diff --git a/app/firmwares/aiot.hex b/app/firmwares/aiot.hex
new file mode 100644
index 0000000000..959feb7273
--- /dev/null
+++ b/app/firmwares/aiot.hex
@@ -0,0 +1,930 @@
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diff --git a/app/firmwares/roborobo_cube.hex b/app/firmwares/roborobo_cube.hex
new file mode 100644
index 0000000000..99127e7faf
--- /dev/null
+++ b/app/firmwares/roborobo_cube.hex
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diff --git a/app/firmwares/roborobo_roe.hex b/app/firmwares/roborobo_roe.hex
index 48716d79f2..c2b91107c3 100644
--- a/app/firmwares/roborobo_roe.hex
+++ b/app/firmwares/roborobo_roe.hex
@@ -1,1782 +1,1787 @@
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diff --git a/app/modules/aiot.js b/app/modules/aiot.js
new file mode 100644
index 0000000000..02cee8b841
--- /dev/null
+++ b/app/modules/aiot.js
@@ -0,0 +1,716 @@
+function Module() {
+    this.sp = null;
+    this.sensorTypes = {
+        ALIVE: 0,
+        DIGITAL: 1,
+        ANALOG: 2,
+        PWM: 3,
+        SERVO_PIN: 4,
+        TONE: 5,
+        PULSE_IN: 6,
+        ULTRASONIC: 7,
+        TIMER: 8,
+		NEOPIXEL_INIT: 9, 
+		NEOPIXEL_COLOR: 10,     
+		DHT_INIT: 21,
+		DHT_TEMP: 22,
+		DHT_HUMI: 23,
+		NO_TONE: 24,
+		LCD_INIT: 41,
+		LCD: 42,
+		LCD_CLEAR: 43,
+		LCD_EMOTICON: 44,
+    };
+
+    this.actionTypes = {
+        GET: 1,
+        SET: 2,
+        RESET: 3,
+        MODULE:4,
+    };
+
+    this.sensorValueSize = {
+        FLOAT: 2,
+        SHORT: 3,
+        STRING : 4,
+        SHORTSHORT: 5,
+    };
+
+    this.digitalPortTimeList = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
+
+    this.sensorData = {
+        ULTRASONIC: 0,
+		DHT_TEMP: 0,
+		DHT_HUMI: 0,
+        DIGITAL: {
+            '0': 0,
+            '1': 0,
+            '2': 0,
+            '3': 0,
+            '4': 0,
+            '5': 0,
+            '6': 0,
+            '7': 0,
+            '8': 0,
+            '9': 0,
+            '10': 0,
+            '11': 0,
+            '12': 0,
+            '13': 0,
+        },
+        ANALOG: {
+            '0': 0,
+            '1': 0,
+            '2': 0,
+            '3': 0,
+            '4': 0,
+            '5': 0,
+        },
+        PULSE_IN: {},
+        TIMER: 0,
+    };
+    this.defaultOutput = {};
+    this.recentCheckData = {};
+    this.sendBuffers = [];
+    this.lastTime = 0;
+    this.lastSendTime = 0;
+    this.isDraing = false;
+}
+
+var sensorIdx = 0;
+Module.prototype.init = function(handler, config) {};
+Module.prototype.setSerialPort = function(sp) {
+    var self = this;
+    this.sp = sp;
+};
+
+Module.prototype.requestInitialData = function() {
+    return this.makeSensorReadBuffer(this.sensorTypes.ANALOG, 0);
+};
+
+Module.prototype.checkInitialData = function(data, config) {
+    return true;   
+};
+
+Module.prototype.afterConnect = function(that, cb) {
+    //cb 은 화면의 이벤트를 보내는 로직. 
