diff --git a/App.tsx b/App.tsx
index bf46ece..562885e 100644
--- a/App.tsx
+++ b/App.tsx
@@ -180,9 +180,9 @@ const App: React.FC = () => {
     }, [addLog]);
 
     // Tag Transmission Logic
-    const sendTag = useCallback((tagId: string) => {
+    const sendTag = useCallback((tagId: string | number) => {
         if (agvSerialRef.current) {
-            const paddedId = tagId.padStart(6, '0').slice(-6);
+            const paddedId = String(tagId).padStart(6, '0').slice(-6);
             const encoder = new TextEncoder();
             const cmdBytes = encoder.encode("TAG");
             const valBytes = encoder.encode(paddedId);
@@ -704,7 +704,7 @@ const App: React.FC = () => {
             return;
         }
 
-        const id = 1; // Default AGV ID
+        const id = 0; // Default ACS ID = 0
         const len = 1 + 1 + payload.length; // ID + CMD + DATA
         const buffer = [0x02, len, id, cmd, ...payload];
 
diff --git a/NewMap.json b/NewMap.json
index 2e25694..818c2a4 100644
--- a/NewMap.json
+++ b/NewMap.json
@@ -1,1219 +1,1041 @@
 {
   "Nodes": [
     {
-      "Id": "N001",
       "Text": "Unloader",
-      "Position": "99, 251",
-      "Type": 0,
       "StationType": 3,
+      "CanDocking": true,
+      "DockDirection": 0,
       "ConnectedNodes": [
-        "N002"
+        "12",
+        "14"
       ],
-      "RfidId": "0001",
+      "CanTurnLeft": true,
+      "CanTurnRight": true,
+      "DisableCross": false,
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 1,
       "NodeTextForeColor": "White",
-      "NodeTextFontSize": 30,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": true,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N002",
-      "Text": "",
-      "Position": "249, 250",
+      "NodeTextFontSize": 30.0,
+      "Id": "N001",
       "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N001",
-        "N003"
-      ],
-      "RfidId": "0002",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
+      "Position": "298, 270"
     },
     {
-      "Id": "N003",
-      "Text": "",
-      "Position": "350, 301",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N002",
-        "N011",
-        "N022",
-        "N031"
-      ],
-      "RfidId": "0003",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N006",
-      "Text": "",
-      "Position": "527, 254",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N007",
-        "N022",
-        "N023"
-      ],
-      "RfidId": "0013",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N007",
-      "Text": "",
-      "Position": "609, 227",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N006",
-        "N019"
-      ],
-      "RfidId": "0014",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N008",
-      "Text": "",
-      "Position": "275, 441",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N009",
-        "N031"
-      ],
-      "RfidId": "0009",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N009",
-      "Text": "",
-      "Position": "184, 466",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N008",
-        "N010"
-      ],
-      "RfidId": "0010",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N010",
       "Text": "Cleaner",
-      "Position": "92, 465",
-      "Type": 0,
       "StationType": 2,
-      "ConnectedNodes": [
-        "N009"
-      ],
-      "RfidId": "0011",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
       "CanDocking": true,
       "DockDirection": 1,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N011",
-      "Text": "",
-      "Position": "450, 399",
-      "Type": 0,
-      "StationType": 0,
       "ConnectedNodes": [
-        "N003",
-        "N012",
-        "N015",
-        "N031",
-        "N022"
+        "5",
+        "15"
       ],
-      "RfidId": "0005",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N012",
-      "Text": "",
-      "Position": "549, 450",
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 11,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N010",
       "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N011",
-        "N013",
-        "N015"
-      ],
-      "RfidId": "0006",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
+      "Position": "298, 446"
     },
     {
-      "Id": "N013",
-      "Text": "",
