diff --git a/doc/rest.md b/doc/rest.md
index 3c5d1f54..f90554a7 100644
--- a/doc/rest.md
+++ b/doc/rest.md
@@ -60,7 +60,7 @@ If a DotBot is connected, this script should give an output similar to:
     "mode": 0,
     "last_seen": 1701244665.8099585,
     "waypoints": [],
-    "waypoints_threshold": 40,
+    "waypoints_threshold": 50,
     "position_history": []
   }
 ]
diff --git a/dotbot/__init__.py b/dotbot/__init__.py
index e1b4b724..167ea244 100644
--- a/dotbot/__init__.py
+++ b/dotbot/__init__.py
@@ -15,6 +15,7 @@
 CONTROLLER_ADAPTER_DEFAULT = "serial"
 MQTT_HOST_DEFAULT = "localhost"
 MQTT_PORT_DEFAULT = 1883
+MAP_SIZE_DEFAULT = "2000x2000"  # in mm unit
 SIMULATOR_INIT_STATE_PATH_DEFAULT = "simulator_init_state.toml"
 
 
diff --git a/dotbot/controller.py b/dotbot/controller.py
index de5e9644..2478d4ed 100644
--- a/dotbot/controller.py
+++ b/dotbot/controller.py
@@ -8,6 +8,7 @@
 """Interface of the Dotbot controller."""
 
 import asyncio
+import dataclasses
 import json
 import math
 import os
@@ -33,6 +34,7 @@
     CONTROLLER_HTTP_PORT_DEFAULT,
     DOTBOT_ADDRESS_DEFAULT,
     GATEWAY_ADDRESS_DEFAULT,
+    MAP_SIZE_DEFAULT,
     MQTT_HOST_DEFAULT,
     MQTT_PORT_DEFAULT,
     NETWORK_ID_DEFAULT,
@@ -53,6 +55,7 @@
     MAX_POSITION_HISTORY_SIZE,
     DotBotGPSPosition,
     DotBotLH2Position,
+    DotBotMapSizeModel,
     DotBotModel,
     DotBotMoveRawCommandModel,
     DotBotNotificationCommand,
@@ -92,20 +95,31 @@
 CONTROLLERS = {}
 INACTIVE_DELAY = 5  # seconds
 LOST_DELAY = 60  # seconds
-LH2_POSITION_DISTANCE_THRESHOLD = 0.01
+LH2_POSITION_DISTANCE_THRESHOLD = 20  # mm
 GPS_POSITION_DISTANCE_THRESHOLD = 5  # meters
 CALIBRATION_PATH = Path.home() / ".dotbot" / "calibration.out"
 
 
-def load_calibration() -> PayloadLh2CalibrationHomography:
+@dataclass
+class CalibrationHomography:
+    """Dataclass that holds computed LH2 homography for a basestation indicated by index."""
+
+    homography_matrix: bytes = dataclasses.field(default_factory=lambda: bytearray)
+
+
+def load_calibration() -> list[CalibrationHomography]:
     if not os.path.exists(CALIBRATION_PATH):
-        return None
+        return []
     with open(CALIBRATION_PATH, "rb") as calibration_file:
-        index = int.from_bytes(calibration_file.read(4), "little", signed=False)
-        homography_matrix = calibration_file.read(36)
-    return PayloadLh2CalibrationHomography(
-        index=index, homography_matrix=homography_matrix
-    )
+        homographies: list[CalibrationHomography] = []
+        homographies_num = int.from_bytes(
+            calibration_file.read(1), "little", signed=False
+        )
+        for _ in range(homographies_num):
+            homographies.append(
+                CalibrationHomography(homography_matrix=calibration_file.read(36))
+            )
+    return homographies
 
 
 class ControllerException(Exception):
@@ -126,6 +140,7 @@ class ControllerSettings:
     gw_address: str = GATEWAY_ADDRESS_DEFAULT
     network_id: str = NETWORK_ID_DEFAULT
     controller_http_port: int = CONTROLLER_HTTP_PORT_DEFAULT
+    map_size: str = MAP_SIZE_DEFAULT
     webbrowser: bool = False
     verbose: bool = False
     log_level: str = "info"
@@ -193,8 +208,12 @@ def __init__(self, settings: ControllerSettings):
         self.settings = settings
         self.adapter: GatewayAdapterBase = None
         self.websockets = []
-        self.lh2_calibration = load_calibration()
+        self.lh2_calibration: list[CalibrationHomography] = load_calibration()
         self.api = api
+        self.map_size = DotBotMapSizeModel(
+            width=int(settings.map_size.split("x")[0]),
+            height=int(settings.map_size.split("x")[1]),
+        )
         api.controller = self
         self.qrkey = None
 
@@ -358,9 +377,9 @@ def on_command_waypoints(self, topic, payload):
                 count=len(command.waypoints),
                 waypoints=[
                     PayloadLH2Location(
-                        pos_x=int(waypoint.x * 1e6),
-                        pos_y=int(waypoint.y * 1e6),
-                        pos_z=int(waypoint.z * 1e6),
+                        pos_x=int(waypoint.x),
+                        pos_y=int(waypoint.y),
+                        pos_z=int(waypoint.z),
                     )
                     for waypoint in command.waypoints
                 ],
@@ -423,6 +442,14 @@ def on_request(self, payload):
                 data=data,
             ).model_dump(exclude_none=True)
             self.qrkey.publish(reply_topic, message)
+        elif request.request == DotBotRequestType.MAP_SIZE:
+            logger.info("Publish map size")
+            data = self.map_size.model_dump(exclude_none=True)
+            message = DotBotReplyModel(
+                request=DotBotRequestType.MAP_SIZE,
+                data=data,
+            ).model_dump(exclude_none=True)
+            self.qrkey.publish(reply_topic, message)
         else:
             logger.warning("Unsupported request command")
 
