diff --git a/common/src/lib.rs b/common/src/lib.rs
index f09af96..13791c5 100644
--- a/common/src/lib.rs
+++ b/common/src/lib.rs
@@ -6,7 +6,7 @@ use serde::{Deserialize, Serialize};
 /// -1..1
 pub type Speed = f32;
 
-#[derive(Serialize, Deserialize, Debug)]
+#[derive(Serialize, Deserialize, Debug, Clone)]
 pub enum ControlPacket {
     /// Forward, Clockwise
     Twist(Speed, Speed),
diff --git a/interface/src/gui.rs b/interface/src/gui.rs
index 4f74cc3..2d5596f 100644
--- a/interface/src/gui.rs
+++ b/interface/src/gui.rs
@@ -1,9 +1,13 @@
 
+use std::cell::OnceCell;
+
 use common::{ControlPacket, TelemetryPacket};
-use eframe::egui::{self, Align2};
+use eframe::egui::{self, containers, Align2, Checkbox, Context, Label};
 use tokio::sync::{mpsc, watch::Receiver};
 use egui_toast::{Toast, Toasts};
 
+pub const GUI: OnceCell<Context> = OnceCell::new();
+
 pub fn gui(data: Receiver<GUIData>, toasts: mpsc::Receiver<Toast>) -> eframe::Result {
     let options = eframe::NativeOptions {
         viewport: egui::ViewportBuilder::default().with_inner_size([320.0, 240.0]),
@@ -43,8 +47,21 @@ impl GUI {
 
 impl eframe::App for GUI {
     fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
+        let _ = GUI.set(ctx.clone());
         egui::CentralPanel::default().show(ctx, |ui| {
             ui.heading("Cruise Control");
+
+            if let Some(ref command) = self.data.borrow().last_command {
+                ui.label(format!("sending {command:?}"));
+            }
+            if let Some(ref telem) = self.data.borrow().telemetry {
+                    ui.label(format!("Left tof: {}", if let Some(tof) = telem.sensors.tof_l {format!("✅ {tof}mm")} else {"❌".into()}));
+                    ui.label(format!("Right tof: {}", if let Some(tof) = telem.sensors.tof_r {format!("✅ {tof}mm")} else {"❌".into()}));
+                    ui.label(format!("Side tof: {}", if let Some(tof) = telem.sensors.tof_s {format!("✅ {tof}mm")} else {"❌".into()}));
+                    ui.label(format!("Gyro: {}", if telem.sensors.gyro.is_some() {"✅"} else {"❌"}));
+            } else {
+                ui.label("disconnected");
+            }
         });
         let mut toasts = Toasts::new()
             .anchor(Align2::RIGHT_BOTTOM, (-10.0, -10.0)) // 10 units from the bottom right corner
diff --git a/interface/src/main.rs b/interface/src/main.rs
index 3cf1423..dca7b64 100644
--- a/interface/src/main.rs
+++ b/interface/src/main.rs
@@ -6,7 +6,7 @@ use anyhow::{Context, Ok, Result};
 use common::{ControlPacket, TelemetryPacket};
 use cpal::traits::{DeviceTrait, HostTrait, StreamTrait};
 use egui_toast::{Toast, ToastKind};
-use gui::{gui, GUIData};
+use gui::{gui, GUIData, GUI};
 use pitch_detection::{detector::{mcleod::McLeodDetector, PitchDetector}, utils};
 use rust_music_theory::note::{Note, NoteLetter, Pitch, Tuning};
 use tokio::{io::{AsyncReadExt, AsyncWriteExt, BufWriter, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, spawn, sync::{self, mpsc, watch, RwLock}, time::timeout};
@@ -68,7 +68,7 @@ fn main() -> Result<()> {
             Ok(control)
         }).unwrap();
 
-        executor.block_on(controller(notes, control)).unwrap()
+        executor.block_on(controller(notes, control, data_sender.clone())).unwrap()
     });
 
     println!("launching gui");
@@ -92,10 +92,11 @@ async fn telemetry_handler(mut telem: OwnedReadHalf, gui: watch::Sender<GUIData>
         gui.send_modify(|gui| {
             gui.telemetry = Some(telem);
         });
+        GUI.get().map(|c| c.request_repaint());
     }
 }
 
-async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32>>, f32)>, controller: OwnedWriteHalf) -> Result<()> {
+async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32>>, f32)>, controller: OwnedWriteHalf, gui: watch::Sender<GUIData>) -> Result<()> {
     let mut controller = BufWriter::new(controller);
     //send_packet(&mut controller, ControlPacket::Arm(true)).await?;
     //println!("armed flipper");
@@ -123,10 +124,13 @@ async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32
                 }
             }
 
-            send_packet(&mut controller, control).await?;
+            send_packet(&mut controller, control.clone()).await?;
+            gui.send_modify(|gui| gui.last_command = Some(control));
         } else {
             send_packet(&mut controller, ControlPacket::Twist(0.0, 0.0)).await?;
+            gui.send_modify(|gui| gui.last_command = Some(ControlPacket::Stop));
         }
+        GUI.get().map(|c| c.request_repaint());
     }
 }