-      "Position": "616, 492",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N012",
-        "N014"
-      ],
-      "RfidId": "0007",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N014",
       "Text": "Loader",
-      "Position": "670, 526",
-      "Type": 0,
       "StationType": 1,
-      "ConnectedNodes": [
-        "N013"
-      ],
-      "RfidId": "0008",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
       "CanDocking": true,
       "DockDirection": 0,
+      "ConnectedNodes": [
+        "6",
+        "16"
+      ],
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 8,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N014",
+      "Type": 0,
+      "Position": "520, 653"
     },
     {
-      "Id": "N019",
       "Text": "Chg #1",
-      "Position": "668, 223",
-      "Type": 0,
       "StationType": 5,
-      "ConnectedNodes": [
-        "N007"
-      ],
-      "RfidId": "0015",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
       "CanDocking": true,
       "DockDirection": 1,
+      "ConnectedNodes": [],
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N022",
-      "Text": "",
-      "Position": "450, 300",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N003",
-        "N006",
-        "N011",
-        "N023",
-        "N031"
-      ],
-      "RfidId": "0012",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
       "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N023",
-      "Text": "",
-      "Position": "480, 183",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N006",
-        "N022",
-        "N024"
-      ],
-      "RfidId": "0016",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
       "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N024",
-      "Text": "",
-      "Position": "500, 135",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N023",
-        "N025"
-      ],
-      "RfidId": "0017",
+      "IsActive": true,
+      "RfidId": 15,
       "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N025",
-      "Text": "",
-      "Position": "573, 97",
+      "NodeTextFontSize": 7.0,
+      "Id": "N019",
       "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N024",
-        "N026"
-      ],
-      "RfidId": "0018",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
+      "Position": "402, 375"
     },
     {
-      "Id": "N026",
       "Text": "Chg #2",
-      "Position": "649, 87",
-      "Type": 0,
       "StationType": 5,
-      "ConnectedNodes": [
-        "N025"
-      ],
-      "RfidId": "0019",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
       "CanDocking": true,
       "DockDirection": 1,
+      "ConnectedNodes": [],
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 19,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N026",
+      "Type": 0,
+      "Position": "541, 570"
     },
     {
-      "Id": "N015",
       "Text": "",
-      "Position": "449, 499",
-      "Type": 0,
       "StationType": 0,
-      "ConnectedNodes": [
-        "N011",
-        "N012",
-        "N016"
-      ],
-      "RfidId": "0037",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
       "CanDocking": false,
       "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N016",
-      "Text": "",
-      "Position": "422, 537",
-      "Type": 0,
-      "StationType": 0,
       "ConnectedNodes": [
-        "N015",
-        "N017"
-      ],
-      "RfidId": "0036",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N017",
-      "Text": "",
-      "Position": "380, 557",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N016",
-        "N018"
-      ],
-      "RfidId": "0035",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
-      "CanTurnLeft": true,
-      "CanTurnRight": true,
-      "DisableCross": false,
-      "IsActive": true
-    },
-    {
-      "Id": "N018",
-      "Text": "",
-      "Position": "329, 561",
-      "Type": 0,
-      "StationType": 0,
-      "ConnectedNodes": [
-        "N017",
         "N030",
-        "N005"
+        "N005",
+        "1"
       ],
-      "RfidId": "0034",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 34,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N018",
+      "Type": 0,
+      "Position": "213, 630"
     },
     {
-      "Id": "N005",
       "Text": "",
-      "Position": "233, 561",
-      "Type": 0,