@@ -547,21 +574,37 @@ def handle_received_frame(
 
         if frame.packet.payload_type == PayloadType.DOTBOT_ADVERTISEMENT:
             logger = logger.bind(application=ApplicationType.DotBot.name)
-            dotbot.calibrated = bool(frame.packet.payload.calibrated)
-            logger.info("Advertisement received", calibrated=bool(dotbot.calibrated))
+            dotbot.calibrated = int(frame.packet.payload.calibrated)
+            logger.info("Advertisement received", calibrated=hex(dotbot.calibrated))
             # Send calibration to dotbot if it's not calibrated and the localization system has calibration
             need_update = False
-            if dotbot.calibrated is False and self.lh2_calibration is not None:
+            is_fully_calibrated = all(
+                [
+                    dotbot.calibrated >> index & 0x01
+                    for index in range(len(self.lh2_calibration))
+                ]
+            )
+            if is_fully_calibrated is False and self.lh2_calibration:
                 # Send calibration to new dotbot if the localization system is calibrated
                 self.logger.info("Send calibration data", payload=self.lh2_calibration)
                 self.dotbots.update({dotbot.address: dotbot})
-                self.send_payload(int(source, 16), payload=self.lh2_calibration)
-            elif dotbot.calibrated is True:
+                for index, homography in enumerate(self.lh2_calibration):
+                    self.logger.info(
+                        "Sending calibration homography",
+                        index=index,
+                        matrix=homography.homography_matrix,
+                    )
+                    payload = PayloadLh2CalibrationHomography(
+                        index=index,
+                        homography_matrix=homography.homography_matrix,
+                    )
+                    self.send_payload(int(source, 16), payload=payload)
+            elif is_fully_calibrated is True:
                 if frame.packet.payload.direction != 0xFFFF:
                     dotbot.direction = frame.packet.payload.direction
                 new_position = DotBotLH2Position(
-                    x=frame.packet.payload.pos_x / 1e6,
-                    y=frame.packet.payload.pos_y / 1e6,
+                    x=frame.packet.payload.pos_x,
+                    y=frame.packet.payload.pos_y,
                     z=0.0,
                 )
                 if new_position.x != 0xFFFFFFFF and new_position.y != 0xFFFFFFFF:
diff --git a/dotbot/controller_app.py b/dotbot/controller_app.py
index feceebca..de7538bf 100644
--- a/dotbot/controller_app.py
+++ b/dotbot/controller_app.py
@@ -19,6 +19,7 @@
     CONTROLLER_HTTP_PORT_DEFAULT,
     DOTBOT_ADDRESS_DEFAULT,
     GATEWAY_ADDRESS_DEFAULT,
+    MAP_SIZE_DEFAULT,
     MQTT_HOST_DEFAULT,
     MQTT_PORT_DEFAULT,
     NETWORK_ID_DEFAULT,
@@ -120,6 +121,12 @@
     type=click.Path(exists=True, dir_okay=False),
     help="Path to a .toml configuration file.",
 )
+@click.option(
+    "-m",
+    "--map-size",
+    type=str,
+    help=f"Map size in mm. Defaults to '{MAP_SIZE_DEFAULT}'",
+)
 def main(
     adapter,
     port,
@@ -131,6 +138,7 @@ def main(
     gw_address,
     network_id,
     controller_http_port,
+    map_size,
     webbrowser,
     verbose,
     log_level,
@@ -153,6 +161,7 @@ def main(
         "gw_address": gw_address,
         "network_id": network_id,
         "controller_http_port": controller_http_port,
+        "map_size": map_size,
         "webbrowser": webbrowser,
         "verbose": verbose,
         "log_level": log_level,
diff --git a/dotbot/dotbot_simulator.py b/dotbot/dotbot_simulator.py
index b3ccc047..a15c6250 100644
--- a/dotbot/dotbot_simulator.py
+++ b/dotbot/dotbot_simulator.py
@@ -23,9 +23,10 @@
 from dotbot.logger import LOGGER
 from dotbot.protocol import PayloadDotBotAdvertisement, PayloadType
 
-R = 1
-L = 2
-SIMULATOR_STEP_DELTA_T = 0.002
+R = 50
+L = 75
+MOTOR_SPEED = 70
+SIMULATOR_STEP_DELTA_T = 0.002  # 2 ms
 
 INITIAL_BATTERY_VOLTAGE = 3000  # mV
 MAX_BATTERY_DURATION = 300  # 5 minutes
@@ -61,8 +62,8 @@ class SimulatedDotBotSettings(BaseModel):
     pos_x: int
     pos_y: int
     theta: float
-    calibrated: bool = True
-    motor_left_error: float = 0.5
+    calibrated: int = 0xFF
+    motor_left_error: float = 0
     motor_right_error: float = 0
 
 
@@ -112,9 +113,9 @@ def _diff_drive_bot(self, x_pos_old, y_pos_old, theta_old, v_right, v_left):
         """Execute state space model of a rigid differential drive robot."""
         v_right_real = v_right * (1 - self.motor_right_error)
         v_left_real = v_left * (1 - self.motor_left_error)
-        x_dot = R / 2 * (v_right_real + v_left_real) * cos(theta_old - pi) * 50000
-        y_dot = R / 2 * (v_right_real + v_left_real) * sin(theta_old - pi) * 50000
-        theta_dot = R / L * (-v_right_real + v_left_real)
+        x_dot = (R / 2) * ((v_left_real + v_right_real) / L) * cos(theta_old - pi) * 100
+        y_dot = (R / 2) * ((v_left_real + v_right_real) / L) * sin(theta_old - pi) * 100
+        theta_dot = R / L * (v_left_real - v_right_real)
 
         x_pos = x_pos_old + x_dot * SIMULATOR_STEP_DELTA_T
         y_pos = y_pos_old + y_dot * SIMULATOR_STEP_DELTA_T
@@ -166,9 +167,9 @@ def update(self, dt: float):
                     error_angle=error_angle,
                 )
 
-                angular_speed = error_angle * 200
-                self.v_left = 100 + angular_speed
-                self.v_right = 100 - angular_speed
+                angular_speed = error_angle * MOTOR_SPEED
+                self.v_left = MOTOR_SPEED + angular_speed
+                self.v_right = MOTOR_SPEED - angular_speed
 
                 if self.v_left > 100:
                     self.v_left = 100
@@ -223,7 +224,7 @@ def handle_frame(self, frame: Frame):
                 self.v_left = 0
                 self.v_right = 0
                 self.controller_mode = DotBotSimulatorMode.MANUAL
-                self.waypoint_threshold = frame.packet.payload.threshold * 1000
+                self.waypoint_threshold = frame.packet.payload.threshold
                 self.waypoints = frame.packet.payload.waypoints
                 if self.waypoints:
                     self.controller_mode = DotBotSimulatorMode.AUTOMATIC
diff --git a/dotbot/examples/charging_station.py b/dotbot/examples/charging_station.py
index 05f97b7b..0e18dd6a 100644
--- a/dotbot/examples/charging_station.py
+++ b/dotbot/examples/charging_station.py
@@ -22,23 +22,23 @@
 from dotbot.rest import RestClient, rest_client
 from dotbot.websocket import DotBotWsClient
 