+    //connected 라는 신호를 보내 강제로 연결됨 화면으로 전환
+    that.connected = true;
+    if (cb) {
+        cb('connected');
+    }
+};
+
+Module.prototype.validateLocalData = function(data) {
+    return true;
+};
+
+Module.prototype.requestRemoteData = function(handler) {
+    var self = this;
+    if (!self.sensorData) {
+        return;
+    }
+    Object.keys(this.sensorData).forEach(function(key) {
+        if (self.sensorData[key] != undefined) {
+            handler.write(key, self.sensorData[key]);
+        }
+    });
+};
+
+Module.prototype.handleRemoteData = function(handler) {
+    var self = this;
+    var getDatas = handler.read('GET');
+    var setDatas = handler.read('SET') || this.defaultOutput;
+    var time = handler.read('TIME');
+    var buffer = new Buffer([]);
+
+    if (getDatas) {
+        var keys = Object.keys(getDatas);
+        keys.forEach(function(key) {
+            var isSend = false;
+            var dataObj = getDatas[key];
+            if (
+                typeof dataObj.port === 'string' ||
+                typeof dataObj.port === 'number'
+            ) {
+                var time = self.digitalPortTimeList[dataObj.port];
+                if (dataObj.time > time) {
+                    isSend = true;
+                    self.digitalPortTimeList[dataObj.port] = dataObj.time;
+                }
+            } else if (Array.isArray(dataObj.port)) {
+                isSend = dataObj.port.every(function(port) {
+                    var time = self.digitalPortTimeList[port];
+                    return dataObj.time > time;
+                });
+
+                if (isSend) {
+                    dataObj.port.forEach(function(port) {
+                        self.digitalPortTimeList[port] = dataObj.time;
+                    });
+                }
+            }
+
+            if (isSend) {
+                if (!self.isRecentData(dataObj.port, key, dataObj.data)) {
+                    self.recentCheckData[dataObj.port] = {
+                        type: key,
+                        data: dataObj.data,
+                    };
+                    buffer = Buffer.concat([
+                        buffer,
+                        self.makeSensorReadBuffer(
+                            key,
+                            dataObj.port,
+                            dataObj.data
+                        ),
+                    ]);
+                }
+            }
+        });
+    }
+
+    if (setDatas) {
+        var setKeys = Object.keys(setDatas);
+        setKeys.forEach(function(port) {
+            var data = setDatas[port];
+            if (data) {
+                if (self.digitalPortTimeList[port] < data.time) {
+                    self.digitalPortTimeList[port] = data.time;
+
+                    if (!self.isRecentData(port, data.type, data.data)) {
+                        self.recentCheckData[port] = {
+                            type: data.type,
+                            data: data.data,
+                        };
+                        buffer = Buffer.concat([
+                            buffer,
+                            self.makeOutputBuffer(data.type, port, data.data),
+                        ]);
+                    }
+                }
+            }
+        });
+    }
+
+    if (buffer.length) {
+        this.sendBuffers.push(buffer);
+    }
+};
+
+Module.prototype.isRecentData = function(port, type, data) {
+    var that = this;
+    var isRecent = false;
+
+    if(type == this.sensorTypes.ULTRASONIC || type == this.sensorTypes.DHTTEMP || type == this.sensorTypes.DHTHUMI  || type == this.sensorTypes.PMVALUE) {
+        var portString = port.toString();
+        var isGarbageClear = false;
+        Object.keys(this.recentCheckData).forEach(function (key) {
+            var recent = that.recentCheckData[key];
+            if(key === portString) {
+                
+            }