       "StationType": 0,
+      "CanDocking": false,
+      "DockDirection": 0,
       "ConnectedNodes": [
         "N018",
         "N020",
         "N029"
       ],
-      "RfidId": "0033",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 33,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N005",
+      "Type": 0,
+      "Position": "113, 629"
     },
     {
-      "Id": "N020",
       "Text": "",
-      "Position": "155, 560",
-      "Type": 0,
       "StationType": 0,
+      "CanDocking": false,
+      "DockDirection": 0,
       "ConnectedNodes": [
         "N005",
         "N021",
         "N028"
       ],
-      "RfidId": "0032",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 32,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N020",
+      "Type": 0,
+      "Position": "38, 626"
     },
     {
-      "Id": "N021",
       "Text": "",
-      "Position": "68, 558",
-      "Type": 0,
       "StationType": 0,
+      "CanDocking": false,
+      "DockDirection": 0,
       "ConnectedNodes": [
         "N020",
-        "N027"
+        "N027",
+        "11"
       ],
-      "RfidId": "0031",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": false,
-      "DockDirection": 0,
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 31,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N021",
+      "Type": 0,
+      "Position": "-54, 626"
     },
     {
-      "Id": "N027",
       "Text": "Buf #1",
-      "Position": "38, 637",
-      "Type": 0,
       "StationType": 4,
+      "CanDocking": true,
+      "DockDirection": 0,
       "ConnectedNodes": [
         "N021"
       ],
-      "RfidId": "0041",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": true,
-      "DockDirection": 0,
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 41,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N027",
+      "Type": 0,
+      "Position": "-76, 676"
     },
     {
-      "Id": "N028",
       "Text": "Buf #2",
-      "Position": "125, 639",
-      "Type": 0,
       "StationType": 4,
+      "CanDocking": true,
+      "DockDirection": 0,
       "ConnectedNodes": [
         "N020"
       ],
-      "RfidId": "0040",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": true,
-      "DockDirection": 0,
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 40,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N028",
+      "Type": 0,
+      "Position": "12, 676"
     },
     {
-      "Id": "N029",
       "Text": "Buf #3",
-      "Position": "203, 635",
-      "Type": 0,
       "StationType": 4,
+      "CanDocking": true,
+      "DockDirection": 0,
       "ConnectedNodes": [
         "N005"
       ],
-      "RfidId": "0039",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": true,
-      "DockDirection": 0,
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 39,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N029",
+      "Type": 0,
+      "Position": "89, 674"
     },
     {
-      "Id": "N030",
       "Text": "Buf #4",
-      "Position": "296, 638",
-      "Type": 0,
       "StationType": 4,
+      "CanDocking": true,
+      "DockDirection": 0,
       "ConnectedNodes": [
         "N018"
       ],
-      "RfidId": "0038",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
-      "CanDocking": true,
-      "DockDirection": 0,
       "CanTurnLeft": true,
       "CanTurnRight": true,
       "DisableCross": false,
-      "IsActive": true
+      "SpeedLimit": 0,
+      "AliasName": "",
+      "IsActive": true,
+      "RfidId": 38,
+      "NodeTextForeColor": "",
+      "NodeTextFontSize": 7.0,
+      "Id": "N030",
+      "Type": 0,
+      "Position": "183, 675"
     },
     {
-      "Id": "N031",
       "Text": "",
-      "Position": "350, 400",
-      "Type": 0,
       "StationType": 0,
-      "ConnectedNodes": [
-        "N003",
-        "N008",
-        "N011",
-        "N022"
-      ],
-      "RfidId": "0030",
-      "NodeTextForeColor": "",
-      "NodeTextFontSize": 7,
-      "AliasName": "",
-      "SpeedLimit": 0,
       "CanDocking": false,
       "DockDirection": 0,
+      "ConnectedNodes": [
+        "N018",
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+      "Position": "12, 625"
     },
     {
+      "X": 91.0,
+      "Y": 625.0,
+      "Rotation": 89.2872271068898,
       "Id": "0367cafb-9f85-4440-b6b4-c802a58e6181",