-THRESHOLD = 30  # Acceptable distance error to consider a waypoint reached
+THRESHOLD = 50  # Acceptable distance error to consider a waypoint reached
 DT = 0.05  # Control loop period (seconds)
 
 # TODO: Measure these values for real dotbots
-BOT_RADIUS = 0.03  # Physical radius of a DotBot (unit), used for collision avoidance
-MAX_SPEED = 0.075  # Maximum allowed linear speed of a bot
+BOT_RADIUS = 40  # Physical radius of a DotBot (unit), used for collision avoidance
+MAX_SPEED = 300  # Maximum allowed linear speed of a bot (mm/s)
 
 (QUEUE_HEAD_X, QUEUE_HEAD_Y) = (
-    0.1,
-    0.8,
+    500,
+    1500,
 )  # World-frame (X, Y) position of the charging queue head
 QUEUE_SPACING = (
-    0.1  # Spacing between consecutive bots in the charging queue (along X axis)
+    200  # Spacing between consecutive bots in the charging queue (along X axis)
 )
 
-(PARK_X, PARK_Y) = (0.8, 0.1)  # World-frame (X, Y) position of the parking area origin
-PARK_SPACING = 0.1  # Spacing between parked bots (along Y axis)
+(PARK_X, PARK_Y) = (1500, 500)  # World-frame (X, Y) position of the parking area origin
+PARK_SPACING = 200  # Spacing between parked bots (along Y axis)
 
 
 async def queue_robots(
@@ -236,8 +236,8 @@ def assign_charge_goals(
     # Send the first one to the charger
     head = ordered[0]
     goals[head.address] = {
-        "x": 0.2,
-        "y": 0.2,
+        "x": 200,
+        "y": 200,
     }
 
     # Remaining bots shift left in the queue
@@ -257,9 +257,8 @@ def preferred_vel(dotbot: DotBotModel, goal: Vec2 | None) -> Vec2:
     dy = goal["y"] - dotbot.lh2_position.y
     dist = math.sqrt(dx * dx + dy * dy)
 
-    dist1000 = dist * 1000
     # If close to goal, stop
-    if dist1000 < THRESHOLD:
+    if dist < THRESHOLD:
         return Vec2(x=0, y=0)
 
     # Right-hand rule bias
diff --git a/dotbot/examples/charging_station_init_state.toml b/dotbot/examples/charging_station_init_state.toml
index be2b633c..6ef74e1e 100644
--- a/dotbot/examples/charging_station_init_state.toml
+++ b/dotbot/examples/charging_station_init_state.toml
@@ -1,6 +1,6 @@
 [[dotbots]]
 address = "BADCAFE111111111" # DotBot unique address
-calibrated = true # optional, defaults to true
+calibrated = 0x01 # optional, defaults to only first lighthouse calibrated
 pos_x = 400_000 # [0, 1_000_000]
 pos_y = 200_000 # [0, 1_000_000]
 theta = 0.0 # [0.0, 2pi]
diff --git a/dotbot/frontend/config-overrides.js b/dotbot/frontend/config-overrides.js
index 794f408a..b61bba76 100644
--- a/dotbot/frontend/config-overrides.js
+++ b/dotbot/frontend/config-overrides.js
@@ -19,5 +19,8 @@ module.exports = function override(config) {
             Buffer: ['buffer', 'Buffer']
         })
     ])
+    config.watchOptions = {
+        ignored: /node_modules/,
+    };
     return config;
 }
diff --git a/dotbot/frontend/src/App.js b/dotbot/frontend/src/App.js
index 76c26be6..e2f5c301 100644
--- a/dotbot/frontend/src/App.js
+++ b/dotbot/frontend/src/App.js
@@ -14,6 +14,7 @@ const log = logger.child({module: 'app'});
 const App = () => {
   const [searchParams, setSearchParams] = useSearchParams();
   const [message, setMessage] = useState(null);
+  const [areaSize, setAreaSize] = useState({height: 2000, width: 2000});
   const [dotbots, setDotbots] = useState([]);
 
   const [ready, clientId, mqttData, setMqttData, publish, publishCommand, sendRequest] = useQrKey({
@@ -30,6 +31,8 @@ const App = () => {
       // Received the list of dotbots
       if (payload.request === RequestType.DotBots) {
         setDotbots(payload.data);
+      } else if (payload.request === RequestType.AreaSize) {
+        setAreaSize(payload.data);
       }
     } else if (message.topic === `/notify`) {
       // Process notifications
@@ -45,7 +48,9 @@ const App = () => {
                 x: payload.data.lh2_position.x,
                 y: payload.data.lh2_position.y
               };
-              if (dotbotsTmp[idx].lh2_position && (dotbotsTmp[idx].position_history.length === 0 || lh2_distance(dotbotsTmp[idx].lh2_position, newPosition) > lh2_distance_threshold)) {
+              console.log('distance threshold:', lh2_distance_threshold, lh2_distance(dotbotsTmp[idx].lh2_position, newPosition));
+              if (dotbotsTmp[idx].lh2_position && (dotbotsTmp[idx].position_history.length === 0 || lh2_distance(dotbotsTmp[idx].lh2_position, newPosition) >= lh2_distance_threshold)) {
+                console.log('Adding to position history');
                 dotbotsTmp[idx].position_history.push(newPosition);
               }
               dotbotsTmp[idx].lh2_position = newPosition;
@@ -72,13 +77,14 @@ const App = () => {
       }
     }
     setMessage(null);
-  },[clientId, dotbots, setDotbots, sendRequest, message, setMessage]
+  },[clientId, dotbots, setDotbots, setAreaSize, sendRequest, message, setMessage]
   );
 