+            if(key !== portString && (recent.type == that.sensorTypes.ULTRASONIC || recent.type == that.sensorTypes.DHTTEMP || recent.type == that.sensorTypes.DHTHUMI || recent.type == that.sensorTypes.PMVALUE)) {
+                delete that.recentCheckData[key];
+                isGarbageClear = true;
+            }
+        });
+
+        if((port in this.recentCheckData && isGarbageClear) || !(port in this.recentCheckData)) {
+            isRecent = false;
+        } else {
+            isRecent = true;
+        }
+        
+    } else if (port in this.recentCheckData && type != this.sensorTypes.TONE) {
+        if (
+            this.recentCheckData[port].type === type &&
+            this.recentCheckData[port].data === data
+        ) {
+            isRecent = true;
+        }
+    }
+
+    return isRecent;
+};
+
+Module.prototype.requestLocalData = function() {
+    var self = this;
+
+    if (!this.isDraing && this.sendBuffers.length > 0) {
+        this.isDraing = true;
+        this.sp.write(this.sendBuffers.shift(), function() {
+            if (self.sp) {
+                self.sp.drain(function() {
+                    self.isDraing = false;
+                });
+            }
+        });
+    }
+
+    return null;
+};
+
+/*
+ff 55 idx size data a
+*/
+Module.prototype.handleLocalData = function(data) {
+    var self = this;
+    var datas = this.getDataByBuffer(data);
+
+    datas.forEach(function(data) {
+        if (data.length <= 4 || data[0] !== 255 || data[1] !== 85) {
+            return;
+        }
+        var readData = data.subarray(2, data.length);
+        var value;
+        switch (readData[0]) {
+            case self.sensorValueSize.FLOAT: {
+                value = new Buffer(readData.subarray(1, 5)).readFloatLE();
+                value = Math.round(value * 100) / 100;
+                break;
+            }
+            case self.sensorValueSize.SHORT: {
+                value = new Buffer(readData.subarray(1, 3)).readInt16LE();
+                break;
+            }
+            default: {
+                value = 0;
+                break;
+            }
+        }
+
+        var type = readData[readData.length - 1];
+        var port = readData[readData.length - 2];
+
+        switch (type) {
+            case self.sensorTypes.DIGITAL: {
+                self.sensorData.DIGITAL[port] = value;
+                break;
+            }
+            case self.sensorTypes.ANALOG: {
+                self.sensorData.ANALOG[port] = value;
+                break;
+            }
+            case self.sensorTypes.PULSE_IN: {
+                self.sensorData.PULSE_IN[port] = value;
+                break;
+            }
+            case self.sensorTypes.ULTRASONIC: {
+                self.sensorData.ULTRASONIC = value;
+                break;
+            }
+			case self.sensorTypes.DHT_TEMP: {
+                self.sensorData.DHT_TEMP = value;
+				//console.log(value);
+                break;
+            }
+			case self.sensorTypes.DHT_HUMI: {
+                self.sensorData.DHT_HUMI = value;
+				console.log(value);
+                break;
+            }
+			case self.sensorTypes.PM_VALUE: {
+                self.sensorData.PM_VALUE = value;
+				//console.log(value);
+                break;
+            }
+            case self.sensorTypes.TIMER: {
+                self.sensorData.TIMER = value;
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    });
+};
+
+/*
+ff 55 len idx action device port  slot  data a
+0  1  2   3   4      5      6     7     8
+*/
+
+Module.prototype.makeSensorReadBuffer = function(device, port, data) {
+    var buffer;
+    var dummy = new Buffer([10]);
+    if (device == this.sensorTypes.ULTRASONIC) {
+        buffer = new Buffer([
+            255,
+            85,
+            6,
+            sensorIdx,
+            this.actionTypes.GET,
+            device,
+            port[0],
+            port[1],
+            10,
+        ]);
+		//console.log(buffer);
+    } else if (device == this.sensorTypes.DHT_TEMP) {
+        buffer = new Buffer([
+            255,