       "Type": 3,
-      "Position": "203, 558",
-      "X": 203,
-      "Y": 558,
-      "Rotation": 89.2872271068898
+      "Position": "91, 625"
     },
     {
+      "X": 183.0,
+      "Y": 622.0,
+      "Rotation": 88.405167720722616,
       "Id": "1f4ab2c9-07f8-4675-802d-9b4824b55198",
       "Type": 3,
-      "Position": "296, 560",
-      "X": 296,
-      "Y": 560,
-      "Rotation": 88.40516772072262
+      "Position": "183, 622"
     },
     {
+      "X": 275.0,
+      "Y": 269.0,
+      "Rotation": 91.712220129051758,
       "Id": "15fddfa4-ff74-48ff-b922-4aacdce1960b",
       "Type": 3,
-      "Position": "81, 256",
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-      "Y": 256,
-      "Rotation": 74.50226651936697
-    },
-    {
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-      "Type": 3,
-      "Position": "73, 466",
-      "X": 73,
-      "Y": 466,
-      "Rotation": 90
-    },
-    {
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-      "Type": 3,
-      "Position": "686, 196",
-      "X": 686,
-      "Y": 196,
-      "Rotation": 90
-    },
-    {
-      "Id": "61c6d1dd-6a39-4931-a530-9b44d2010139",
-      "Type": 3,
-      "Position": "669, 84",
-      "X": 669,
-      "Y": 84,
-      "Rotation": 90
+      "Position": "275, 269"
     },
     {
+      "X": 89.0,
+      "Y": 697.0,
+      "Rotation": 0.38243447796178032,
       "Id": "4b699847-36d4-471c-b990-4ad37967c2dc",
       "Type": 3,
-      "Position": "204, 655",
-      "X": 204,
-      "Y": 655,
-      "Rotation": 0.3824344779617803
+      "Position": "89, 697"
     },
     {
+      "X": 183.0,
+      "Y": 699.0,
+      "Rotation": -1.3380194104322385,
       "Id": "a9f68317-f1c2-47d8-b029-348b5428be9f",
       "Type": 3,
-      "Position": "296, 657",
-      "X": 296,
-      "Y": 657,
-      "Rotation": -1.3380194104322385
+      "Position": "183, 699"
     },
     {
+      "X": 9.0,
+      "Y": 699.0,
+      "Rotation": 0.84311038333069632,
       "Id": "fe227205-2a65-4ba9-bb4a-4efb4ed0a7b0",
       "Type": 3,
-      "Position": "122, 657",
-      "X": 122,
-      "Y": 657,
-      "Rotation": 0.8431103833306963
+      "Position": "9, 699"
     },
     {
+      "X": -74.0,
+      "Y": 697.0,
+      "Rotation": 1.659829660758831,
       "Id": "5dd29191-798c-480c-b066-7947bfcc4fb7",
       "Type": 3,
-      "Position": "40, 657",
-      "X": 40,
-      "Y": 657,
-      "Rotation": 1.659829660758831
+      "Position": "-74, 697"
     },
     {
+      "X": -71.0,
+      "Y": 596.0,
+      "Rotation": 0.0,
       "Id": "649729f0-ff04-4e11-8869-f6a39d815427",
       "Type": 3,
-      "Position": "39, 534",
-      "X": 39.4693948552308,
-      "Y": 533.7519551312122,
-      "Rotation": 0
+      "Position": "-71, 596"
     },
     {
+      "X": 10.0,
+      "Y": 601.0,
+      "Rotation": 0.0,
       "Id": "2bb9a821-f86b-4190-a182-64abe2c940ed",
       "Type": 3,
-      "Position": "125, 534",
-      "X": 125.46939485523076,
-      "Y": 533.7519551312122,
-      "Rotation": 0
+      "Position": "10, 601"
     },
     {
+      "X": 91.0,
+      "Y": 598.0,
+      "Rotation": 0.0,
       "Id": "821598e1-091a-4884-96fe-6ed5f43c4f62",
       "Type": 3,
-      "Position": "203, 532",
-      "X": 203.46939485523072,
-      "Y": 532.2519551312122,
-      "Rotation": 0
+      "Position": "91, 598"
     },
     {
+      "X": 184.0,
+      "Y": 596.0,
+      "Rotation": 0.0,
       "Id": "66c1bbee-89a8-45a9-b585-ddfd59768f6b",
       "Type": 3,
-      "Position": "295, 533",
-      "X": 295.4693948552307,
-      "Y": 533.2519551312122,
-      "Rotation": 0
+      "Position": "184, 596"
+    },
+    {
+      "X": 381.0,
+      "Y": 355.0,
+      "Rotation": 91.245364266768377,
+      "Id": "06a10f46-bda8-4b0f-9e7a-63d66bd2f7e4",
+      "Type": 3,
+      "Position": "381, 355"
+    },
+    {
+      "X": 519.0,
+      "Y": 550.0,
+      "Rotation": 0.0,
+      "Id": "835b8982-042b-4e2e-a83b-19b32e55cd5b",
+      "Type": 3,
+      "Position": "519, 550"
+    }
+  ],
+  "Magnets": [
+    {
+      "P1": {
+        "X": 358.53781512605048,
+        "Y": 628.438429217841
+      },
+      "P2": {
+        "X": -119.57759581805529,
+        "Y": 626.78449598889756
+      },
+      "ControlPoint": null,