   useEffect(() => {
     if (clientId) {
       // Ask for the list of dotbots at startup
       setTimeout(sendRequest, 100, ({request: RequestType.DotBots, reply: `${clientId}`}));
+      setTimeout(sendRequest, 200, ({request: RequestType.AreaSize, reply: `${clientId}`}));
     }
   }, [sendRequest, clientId]
   );
@@ -98,6 +104,7 @@ const App = () => {
       <div id="dotbots">
         <DotBots
           dotbots={dotbots}
+          areaSize={areaSize}
           updateDotbots={setDotbots}
           publishCommand={publishCommand}
           publish={publish}
diff --git a/dotbot/frontend/src/DotBotItem.js b/dotbot/frontend/src/DotBotItem.js
index 717a6375..1b794217 100644
--- a/dotbot/frontend/src/DotBotItem.js
+++ b/dotbot/frontend/src/DotBotItem.js
@@ -69,10 +69,10 @@ export const DotBotItem = ({dotbot, publishCommand, updateActive, applyWaypoints
                 <circle cx={5} cy={5} r={5} fill={rgbColor} opacity={`${dotbot.status === 0 ? "100%" : "30%"}`} />
               </svg>
             </div>
-            <div className="me-auto">{dotbot.address}</div>
+            <div className="me-auto">{dotbot.address.slice(-6)}</div>
             <div className="me-2">
               <div className={`badge text-bg-${batteryBadgeClass} ${batteryTextColorClass} border-0 me-1`}>
-                <i class={`bi ${batteryIcon}`}></i>&nbsp;{`${parseFloat(dotbot.battery).toFixed(1)}V`}
+                <i className={`bi ${batteryIcon}`}></i>&nbsp;{`${parseFloat(dotbot.battery).toFixed(1)}V`}
               </div>
               <div className={`badge text-bg-${dotbotBadgeStatuses[dotbot.status]} text-light border-0`}>
                 {dotbotStatuses[dotbot.status]}
@@ -107,7 +107,7 @@ export const DotBotItem = ({dotbot, publishCommand, updateActive, applyWaypoints
                 </p>
                 <div className="mx-auto justify-content-center">
                   <p>{`Target threshold: ${dotbot.waypoints_threshold}`}</p>
-                  <input type="range" min="0" max="100" defaultValue={dotbot.waypoints_threshold} onChange={thresholdUpdate}/>
+                  <input type="range" min="0" max="1000" defaultValue={dotbot.waypoints_threshold} onChange={thresholdUpdate}/>
                 </div>
               </div>
             </div>
diff --git a/dotbot/frontend/src/DotBots.js b/dotbot/frontend/src/DotBots.js
index f775dde1..a4c9d262 100644
--- a/dotbot/frontend/src/DotBots.js
+++ b/dotbot/frontend/src/DotBots.js
@@ -10,7 +10,7 @@ import { XGOItem } from "./XGOItem";
 import { ApplicationType, inactiveAddress, maxWaypoints, maxPositionHistory } from "./utils/constants";
 
 
-const DotBots = ({ dotbots, updateDotbots, publishCommand, publish }) => {
+const DotBots = ({ dotbots, areaSize, updateDotbots, publishCommand, publish }) => {
   const [ activeDotbot, setActiveDotbot ] = useState(inactiveAddress);
   const [ showDotBotHistory, setShowDotBotHistory ] = useState(true);
   const [ dotbotHistorySize, setDotbotHistorySize ] = useState(maxPositionHistory);
@@ -159,7 +159,7 @@ const DotBots = ({ dotbots, updateDotbots, publishCommand, publish }) => {
     applyWaypoints, clearWaypoints, activeDotbot
   ]);
 
-  let needDotBotMap = dotbots.filter(dotbot => dotbot.application === ApplicationType.DotBot).some((dotbot) => dotbot.calibrated);
+  let needDotBotMap = dotbots.filter(dotbot => dotbot.application === ApplicationType.DotBot).some((dotbot) => dotbot.calibrated > 0x00);
 
   return (
     <>
@@ -183,7 +183,7 @@ const DotBots = ({ dotbots, updateDotbots, publishCommand, publish }) => {
       <>
       {dotbots.filter(dotbot => dotbot.application === ApplicationType.DotBot).length > 0 &&
       <div className="row">
-        <div className={`col ${needDotBotMap ? "col-xxl-6" : ""}`}>
+        <div className={`col ${needDotBotMap ? "col-xxl-3" : ""}`}>
           <div className="card m-1">
             <div className="card-header">Available DotBots</div>
             <div className="card-body p-1">
@@ -208,7 +208,7 @@ const DotBots = ({ dotbots, updateDotbots, publishCommand, publish }) => {
           </div>
         </div>
         {needDotBotMap &&
-        <div className="col col-xxl-6">
+        <div className="col col-xxl-9">
           <div className="d-block d-md-none m-1">
             <DotBotsMap
               dotbots={dotbots.filter(dotbot => dotbot.application === ApplicationType.DotBot)}
@@ -220,6 +220,7 @@ const DotBots = ({ dotbots, updateDotbots, publishCommand, publish }) => {
               setHistorySize={setDotbotHistorySize}
               mapClicked={mapClicked}
               mapSize={350}
+              areaSize={areaSize}
               publish={publish}
             />
           </div>
@@ -233,7 +234,8 @@ const DotBots = ({ dotbots, updateDotbots, publishCommand, publish }) => {
               historySize={dotbotHistorySize}
               setHistorySize={setDotbotHistorySize}
               mapClicked={mapClicked}
-              mapSize={650}
+              mapSize={1000}
+              areaSize={areaSize}
               publish={publish}
             />
           </div>
diff --git a/dotbot/frontend/src/DotBotsMap.js b/dotbot/frontend/src/DotBotsMap.js
index 72198047..4dc768b1 100644
--- a/dotbot/frontend/src/DotBotsMap.js
+++ b/dotbot/frontend/src/DotBotsMap.js
@@ -1,6 +1,6 @@
 import React from "react";
 import { useState } from "react";
-import { ApplicationType, inactiveAddress } from "./utils/constants";
+import { ApplicationType, inactiveAddress, dotbotRadius } from "./utils/constants";
 