+            85,
+            5,
+            sensorIdx,
+            this.actionTypes.GET,
+            device,
+            port,
+            10,
+        ]);
+		//console.log(buffer);
+    } else if (device == this.sensorTypes.DHT_HUMI) {
+        buffer = new Buffer([
+            255,
+            85,
+            6,
+            sensorIdx,
+            this.actionTypes.GET,
+            device,
+            port,
+            10,
+        ]);
+		console.log(buffer);
+    }else if (device == this.sensorTypes.PM_VALUE) {
+        buffer = new Buffer([
+            255,
+            85,
+            5,
+            sensorIdx,
+            this.actionTypes.GET,
+            device,
+            port,
+            10,
+        ]);
+		//console.log(buffer);
+    } else if (!data) {
+        buffer = new Buffer([
+            255,
+            85,
+            5,
+            sensorIdx,
+            this.actionTypes.GET,
+            device,
+            port,
+            10,
+        ]);
+    } else {
+        value = new Buffer(2);
+        value.writeInt16LE(data);
+        buffer = new Buffer([
+            255,
+            85,
+            7,
+            sensorIdx,
+            this.actionTypes.GET,
+            device,
+            port,
+            10,
+        ]);
+        buffer = Buffer.concat([buffer, value, dummy]);
+    }
+    sensorIdx++;
+    if (sensorIdx > 254) {
+        sensorIdx = 0;
+    }
+	//console.log(buffer);
+    return buffer;
+};
+
+//0xff 0x55 0x6 0x0 0x1 0xa 0x9 0x0 0x0 0xa
+Module.prototype.makeOutputBuffer = function(device, port, data) {
+    var buffer;
+    var value = new Buffer(2);
+    var dummy = new Buffer([10]);
+    switch (device) {
+        case this.sensorTypes.SERVO_PIN:
+        case this.sensorTypes.DIGITAL:
+        case this.sensorTypes.PWM: {
+            value.writeInt16LE(data);
+            buffer = new Buffer([
+                255,
+                85,
+                6,
+                sensorIdx,
+                this.actionTypes.SET,
+                device,
+                port,
+            ]);
+            buffer = Buffer.concat([buffer, value, dummy]);
+			//console.log(buffer);                
+            break;
+        }
+        case this.sensorTypes.TONE: {
+            var time = new Buffer(2);
+            if ($.isPlainObject(data)) {
+                value.writeInt16LE(data.value);
+                time.writeInt16LE(data.duration);
+            } else {
+                value.writeInt16LE(0);
+                time.writeInt16LE(0);
+            }
+            buffer = new Buffer([
+                255,
+                85,
+                8,
+                sensorIdx,
+                this.actionTypes.SET,
+                device,
+                port,
+            ]);
+            buffer = Buffer.concat([buffer, value, time, dummy]);
+            break;
+        }
+        case this.sensorTypes.TONE: {
+        }
+		case this.sensorTypes.NO_TONE:  {
+            value.writeInt16LE(data);
+			
+            buffer = new Buffer([
+                255,
+                85,
+                6,
+                sensorIdx,
+                this.actionTypes.SET,
+                device,
+                port,
+            ]);
+            buffer = Buffer.concat([buffer, value, dummy]);
+			//console.log(buffer);
+            break;
+        }
+		case this.sensorTypes.NEOPIXEL_INIT:  {
+            value.writeInt16LE(data);
+
+			//console.log(port);
+			//console.log(value);                
+			
+            buffer = new Buffer([
+                255,
+                85,
+                6,
+                sensorIdx,
+                this.actionTypes.SET,
+                device,
+                port,
+            ]);
+            buffer = Buffer.concat([buffer, value, dummy]);
+            break;
+        }
+
+		case this.sensorTypes.NEOPIXEL_COLOR: {
+			
+            var num = new Buffer(2);
+            var r = new Buffer(2);
