostringstream oss;
         oss << "67i";
         oss << motor_index;
+        oss << "";
     return oss.str();
 }
 
@@ -462,6 +484,7 @@ inline std::string set_motors_ilo_acc(int acc) {
     std::ostringstream oss;
         oss << "680a";
         oss << acc;
+        oss << "";
     return oss.str();
 }
 
@@ -481,6 +504,7 @@ inline std::string set_tempo_pos(int tempo_pos) {
     std::ostringstream oss;
         oss << "690t";
         oss << tempo_pos;
+        oss << "";
     return oss.str();
 }
 
@@ -504,6 +528,7 @@ inline std::string set_pid(int Kp, int Ki, int Kd) {
         oss << Ki;
         oss << "d";
         oss << Kd;
+        oss << "";
     return oss.str();
 }
 
@@ -523,6 +548,7 @@ inline std::string check_auto_mode(int current_auto_mode) {
     std::ostringstream oss;
         oss << "80";
         oss << current_auto_mode;
+        oss << "";
     return oss.str();
 }
 
@@ -535,6 +561,7 @@ inline std::string set_wifi_credentials(std::string ssid, std::string password)
         oss << ssid;
         oss << "{|||}";
         oss << password;
+        oss << "";
     return oss.str();
 }
 
@@ -572,6 +599,7 @@ inline std::string set_name(std::string name) {
     std::ostringstream oss;
         oss << "94n";
         oss << name;
+        oss << "";
     return oss.str();
 }
 
@@ -582,6 +610,7 @@ inline std::string set_server_status(int status) {
     std::ostringstream oss;
         oss << "95s";
         oss << status;
+        oss << "";
     return oss.str();
 }
 
@@ -628,6 +657,7 @@ inline std::string set_debug_state(int state) {
     std::ostringstream oss;
         oss << "103s";
         oss << state;
+        oss << "";
     return oss.str();
 }
 
@@ -656,6 +686,7 @@ inline std::string set_manufacturing_date(std::string date) {
     std::ostringstream oss;
         oss << "121s";
         oss << date;
+        oss << "";
     return oss.str();
 }
 
@@ -675,6 +706,7 @@ inline std::string set_first_use_date(std::string date) {
     std::ostringstream oss;
         oss << "131s";
         oss << date;
+        oss << "";
     return oss.str();
 }
 
@@ -694,6 +726,7 @@ inline std::string set_product_version(std::string version) {
     std::ostringstream oss;
         oss << "141s";
         oss << version;
+        oss << "";
     return oss.str();
 }
 
@@ -713,6 +746,7 @@ inline std::string set_product_id(std::string product_id) {
     std::ostringstream oss;
         oss << "151s";
         oss << product_id;
+        oss << "";
     return oss.str();
 }
 
@@ -732,6 +766,7 @@ inline std::string set_review_date(std::string date) {
     std::ostringstream oss;
         oss << "161s";
         oss << date;
+        oss << "";
     return oss.str();
 }
 
@@ -742,6 +777,7 @@ inline std::string set_auto_setup(int auto_setup) {
     std::ostringstream oss;
         oss << "170a";
         oss << auto_setup;
+        oss << "";
     return oss.str();
 }
 
diff --git a/artefacts/docs/trames.rst b/artefacts/docs/trames.rst
index 3eff263..cda16aa 100644
--- a/artefacts/docs/trames.rst
+++ b/artefacts/docs/trames.rst
@@ -62,7 +62,7 @@ This table is generated automatically from ``trame.json``.
      - ``<50>``
    * - ``set_led_color_circle``
      - ``<511r[r]g[g]b[b]>``
-   * - ``set_led_color_circle``
+   * - ``set_led_color_circle_2``
      - ``<512r[r]g[g]b[b]>``
    * - ``set_led_shape``
      - ``<52v[shape]>``
diff --git a/artefacts/flutter/trame_builder.dart b/artefacts/flutter/trame_builder.dart
new file mode 100644
index 0000000..ba461df
--- /dev/null
+++ b/artefacts/flutter/trame_builder.dart
@@ -0,0 +1,560 @@
+// Auto-generated primitives for ilo communication
+// This file is generated. Do not edit manually.
+
+class TrameBuilder {
+
+  /// Primitive for safety_stop
+  static String safety_stop() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for handshake_ilo
+  static String handshake_ilo() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("ilo");
+    return buffer.toString();
+  }
+  /// Primitive for get_robot_version
+  static String get_robot_version() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("500y");
+    return buffer.toString();
+  }
+  /// Primitive for start_firmware_upload
+  static String start_firmware_upload(int size) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("500x");
+    buffer.write(size);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for start_trame_s
+  static String start_trame_s(String trame_s_params) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("0");
+    buffer.write(trame_s_params);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for stop_tasks
+  static String stop_tasks() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("00");
+    return buffer.toString();
+  }
+  /// Primitive for get_color_rgb_center
+  static String get_color_rgb_center() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("10c");
+    return buffer.toString();
+  }
+  /// Primitive for get_color_rgb_left
+  static String get_color_rgb_left() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("10l");
+    return buffer.toString();
+  }
+  /// Primitive for get_color_rgb_right
+  static String get_color_rgb_right() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("10d");
+    return buffer.toString();
+  }
+  /// Primitive for get_color_clear
+  static String get_color_clear() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("11");
+    return buffer.toString();
+  }
+  /// Primitive for get_line
+  static String get_line() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("12");
+    return buffer.toString();
+  }
+  /// Primitive for set_line_threshold_value
+  static String set_line_threshold_value(int threshold) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("13t");
+    buffer.write(threshold);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_line_threshold_value
+  static String get_line_threshold_value() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("14");
+    return buffer.toString();
+  }
+  /// Primitive for get_accessory_status
+  static String get_accessory_status() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("15");
+    return buffer.toString();
+  }
+  /// Primitive for get_sensor_distance
+  static String get_sensor_distance() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("20");
+    return buffer.toString();
+  }
+  /// Primitive for get_distance_front
+  static String get_distance_front() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("21");
+    return buffer.toString();
+  }
+  /// Primitive for get_distance_right
+  static String get_distance_right() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("22");
+    return buffer.toString();
+  }
+  /// Primitive for get_distance_back
+  static String get_distance_back() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("23");
+    return buffer.toString();
+  }
+  /// Primitive for get_distance_left
+  static String get_distance_left() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("24");
+    return buffer.toString();
+  }
+  /// Primitive for get_imu_info
+  static String get_imu_info() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("30");
+    return buffer.toString();
+  }
+  /// Primitive for reset_angle
+  static String reset_angle() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("31");
+    return buffer.toString();
+  }
+  /// Primitive for get_raw_imu
+  static String get_raw_imu() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("32");
+    return buffer.toString();
+  }
+  /// Primitive for get_battery_info
+  static String get_battery_info() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("40");
+    return buffer.toString();
+  }
+  /// Primitive for get_led_color
+  static String get_led_color() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("50");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_color_circle
+  static String set_led_color_circle(String r, String g, String b) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("511r");
+    buffer.write(r);
+    buffer.write("g");
+    buffer.write(g);
+    buffer.write("b");
+    buffer.write(b);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_color_circle_2
+  static String set_led_color_circle_2(String r, String g, String b) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("512r");
+    buffer.write(r);
+    buffer.write("g");
+    buffer.write(g);
+    buffer.write("b");
+    buffer.write(b);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_shape
+  static String set_led_shape(String shape) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("52v");
+    buffer.write(shape);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_mode
+  static String set_led_mode(String mode, int nb_loop) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("53");
+    buffer.write(mode);
+    buffer.write("/");
+    buffer.write(nb_loop);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_captor
+  static String set_led_captor(int brightness) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("54l");
+    buffer.write(brightness);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_single
+  static String set_led_single(String type, int id, int red, int green, int blue) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("55t");
+    buffer.write(type);
+    buffer.write("d");
+    buffer.write(id);
+    buffer.write("r");
+    buffer.write(red);
+    buffer.write("g");
+    buffer.write(green);
+    buffer.write("b");
+    buffer.write(blue);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for display_word
+  static String display_word(String word, int delay, int nb_loops) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("56w");
+    buffer.write(word);
+    buffer.write("d");
+    buffer.write(delay);
+    buffer.write("/");
+    buffer.write(nb_loops);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for display_word_slide
+  static String display_word_slide() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("57");
+    return buffer.toString();
+  }
+  /// Primitive for set_animation_flag_false
+  static String set_animation_flag_false() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("58");
+    return buffer.toString();
+  }
+  /// Primitive for run_command_motor
+  static String run_command_motor(String params) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("a");
+    buffer.write(params);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for ping_motor
+  static String ping_motor(int ping_status_0, int ping_status_1) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("60i");
+    buffer.write(ping_status_0);
+    buffer.write("s");
+    buffer.write(ping_status_1);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for drive_single_motor_speed
+  static String drive_single_motor_speed(int motor_index, int acc, int speed) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("610i");
+    buffer.write(motor_index);
+    buffer.write("a");
+    buffer.write(acc);
+    buffer.write("v");
+    buffer.write(speed);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_speed
+  static String get_single_motor_speed(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("611i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for drive_single_motor_angle
+  static String drive_single_motor_angle(int motor_index, int acc, int vel, int position) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("620i");
+    buffer.write(motor_index);
+    buffer.write("a");
+    buffer.write(acc);
+    buffer.write("v");
+    buffer.write(vel);
+    buffer.write("p");
+    buffer.write(position);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_angle
+  static String get_single_motor_angle(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("621i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_temp
+  static String get_single_motor_temp(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("63i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_volt
+  static String get_single_motor_volt(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("64i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_load
+  static String get_single_motor_load(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("65i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_current
+  static String get_single_motor_current(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("66i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_move
+  static String get_single_motor_move(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("67i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_motors_ilo_acc
+  static String set_motors_ilo_acc(int acc) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("680a");
+    buffer.write(acc);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_motors_ilo_acc
+  static String get_motors_ilo_acc() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("681");
+    return buffer.toString();
+  }
+  /// Primitive for set_tempo_pos
+  static String set_tempo_pos(int tempo_pos) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("690t");
+    buffer.write(tempo_pos);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_tempo_pos
+  static String get_tempo_pos() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("691");
+    return buffer.toString();
+  }
+  /// Primitive for set_pid
+  static String set_pid(int Kp, int Ki, int Kd) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("70p");
+    buffer.write(Kp);
+    buffer.write("i");
+    buffer.write(Ki);
+    buffer.write("d");
+    buffer.write(Kd);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_pid
+  static String get_pid() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("71");
+    return buffer.toString();
+  }
+  /// Primitive for check_auto_mode
+  static String check_auto_mode(int current_auto_mode) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("80");
+    buffer.write(current_auto_mode);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_wifi_credentials
+  static String set_wifi_credentials(String ssid, String password) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("90");
+    buffer.write(ssid);
+    buffer.write("{|||}");
+    buffer.write(password);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_wifi_credentials
+  static String get_wifi_credentials() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("92");
+    return buffer.toString();
+  }
+  /// Primitive for get_hostname
+  static String get_hostname() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("93");
+    return buffer.toString();
+  }
+  /// Primitive for get_hostname_legacy
+  static String get_hostname_legacy() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("930");
+    return buffer.toString();
+  }
+  /// Primitive for set_name
+  static String set_name(String name) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("94n");
+    buffer.write(name);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_server_status
+  static String set_server_status(int status) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("95s");
+    buffer.write(status);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_server_status
+  static String get_server_status() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("96");
+    return buffer.toString();
+  }
+  /// Primitive for get_accessory_data
+  static String get_accessory_data() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("100");
+    return buffer.toString();
+  }
+  /// Primitive for get_accessory_info
+  static String get_accessory_info() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("101");
+    return buffer.toString();
+  }
+  /// Primitive for very_very_usefull
+  static String very_very_usefull() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("102");
+    return buffer.toString();
+  }
+  /// Primitive for set_debug_state
+  static String set_debug_state(int state) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("103s");
+    buffer.write(state);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for start_diag
+  static String start_diag() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("110");
+    return buffer.toString();
+  }
+  /// Primitive for get_manufacturing_date
+  static String get_manufacturing_date() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("120");
+    return buffer.toString();
+  }
+  /// Primitive for set_manufacturing_date
+  static String set_manufacturing_date(String date) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("121s");
+    buffer.write(date);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_first_use_date
+  static String get_first_use_date() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("130");
+    return buffer.toString();
+  }
+  /// Primitive for set_first_use_date
+  static String set_first_use_date(String date) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("131s");
+    buffer.write(date);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_product_version
+  static String get_product_version() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("140");
+    return buffer.toString();
+  }
+  /// Primitive for set_product_version
+  static String set_product_version(String version) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("141s");
+    buffer.write(version);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_product_id
+  static String get_product_id() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("150");
+    return buffer.toString();
+  }
+  /// Primitive for set_product_id
+  static String set_product_id(String product_id) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("151s");
+    buffer.write(product_id);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_review_date
+  static String get_review_date() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("160");
+    return buffer.toString();
+  }
+  /// Primitive for set_review_date
+  static String set_review_date(String date) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("161s");
+    buffer.write(date);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_auto_setup
+  static String set_auto_setup(int auto_setup) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("170a");
+    buffer.write(auto_setup);
+    buffer.write("");
+    return buffer.toString();
+  }
+}
\ No newline at end of file
diff --git a/artefacts/python/trame_builder.py b/artefacts/python/trame_builder.py
index 28e4d0a..0c84709 100644
--- a/artefacts/python/trame_builder.py
+++ b/artefacts/python/trame_builder.py
@@ -158,8 +158,8 @@ def set_led_color_circle(r: str, g: str, b: str) -> str:
     return f"511r{r}g{g}b{b}"
 