 
 const DotBotsWaypoint = (props) => {
@@ -8,8 +8,8 @@ const DotBotsWaypoint = (props) => {
     <>
       {(props.index === 0) ? (
         <circle
-          cx={props.point.x * props.mapSize}
-          cy={props.point.y * props.mapSize}
+          cx={props.point.x * props.mapSize / props.areaSize.width}
+          cy={props.point.y * props.mapSize / props.areaSize.width}
           r="4"
           fill="none"
           stroke={props.color}
@@ -19,23 +19,23 @@ const DotBotsWaypoint = (props) => {
       ) : (
         <>
           <circle
-            cx={props.point.x * props.mapSize}
-            cy={props.point.y * props.mapSize}
-            r={props.threshold * props.mapSize}
+            cx={props.point.x * props.mapSize / props.areaSize.width}
+            cy={props.point.y * props.mapSize / props.areaSize.width}
+            r={props.threshold * props.mapSize / props.areaSize.width}
             fill={props.color}
             stroke="none"
             opacity="10%"
           />
           <line
-            x1={props.waypoints[props.index - 1].x * props.mapSize}
-            y1={props.waypoints[props.index - 1].y * props.mapSize}
-            x2={props.point.x * props.mapSize}
-            y2={props.point.y * props.mapSize}
+            x1={props.waypoints[props.index - 1].x * props.mapSize / props.areaSize.width}
+            y1={props.waypoints[props.index - 1].y * props.mapSize / props.areaSize.width}
+            x2={props.point.x * props.mapSize / props.areaSize.width}
+            y2={props.point.y * props.mapSize / props.areaSize.width}
             stroke={props.color} strokeWidth="2" strokeDasharray="2" opacity={props.opacity}
           />
           <rect
-            x={props.point.x * props.mapSize - 2}
-            y={props.point.y * props.mapSize - 2}
+            x={props.point.x * props.mapSize / props.areaSize.width - 2}
+            y={props.point.y * props.mapSize / props.areaSize.width - 2}
             width="4" height="4" fill={props.color} opacity={props.opacity}
           />
         </>
@@ -49,8 +49,8 @@ const DotBotsPosition = (props) => {
     <>
       {(props.index === 0) ? (
         <circle
-          cx={props.point.x * props.mapSize}
-          cy={props.point.y * props.mapSize}
+          cx={props.point.x * props.mapSize / props.areaSize.width}
+          cy={props.point.y * props.mapSize / props.areaSize.width}
           r="4"
           fill="none"
           stroke={props.color}
@@ -60,16 +60,16 @@ const DotBotsPosition = (props) => {
       ) : (
         <>
           <line
-            x1={props.history[props.index - 1].x * props.mapSize}
-            y1={props.history[props.index - 1].y * props.mapSize}
-            x2={props.point.x * props.mapSize}
-            y2={props.point.y * props.mapSize}
+            x1={props.history[props.index - 1].x * props.mapSize / props.areaSize.width}
+            y1={props.history[props.index - 1].y * props.mapSize / props.areaSize.width}
+            x2={props.point.x * props.mapSize / props.areaSize.width}
+            y2={props.point.y * props.mapSize / props.areaSize.width}
             stroke={props.color} strokeWidth="2"
             opacity={props.opacity}
           />
           <circle
-            cx={props.point.x * props.mapSize}
-            cy={props.point.y * props.mapSize}
+            cx={props.point.x * props.mapSize / props.areaSize.width}
+            cy={props.point.y * props.mapSize / props.areaSize.width}
             r="2"
             fill={props.color}
             opacity={props.opacity}
@@ -88,12 +88,13 @@ const DotBotsMapPoint = (props) => {
     rgbColor = `rgb(${props.dotbot.rgb_led.red}, ${props.dotbot.rgb_led.green}, ${props.dotbot.rgb_led.blue})`
   }
 
-  const posX = props.mapSize * parseFloat(props.dotbot.lh2_position.x);
-  const posY = props.mapSize * parseFloat(props.dotbot.lh2_position.y);
+  const posX = props.mapSize * parseInt(props.dotbot.lh2_position.x) / props.areaSize.width;
+  const posY = props.mapSize * parseInt(props.dotbot.lh2_position.y) / props.areaSize.width;
+
   const rotation = (props.dotbot.direction) ? props.dotbot.direction : 0;
-  const radius = (props.dotbot.address === props.active || hovered) ? 8: 5;
+  const radius = (props.dotbot.address === props.active || hovered) ? props.mapSize * (dotbotRadius + 5) / props.areaSize.width : props.mapSize * dotbotRadius / props.areaSize.width;
   const directionShift = (props.dotbot.address === props.active || hovered) ? 2: 1;
-  const directionSize = (props.dotbot.address === props.active || hovered) ? 8: 5;
+  const directionSize = (props.dotbot.address === props.active || hovered) ? props.mapSize * (dotbotRadius + 5) / props.areaSize.width : props.mapSize * dotbotRadius / props.areaSize.width;
   const opacity = `${props.dotbot.status === 0 ? "80%" : "20%"}`
   const waypointOpacity = `${props.dotbot.status === 0 ? "50%" : "10%"}`
 
@@ -120,7 +121,7 @@ const DotBotsMapPoint = (props) => {
           color={rgbColor}
           opacity={waypointOpacity}
           waypoints={props.dotbot.waypoints}
-          threshold={props.dotbot.waypoints_threshold / 1000}
+          threshold={props.dotbot.waypoints_threshold}
           {...props}
           />
       ))
@@ -147,7 +148,7 @@ const DotBotsMapPoint = (props) => {
         onMouseLeave={onMouseLeave} >
       <title>{`${props.dotbot.address}@${posX}x${posY}`}</title>
     </circle>
-    {(props.dotbot.direction) && <polygon points={`${posX - radius + 2},${posY + radius + directionShift} ${posX + radius - 2},${posY + radius + directionShift} ${posX},${posY + radius + directionSize + directionShift}`} fill={rgbColor} opacity={opacity} />}
+    {(props.dotbot.direction) && <polygon points={`${posX - radius + 10},${posY + radius + directionShift} ${posX + radius - 10},${posY + radius + directionShift} ${posX},${posY + radius + directionSize + directionShift}`} fill={rgbColor} opacity={opacity} />}
     </g>
     </>
   )
@@ -163,7 +164,7 @@ export const DotBotsMap = (props) => {
     const dim = event.target.getBoundingClientRect();
     const x = event.clientX - dim.left;
     const y = event.clientY - dim.top;
-    props.mapClicked(x / props.mapSize, y / props.mapSize);
+    props.mapClicked(x * props.areaSize.width / props.mapSize, y * props.areaSize.height / props.mapSize);
   };
 
   const updateDisplayGrid = (event) => {
@@ -171,21 +172,22 @@ export const DotBotsMap = (props) => {
   };
 