+      "Id": "5a0edec2-7ac3-4c99-bbb4-8debde0c1d07",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": -75.0847526191485,
+        "Y": 716.14155614369508
+      },
+      "P2": {
+        "X": -73.1298113651053,
+        "Y": 561.63119233707459
+      },
+      "ControlPoint": null,
+      "Id": "def7c4b9-86db-42eb-aae6-0c6c9bedcc30",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 12.69302515862924,
+        "Y": 717.25266725480617
+      },
+      "P2": {
+        "X": 11.870188634894689,
+        "Y": 560.25023995612207
+      },
+      "ControlPoint": null,
+      "Id": "624327ee-be0f-4373-b60a-786a93c1eabf",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 90.470802936406983,
+        "Y": 716.14155614369508
+      },
+      "P2": {
+        "X": 89.727331492037507,
+        "Y": 560.91690662278882
+      },
+      "ControlPoint": null,
+      "Id": "f1e885ae-55f7-42e9-b3aa-648541e97da0",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 185.470802936407,
+        "Y": 725.03044503258388
+      },
+      "P2": {
+        "X": 181.87018863489462,
+        "Y": 563.059763765646
+      },
+      "ControlPoint": null,
+      "Id": "dc3e8061-2c99-4f24-ac9b-4020dd91fa8b",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 343.98784548784573,
+        "Y": 353.92216117216128
+      },
+      "P2": {
+        "X": 472.59413991107186,
+        "Y": 353.73144759338567
+      },
+      "ControlPoint": null,
+      "Id": "f4c97a5a-2c2c-4b5e-9dd5-332b1670b827",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 519.32722832722823,
+        "Y": 720.25490196078408
+      },
+      "P2": {
+        "X": 516.16556848250036,
+        "Y": 309.44573330767145
+      },
+      "ControlPoint": null,
+      "Id": "a5424add-e8c9-483c-a5db-733dca1b8f57",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 249.62404756406329,
+        "Y": 449.77059623383167
+      },
+      "P2": {
+        "X": 518.08558602560174,
+        "Y": 452.84751931075476
+      },
+      "ControlPoint": null,
+      "Id": "0bbb27a4-2355-4294-9f2d-a40e4d3d2930",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 225.77789371790945,
+        "Y": 271.30905777229322
+      },
+      "P2": {
+        "X": 463.66556848250042,
+        "Y": 269.44573330767145
+      },
+      "ControlPoint": null,
+      "Id": "92527d4a-8e63-404f-86e8-37568bd4790e",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 463.41452991452985,
+        "Y": 270.25490196078431
+      },
+      "P2": {
+        "X": 515.08119658119654,
+        "Y": 310.25490196078425
+      },
+      "ControlPoint": {
+        "X": 517.85897435897425,
+        "Y": 266.3660130718954
+      },
+      "Id": "0db9553a-f203-478d-8c17-e07f00987828",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 473.41452991452985,
+        "Y": 353.032679738562
+      },
+      "P2": {
+        "X": 515.63675213675208,
+        "Y": 399.14379084967311
+      },
+      "ControlPoint": {
+        "X": 521.74786324786317,
+        "Y": 351.3660130718954
+      },
+      "Id": "0650b2cb-57f9-44ec-9787-fab878cf2b47",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 465.08119658119654,
+        "Y": 450.2549019607842
+      },
+      "P2": {
+        "X": 518.24918584253533,
+        "Y": 519.05971509141114
+      },
+      "ControlPoint": {
+        "X": 522.85897435897425,
+        "Y": 450.8104575163398
+      },
+      "Id": "7007db10-b61b-4726-9775-417951454ddf",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 473.30842562535759,
+        "Y": 351.58859045052856
+      },
+      "P2": {
+        "X": 515.4512827682147,
+        "Y": 309.80287616481428
+      },
+      "ControlPoint": {
+        "X": 519.02271133964325,
+        "Y": 358.01716187909994
+      },
+      "Id": "4ef4bfd0-8fc4-48a5-a490-92b35c7fd1c3",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 464.73699705392903,
+        "Y": 450.51716187909989
+      },
+      "P2": {
+        "X": 516.52271133964325,
+        "Y": 402.66001902195711
+      },
+      "ControlPoint": {
+        "X": 516.16556848250036,
+        "Y": 454.44573330767133
+      },
+      "Id": "7d18ae7e-7926-4cf4-8dd6-861462e31352",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 399.76697627462613,
+        "Y": 521.72108802571984
+      },
+      "P2": {
+        "X": 462.61739821419411,
+        "Y": 449.66152357736206
+      },