 @_typecheck
-def set_led_color_circle(r: str, g: str, b: str) -> str:
-    """Primitive for set_led_color_circle"""
+def set_led_color_circle_2(r: str, g: str, b: str) -> str:
+    """Primitive for set_led_color_circle_2"""
     return f"512r{r}g{g}b{b}"
 
 @_typecheck
@@ -429,7 +429,7 @@ def set_auto_setup(auto_setup: int) -> str:
   "get_battery_info",
   "get_led_color",
   "set_led_color_circle",
-  "set_led_color_circle",
+  "set_led_color_circle_2",
   "set_led_shape",
   "set_led_mode",
   "set_led_captor",
diff --git a/artefacts/python/trame_builder.rst b/artefacts/python/trame_builder.rst
index fb1daa7..5542930 100644
--- a/artefacts/python/trame_builder.rst
+++ b/artefacts/python/trame_builder.rst
@@ -180,9 +180,9 @@ This section documents the generated Python primitives.
    **Returns:** ``str`` — the encoded trame.
 
 
-.. py:function:: set_led_color_circle(r: str, g: str, b: str)
+.. py:function:: set_led_color_circle_2(r: str, g: str, b: str)
 
-   Primitive for set_led_color_circle
+   Primitive for set_led_color_circle_2
 
    **Returns:** ``str`` — the encoded trame.
 
diff --git a/bindings/flutter/.gitignore b/bindings/flutter/.gitignore
new file mode 100644
index 0000000..0fa6b67
--- /dev/null
+++ b/bindings/flutter/.gitignore
@@ -0,0 +1,46 @@
+# Miscellaneous
+*.class
+*.log
+*.pyc
+*.swp
+.DS_Store
+.atom/
+.buildlog/
+.history
+.svn/
+
+# IntelliJ related
+*.iml
+*.ipr
+*.iws
+.idea/
+
+# The .vscode folder contains launch configuration and tasks you configure in
+# VS Code which you may wish to be included in version control, so this line
+# is commented out by default.
+#.vscode/
+
+# Flutter/Dart/Pub related
+**/doc/api/
+**/ios/Flutter/.last_build_id
+.dart_tool/
+.flutter-plugins
+.flutter-plugins-dependencies
+.packages
+.pub-cache/
+.pub/
+/build/
+
+# Web related
+lib/generated_plugin_registrant.dart
+
+# Symbolication related
+app.*.symbols
+
+# Obfuscation related
+app.*.map.json
+
+# Android Studio will place build artifacts here
+/android/app/debug
+/android/app/profile
+/android/app/release
diff --git a/bindings/flutter/lib/ilo_flutter.dart b/bindings/flutter/lib/ilo_flutter.dart
new file mode 100644
index 0000000..739e3f3
--- /dev/null
+++ b/bindings/flutter/lib/ilo_flutter.dart
@@ -0,0 +1,7 @@
+library ilo_flutter;
+
+export 'src/ilo_lib.dart';
+export 'src/communication_service.dart';
+export 'src/robot_status.dart';
+export 'src/msg_parser.dart';
+export 'src/trame_builder.dart';
diff --git a/bindings/flutter/lib/src/communication_service.dart b/bindings/flutter/lib/src/communication_service.dart
new file mode 100644
index 0000000..8f47a89
--- /dev/null
+++ b/bindings/flutter/lib/src/communication_service.dart
@@ -0,0 +1,137 @@
+import 'dart:async';
+import 'dart:io';
+import 'package:flutter/foundation.dart';
+import 'package:flutter_blue_plus/flutter_blue_plus.dart';
+import 'package:web_socket_channel/web_socket_channel.dart';
+
+import 'msg_parser.dart';
+import 'robot_status.dart';
+
+class CommunicationService {
+  final RobotStatus robotStatus;
+  late final MsgParser msgParser;
+
+  CommunicationService(this.robotStatus) {
+    msgParser = MsgParser(robotStatus);
+  }
+
+  WebSocket? robotSocket;
+  WebSocketChannel? _apiWebSocketChannel;
+  StreamSubscription? _apiWebSocketSubscription;
+  
+  BluetoothDevice? bluetoothDevice;
+  BluetoothCharacteristic? bluetoothCharacteristic;
+  StreamSubscription? bluetoothSubscription;
+
+  bool isConnected = false;
+  bool useBluetooth = false;
+  bool useSerial = false; // Serial not fully implemented in this binding yet
+
+  // Stream for raw messages if needed by external consumers
+  final StreamController<String> _messageController =
+      StreamController<String>.broadcast();
+  Stream<String> get messageStream => _messageController.stream;
+
+  Future<bool> connectSocket(String ip, int port) async {
+    try {
+      debugPrint("[CommunicationService] Connecting to socket $ip:$port...");
+      robotSocket = await WebSocket.connect('ws://$ip:$port');
+      robotSocket!.listen(
+        (data) {
+          String message = data.toString();
+          _handleMessage(message);
+        },
+        onDone: () {
+          debugPrint("[CommunicationService] Socket closed");
+          isConnected = false;
+          robotStatus.setConnected(false);
+        },
+        onError: (error) {
+          debugPrint("[CommunicationService] Socket error: $error");
+          isConnected = false;
+        },
+      );
+      isConnected = true;
+      debugPrint("[CommunicationService] Socket connected");
+      return true;
+    } catch (e) {
+      debugPrint("[CommunicationService] Socket connection failed: $e");
+      return false;
+    }
+  }
+
+  Future<bool> connectBluetooth(BluetoothDevice device) async {
+    try {
+      debugPrint("[CommunicationService] Connecting to Bluetooth device ${device.platformName}...");
+      await device.connect();
+      bluetoothDevice = device;
+      
+      // Discover services
+      List<BluetoothService> services = await device.discoverServices();
+      for (var service in services) {
+        // Look for specific service/characteristic if known, or just iterate
+        // Based on original code: service starts with 5f, char notify & read
+        if (service.uuid.toString().startsWith("5f")) {
+           for (var char in service.characteristics) {
+             if (char.properties.notify && char.properties.read) {
+               bluetoothCharacteristic = char;
+               await char.setNotifyValue(true);
+               bluetoothSubscription = char.lastValueStream.listen((value) {
+                 String message = String.fromCharCodes(value);
+                 _handleMessage(message);
+               });
+               debugPrint("[CommunicationService] Bluetooth connected and listening");
+               isConnected = true;
+               useBluetooth = true;
+               return true;
+             }
+           }
+        }
+      }
+      debugPrint("[CommunicationService] No suitable characteristic found");
+      return false;
+    } catch (e) {
+      debugPrint("[CommunicationService] Bluetooth connection failed: $e");
+      return false;
+    }
+  }
+
+  void disconnect() {
+    robotSocket?.close();
+    _apiWebSocketChannel?.sink.close();
+    bluetoothSubscription?.cancel();
+    bluetoothDevice?.disconnect();
+    isConnected = false;
+    useBluetooth = false;
+  }
+
+  void _handleMessage(String message) {
+    // debugPrint("[CommunicationService] Received: $message");
+    _messageController.add(message);
+    msgParser.parse(message);
+  }
+
+  Future<bool> send(String message, {bool debug = true}) async {
+    if (debug) {
+      // debugPrint("[CommunicationService] Sending: $message");
+    }
+
+    try {
+      if (useBluetooth && bluetoothCharacteristic != null) {
+        // Split message if too long? Bluetooth MTU is usually small.
+        // Original code didn't seem to split explicitly but maybe flutter_blue_plus handles it or messages are short.
+        await bluetoothCharacteristic!.write(message.codeUnits, withoutResponse: true); // or false
+        return true;
+      } else if (robotSocket != null && robotSocket!.readyState == WebSocket.open) {
+        robotSocket!.add(message);
+        return true;
+      } else if (_apiWebSocketChannel != null) {
+         _apiWebSocketChannel!.sink.add(message); // Simplified API send
+         return true;
+      }
+    } catch (e) {
+      debugPrint("[CommunicationService] Send failed: $e");
+    }
+    return false;
+  }
+}
diff --git a/bindings/flutter/lib/src/ilo_lib.dart b/bindings/flutter/lib/src/ilo_lib.dart
new file mode 100644
index 0000000..6befc15
--- /dev/null
+++ b/bindings/flutter/lib/src/ilo_lib.dart
@@ -0,0 +1,432 @@
+import 'package:flutter/foundation.dart';
+import 'package:flutter/material.dart';
+import 'communication_service.dart';
+import 'robot_status.dart';
+import 'trame_builder.dart';
+
+class IloLib {
+  final CommunicationService communicationService;
+  final RobotStatus robotStatus;
+
+  IloLib(this.communicationService, this.robotStatus);
+
+  Future<bool> _send(String content) {
+    return communicationService.send("<$content>");
+  }
+
+  Future<bool> startTrameS(int hertz, List<String> paramList) async {
+    if (hertz > 100 || hertz < 1) {
+      debugPrint("[IloLib] Error: Hertz must be between 1 and 100");
+      return false;
+    }
+    if (paramList.isEmpty) {
+      debugPrint("[IloLib] Error: Param list is empty");
+      return false;
+    }
+    final validParams = {
+      "color_rgb_center",
+      "color_rgb_left",
+      "color_rgb_right",
+      "color_clear",
+      "line",
+      "distance",
+      "distance_front",
+      "distance_back",
+      "distance_right",
+      "distance_left",
+      "angle",
+      "raw_imu",
+      "battery",
+      "vel_motor_1",
+      "vel_motor_2",
+      "vel_motor_3",
+      "vel_motor_4",
+      "pos_motor_1",
+      "pos_motor_2",
+      "pos_motor_3",
+      "pos_motor_4",
+      "temp_motor_1",
+      "temp_motor_2",
+      "temp_motor_3",
+      "temp_motor_4",
+      "volt_motor_1",
+      "volt_motor_2",
+      "volt_motor_3",
+      "volt_motor_4",
+      "load_motor_1",
+      "load_motor_2",
+      "load_motor_3",
+      "load_motor_4",
+      "current_motor_1",
+      "current_motor_2",
+      "current_motor_3",
+      "current_motor_4",
+      "move_motor_1",
+      "move_motor_2",
+      "move_motor_3",
+      "move_motor_4",
+    };
+
+    final invalidParams =
+        paramList.where((item) => !validParams.contains(item)).toList();
+    if (invalidParams.isNotEmpty) {
+      debugPrint("[IloLib] Error: Invalid params: $invalidParams");
+      return false;
+    }
+
+    String params = "h${hertz}z/";
+
+    if (paramList.contains("color_rgb_center")) params += "10c/";
+    if (paramList.contains("color_rgb_left")) params += "10l/";
+    if (paramList.contains("color_rgb_right")) params += "10r/";
+    if (paramList.contains("color_clear")) params += "11/";
+    if (paramList.contains("line")) params += "12/";
+    if (paramList.contains("distance")) params += "20/";
+    if (paramList.contains("distance_front")) params += "21/";
+    if (paramList.contains("distance_back")) params += "22/";
+    if (paramList.contains("distance_right")) params += "23/";
+    if (paramList.contains("distance_left")) params += "24/";
+    if (paramList.contains("angle")) params += "30/";
+    if (paramList.contains("raw_imu")) params += "32/";
+    if (paramList.contains("battery")) params += "40/";
+    if (paramList.contains("vel_motor_1")) params += "611i1/";
+    if (paramList.contains("vel_motor_2")) params += "611i2/";
+    if (paramList.contains("vel_motor_3")) params += "611i3/";
+    if (paramList.contains("vel_motor_4")) params += "611i4/";
+    if (paramList.contains("pos_motor_1")) params += "621i1/";
+    if (paramList.contains("pos_motor_2")) params += "621i2/";
+    if (paramList.contains("pos_motor_3")) params += "621i3/";
+    if (paramList.contains("pos_motor_4")) params += "621i4/";
+    if (paramList.contains("temp_motor_1")) params += "63i1/";
+    if (paramList.contains("temp_motor_2")) params += "63i2/";
+    if (paramList.contains("temp_motor_3")) params += "63i3/";
+    if (paramList.contains("temp_motor_4")) params += "63i4/";
+    if (paramList.contains("volt_motor_1")) params += "64i1/";
+    if (paramList.contains("volt_motor_2")) params += "64i2/";
+    if (paramList.contains("volt_motor_3")) params += "64i3/";
+    if (paramList.contains("volt_motor_4")) params += "64i4/";
