diff --git a/hardware.py b/hardware.py
index 323b197..54f37bb 100644
--- a/hardware.py
+++ b/hardware.py
@@ -1,48 +1,112 @@
+import logging
 import serial  # for Arduino serial communication
 import time
 
+
+class HardwareError(Exception):
+    """Base class for hardware-related errors."""
+
+
+class HardwareConnectionError(HardwareError):
+    """Raised when hardware connection is unavailable or fails."""
+
+
+class HardwareWriteError(HardwareError):
+    """Raised when a write to hardware fails."""
+
+
+class HardwareReadError(HardwareError):
+    """Raised when a read from hardware fails."""
+
+
+class HardwareTimeoutError(HardwareError):
+    """Raised when a hardware operation times out."""
+
 class Arduino:
-    def __init__(self, port="COM3", baudrate=9600, timeout=1):
+    def __init__(
+        self,
+        port="COM3",
+        baudrate=9600,
+        timeout=1,
+        read_timeout=1.0,
+        write_timeout=1.0,
+        logger=None,
+    ):
+        self.logger = logger or logging.getLogger(__name__)
+        self.read_timeout = read_timeout
+        self.write_timeout = write_timeout
         try:
             self.conn = serial.Serial(port, baudrate, timeout=timeout)
             time.sleep(2)  # wait for Arduino to reset
-            print(f"[Arduino] Connected to {port} at {baudrate} baud.")
-        except Exception as e:
-            print("[Arduino] Connection failed:", e)
+            self.logger.info(
+                "[Arduino] Connected to %s at %s baud.", port, baudrate
+            )
+        except Exception as exc:
+            self.logger.error("[Arduino] Connection failed: %s", exc)
             self.conn = None
 
-    def write(self, message):
+    def write(self, message, timeout=None):
         """Send a message to Arduino."""
-        if self.conn:
-            self.conn.write(str(message).encode())
-            print(f"[Arduino] Sent: {message}")
+        if not self.conn:
+            raise HardwareConnectionError("Arduino connection is not available.")
+
+        effective_timeout = self.write_timeout if timeout is None else timeout
+        previous_timeout = self.conn.write_timeout
+        try:
+            if effective_timeout is not None:
+                self.conn.write_timeout = effective_timeout
+            payload = str(message).encode()
+            bytes_written = self.conn.write(payload)
+            return {
+                "ok": True,
+                "bytes_written": bytes_written,
+                "message": message,
+            }
+        except Exception as exc:
+            raise HardwareWriteError(f"Failed to write to Arduino: {exc}") from exc
+        finally:
+            self.conn.write_timeout = previous_timeout
 
-    def read(self):
+    def read(self, timeout=None, poll_interval=0.05):
         """Read a line from Arduino."""
-        if self.conn and self.conn.in_waiting > 0:
-            data = self.conn.readline().decode().strip()
-            print(f"[Arduino] Received: {data}")
-            return data
-        return None
+        if not self.conn:
+            raise HardwareConnectionError("Arduino connection is not available.")
+
+        max_wait = self.read_timeout if timeout is None else timeout
+        deadline = time.monotonic() + max_wait
+        try:
+            while time.monotonic() < deadline:
+                if self.conn.in_waiting > 0:
+                    data = self.conn.readline().decode().strip()
+                    return {"ok": True, "data": data}
+                time.sleep(poll_interval)
+        except Exception as exc:
+            raise HardwareReadError(f"Failed to read from Arduino: {exc}") from exc
+
+        raise HardwareTimeoutError(
+            f"Timed out waiting for Arduino data after {max_wait} seconds."
+        )
 
     def led_on(self, pin=13):
         """Turn ON LED at given pin (default 13)."""
-        self.write(f"LED_ON:{pin}")
+        return self.write(f"LED_ON:{pin}")
 
     def led_off(self, pin=13):
         """Turn OFF LED at given pin (default 13)."""
-        self.write(f"LED_OFF:{pin}")
+        return self.write(f"LED_OFF:{pin}")
 
     def motor_start(self, pin=9, speed=255):
         """Start motor at pin with speed (0-255)."""
-        self.write(f"MOTOR_START:{pin}:{speed}")
+        return self.write(f"MOTOR_START:{pin}:{speed}")
 
     def motor_stop(self, pin=9):
         """Stop motor at pin."""
-        self.write(f"MOTOR_STOP:{pin}")
+        return self.write(f"MOTOR_STOP:{pin}")
 
     def close(self):
         """Close Arduino connection."""
         if self.conn:
             self.conn.close()
-            print("[Arduino] Connection closed.")
+            self.logger.info("[Arduino] Connection closed.")
+            return {"ok": True, "message": "Connection closed."}
+        return {"ok": False, "message": "Connection already closed."}