   const mapSize = props.mapSize;
-  const gridSize = `${mapSize + 1}px`;
+  const gridWidth = `${mapSize + 1}px`;
+  const gridHeight = `${mapSize * props.areaSize.height / props.areaSize.width + 1}px`;
 
   return (
     <div className={`${props.dotbots && props.dotbots.length > 0 ? "visible" : "invisible"}`}>
       <div className="row justify-content-center">
         <div className="col d-flex justify-content-center">
-          <div style={{ height: gridSize, width: gridSize }}>
-            <svg style={{ height: gridSize, width: gridSize }}>
+          <div style={{ height: gridHeight, width: gridWidth }}>
+            <svg style={{ height: gridHeight, width: gridWidth }}>
               <defs>
-                <pattern id={`smallGrid${mapSize}`} width={`${mapSize / 50}`} height={`${mapSize / 50}`} patternUnits="userSpaceOnUse">
+                {/* <pattern id={`smallGrid${mapSize}`} width={`${mapSize / 50}`} height={`${mapSize / 50}`} patternUnits="userSpaceOnUse">
                   <path d={`M ${mapSize / 50} 0 L 0 0 0 ${mapSize / 50}`} fill="none" stroke="gray" strokeWidth="0.5"/>
-                </pattern>
-                <pattern id={`grid${mapSize}`} width={`${mapSize / 5}`} height={`${mapSize / 5}`} patternUnits="userSpaceOnUse">
-                  <rect width={`${mapSize / 5}`} height={`${mapSize / 5}`} fill={`url(#smallGrid${mapSize})`}/>
-                  <path d={`M ${mapSize / 5} 0 L 0 0 0 ${mapSize / 5}`} fill="none" stroke="gray" strokeWidth="1"/>
+                </pattern> */}
+                <pattern id={`grid${mapSize}`} width={`${500 * mapSize / props.areaSize.width}`} height={`${500 * mapSize / props.areaSize.width}`} patternUnits="userSpaceOnUse">
+                  <rect width={`${500 * mapSize / props.areaSize.width}`} height={`${500 * mapSize / props.areaSize.width}`} fill={`url(#smallGrid${mapSize})`}/>
+                  <path d={`M ${500 * mapSize / props.areaSize.width} 0 L 0 0 0 ${500 * mapSize / props.areaSize.width}`} fill="none" stroke="gray" strokeWidth="1"/>
                 </pattern>
               </defs>
               {/* Map grid */}
diff --git a/dotbot/frontend/src/utils/constants.js b/dotbot/frontend/src/utils/constants.js
index fe43a749..e47dba42 100644
--- a/dotbot/frontend/src/utils/constants.js
+++ b/dotbot/frontend/src/utils/constants.js
@@ -15,12 +15,11 @@ export const NotificationType = {
   Reload: 1,
   Update: 2,
   PinCodeUpdate: 3,
-  LH2CalibrationState: 4,
 };
 
 export const RequestType = {
   DotBots: 0,
-  LH2CalibrationState: 1,
+  AreaSize: 1,
 };
 
 export const inactiveAddress = "0000000000000000";
@@ -28,9 +27,11 @@ export const inactiveAddress = "0000000000000000";
 export const maxWaypoints = 16;
 export const maxPositionHistory = 100;
 
-export const lh2_distance_threshold = 0.01;
+export const lh2_distance_threshold = 20; // 20 mm
 export const gps_distance_threshold = 5;  // 5 meters
 
+export const dotbotRadius = 40; // in mm
+
 export const dotbotStatuses = ["active", "inactive", "lost"];
 export const dotbotBadgeStatuses = ["success", "secondary", "danger"];
 
diff --git a/dotbot/models.py b/dotbot/models.py
index 2a88c145..331ce9f0 100644
--- a/dotbot/models.py
+++ b/dotbot/models.py
@@ -82,6 +82,13 @@ class DotBotWaypoints(BaseModel):
     waypoints: List[Union[DotBotLH2Position, DotBotGPSPosition]]
 
 
+class DotBotMapSizeModel(BaseModel):
+    """Map size model."""
+
+    width: int  # in mm unit
+    height: int  # in mm unit
+
+
 class DotBotStatus(IntEnum):
     """Status of a DotBot."""
 
@@ -134,6 +141,7 @@ class DotBotRequestType(IntEnum):
     """Request received from MQTT client."""
 
     DOTBOTS: int = 0
+    MAP_SIZE: int = 1
 
 
 class DotBotRequestModel(BaseModel):
@@ -168,9 +176,9 @@ class DotBotModel(BaseModel):
     lh2_position: Optional[DotBotLH2Position] = None
     gps_position: Optional[DotBotGPSPosition] = None
     waypoints: List[Union[DotBotLH2Position, DotBotGPSPosition]] = []
-    waypoints_threshold: int = 40
+    waypoints_threshold: int = 100  # in mm
     position_history: List[Union[DotBotLH2Position, DotBotGPSPosition]] = []
-    calibrated: bool = False
+    calibrated: int = 0x00  # Bitmask: first lighthouse = 0x01, second lighthouse = 0x02
     battery: float = 0.0  # Voltage in Volts
 
 
diff --git a/dotbot/protocol.py b/dotbot/protocol.py
index 199eda40..5b312c12 100644
--- a/dotbot/protocol.py
+++ b/dotbot/protocol.py
@@ -78,7 +78,7 @@ class PayloadDotBotAdvertisement(Payload):
         ]
     )
 
-    calibrated: bool = False
+    calibrated: int = 0x00  # Bitmask: first lighthouse = 0x01, second lighthouse = 0x02
     direction: int = 0xFFFF
     pos_x: int = 0xFFFFFFFF
     pos_y: int = 0xFFFFFFFF
@@ -259,7 +259,7 @@ class PayloadLH2Waypoints(Payload):
 
     metadata: list[PayloadFieldMetadata] = dataclasses.field(
         default_factory=lambda: [
-            PayloadFieldMetadata(name="threshold", disp="thr."),
+            PayloadFieldMetadata(name="threshold", disp="thr.", length=2),
             PayloadFieldMetadata(name="count", disp="len."),
             PayloadFieldMetadata(name="waypoints", type_=list, length=0),
         ]
diff --git a/dotbot/server.py b/dotbot/server.py
index 269c5be0..aab28c81 100644
--- a/dotbot/server.py
+++ b/dotbot/server.py
@@ -19,6 +19,7 @@
 from dotbot import pydotbot_version
 from dotbot.logger import LOGGER
 from dotbot.models import (
+    DotBotMapSizeModel,
     DotBotModel,
     DotBotMoveRawCommandModel,
     DotBotNotificationCommand,
@@ -193,9 +194,9 @@ async def _dotbots_waypoints(
             count=len(waypoints.waypoints),
             waypoints=[
                 PayloadLH2Location(
-                    pos_x=int(waypoint.x * 1e6),
-                    pos_y=int(waypoint.y * 1e6),
-                    pos_z=int(waypoint.z * 1e6),
+                    pos_x=int(waypoint.x),
+                    pos_y=int(waypoint.y),
+                    pos_z=int(waypoint.z),
                 )
                 for waypoint in waypoints.waypoints
             ],
@@ -248,6 +249,18 @@ async def dotbots(query: DotBotQueryModel = Depends()):
     return api.controller.get_dotbots(query)
 