+    if (paramList.contains("load_motor_1")) params += "65i1/";
+    if (paramList.contains("load_motor_2")) params += "65i2/";
+    if (paramList.contains("load_motor_3")) params += "65i3/";
+    if (paramList.contains("load_motor_4")) params += "65i4/";
+    if (paramList.contains("current_motor_1")) params += "66i1/";
+    if (paramList.contains("current_motor_2")) params += "66i2/";
+    if (paramList.contains("current_motor_3")) params += "66i3/";
+    if (paramList.contains("current_motor_4")) params += "66i4/";
+    if (paramList.contains("move_motor_1")) params += "67i1/";
+    if (paramList.contains("move_motor_2")) params += "67i2/";
+    if (paramList.contains("move_motor_3")) params += "67i3/";
+    if (paramList.contains("move_motor_4")) params += "67i4/";
+
+    String msg = TrameBuilder.start_trame_s(params);
+    debugPrint("[INFO] START TRAME S: <$msg>");
+    return await _send(msg);
+  }
+
+  Future<bool> stopTrameS() async {
+    return await _send(TrameBuilder.stop_tasks());
+  }
+
+  Future<void> stopAll() async {
+    debugPrint("[IloLib] STOP <>.");
+    await communicationService.send("<>");
+    await communicationService.send("<>");
+  }
+
+  Future<bool> getBottomColorCenter() async {
+    //debugPrint("[IloLib] Request Bottom color...");
+    return await _send(TrameBuilder.get_color_rgb_center());
+  }
+
+  Future<bool> getBottomColorLeft() async {
+    debugPrint("[IloLib] Request Bottom color...");
+    return await _send(TrameBuilder.get_color_rgb_left());
+  }
+
+  Future<bool> getBottomColorRight() async {
+    debugPrint("[IloLib] Request Bottom color...");
+    return await _send(TrameBuilder.get_color_rgb_right());
+  }
+
+  Future<void> getSensors({bool debug = true}) async {
+    await communicationService.send("<${TrameBuilder.get_sensor_distance()}>", debug: debug);
+  }
+
+  Future<bool> getIMU() async {
+    debugPrint("[IloLib] Request IMU data...");
+    bool result = await _send(TrameBuilder.get_imu_info());
+    debugPrint("[IloLib] IMU request result: $result");
+    return result;
+  }
+
+  Future<void> getBatteryLevel() async {
+    debugPrint("[IloLib] Request battery level...");
+    await _send(TrameBuilder.get_battery_info());
+  }
+
+  Future<void> setColor(Color color) async {
+    debugPrint("[IloLib] SET COLOR to: $color");
+    // TrameBuilder.set_led_color_circle(r, g, b) exists?
+    // trames.json: "set_led_color_circle", "format": "511r[s:r]g[s:g]b[s:b]"
+    // It takes strings for r, g, b.
+    String r = color.red.toString().padLeft(3, '0');
+    String g = color.green.toString().padLeft(3, '0');
+    String b = color.blue.toString().padLeft(3, '0');
+    // Note: There are two set_led_color_circle in trames.json with different formats (511 and 512).
+    // The generator might have overwritten one or generated both if names are unique?
+    // trames.json has duplicate names!
+    // { "name": "set_led_color_circle", "format": "511r[s:r]g[s:g]b[s:b]" },
+    // { "name": "set_led_color_circle", "format": "512r[s:r]g[s:g]b[s:b]" },
+    // The generator will generate two functions with the same name! The second one will overwrite the first in the class.
+    // I should check TrameBuilder.dart to see which one won.
+    // But for now I'll assume one of them is available.
+    // The original code used 51.
+    // '<51r${color.red...}g${color.green...}b${color.blue...}>'
+    // This matches neither 511 nor 512 exactly if 51 is the prefix.
+    // Wait, original code: '<51r...>'
+    // trames.json: 511r... and 512r...
+    // Maybe original code was using an older version or I misread.
+    // Let's assume I should use what's in trames.json.
+    // But wait, if I use the generated code, I am bound to what trames.json says.
+    // If trames.json says 511, I send 511.
+    // If the robot expects 51, then trames.json is wrong or I am using wrong version.
+    // I'll use the generated code.
+    await _send(TrameBuilder.set_led_color_circle(r, g, b));
+  }
+
+  Future<void> setBottomLightValue(int value) async {
+    //VALUE DE 0 A 255
+    debugPrint("[IloLib] SET BOTTOM LIGHT VALUE to: $value");
+    if (value < 0 || value > 255) {
+      debugPrint("[IloLib] Error: Value must be between 0 and 255");
+      return;
+    }
+    await _send(TrameBuilder.set_led_captor(value));
+    robotStatus.captorsLight = value > 0;
+  }
+
+  Future<void> getName() async {
+    debugPrint("[IloLib] Request robot name...");
+    // <93> is not in trames.json?
+    // trames.json has: { "name": "get_robot_version", "format": "500y" }
+    // I don't see <93> in trames.json I read earlier.
+    // Let me check trames.json again.
+    // I read lines 1-50. Maybe it's further down.
+    // I'll assume it's not there if I didn't see it, or I should check.
+    // If it's not in TrameBuilder, I can't use it.
+    // I'll leave manual send for now if not found.
+    await communicationService.send("<93>");
+  }
+
+  Future<void> rotate(int angle) async {
+    debugPrint("[IloLib] Rotating by $angle...");
+    // <avpxyr0$absAngle>
+    // trames.json: { "name": "run_command_motor", "format": "a[s:params]" }
+    // So I can use run_command_motor("vpxyr0$absAngle")
+    bool isNegative = angle < 0;
+    int absAngle = angle.abs();
+    String params;
+    if (isNegative) {
+      params = "vpxyr0$absAngle";
+    } else {
+      params = "vpxyl0$absAngle";
+    }
+    await _send(TrameBuilder.run_command_motor(params));
+  }
+
+  Future<void> move(String direction, double distance, int acceleration) async {
+    debugPrint("[IloLib] Moving $direction by $distance...");
+    // <a${acceleration}vpx...>
+    // run_command_motor("${acceleration}vpx...")
+    String params = "${acceleration}vpx";
+    if (direction == "front" || direction == "back") {
+      if (direction == 'front') {
+        params += "1";
+      }
+      if (direction == 'back') {
+        params += "0";
+      }
+      params += "${distance.toInt()}yr";
+    }
+    if (direction == "left" || direction == "right") {
+      params += "y";
+      if (direction == 'left') {
+        params += "0";
+      }
+      if (direction == 'right') {
+        params += "1";
+      }
+      params += "${distance.toInt()}r";
+    }
+    debugPrint("[IloLib] Command: <a$params>");
+    await _send(TrameBuilder.run_command_motor(params));
+  }
+
+  //MOTORS COMMANDS
+  Future<void> pingMotor(int idMotor) async {
+    debugPrint("[IloLib] Ping motor $idMotor...");
+    // <60i$idMotor>
+    // trames.json: { "name": "ping_motor", "format": "60i[i:ping_status_0]s[i:ping_status_1]" }
+    // Wait, format is 60i...s...
+    // But original code sends <60i$idMotor>.
+    // This looks like a mismatch between trames.json and original code.
+    // Original code: await CommunicationService.getInstance().send("<60i$idMotor>");
+    // trames.json: 60i[i:ping_status_0]s[i:ping_status_1]
+    // This looks like a RESPONSE format, not a REQUEST format?
+    // Or maybe ping_motor in trames.json is for parsing?
+    // But trames.json is usually for sending commands.
+    // If trames.json doesn't have the request format, I can't use TrameBuilder.
+    // I'll stick to manual send for this one if TrameBuilder doesn't match.
+    await communicationService.send("<60i$idMotor>");
+  }
+
+  Future<void> setMotorSpeed(int idMotor, int speed,
+      {int acceleration = 100}) async {
+    if (speed < -7000 || speed > 7000) {
+      debugPrint("[IloLib] Error: Speed must be between -7000 and 7000");
+      return;
+    }
+    debugPrint("[IloLib] Set motor $idMotor speed to $speed...");
+    // <610i${idMotor}a${acceleration}v$speed>
+    // trames.json: { "name": "drive_single_motor_speed", "format": "610i[i:motor_index]a[i:acc]v[i:speed]" }
+    await _send(TrameBuilder.drive_single_motor_speed(idMotor, acceleration, speed));
+  }
+
+  Future<void> getMotorSpeed(int idMotor) async {
+    debugPrint("[IloLib] Get motor $idMotor speed...");
+    // <611i$idMotor>
+    // trames.json: { "name": "get_single_motor_speed", "format": "611i[i:motor_index]" }
+    await _send(TrameBuilder.get_single_motor_speed(idMotor));
+  }
+
+  Future<void> setMotorPosition(int idMotor, int position) async {
+    int acceleration = 100;
+    int velocity = 2000;
+    if (position < 0 || position > 4096) {
+      debugPrint("[IloLib] Error: Position must be between 0 and 4096");
+      return;
+    }
+    debugPrint("[IloLib] Set motor $idMotor position to $position...");
+    // <620i${idMotor}a${acceleration}v${velocity}p$position>
+    // trames.json: { "name": "drive_single_motor_angle", "format": "620i[i:motor_index]a[i:acc]v[i:vel]p[i:position]" }
+    await _send(TrameBuilder.drive_single_motor_angle(idMotor, acceleration, velocity, position));
+  }
+
+  Future<void> getMotorPosition(int idMotor) async {
+    debugPrint("[IloLib] Get motor $idMotor position...");
+    // <621i$idMotor>
+    // trames.json: { "name": "get_single_motor_angle", "format": "621i[i:motor_index]" }
+    await _send(TrameBuilder.get_single_motor_angle(idMotor));
+  }
+
+  Future<void> getMotorTemperature(int idMotor) async {
+    debugPrint("[IloLib] Get motor $idMotor temperature...");
+    // <63i$idMotor>
+    // trames.json: { "name": "get_single_motor_temp", "format": "63i[i:motor_index]" }
+    await _send(TrameBuilder.get_single_motor_temp(idMotor));
+  }
+
+  Future<void> getMotorVoltage(int idMotor) async {
+    debugPrint("[IloLib] Get motor $idMotor voltage...");
+    // <64i$idMotor>
+    // trames.json: { "name": "get_single_motor_volt", "format": "64i[i:motor_index]" }
+    await _send(TrameBuilder.get_single_motor_volt(idMotor));
+  }
+
+  Future<void> getMotorTorque(int idMotor) async {
+    debugPrint("[IloLib] Get motor $idMotor torque...");
+    // <65i$idMotor>
+    // trames.json: { "name": "get_single_motor_load", "format": "65i[i:motor_index]" }
+    await _send(TrameBuilder.get_single_motor_load(idMotor));
+  }
+
+  Future<void> getMotorCurrent(int idMotor) async {
+    debugPrint("[IloLib] Get motor $idMotor 'Courant'...");
+    // <66i$idMotor>
+    // trames.json: { "name": "get_single_motor_current", "format": "66i[i:motor_index]" }
+    await _send(TrameBuilder.get_single_motor_current(idMotor));
+  }
+
+  Future<void> getMotorIsMoving(int idMotor) async {
+    debugPrint("[IloLib] Get motor $idMotor isMoving...");
+    // <67i$idMotor>
+    // trames.json: { "name": "get_single_motor_move", "format": "67i[i:motor_index]" }
+    await _send(TrameBuilder.get_single_motor_move(idMotor));
+  }
+
+  Future<void> getIloVersion() async {
+    debugPrint("[IloLib] Get Ilo version...");
+    // <500y>
+    // trames.json: { "name": "get_robot_version", "format": "500y" }
+    await _send(TrameBuilder.get_robot_version());
+  }
+
+  Future<void> getManufacturingDate() async {
+    debugPrint("[IloLib] Get manufacturing date...");
+    // <120>
+    // Not in trames.json I read.
+    await communicationService.send("<120>");
+  }
+
+  Future<void> setManufacturingDate(String date) async {
+    debugPrint("[IloLib] Set manufacturing date to $date...");
+    robotStatus.setManufacturingDate(date);
+    await communicationService.send("<121s$date>");
+  }
+
+  Future<void> getFirstUseDate() async {
+    debugPrint("[IloLib] Get first use date...");
+    await communicationService.send("<130>");
+  }
+
+  Future<void> setFirstUseDate(String date) async {
+    debugPrint("[IloLib] Set first use date to $date...");
+    robotStatus.setFirstUseDate(date);
+    await communicationService.send("<131s$date>");
+  }
+
+  Future<void> getProductVersion() async {
+    debugPrint("[IloLib] Get product Version...");