+			var g = new Buffer(2);
+			var b = new Buffer(2);
+			
+			if($.isPlainObject(data))
+            {
+				num.writeInt16LE(data.num);
+				r.writeInt16LE(data.r);
+				g.writeInt16LE(data.g);
+				b.writeInt16LE(data.b);
+			}
+			else 
+			{
+                num.writeInt16LE(0);
+                r.writeInt16LE(0);
+				g.writeInt16LE(0);
+				b.writeInt16LE(0);
+            }
+			
+            buffer = new Buffer([
+                255,
+                85,
+                12,
+                sensorIdx,
+                this.actionTypes.SET,
+                device,
+				port,
+            ]);
+            buffer = Buffer.concat([buffer, num, r, g, b, dummy]);
+			console.log(buffer);
+            break;
+		}
+		case this.sensorTypes.DHT_INIT:  {
+            value.writeInt16LE(data);
+			
+            buffer = new Buffer([
+                255,
+                85,
+                6,
+                sensorIdx,
+                this.actionTypes.SET,
+                device,
+                port,
+            ]);
+            buffer = Buffer.concat([buffer, value, dummy]);
+			//console.log(buffer);
+            break;
+        }	
+		
+		case this.sensorTypes.LCD_INIT:  {
+            value.writeInt16LE(data);			
+            buffer = new Buffer([
+                255,
+                85,
+                6,
+                sensorIdx,
+                this.actionTypes.SET,
+                device,
+                port,
+            ]);
+            buffer = Buffer.concat([buffer, value, dummy]);
+			//console.log(buffer);       
+            break;
+        }
+		
+		case this.sensorTypes.LCD:  {
+			var row = new Buffer(2);
+            var col = new Buffer(2);
+
+            if($.isPlainObject(data)) {
+				row.writeInt16LE(data.row);
+                col.writeInt16LE(data.col);
+            } else {
+				row.writeInt16LE(0);
+                col.writeInt16LE(0);
+            }
+            var text0 = new Buffer(2);
+            var text1 = new Buffer(2);
+            var text2 = new Buffer(2);
+            var text3 = new Buffer(2);
+            var text4 = new Buffer(2);
+            var text5 = new Buffer(2);
+            var text6 = new Buffer(2);
+            var text7 = new Buffer(2);
+            var text8 = new Buffer(2);
+            var text9 = new Buffer(2);
+            var text10 = new Buffer(2);
+            var text11 = new Buffer(2);
+            var text12 = new Buffer(2);
+            var text13 = new Buffer(2);
+            var text14 = new Buffer(2);
+            var text15 = new Buffer(2);
+            if($.isPlainObject(data)) {
+                text0.writeInt16LE(data.text0);
+                text1.writeInt16LE(data.text1);
+                text2.writeInt16LE(data.text2);
+                text3.writeInt16LE(data.text3);
+                text4.writeInt16LE(data.text4);
+                text5.writeInt16LE(data.text5);
+                text6.writeInt16LE(data.text6);
+                text7.writeInt16LE(data.text7);
+                text8.writeInt16LE(data.text8);
+                text9.writeInt16LE(data.text9);
+                text10.writeInt16LE(data.text10);
+                text11.writeInt16LE(data.text11);
+                text12.writeInt16LE(data.text12);
+                text13.writeInt16LE(data.text13);
+                text14.writeInt16LE(data.text14);
+                text15.writeInt16LE(data.text15);
+            } else {
+                text0.writeInt16LE(0);
+                text1.writeInt16LE(0);
+                text2.writeInt16LE(0);
+                text3.writeInt16LE(0);
+                text4.writeInt16LE(0);
+                text5.writeInt16LE(0);
+                text6.writeInt16LE(0);
+                text7.writeInt16LE(0);
+                text8.writeInt16LE(0);
+                text9.writeInt16LE(0);
+                text10.writeInt16LE(0);
+                text11.writeInt16LE(0);
+                text12.writeInt16LE(0);
+                text13.writeInt16LE(0);