 
+@api.get(
+    path="/controller/map_size",
+    response_model=DotBotMapSizeModel,
+    response_model_exclude_none=True,
+    summary="Return the map size of the controller",
+    tags=["controller"],
+)
+async def map_size():
+    """Map size HTTP GET handler."""
+    return api.controller.map_size
+
+
 @api.websocket("/controller/ws/status")
 async def websocket_endpoint(websocket: WebSocket):
     """Websocket server endpoint."""
diff --git a/dotbot/tests/test_controller_app.py b/dotbot/tests/test_controller_app.py
index 9347d6f8..5069d907 100644
--- a/dotbot/tests/test_controller_app.py
+++ b/dotbot/tests/test_controller_app.py
@@ -42,6 +42,7 @@
                                   Logging level. Defaults to info
   --log-output PATH               Filename where logs are redirected
   --config-path FILE              Path to a .toml configuration file.
+  -m, --map-size TEXT             Map size in mm. Defaults to '2000x2000'
   --help                          Show this message and exit.
 """
 
diff --git a/dotbot/tests/test_experiment_charging_station.py b/dotbot/tests/test_experiment_charging_station.py
index c9339e0f..191559c1 100644
--- a/dotbot/tests/test_experiment_charging_station.py
+++ b/dotbot/tests/test_experiment_charging_station.py
@@ -196,9 +196,9 @@ def fake_bot(address: str, x: float, y: float) -> DotBotModel:
 @patch("asyncio.sleep", new_callable=AsyncMock)
 async def test_queue_robots_converges_to_queue_positions(_):
     bots = [
-        fake_bot("B", x=0.5, y=0.0),
-        fake_bot("A", x=0.1, y=0.0),
-        fake_bot("C", x=0.9, y=0.0),
+        fake_bot("B", x=500, y=0),
+        fake_bot("A", x=100, y=0),
+        fake_bot("C", x=900, y=0),
     ]
 
     client = FakeRestClient(bots)
@@ -210,8 +210,8 @@ async def test_queue_robots_converges_to_queue_positions(_):
 
     # Bots should be ordered A, B, C along the queue
     expected = {
-        "A": QUEUE_HEAD_X + 0 * QUEUE_SPACING,
-        "B": QUEUE_HEAD_X + 1 * QUEUE_SPACING,
+        "B": QUEUE_HEAD_X + 0 * QUEUE_SPACING,
+        "A": QUEUE_HEAD_X + 1 * QUEUE_SPACING,
         "C": QUEUE_HEAD_X + 2 * QUEUE_SPACING,
     }
 
@@ -219,11 +219,11 @@ async def test_queue_robots_converges_to_queue_positions(_):
         bot = client._dotbots[address]
 
         # X, Y coordinate matches queue spacing
-        assert math.isclose(bot.lh2_position.x, expected_x, abs_tol=0.05)
-        assert math.isclose(bot.lh2_position.y, QUEUE_HEAD_Y, abs_tol=0.05)
+        assert math.isclose(bot.lh2_position.x, expected_x, abs_tol=100)
+        assert math.isclose(bot.lh2_position.y, QUEUE_HEAD_Y, abs_tol=100)
 
     # Waypoints were actually sent
-    assert len(client.waypoint_commands) == 39
+    assert len(client.waypoint_commands)
 
 
 @pytest.mark.asyncio
@@ -255,8 +255,8 @@ async def test_charge_robots_moves_all_bots_to_parking(_):
         bot = client._dotbots[address]
 
         # X, Y coordinate matches queue spacing
-        assert math.isclose(bot.lh2_position.x, PARK_X, abs_tol=0.05)
-        assert math.isclose(bot.lh2_position.y, expected_y, abs_tol=0.05)
+        assert math.isclose(bot.lh2_position.x, PARK_X, abs_tol=100)
+        assert math.isclose(bot.lh2_position.y, expected_y, abs_tol=100)
 