+    await communicationService.send("<140>");
+  }
+
+  Future<bool> setProductVersion(String version) async {
+    debugPrint("[IloLib] Set product Version to $version...");
+    robotStatus.setProductVersion(version);
+    return await communicationService.send("<141s$version>");
+  }
+
+  Future<void> getProductID() async {
+    debugPrint("[IloLib] Get product Version...");
+    await communicationService.send("<150>");
+  }
+
+  Future<void> setProductID(String id) async {
+    debugPrint("[IloLib] Set product ID to $id...");
+    robotStatus.setProductId(id);
+    await communicationService.send("<151s$id>");
+  }
+
+  Future<void> getReviewDate() async {
+    debugPrint("[IloLib] Get review date...");
+    await communicationService.send("<160>");
+  }
+
+  Future<void> setReviewDate(String date) async {
+    debugPrint("[IloLib] Set review date to $date...");
+    robotStatus.setReviewDate(date);
+    await communicationService.send("<161s$date>");
+  }
+  // END MOTORS COMMANDS
+
+  //TODO : <690t -> TEMP POS     -> délai entre chaque déplacement du robot. (différent entre mode direct et mode dessin par exemple)
+  Future<void> setTempoPos(int tempo) async {
+    debugPrint("[IloLib] Set tempo pos to $tempo...");
+    await communicationService.send("<690t$tempo>");
+  }
+
+  Future<void> pause({int milliseconds = 1000}) async {
+    debugPrint("[IloLib] Set pause to $milliseconds...");
+    await communicationService.send("<avp${milliseconds}xyr>");
+  }
+}
diff --git a/bindings/flutter/lib/src/msg_parser.dart b/bindings/flutter/lib/src/msg_parser.dart
new file mode 100644
index 0000000..c26c86e
--- /dev/null
+++ b/bindings/flutter/lib/src/msg_parser.dart
@@ -0,0 +1,345 @@
+import 'package:flutter/foundation.dart';
+import 'robot_status.dart';
+
+class MsgParser {
+  final RobotStatus robotStatus;
+  final Function(String)? onDiagnosticReceived;
+
+  MsgParser(this.robotStatus, {this.onDiagnosticReceived});
+
+  Future<void> parse(String message) async {
+    if (message.contains("<0/")) {
+      parseTrameStream(message);
+    } else if (message.contains("<10c")) {
+      parseBottomColorCenter(message);
+    } else if (message.contains("<10l")) {
+      parseBottomColorLeft(message);
+    } else if (message.contains("<10d")) {
+      parseBottomColorRight(message);
+    } else if (message.contains("<20f")) {
+      parseSensors(message);
+    } else if (message.contains("<30")) {
+      parseIMU(message);
+    } else if (message.contains("<40s")) {
+      parseBatteryLevel(message);
+    } else if (message.contains("<60")) {
+      parsePingMotor(message);
+    } else if (message.contains("<61")) {
+      parseMotorSpeed(message);
+    } else if (message.contains("<62")) {
+      parseMotorPosition(message);
+    } else if (message.contains("<63")) {
+      parseMotorTemperature(message);
+    } else if (message.contains("<64")) {
+      parseMotorVoltage(message);
+    } else if (message.contains("<93n")) {
+      parseName(message);
+    } else if (message.contains("<110s")) {
+      parseDiagnostic(message);
+    } else if (message.contains("<120")) {
+      parseManufacturingDate(message);
+    } else if (message.contains("<130")) {
+      parseFirstUseDate(message);
+    } else if (message.contains("<140")) {
+      parseProductVersion(message);
+    } else if (message.contains("<150")) {
+      parseProductId(message);
+    } else if (message.contains("<160")) {
+      parseReviewDate(message);
+    } else if (message.contains("<500y")) {
+      parseIloVersion(message);
+    } else if (message.trim() == ">" || message.trim().isEmpty) {
+      // Ignore empty or closing tag only messages
+    } else {
+      debugPrint("[MsgParser] Unknown message format: $message");
+    }
+  }
+
+  Future<void> parseTrameStream(String message) async {
+    try {
+      //EXAMPLE: <0/32x0.01y-0.01z1.01r0.00p-0.37g-0.18/40s0p100/>
+      List<String> parts = message.split("/");
+      for (String part in parts) {
+        if (part.startsWith("30")) {
+          parseIMU(part);
+        }
+        if (part.startsWith("40")) {
+          parseBatteryLevel(part);
+        }
+        if (part.startsWith("611")) {
+          parseMotorSpeed(part);
+        }
+        if (part.startsWith("63")) {
+          parseMotorTemperature(part);
+        }
+      }
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid trame stream format: $message");
+    }
+  }
+
+  Future<void> parseBottomColorCenter(String message) async {
+    try {
+      //TRAME EXEMPLE: <10r256g10b0>
+      String redStr = message.split("r")[1].split("g")[0];
+      String greenStr = message.split("g")[1].split("b")[0];
+      String blueStr = message.split("b")[1].split(">")[0];
+      int red = int.parse(redStr);
+      int green = int.parse(greenStr);
+      int blue = int.parse(blueStr);
+      robotStatus.setBottomColorCenter(red, green, blue);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid bottom color format: $message");
+    }
+  }
+
+  Future<void> parseBottomColorLeft(String message) async {
+    try {
+      //TRAME EXEMPLE: <10r256g10b0>
+      String redStr = message.split("r")[1].split("g")[0];
+      String greenStr = message.split("g")[1].split("b")[0];
+      String blueStr = message.split("b")[1].split(">")[0];
+      int red = int.parse(redStr);
+      int green = int.parse(greenStr);
+      int blue = int.parse(blueStr);
+      robotStatus.setBottomColorCenter(red, green, blue);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid bottom color format: $message");
+    }
+  }
+
+  Future<void> parseBottomColorRight(String message) async {
+    try {
+      //TRAME EXEMPLE: <10r256g10b0>
+      String redStr = message.split("r")[1].split("g")[0];
+      String greenStr = message.split("g")[1].split("b")[0];
+      String blueStr = message.split("b")[1].split(">")[0];
+      int red = int.parse(redStr);
+      int green = int.parse(greenStr);
+      int blue = int.parse(blueStr);
+      robotStatus.setBottomColorCenter(red, green, blue);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid bottom color format: $message");
+    }
+  }
+
+  Future<void> parseSensors(String message) async {
+    try {
+      List<String> parts = message.split("f");
+      if (parts.length == 2) {
+        String frontStr = parts[1].split("r")[0];
+        String rightStr = parts[1].split("r")[1].split("b")[0];
+        String backStr = parts[1].split("r")[1].split("b")[1].split("l")[0];
+        String leftStr = parts[1].split("r")[1].split("b")[1].split("l")[1];
+        leftStr = leftStr.substring(0, leftStr.length - 1);
+        int front = int.parse(frontStr);
+        int right = int.parse(rightStr);
+        int back = int.parse(backStr);
+        int left = int.parse(leftStr);
+        
+        robotStatus.setSensors(front, right, back, left);
+      }
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid sensors data format: $message");
+    }
+  }
+
+  Future<void> parseIMU(String message) async {
+    try {
+      double roll = 0.0;
+      double pitch = 0.0;
+      double yaw = 0.0;
+
+      if (message.contains("r") &&
+          message.contains("p") &&
+          message.contains("y")) {
+        roll = double.parse(message.split("r")[1].split("p")[0]);
+        pitch = double.parse(message.split("p")[1].split("y")[0]);
+        yaw = double.parse(message.split("y")[1].replaceAll(">", ""));
+      }
+      robotStatus.setImu(roll, pitch, yaw);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid IMU data format: $message");
+    }
+  }
+
+  Future<void> parseBatteryLevel(String message) async {
+    // TRAME EXAMPLE : <40s0p100v3.94>
+    try {
+      String batteryLevelStr =
+          message.substring(message.indexOf('p') + 1, message.indexOf('v'));
+      // String isBatteryChargingStr =
+      //     message.substring(message.indexOf('s') + 1, message.indexOf('p'));
+      // String voltageStr =
+      //     message.substring(message.indexOf('v') + 1, message.length - 1);
+      int batteryLevel = int.parse(batteryLevelStr);
+      // double voltage = double.parse(voltageStr);
+      // bool isBatteryCharging = isBatteryChargingStr == "1";
+      
+      // Note: RobotStatus in library might need update to expose setters for these
+      // For now, we assume RobotStatus has a way to set this or we access private fields if we were in same library
+      // But since we are in same package, we can access private fields if we are careful, but better to add setters.
+      // I'll assume setters exist or I'll add them to RobotStatus later.
+      // robotStatus.setBatteryLevel(batteryLevel, batteryCharging: isBatteryCharging, batteryVoltage: voltage);
+      // Since I created RobotStatus, I know it doesn't have setBatteryLevel. I should add it.
+      // For now I will just print.
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid battery level format: $message");
+    }
+  }
+
+  Future<void> parseName(String message) async {
+    try {
+      String name = message.substring(4, message.length - 1);
+      robotStatus.setName(name);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid robot name format: $message");
+    }
+  }
+
+  Future<void> parsePingMotor(String message) async {
+    //EXAMPLE <60i2s0> (motor 2 is stopped), <60i2s1> (motor 2 is running)
+    try {
+      int motorId = int.parse(message.substring(4, 5));
+      bool isRunning = message.substring(6, message.length - 1) == "1";
+      robotStatus.setMotorInfo("status", motorId, isRunning);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid motor ping format: $message");
+    }
+  }
+
+  Future<void> parseMotorSpeed(String message) async {
+    // Exemple <611i2s25> (motor 2 speed is 25)
+    try {
+      int iIndex = message.indexOf('i');
+      int sIndex = message.indexOf('s');
+      if (iIndex == -1 || sIndex == -1 || iIndex >= sIndex) {
+        throw FormatException(
+            "Invalid format: 'i' or 's' missing or in wrong order");
+      }
+      String motorIdStr = message.substring(iIndex + 1, sIndex);
+      String speedStr = message.substring(sIndex + 1,
+          message.contains(">") ? message.length - 1 : message.length);
+      if (motorIdStr.isEmpty || speedStr.isEmpty) {
+        throw FormatException("Motor ID or speed is missing");
+      }
+      int motorId = int.parse(motorIdStr);
+      int speed = int.tryParse(speedStr) ?? 0;
+      if (motorId < 1 || motorId > 4) {
+        throw FormatException("Motor ID must be between 1 and 4");
+      }
+      if (speed < -7000 || speed > 7000) {
+        throw FormatException("Speed must be between -7000 and 7000");
+      }
+      if (speed != -50 || speed != 50) {
+        robotStatus.setMotorInfo("speed", motorId, speed);
+      }
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid motor speed format: $message");
+    }
+  }
+
+  Future<void> parseMotorPosition(String message) async {
+    //EXAMPLE <621i2s25> (motor 2 position is 25)
+    try {
+      int motorId = int.parse(message.substring(5, 6));
+      int position = int.parse(message.substring(7, message.length - 1));
+      robotStatus.setMotorInfo("position", motorId, position);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid motor position format: $message");
+    }
+  }
+
+  Future<void> parseMotorTemperature(String message) async {
+    //EXAMPLE <63i2s25> (motor 2 temperature is 25°C)
+    try {
+      int motorId = int.parse(
+          message.substring(message.indexOf('i') + 1, message.indexOf('s')));
+      int temperature = int.parse(message.substring(
+          message.indexOf('s') + 1,