+      "ControlPoint": {
+        "X": 391.99239821419411,
+        "Y": 447.16152357736206
+      },
+      "Id": "532be14d-170e-45c5-adcf-0d555b83b010",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 399.05269056034041,
+        "Y": 523.50680231143417
+      },
+      "P2": {
+        "X": 400.11132581222392,
+        "Y": 580.622765294022
+      },
+      "ControlPoint": null,
+      "Id": "086955e0-0542-4ab5-9ccf-8880e749722a",
+      "Type": 4
+    },
+    {
+      "P1": {
+        "X": 353.86132581222392,
+        "Y": 629.37276529402186
+      },
+      "P2": {
+        "X": 400.11132581222392,
+        "Y": 576.872765294022
+      },
+      "ControlPoint": {
+        "X": 404.48632581222392,
+        "Y": 630.62276529402186
+      },
+      "Id": "2ac7d720-a6df-4174-be74-15ddfe96459b",
+      "Type": 4
     }
   ],
   "Settings": {
     "BackgroundColorArgb": -14671840,
     "ShowGrid": false
   },
-  "CreatedDate": "2025-12-16T10:58:08.630Z",
+  "CreatedDate": "2025-12-22T13:52:46.9307488+09:00",
   "Version": "1.3"
 }
\ No newline at end of file
diff --git a/components/AcsControls.tsx b/components/AcsControls.tsx
index 2058e25..d99e341 100644
--- a/components/AcsControls.tsx
+++ b/components/AcsControls.tsx
@@ -11,6 +11,7 @@ interface AcsControlsProps {
 const AcsControls: React.FC<AcsControlsProps> = ({ onSend, isConnected, mapData }) => {
     const [tagId, setTagId] = useState('0001');
     const [alias, setAlias] = useState('charger1');
+    const [targetId, setTargetId] = useState<number>(11); // Default Target ID
 
     const PRESET_ALIASES = [
         'charger1', 'charger2',
@@ -21,15 +22,16 @@ const AcsControls: React.FC<AcsControlsProps> = ({ onSend, isConnected, mapData
     const availableTags = useMemo(() => {
         // Extract unique, non-empty RFID tags from map nodes
         const tags = mapData.nodes
-            .filter(n => n.rfidId && n.rfidId.trim() !== '')
-            .map(n => n.rfidId);
+            .filter(n => n.rfidId && String(n.rfidId).trim() !== '')
+            .map(n => String(n.rfidId));
         return Array.from(new Set(tags)).sort();
     }, [mapData]);
 
     const handleSend = (cmd: number, dataStr?: string, dataByte?: number) => {
         if (!isConnected) return;
 
-        let payload: number[] = [];
+        // Payload always starts with Target ID
+        let payload: number[] = [targetId];
 
         if (dataStr !== undefined) {
             // Convert string to ASCII bytes
@@ -50,6 +52,31 @@ const AcsControls: React.FC<AcsControlsProps> = ({ onSend, isConnected, mapData
                 <span className="text-[10px] bg-gray-900 px-1.5 py-0.5 rounded text-gray-500 border border-gray-700">EXT CMD</span>
             </h3>
 
+            {/* Target ID Selection */}
+            <div className="flex items-center gap-2 mb-3 bg-gray-900 p-2 rounded border border-gray-700">
+                <span className="text-xs text-gray-400">Target AGV:</span>
+                <label className="flex items-center gap-1 cursor-pointer">
+                    <input
+                        type="radio"
+                        name="targetId"
+                        checked={targetId === 11}
+                        onChange={() => setTargetId(11)}
+                        className="text-green-500 focus:ring-0"
+                    />
+                    <span className={`text-xs ${targetId === 11 ? 'text-green-400 font-bold' : 'text-gray-500'}`}>ID 11</span>
+                </label>
+                <label className="flex items-center gap-1 cursor-pointer">
+                    <input
+                        type="radio"
+                        name="targetId"
+                        checked={targetId === 12}
+                        onChange={() => setTargetId(12)}
+                        className="text-green-500 focus:ring-0"
+                    />
+                    <span className={`text-xs ${targetId === 12 ? 'text-green-400 font-bold' : 'text-gray-500'}`}>ID 12</span>
+                </label>
+            </div>
+
             {/* Navigation Commands */}
             <div className="space-y-2 mb-4">
                 {/* Goto Tag */}
@@ -71,7 +98,7 @@ const AcsControls: React.FC<AcsControlsProps> = ({ onSend, isConnected, mapData
                         </datalist>
                     </div>