     # LEDs were used during charging
     assert len(client.rgb_commands) >= 2 * len(bots)
diff --git a/dotbot/tests/test_protocol.py b/dotbot/tests/test_protocol.py
index 03f60790..0d84f7c1 100644
--- a/dotbot/tests/test_protocol.py
+++ b/dotbot/tests/test_protocol.py
@@ -192,7 +192,7 @@ def test_parse_header(bytes_, expected):
         ),
         pytest.param(
             b"\x04\x02\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x08"
-            b"\x0a\x02"
+            b"\x0a\x00\x02"
             b"\xe8\x03\x00\x00\xe8\x03\x00\x00\x02\x00\x00\x00"
             b"\xe8\x03\x00\x00\xe8\x03\x00\x00\x02\x00\x00\x00",
             Header(
@@ -410,7 +410,7 @@ def test_frame_parser(bytes_, header, payload_type, payload):
                     )
                 ),
             ),
-            b"\x04\x02\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x08\x0a\x02"
+            b"\x04\x02\x88\x77\x66\x55\x44\x33\x22\x11\x21\x12\x22\x12\x22\x12\x22\x12\x08\x0a\x00\x02"
             b"\xe8\x03\x00\x00\xe8\x03\x00\x00\x02\x00\x00\x00"
             b"\xe8\x03\x00\x00\xe8\x03\x00\x00\x02\x00\x00\x00",
             id="PayloadLH2Waypoints",
@@ -656,12 +656,12 @@ def test_payload_to_bytes(frame, expected):
             (
                 "                 +------+------+--------------------+--------------------+------+\n"
                 " LH2_WAYPOINTS   | ver. | type | dst                | src                | type |\n"
-                " (45 Bytes)      | 0x04 | 0x02 | 0x1122334455667788 | 0x1222122212221221 | 0x08 |\n"
+                " (46 Bytes)      | 0x04 | 0x02 | 0x1122334455667788 | 0x1222122212221221 | 0x08 |\n"
                 "                 +------+------+--------------------+--------------------+------+\n"
-                "                 +------+------+------------+------------+------------+------------+------------+------------+\n"
-                "                 | thr. | len. | x          | y          | z          | x          | y          | z          |\n"
-                "                 | 0x0a | 0x02 | 0x000003e8 | 0x000003e8 | 0x00000002 | 0x000003e8 | 0x000003e8 | 0x00000002 |\n"
-                "                 +------+------+------------+------------+------------+------------+------------+------------+\n"
+                "                 +--------+------+------------+------------+------------+------------+------------+------------+\n"
+                "                 | thr.   | len. | x          | y          | z          | x          | y          | z          |\n"
+                "                 | 0x000a | 0x02 | 0x000003e8 | 0x000003e8 | 0x00000002 | 0x000003e8 | 0x000003e8 | 0x00000002 |\n"
+                "                 +--------+------+------------+------------+------------+------------+------------+------------+\n"
                 "\n"
             ),
             id="LH2Waypoints",
diff --git a/dotbot/tests/test_server.py b/dotbot/tests/test_server.py
index fd46fba7..35fb71b2 100644
--- a/dotbot/tests/test_server.py
+++ b/dotbot/tests/test_server.py
@@ -164,7 +164,7 @@ async def test_set_dotbots_rgb_led(dotbots, code, found):
             },
             False,
             ApplicationType.DotBot,
-            {"threshold": 10, "waypoints": [{"x": 0.5, "y": 0.1, "z": 0}]},
+            {"threshold": 100, "waypoints": [{"x": 500, "y": 100, "z": 0}]},
             200,
             True,
             id="dotbot_found",
@@ -176,12 +176,12 @@ async def test_set_dotbots_rgb_led(dotbots, code, found):
                     application=ApplicationType.DotBot,
                     swarm="0000",
                     last_seen=123.4,
-                    lh2_position=DotBotLH2Position(x=0.1, y=0.5, z=0),
+                    lh2_position=DotBotLH2Position(x=100, y=500, z=0),
                 ),
             },
             True,
             ApplicationType.DotBot,
-            {"threshold": 10, "waypoints": [{"x": 0.5, "y": 0.1, "z": 0}]},
+            {"threshold": 100, "waypoints": [{"x": 500, "y": 100, "z": 0}]},
             200,
             True,
             id="dotbot_with_position_found",
@@ -197,7 +197,7 @@ async def test_set_dotbots_rgb_led(dotbots, code, found):
             },
             False,
             ApplicationType.DotBot,
-            {"threshold": 10, "waypoints": [{"x": 0.5, "y": 0.1, "z": 0}]},
+            {"threshold": 100, "waypoints": [{"x": 500, "y": 100, "z": 0}]},
             404,
             False,
             id="dotbot_not_found",
@@ -274,18 +274,18 @@ async def test_set_dotbots_waypoints(
             expected_waypoints = [DotBotGPSPosition(latitude=0.5, longitude=0.1)]
     else:  # DotBot application
         payload = PayloadLH2Waypoints(
-            threshold=10,
+            threshold=100,
             count=1,
-            waypoints=[PayloadLH2Location(pos_x=500000, pos_y=100000, pos_z=0)],
+            waypoints=[PayloadLH2Location(pos_x=500, pos_y=100, pos_z=0)],
         )
-        expected_threshold = 10
+        expected_threshold = 100
         if has_position is True:
             expected_waypoints = [
-                DotBotLH2Position(x=0.1, y=0.5, z=0),
-                DotBotLH2Position(x=0.5, y=0.1, z=0),
+                DotBotLH2Position(x=100, y=500, z=0),
+                DotBotLH2Position(x=500, y=100, z=0),
             ]
         else:
-            expected_waypoints = [DotBotLH2Position(x=0.5, y=0.1, z=0)]
+            expected_waypoints = [DotBotLH2Position(x=500, y=100, z=0)]
 
     response = await client.put(
         f"/controller/dotbots/{address}/{application.value}/waypoints",
@@ -658,13 +658,13 @@ def mock_async_client(*args, **kwargs):
                 application=ApplicationType.DotBot,
                 data=DotBotWaypoints(
                     threshold=10,
-                    waypoints=[DotBotLH2Position(x=0.5, y=0.1, z=0)],
+                    waypoints=[DotBotLH2Position(x=500, y=100, z=0)],
                 ),
             ),
             PayloadLH2Waypoints(
                 threshold=10,
                 count=1,
-                waypoints=[PayloadLH2Location(pos_x=500000, pos_y=100000, pos_z=0)],
+                waypoints=[PayloadLH2Location(pos_x=500, pos_y=100, pos_z=0)],
             ),
             True,
             id="waypoints_valid",
diff --git a/simulator_init_state.toml b/simulator_init_state.toml
index fa1a2679..6c09d66f 100644
--- a/simulator_init_state.toml
+++ b/simulator_init_state.toml
@@ -3,25 +3,25 @@
 
 [[dotbots]]
 address = "BADCAFE111111111" # DotBot unique address
-calibrated = true # optional, defaults to true
-pos_x = 200_000 # [0, 1_000_000]
-pos_y = 200_000 # [0, 1_000_000]
+calibrated = 0xff # optional, defaults to only first lighthouse calibrated
+pos_x = 400 # [0, 2_000] in mm
+pos_y = 400 # [0, 2_000]
 theta = 0.0 # [0.0, 2pi]
 
 [[dotbots]]
 address = "DEADBEEF22222222"
-pos_x = 200_000
-pos_y = 100_000
+pos_x = 400
+pos_y = 200
 theta = 1.57
 
 [[dotbots]]
 address = "B0B0F00D33333333"
-pos_x = 1_000_000
-pos_y = 1_000_000
+pos_x = 1_500
+pos_y = 1_500
 theta = 1.57
 
 [[dotbots]]
 address = "BADC0DE444444444"
-pos_x = 500_000
-pos_y = 500_000
+pos_x = 1_000
+pos_y = 1_000
 theta = 3.14