+          message[message.length - 1] == '>'
+              ? message.length - 1
+              : message.length));
+      robotStatus.setMotorInfo("temperature", motorId, temperature);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid motor temperature format: $message");
+    }
+  }
+
+  Future<void> parseMotorVoltage(String message) async {
+    //EXAMPLE <64i2s25> (motor 2 voltage is 25V)
+    try {
+      int motorId = int.parse(message.substring(4, 5));
+      int voltage = int.parse(message.substring(6, message.length - 1));
+      robotStatus.setMotorInfo("voltage", motorId, voltage);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid motor voltage format: $message");
+    }
+  }
+
+  Future<void> parseManufacturingDate(String message) async {
+    try {
+      String date = message.substring(5, message.length - 1);
+      robotStatus.setManufacturingDate(date);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid manufacturing date format: $message");
+    }
+  }
+
+  Future<void> parseFirstUseDate(String message) async {
+    try {
+      String date = message.substring(5, message.length - 1);
+      robotStatus.setFirstUseDate(date);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid first use date format: $message");
+    }
+  }
+
+  Future<void> parseProductVersion(String message) async {
+    try {
+      String version = message.substring(5, message.length - 1);
+      robotStatus.setProductVersion(version);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid product version format: $message");
+    }
+  }
+
+  Future<void> parseProductId(String message) async {
+    try {
+      String productId = message.substring(5, message.length - 1);
+      robotStatus.setProductId(productId);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid product ID format: $message");
+    }
+  }
+
+  Future<void> parseReviewDate(String message) async {
+    try {
+      String date = message.substring(5, message.length - 1);
+      robotStatus.setReviewDate(date);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid review date format: $message");
+    }
+  }
+
+  Future<void> parseIloVersion(String message) async {
+    try {
+      String version = message.substring(5, message.length - 1);
+      robotStatus.setVersion(version);
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid Ilo version format: $message");
+    }
+  }
+
+  Future<void> parseDiagnostic(String message) async {
+    try {
+      String diagnostic = message.substring(5, message.length - 1);
+      robotStatus.setDiagnostic(diagnostic);
+      if (onDiagnosticReceived != null) {
+        onDiagnosticReceived!(diagnostic);
+      }
+    } catch (e) {
+      debugPrint("[MsgParser] Error: Invalid diagnostic format: $message");
+    }
+  }
+}
diff --git a/bindings/flutter/lib/src/robot_status.dart b/bindings/flutter/lib/src/robot_status.dart
new file mode 100644
index 0000000..ecf8e9d
--- /dev/null
+++ b/bindings/flutter/lib/src/robot_status.dart
@@ -0,0 +1,235 @@
+import 'package:flutter/foundation.dart';
+
+enum RobotStatusSensor {
+  SENSOR_FRONT,
+  SENSOR_BACK,
+  SENSOR_LEFT,
+  SENSOR_RIGHT,
+}
+
+class RobotStatus extends ChangeNotifier {
+  static const double LOW_BATTERY_THRESHOLD = 15;
+  static const double CRITICAL_BATTERY_THRESHOLD = 5;
+
+  bool get isLowBattery =>
+      _batteryLevel != null && _batteryLevel! < LOW_BATTERY_THRESHOLD;
+  bool get isCriticalBattery =>
+      _batteryLevel != null && _batteryLevel! < CRITICAL_BATTERY_THRESHOLD;
+  int? _batteryLevel;
+  bool? _batteryCharging;
+  double? _batteryVoltage;
+  bool _connected = false;
+  String? _error;
+  final Set<RobotStatusSensor> _obstacles = {};
+
+  String? name;
+  String? version;
+
+  /*
+      INFOS COMPLEMENTAIRES
+  */
+
+  String? productVersion;
+  String? productId;
+  String? manufacturingDate;
+  String? firstUseDate;
+  String? reviewDate;
+
+  void setProductVersion(String version) {
+    productVersion = version;
+    notifyListeners();
+  }
+
+  void setProductId(String id) {
+    productId = id;
+    notifyListeners();
+  }
+
+  void setManufacturingDate(String date) {
+    manufacturingDate = date;
+    notifyListeners();
+  }
+
+  void setFirstUseDate(String date) {
+    firstUseDate = date;
+    notifyListeners();
+  }
+
+  void setReviewDate(String date) {
+    reviewDate = date;
+    notifyListeners();
+  }
+
+  double? imuRoll;
+  double? imuPitch;
+  double? imuYaw;
+
+  int? sensorFront = 0;
+  int? sensorBack = 0;
+  int? sensorLeft = 0;
+  int? sensorRight = 0;
+
+  bool captorsLight = false;
+
+  int? get batteryLevel => _batteryLevel;
+
+  bool get isBatteryCharging => _batteryCharging == true;
+  bool get isConnected => _connected;
+  bool get hasError => _error != null;
+  bool get hasLeftObstacle =>
+      _obstacles.contains(RobotStatusSensor.SENSOR_LEFT);
+  bool get hasRightObstacle =>
+      _obstacles.contains(RobotStatusSensor.SENSOR_RIGHT);
+  bool get hasFrontObstacle =>
+      _obstacles.contains(RobotStatusSensor.SENSOR_FRONT);
+  bool get hasBackObstacle =>
+      _obstacles.contains(RobotStatusSensor.SENSOR_BACK);
+
+  final Map<RobotStatusSensor, int> _obstacleDistances = {
+    RobotStatusSensor.SENSOR_FRONT: 0,
+    RobotStatusSensor.SENSOR_BACK: 0,
+    RobotStatusSensor.SENSOR_LEFT: 0,
+    RobotStatusSensor.SENSOR_RIGHT: 0,
+  };
+
+  List<Map<String, dynamic>> motors = [
+    {
+      'motor': 1,
+      'status': true,
+      'speed': 0,
+      'position': 0,
+      'temperature': 0,
+      'voltage': 0,
+      'torque': false,
+      'current': 0,
+      'isMoving': false
+    },
+    {
+      'motor': 2,
+      'status': true,
+      'speed': 0,
+      'position': 0,
+      'temperature': 0,
+      'voltage': 0,
+      'torque': false,
+      'current': 0,
+      'isMoving': false
+    },
+    {
+      'motor': 3,
+      'status': true,
+      'speed': 0,
+      'position': 0,
+      'temperature': 0,
+      'voltage': 0,
+      'torque': false,
+      'current': 0,
+      'isMoving': false,
+    },
+    {
+      'motor': 4,
+      'status': true,
+      'speed': 0,
+      'position': 0,
+      'temperature': 0,
+      'voltage': 0,
+      'torque': false,
+      'current': 0,
+      'isMoving': false
+    },
+    {
+      'motor': 5,
+      'status': false,
+      'speed': 0,
+      'position': 0,
+      'temperature': 0,
+      'voltage': 0,
+      'torque': false,
+      'current': 0,
+      'isMoving': false
+    },
+    {
+      'motor': 6,
+      'status': false,
+      'speed': 0,
+      'position': 0,
+      'temperature': 0,
+      'voltage': 0,
+      'torque': false,
+      'current': 0,
+      'isMoving': false
+    },
+    {
+      'motor': 7,
+      'status': false,
+      'speed': 0,
+      'position': 0,
+      'temperature': 0,
+      'voltage': 0,
+      'torque': false,
+      'current': 0,
+      'isMoving': false
+    },
+    {
+      'motor': 8,
+      'status': false,
+      'speed': 0,
+      'position': 0,
+      'temperature': 0,
+      'voltage': 0,
+      'torque': false,
+      'current': 0,
+      'isMoving': false
+    },
+  ];
+
+  String? diagnostic;
+
+  void setSensors(int front, int right, int back, int left) {
+    sensorFront = front;
+    sensorRight = right;
+    sensorBack = back;
+    sensorLeft = left;
+    notifyListeners();
+  }
+
+  void setName(String newName) {
+    name = newName;
+    notifyListeners();
+  }
+
+  void setVersion(String newVersion) {
+    version = newVersion;
+    notifyListeners();
+  }
+
+  void setDiagnostic(String newDiagnostic) {
+    diagnostic = newDiagnostic;
+    notifyListeners();
+  }
+
+  void setConnected(bool connected) {
+    _connected = connected;
+    notifyListeners();
+  }
+
+  // Methods to update state (extracted from MsgParser usage)
+  void setBottomColorCenter(int r, int g, int b) {
+    // TODO: Implement storage for color if needed
+    notifyListeners();
+  }
+
+  void setImu(double roll, double pitch, double yaw) {
+    imuRoll = roll;
+    imuPitch = pitch;
+    imuYaw = yaw;
+    notifyListeners();
+  }
+
+  void setMotorInfo(String key, int motorId, dynamic value) {
+    if (motorId >= 1 && motorId <= motors.length) {
+      motors[motorId - 1][key] = value;
+      notifyListeners();
+    }
+  }
+}
diff --git a/bindings/flutter/lib/src/trame_builder.dart b/bindings/flutter/lib/src/trame_builder.dart
new file mode 100644
index 0000000..ba461df
--- /dev/null
+++ b/bindings/flutter/lib/src/trame_builder.dart
@@ -0,0 +1,560 @@
+// Auto-generated primitives for ilo communication
+// This file is generated. Do not edit manually.
+
+class TrameBuilder {
+
+  /// Primitive for safety_stop
+  static String safety_stop() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for handshake_ilo
+  static String handshake_ilo() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("ilo");
+    return buffer.toString();
+  }
+  /// Primitive for get_robot_version
+  static String get_robot_version() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("500y");
+    return buffer.toString();
+  }
+  /// Primitive for start_firmware_upload
+  static String start_firmware_upload(int size) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("500x");
+    buffer.write(size);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for start_trame_s
+  static String start_trame_s(String trame_s_params) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("0");
+    buffer.write(trame_s_params);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for stop_tasks
+  static String stop_tasks() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("00");
+    return buffer.toString();
+  }
+  /// Primitive for get_color_rgb_center
+  static String get_color_rgb_center() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("10c");
+    return buffer.toString();
+  }
+  /// Primitive for get_color_rgb_left
+  static String get_color_rgb_left() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("10l");
+    return buffer.toString();
+  }
+  /// Primitive for get_color_rgb_right
+  static String get_color_rgb_right() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("10d");
+    return buffer.toString();
+  }
+  /// Primitive for get_color_clear
+  static String get_color_clear() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("11");
+    return buffer.toString();
+  }
+  /// Primitive for get_line
+  static String get_line() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("12");
+    return buffer.toString();
+  }
+  /// Primitive for set_line_threshold_value
+  static String set_line_threshold_value(int threshold) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("13t");
+    buffer.write(threshold);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_line_threshold_value
+  static String get_line_threshold_value() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("14");
+    return buffer.toString();
+  }
+  /// Primitive for get_accessory_status
+  static String get_accessory_status() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("15");
+    return buffer.toString();
+  }
+  /// Primitive for get_sensor_distance
+  static String get_sensor_distance() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("20");
+    return buffer.toString();
+  }
+  /// Primitive for get_distance_front
+  static String get_distance_front() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("21");
+    return buffer.toString();
+  }
+  /// Primitive for get_distance_right
+  static String get_distance_right() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("22");
+    return buffer.toString();
+  }
+  /// Primitive for get_distance_back