                     <button
-                        onClick={() => handleSend(0x81, tagId)}
+                        onClick={() => handleSend(100, tagId)}
                         className="bg-gray-700 hover:bg-green-700 text-white text-xs px-3 py-1.5 rounded flex items-center gap-1 transition-colors border border-gray-600"
                     >
                         GO <ChevronRight size={10} />
@@ -97,7 +124,7 @@ const AcsControls: React.FC<AcsControlsProps> = ({ onSend, isConnected, mapData
                         </datalist>
                     </div>
                     <button
-                        onClick={() => handleSend(0x82, alias)}
+                        onClick={() => handleSend(107, alias)}
                         className="bg-gray-700 hover:bg-green-700 text-white text-xs px-3 py-1.5 rounded flex items-center gap-1 transition-colors border border-gray-600"
                     >
                         GO <ChevronRight size={10} />
@@ -111,26 +138,26 @@ const AcsControls: React.FC<AcsControlsProps> = ({ onSend, isConnected, mapData
             {/* Action Buttons Grid */}
             <div className="grid grid-cols-2 gap-2 mb-3">
                 <button
-                    onClick={() => handleSend(0x83, undefined, 1)}
+                    onClick={() => handleSend(110, undefined, 1)}
                     className="flex items-center justify-center gap-2 bg-blue-900/40 hover:bg-blue-800 border border-blue-800 text-blue-200 py-2 rounded text-xs transition-colors"
                 >
                     <Package size={14} /> Pick ON
                 </button>
                 <button
-                    onClick={() => handleSend(0x83, undefined, 0)}
+                    onClick={() => handleSend(111, undefined, 0)}
                     className="flex items-center justify-center gap-2 bg-gray-700 hover:bg-gray-600 border border-gray-600 text-gray-300 py-2 rounded text-xs transition-colors"
                 >
                     <Package size={14} /> Pick OFF
                 </button>
 
                 <button
-                    onClick={() => handleSend(0x84, undefined, 1)}
+                    onClick={() => handleSend(109, undefined, 1)}
                     className="flex items-center justify-center gap-2 bg-yellow-900/40 hover:bg-yellow-800 border border-yellow-800 text-yellow-200 py-2 rounded text-xs transition-colors"
                 >
                     <Zap size={14} /> Charge ON
                 </button>
                 <button
-                    onClick={() => handleSend(0x84, undefined, 0)}
+                    onClick={() => handleSend(109, undefined, 0)}
                     className="flex items-center justify-center gap-2 bg-gray-700 hover:bg-gray-600 border border-gray-600 text-gray-300 py-2 rounded text-xs transition-colors"
                 >
                     <Zap size={14} /> Charge OFF
@@ -141,25 +168,19 @@ const AcsControls: React.FC<AcsControlsProps> = ({ onSend, isConnected, mapData
             <div className="mb-3">
                 <h4 className="text-[10px] text-gray-500 uppercase font-bold mb-1">Lift Control</h4>
                 <div className="flex gap-1">
-                    <button onClick={() => handleSend(0x85, undefined, 1)} className="flex-1 bg-gray-700 hover:bg-green-700 text-white text-xs py-1.5 rounded border border-gray-600">UP</button>
-                    <button onClick={() => handleSend(0x85, undefined, 0)} className="flex-1 bg-gray-700 hover:bg-red-700 text-white text-xs py-1.5 rounded border border-gray-600">STOP</button>
-                    <button onClick={() => handleSend(0x85, undefined, 2)} className="flex-1 bg-gray-700 hover:bg-green-700 text-white text-xs py-1.5 rounded border border-gray-600">DOWN</button>
+                    <button onClick={() => handleSend(106, undefined, 1)} className="flex-1 bg-gray-700 hover:bg-green-700 text-white text-xs py-1.5 rounded border border-gray-600">UP</button>
+                    <button onClick={() => handleSend(106, undefined, 0)} className="flex-1 bg-gray-700 hover:bg-red-700 text-white text-xs py-1.5 rounded border border-gray-600">STOP</button>
+                    <button onClick={() => handleSend(106, undefined, 2)} className="flex-1 bg-gray-700 hover:bg-green-700 text-white text-xs py-1.5 rounded border border-gray-600">DOWN</button>