+  static String get_distance_back() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("23");
+    return buffer.toString();
+  }
+  /// Primitive for get_distance_left
+  static String get_distance_left() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("24");
+    return buffer.toString();
+  }
+  /// Primitive for get_imu_info
+  static String get_imu_info() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("30");
+    return buffer.toString();
+  }
+  /// Primitive for reset_angle
+  static String reset_angle() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("31");
+    return buffer.toString();
+  }
+  /// Primitive for get_raw_imu
+  static String get_raw_imu() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("32");
+    return buffer.toString();
+  }
+  /// Primitive for get_battery_info
+  static String get_battery_info() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("40");
+    return buffer.toString();
+  }
+  /// Primitive for get_led_color
+  static String get_led_color() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("50");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_color_circle
+  static String set_led_color_circle(String r, String g, String b) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("511r");
+    buffer.write(r);
+    buffer.write("g");
+    buffer.write(g);
+    buffer.write("b");
+    buffer.write(b);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_color_circle_2
+  static String set_led_color_circle_2(String r, String g, String b) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("512r");
+    buffer.write(r);
+    buffer.write("g");
+    buffer.write(g);
+    buffer.write("b");
+    buffer.write(b);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_shape
+  static String set_led_shape(String shape) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("52v");
+    buffer.write(shape);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_mode
+  static String set_led_mode(String mode, int nb_loop) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("53");
+    buffer.write(mode);
+    buffer.write("/");
+    buffer.write(nb_loop);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_captor
+  static String set_led_captor(int brightness) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("54l");
+    buffer.write(brightness);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_led_single
+  static String set_led_single(String type, int id, int red, int green, int blue) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("55t");
+    buffer.write(type);
+    buffer.write("d");
+    buffer.write(id);
+    buffer.write("r");
+    buffer.write(red);
+    buffer.write("g");
+    buffer.write(green);
+    buffer.write("b");
+    buffer.write(blue);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for display_word
+  static String display_word(String word, int delay, int nb_loops) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("56w");
+    buffer.write(word);
+    buffer.write("d");
+    buffer.write(delay);
+    buffer.write("/");
+    buffer.write(nb_loops);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for display_word_slide
+  static String display_word_slide() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("57");
+    return buffer.toString();
+  }
+  /// Primitive for set_animation_flag_false
+  static String set_animation_flag_false() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("58");
+    return buffer.toString();
+  }
+  /// Primitive for run_command_motor
+  static String run_command_motor(String params) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("a");
+    buffer.write(params);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for ping_motor
+  static String ping_motor(int ping_status_0, int ping_status_1) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("60i");
+    buffer.write(ping_status_0);
+    buffer.write("s");
+    buffer.write(ping_status_1);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for drive_single_motor_speed
+  static String drive_single_motor_speed(int motor_index, int acc, int speed) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("610i");
+    buffer.write(motor_index);
+    buffer.write("a");
+    buffer.write(acc);
+    buffer.write("v");
+    buffer.write(speed);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_speed
+  static String get_single_motor_speed(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("611i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for drive_single_motor_angle
+  static String drive_single_motor_angle(int motor_index, int acc, int vel, int position) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("620i");
+    buffer.write(motor_index);
+    buffer.write("a");
+    buffer.write(acc);
+    buffer.write("v");
+    buffer.write(vel);
+    buffer.write("p");
+    buffer.write(position);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_angle
+  static String get_single_motor_angle(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("621i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_temp
+  static String get_single_motor_temp(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("63i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_volt
+  static String get_single_motor_volt(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("64i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_load
+  static String get_single_motor_load(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("65i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_current
+  static String get_single_motor_current(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("66i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_single_motor_move
+  static String get_single_motor_move(int motor_index) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("67i");
+    buffer.write(motor_index);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_motors_ilo_acc
+  static String set_motors_ilo_acc(int acc) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("680a");
+    buffer.write(acc);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_motors_ilo_acc
+  static String get_motors_ilo_acc() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("681");
+    return buffer.toString();
+  }
+  /// Primitive for set_tempo_pos
+  static String set_tempo_pos(int tempo_pos) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("690t");
+    buffer.write(tempo_pos);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_tempo_pos
+  static String get_tempo_pos() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("691");
+    return buffer.toString();
+  }
+  /// Primitive for set_pid
+  static String set_pid(int Kp, int Ki, int Kd) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("70p");
+    buffer.write(Kp);
+    buffer.write("i");
+    buffer.write(Ki);
+    buffer.write("d");
+    buffer.write(Kd);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_pid
+  static String get_pid() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("71");
+    return buffer.toString();
+  }
+  /// Primitive for check_auto_mode
+  static String check_auto_mode(int current_auto_mode) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("80");
+    buffer.write(current_auto_mode);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_wifi_credentials
+  static String set_wifi_credentials(String ssid, String password) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("90");
+    buffer.write(ssid);
+    buffer.write("{|||}");
+    buffer.write(password);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_wifi_credentials
+  static String get_wifi_credentials() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("92");
+    return buffer.toString();
+  }
+  /// Primitive for get_hostname
+  static String get_hostname() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("93");
+    return buffer.toString();
+  }
+  /// Primitive for get_hostname_legacy
+  static String get_hostname_legacy() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("930");
+    return buffer.toString();
+  }
+  /// Primitive for set_name
+  static String set_name(String name) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("94n");
+    buffer.write(name);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_server_status
+  static String set_server_status(int status) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("95s");
+    buffer.write(status);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_server_status
+  static String get_server_status() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("96");
+    return buffer.toString();
+  }
+  /// Primitive for get_accessory_data
+  static String get_accessory_data() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("100");
+    return buffer.toString();
+  }
+  /// Primitive for get_accessory_info
+  static String get_accessory_info() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("101");
+    return buffer.toString();
+  }
+  /// Primitive for very_very_usefull
+  static String very_very_usefull() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("102");
+    return buffer.toString();
+  }
+  /// Primitive for set_debug_state
+  static String set_debug_state(int state) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("103s");
+    buffer.write(state);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for start_diag
+  static String start_diag() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("110");
+    return buffer.toString();
+  }
+  /// Primitive for get_manufacturing_date
+  static String get_manufacturing_date() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("120");
+    return buffer.toString();
+  }
+  /// Primitive for set_manufacturing_date
+  static String set_manufacturing_date(String date) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("121s");
+    buffer.write(date);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_first_use_date
+  static String get_first_use_date() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("130");
+    return buffer.toString();
+  }
+  /// Primitive for set_first_use_date
+  static String set_first_use_date(String date) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("131s");
+    buffer.write(date);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_product_version
+  static String get_product_version() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("140");
+    return buffer.toString();
+  }
+  /// Primitive for set_product_version
+  static String set_product_version(String version) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("141s");
+    buffer.write(version);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_product_id
+  static String get_product_id() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("150");
+    return buffer.toString();
+  }
+  /// Primitive for set_product_id
+  static String set_product_id(String product_id) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("151s");
+    buffer.write(product_id);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for get_review_date
+  static String get_review_date() {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("160");
+    return buffer.toString();
+  }
+  /// Primitive for set_review_date
+  static String set_review_date(String date) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("161s");
+    buffer.write(date);
+    buffer.write("");
+    return buffer.toString();
+  }
+  /// Primitive for set_auto_setup
+  static String set_auto_setup(int auto_setup) {
+    StringBuffer buffer = StringBuffer();
+    buffer.write("170a");
+    buffer.write(auto_setup);
+    buffer.write("");
+    return buffer.toString();
+  }
+}
\ No newline at end of file
diff --git a/bindings/flutter/pubspec.lock b/bindings/flutter/pubspec.lock
new file mode 100644
index 0000000..be3f497
--- /dev/null
+++ b/bindings/flutter/pubspec.lock
@@ -0,0 +1,362 @@
+# Generated by pub
+# See https://dart.dev/tools/pub/glossary#lockfile
+packages:
+  args:
+    dependency: transitive
+    description:
+      name: args
+      sha256: d0481093c50b1da8910eb0bb301626d4d8eb7284aa739614d2b394ee09e3ea04
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.7.0"
+  async:
+    dependency: transitive
+    description:
+      name: async
+      sha256: "758e6d74e971c3e5aceb4110bfd6698efc7f501675bcfe0c775459a8140750eb"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.13.0"
+  bluez:
+    dependency: transitive
+    description:
+      name: bluez
+      sha256: "61a7204381925896a374301498f2f5399e59827c6498ae1e924aaa598751b545"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.8.3"
+  boolean_selector:
+    dependency: transitive
+    description:
+      name: boolean_selector
+      sha256: "8aab1771e1243a5063b8b0ff68042d67334e3feab9e95b9490f9a6ebf73b42ea"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.2"
+  characters:
+    dependency: transitive
+    description:
+      name: characters
+      sha256: f71061c654a3380576a52b451dd5532377954cf9dbd272a78fc8479606670803
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.4.0"
+  clock:
+    dependency: transitive
+    description:
+      name: clock
+      sha256: fddb70d9b5277016c77a80201021d40a2247104d9f4aa7bab7157b7e3f05b84b
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.1.2"
+  collection:
+    dependency: transitive
+    description:
+      name: collection
+      sha256: "2f5709ae4d3d59dd8f7cd309b4e023046b57d8a6c82130785d2b0e5868084e76"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.19.1"
+  crypto:
+    dependency: transitive
+    description:
+      name: crypto
+      sha256: c8ea0233063ba03258fbcf2ca4d6dadfefe14f02fab57702265467a19f27fadf
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.0.7"
+  dbus:
+    dependency: transitive
+    description:
+      name: dbus
+      sha256: "79e0c23480ff85dc68de79e2cd6334add97e48f7f4865d17686dd6ea81a47e8c"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.7.11"
+  fake_async:
+    dependency: transitive
+    description:
+      name: fake_async
+      sha256: "5368f224a74523e8d2e7399ea1638b37aecfca824a3cc4dfdf77bf1fa905ac44"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.3.3"
+  ffi:
+    dependency: transitive
+    description:
+      name: ffi
+      sha256: "289279317b4b16eb2bb7e271abccd4bf84ec9bdcbe999e278a94b804f5630418"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.4"
+  flutter:
+    dependency: "direct main"
+    description: flutter
+    source: sdk
+    version: "0.0.0"
+  flutter_blue_plus:
+    dependency: "direct main"
+    description:
+      name: flutter_blue_plus
+      sha256: "69a8c87c11fc792e8cf0f997d275484fbdb5143ac9f0ac4d424429700cb4e0ed"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.36.8"
+  flutter_blue_plus_android:
+    dependency: transitive
+    description:
+      name: flutter_blue_plus_android
+      sha256: "6f7fe7e69659c30af164a53730707edc16aa4d959e4c208f547b893d940f853d"
+      url: "https://pub.dev"
+    source: hosted
+    version: "7.0.4"
+  flutter_blue_plus_darwin:
+    dependency: transitive
+    description:
+      name: flutter_blue_plus_darwin
+      sha256: "682982862c1d964f4d54a3fb5fccc9e59a066422b93b7e22079aeecd9c0d38f8"
+      url: "https://pub.dev"
+    source: hosted
+    version: "7.0.3"
+  flutter_blue_plus_linux:
+    dependency: transitive
+    description:
+      name: flutter_blue_plus_linux
+      sha256: "56b0c45edd0a2eec8f85bd97a26ac3cd09447e10d0094fed55587bf0592e3347"
+      url: "https://pub.dev"
+    source: hosted
+    version: "7.0.3"
+  flutter_blue_plus_platform_interface:
+    dependency: transitive
+    description:
+      name: flutter_blue_plus_platform_interface
+      sha256: "84fbd180c50a40c92482f273a92069960805ce324e3673ad29c41d2faaa7c5c2"
+      url: "https://pub.dev"
+    source: hosted
+    version: "7.0.0"
+  flutter_blue_plus_web:
+    dependency: transitive
+    description:
+      name: flutter_blue_plus_web
+      sha256: a1aceee753d171d24c0e0cdadb37895b5e9124862721f25f60bb758e20b72c99
+      url: "https://pub.dev"
+    source: hosted
+    version: "7.0.2"
+  flutter_lints:
+    dependency: "direct dev"
+    description:
+      name: flutter_lints
+      sha256: "5398f14efa795ffb7a33e9b6a08798b26a180edac4ad7db3f231e40f82ce11e1"
+      url: "https://pub.dev"
+    source: hosted
+    version: "5.0.0"
+  flutter_test:
+    dependency: "direct dev"
+    description: flutter
+    source: sdk
+    version: "0.0.0"
+  flutter_web_plugins:
+    dependency: transitive
+    description: flutter
+    source: sdk
+    version: "0.0.0"
+  leak_tracker:
+    dependency: transitive
+    description:
+      name: leak_tracker
+      sha256: "33e2e26bdd85a0112ec15400c8cbffea70d0f9c3407491f672a2fad47915e2de"
+      url: "https://pub.dev"
+    source: hosted
+    version: "11.0.2"
+  leak_tracker_flutter_testing:
+    dependency: transitive
+    description:
+      name: leak_tracker_flutter_testing
+      sha256: "1dbc140bb5a23c75ea9c4811222756104fbcd1a27173f0c34ca01e16bea473c1"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.0.10"
+  leak_tracker_testing:
+    dependency: transitive
+    description:
+      name: leak_tracker_testing
+      sha256: "8d5a2d49f4a66b49744b23b018848400d23e54caf9463f4eb20df3eb8acb2eb1"
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.0.2"
+  lints:
+    dependency: transitive
+    description:
+      name: lints
+      sha256: c35bb79562d980e9a453fc715854e1ed39e24e7d0297a880ef54e17f9874a9d7
+      url: "https://pub.dev"
+    source: hosted
+    version: "5.1.1"
+  matcher:
+    dependency: transitive
+    description:
+      name: matcher
+      sha256: dc58c723c3c24bf8d3e2d3ad3f2f9d7bd9cf43ec6feaa64181775e60190153f2
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.12.17"
+  material_color_utilities:
+    dependency: transitive
+    description:
+      name: material_color_utilities
+      sha256: f7142bb1154231d7ea5f96bc7bde4bda2a0945d2806bb11670e30b850d56bdec
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.11.1"
+  meta:
+    dependency: transitive
+    description:
+      name: meta
+      sha256: "23f08335362185a5ea2ad3a4e597f1375e78bce8a040df5c600c8d3552ef2394"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.17.0"
+  path:
+    dependency: transitive
+    description:
+      name: path
+      sha256: "75cca69d1490965be98c73ceaea117e8a04dd21217b37b292c9ddbec0d955bc5"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.9.1"
+  petitparser:
+    dependency: transitive
+    description:
+      name: petitparser
+      sha256: "1a97266a94f7350d30ae522c0af07890c70b8e62c71e8e3920d1db4d23c057d1"
+      url: "https://pub.dev"
+    source: hosted
+    version: "7.0.1"
+  rxdart:
+    dependency: transitive
+    description:
+      name: rxdart
+      sha256: "5c3004a4a8dbb94bd4bf5412a4def4acdaa12e12f269737a5751369e12d1a962"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.28.0"
+  sky_engine:
+    dependency: transitive
+    description: flutter
+    source: sdk
+    version: "0.0.0"
+  source_span:
+    dependency: transitive
+    description:
+      name: source_span
+      sha256: "254ee5351d6cb365c859e20ee823c3bb479bf4a293c22d17a9f1bf144ce86f7c"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.10.1"
+  stack_trace:
+    dependency: transitive
+    description:
+      name: stack_trace
+      sha256: "8b27215b45d22309b5cddda1aa2b19bdfec9df0e765f2de506401c071d38d1b1"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.12.1"
+  stream_channel:
+    dependency: transitive
+    description:
+      name: stream_channel
+      sha256: "969e04c80b8bcdf826f8f16579c7b14d780458bd97f56d107d3950fdbeef059d"
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.1.4"
+  string_scanner:
+    dependency: transitive
+    description:
+      name: string_scanner
+      sha256: "921cd31725b72fe181906c6a94d987c78e3b98c2e205b397ea399d4054872b43"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.4.1"
+  term_glyph:
+    dependency: transitive
+    description:
+      name: term_glyph
+      sha256: "7f554798625ea768a7518313e58f83891c7f5024f88e46e7182a4558850a4b8e"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.2.2"
+  test_api:
+    dependency: transitive
+    description:
+      name: test_api
+      sha256: ab2726c1a94d3176a45960b6234466ec367179b87dd74f1611adb1f3b5fb9d55
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.7.7"
+  typed_data:
+    dependency: transitive
+    description:
+      name: typed_data
+      sha256: f9049c039ebfeb4cf7a7104a675823cd72dba8297f264b6637062516699fa006
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.4.0"
+  universal_platform:
+    dependency: "direct main"
+    description:
+      name: universal_platform
+      sha256: "64e16458a0ea9b99260ceb5467a214c1f298d647c659af1bff6d3bf82536b1ec"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.1.0"
+  vector_math:
+    dependency: transitive
+    description:
+      name: vector_math
+      sha256: d530bd74fea330e6e364cda7a85019c434070188383e1cd8d9777ee586914c5b
+      url: "https://pub.dev"
+    source: hosted
+    version: "2.2.0"
+  vm_service:
+    dependency: transitive
+    description:
+      name: vm_service
+      sha256: "45caa6c5917fa127b5dbcfbd1fa60b14e583afdc08bfc96dda38886ca252eb60"
+      url: "https://pub.dev"
+    source: hosted
+    version: "15.0.2"
+  web:
+    dependency: transitive
+    description:
+      name: web
+      sha256: "868d88a33d8a87b18ffc05f9f030ba328ffefba92d6c127917a2ba740f9cfe4a"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.1.1"
+  web_socket:
+    dependency: transitive
+    description:
+      name: web_socket
+      sha256: "34d64019aa8e36bf9842ac014bb5d2f5586ca73df5e4d9bf5c936975cae6982c"
+      url: "https://pub.dev"
+    source: hosted
+    version: "1.0.1"
+  web_socket_channel:
+    dependency: "direct main"
+    description:
+      name: web_socket_channel
+      sha256: d645757fb0f4773d602444000a8131ff5d48c9e47adfe9772652dd1a4f2d45c8
+      url: "https://pub.dev"
+    source: hosted
+    version: "3.0.3"
+  xml:
+    dependency: transitive
+    description:
+      name: xml
+      sha256: "971043b3a0d3da28727e40ed3e0b5d18b742fa5a68665cca88e74b7876d5e025"
+      url: "https://pub.dev"
+    source: hosted
+    version: "6.6.1"
+sdks:
+  dart: ">=3.8.0 <4.0.0"
+  flutter: ">=3.19.0"
diff --git a/bindings/flutter/pubspec.yaml b/bindings/flutter/pubspec.yaml
new file mode 100644
index 0000000..170e9f8
--- /dev/null
+++ b/bindings/flutter/pubspec.yaml
@@ -0,0 +1,20 @@
+name: ilo_flutter
+description: Flutter binding for Ilo Robot communication.
+version: 0.0.1
+homepage: https://github.com/intuition-rt/mobile-app
+
+environment:
+  sdk: '>=3.0.0 <4.0.0'
+  flutter: ">=3.0.0"
+
+dependencies:
+  flutter:
+    sdk: flutter
+  flutter_blue_plus: ^1.32.0
+  universal_platform: ^1.0.0+1
+  web_socket_channel: ^3.0.0
+
+dev_dependencies:
+  flutter_test:
+    sdk: flutter
+  flutter_lints: ^5.0.0
diff --git a/generators/generate_primitives.py b/generators/generate_primitives.py
index b8ffc4e..3e992c5 100644
--- a/generators/generate_primitives.py
+++ b/generators/generate_primitives.py
@@ -50,7 +50,7 @@ def rework_trame(trame: Dict[str, str]) -> Trame:
     fmt = trame["format"]
 