                 </div>
             </div>
 
             {/* System Controls (New) */}
             <div>
                 <h4 className="text-[10px] text-gray-500 uppercase font-bold mb-1">System Control</h4>
-                <div className="grid grid-cols-2 gap-2 mb-2">
-                    <button onClick={() => handleSend(0x86)} className="bg-red-900/40 hover:bg-red-800 text-red-200 border border-red-800 text-xs py-1.5 rounded font-bold">EMG STOP</button>
-                    <button onClick={() => handleSend(0x87)} className="bg-gray-700 hover:bg-gray-600 text-gray-200 border border-gray-600 text-xs py-1.5 rounded">RESET</button>
-                </div>
-                <div className="flex items-center justify-between bg-gray-900 p-2 rounded border border-gray-700">
-                    <span className="text-xs text-gray-400">Mark Stop</span>
-                    <div className="flex gap-1">
-                        <button onClick={() => handleSend(0x88, undefined, 1)} className="px-2 py-0.5 text-[10px] bg-green-900 text-green-300 rounded border border-green-800 hover:bg-green-800">ON</button>
-                        <button onClick={() => handleSend(0x88, undefined, 0)} className="px-2 py-0.5 text-[10px] bg-gray-700 text-gray-300 rounded border border-gray-600 hover:bg-gray-600">OFF</button>
-                    </div>
+                <div className="grid grid-cols-3 gap-2 mb-2">
+                    <button onClick={() => handleSend(101)} className="bg-red-900/40 hover:bg-red-800 text-red-200 border border-red-800 text-xs py-1.5 rounded font-bold">STOP</button>
+                    <button onClick={() => handleSend(102)} className="bg-gray-700 hover:bg-gray-600 text-gray-200 border border-gray-600 text-xs py-1.5 rounded">RESET</button>
+                    <button onClick={() => handleSend(105, undefined, 1)} className="px-2 py-0.5 text-[10px] bg-green-900 text-green-300 rounded border border-green-800 hover:bg-green-800">MARK STOP</button>
                 </div>
             </div>
         </div>
diff --git a/components/SimulationCanvas.tsx b/components/SimulationCanvas.tsx
index fdaf6e4..ce8ca8b 100644
--- a/components/SimulationCanvas.tsx
+++ b/components/SimulationCanvas.tsx
@@ -1211,7 +1211,7 @@ const SimulationCanvas: React.FC<SimulationCanvasProps> = ({ activeTool, mapData
         return { x: rawX, y: rawY };
     };
 
-    const handleWheel = (e: React.WheelEvent) => {
+    const handleWheel = useCallback((e: WheelEvent) => {
         e.preventDefault();
         const rect = canvasRef.current?.getBoundingClientRect();
         if (!rect) return;
@@ -1234,7 +1234,20 @@ const SimulationCanvas: React.FC<SimulationCanvasProps> = ({ activeTool, mapData
         const newY = screenY - worldY * newScale;
 
         viewRef.current = { x: newX, y: newY, scale: newScale };
-    };
+    }, []);
+
+    // Attach non-passive wheel listener
+    useEffect(() => {
+        const canvas = canvasRef.current;
+        if (canvas) {
+            canvas.addEventListener('wheel', handleWheel, { passive: false });
+        }
+        return () => {
+            if (canvas) {
+                canvas.removeEventListener('wheel', handleWheel);
+            }
+        };
+    }, [handleWheel]);
 
     const handleMouseMove = (e: React.MouseEvent) => {
         const rect = canvasRef.current?.getBoundingClientRect();
@@ -1547,7 +1560,7 @@ const SimulationCanvas: React.FC<SimulationCanvasProps> = ({ activeTool, mapData
                 setSelectedItemIds(newSelection);
 
                 // Prepare Multi-Drag
-                const initialStates: Record<string, any> = {};
+                const initialStates: any = {};
                 newSelection.forEach(id => {
                     const n = mapData.nodes.find(o => o.id === id);
                     if (n) initialStates[id] = { x: n.x, y: n.y };
@@ -1648,7 +1661,6 @@ const SimulationCanvas: React.FC<SimulationCanvasProps> = ({ activeTool, mapData
                 ref={canvasRef}
                 width={dimensions.width}
                 height={dimensions.height}
-                onWheel={handleWheel}
                 onMouseDown={handleMouseDown}
                 onMouseMove={handleMouseMove}
                 onMouseUp={handleMouseUp}