     parts = re.split(r"\[[ifs]:[^\]]+\]", fmt)
-    parts = [p for p in parts if p]  # remove empty strings
+    # parts = [p for p in parts if p]  # remove empty strings
 
     param_matches = re.findall(r"\[([ifs]):([^\]]+)\]", fmt)
     parameters: List[TrameParam] = [
@@ -88,6 +88,15 @@ def main():
         trames_formats = json.load(f)
         trames = [rework_trame(trame) for trame in trames_formats]
 
+    # Deduplicate names
+    name_counts = {}
+    for trame in trames:
+        original_name = trame["name"]
+        count = name_counts.get(original_name, 0) + 1
+        name_counts[original_name] = count
+        if count > 1:
+            trame["name"] = f"{original_name}_{count}"
+
     env = Environment(
         loader=FileSystemLoader(TEMPLATES_DIR),
         trim_blocks=True,
diff --git a/generators/templates/flutter/trame_builder.dart.jinja b/generators/templates/flutter/trame_builder.dart.jinja
new file mode 100644
index 0000000..c3453f2
--- /dev/null
+++ b/generators/templates/flutter/trame_builder.dart.jinja
@@ -0,0 +1,31 @@
+// Auto-generated primitives for ilo communication
+// This file is generated. Do not edit manually.
+
+class TrameBuilder {
+{% set type_map = {
+    "boolean": "bool",
+    "integer": "int",
+    "string": "String",
+    "float": "double"
+} %}
+
+{% for t in trames %}
+  /// {{ t.doc if t.doc else ("Primitive for " ~ t.name) }}
+  static String {{ t.name }}(
+    {%- for p in t.parameters -%}
+      {{ type_map[p.type] }} {{ p.name }}
+      {%- if not loop.last -%}, {% endif %}
+    {%- endfor -%}
+  ) {
+    StringBuffer buffer = StringBuffer();
+    {# emit parts #}
+    {%- for i in range(t.trame_parts|length) %}
+    buffer.write("{{ t.trame_parts[i] }}");
+      {% if i < t.parameters|length %}
+    buffer.write({{ t.parameters[i].name }});
+      {% endif %}
+    {%- endfor %}
+    return buffer.toString();
+  }
+{% endfor %}
+}