+                text14.writeInt16LE(0);
+                text15.writeInt16LE(0);
+            }
+
+            buffer = new Buffer([255, 85, 40, sensorIdx, this.actionTypes.SET, device, port]);
+            buffer = Buffer.concat([buffer, row, col, text0, text1, text2, text3, text4, text5, text6, text7, text8, text9, text10,text11, text12, text13, text14, text15,dummy]);
+
+			//console.log(buffer);       
+            break;
+        }
+		
+		case this.sensorTypes.LCD_CLEAR:  {
+            value.writeInt16LE(data);			
+            buffer = new Buffer([
+                255,
+                85,
+                6,
+                sensorIdx,
+                this.actionTypes.SET,
+                device,
+                port,
+            ]);
+            buffer = Buffer.concat([buffer, value, dummy]);
+			console.log(buffer);       
+            break;
+        }
+		
+		case this.sensorTypes.LCD_EMOTICON:  {
+            var row = new Buffer(2);
+            var col = new Buffer(2);
+			var emoticon = new Buffer(2);
+			
+			if($.isPlainObject(data)) {
+				row.writeInt16LE(data.row);
+                col.writeInt16LE(data.col);
+				emoticon.writeInt16LE(data.emoticon);
+            } else {
+				row.writeInt16LE(0);
+                col.writeInt16LE(0);
+				emoticon.writeInt16LE(0);
+            }
+			
+            buffer = new Buffer([
+                255,
+                85,
+                10,
+                sensorIdx,
+                this.actionTypes.SET,
+                device,
+                port,
+            ]);
+            buffer = Buffer.concat([buffer, row, col, emoticon, dummy]);
+			console.log(buffer);       
+            break;
+        }
+    }
+
+    return buffer;
+};
+
+Module.prototype.getDataByBuffer = function(buffer) {
+    var datas = [];
+    var lastIndex = 0;
+    buffer.forEach(function(value, idx) {
+        if (value == 13 && buffer[idx + 1] == 10) {
+            datas.push(buffer.subarray(lastIndex, idx));
+            lastIndex = idx + 2;
+        }
+    });
+
+    return datas;
+};
+
+Module.prototype.disconnect = function(connect) {
+    var self = this;
+    connect.close();
+    if (self.sp) {
+        delete self.sp;
+    }
+};
+
+Module.prototype.reset = function() {
+    this.lastTime = 0;
+    this.lastSendTime = 0;
+
+    this.sensorData.PULSE_IN = {};
+};
+
+module.exports = new Module();
diff --git a/app/modules/aiot.json b/app/modules/aiot.json
new file mode 100644
index 0000000000..d1549bee12
--- /dev/null
+++ b/app/modules/aiot.json
@@ -0,0 +1,27 @@
+{
+	"id": "260201",
+	"name": {
+		"ko": "AIoT 보드",
+		"en": "AIoT Board"		
+	},
+	"category": "board",
+	"platform": ["win32", "darwin"],
+	"icon" : "aiot.png",
+	"module": "aiot.js",
+	"url": "http://wonn.co.kr",
+	"email": "wonn@wonn.co.kr",	
+	"driver": {
+		"win32-ia32": "CDM21226_Setup/CDM21226_Setup.exe",
+		"win32-x64": "CDM21226_Setup/CDM21226_Setup.exe"
+	},
+    "reconnect" : true,
+	"firmware": "aiot",
+	"hardware": {
+		"type": "serial",
+		"control": "slave",
+		"duration": 32,
+		"vendor": ["Arduino", "wch.cn", "FTDI"],
+		"baudRate": 115200,
+		"firmwarecheck" : false
+	}
+}
diff --git a/app/modules/aiot.png b/app/modules/aiot.png
new file mode 100644
index 0000000000..cd7df7d231
Binary files /dev/null and b/app/modules/aiot.png differ
diff --git a/app/modules/asomekit.js b/app/modules/asomekit.js
new file mode 100644
index 0000000000..e9d533aa96
--- /dev/null
+++ b/app/modules/asomekit.js
@@ -0,0 +1,147 @@
+const _ = global.$;
+const BaseModule = require('./baseModule');
+
+class AsomeKit extends BaseModule {
+    constructor() {
+        super();
+
+        this.isDraing = false;
+        this.sendBuffer = [];
+
+        this.receivedText = "";
+
+        this.msg_id = '';
+        this.sendToEntry = {
+            msg_id: "",
+            distance: 0,
+            udp_msg: "",
+        };
+    }
+
+    connect() {
+    }
+
+    socketReconnection() {
+        this.socket.send(this.handler.encode());
+    }
+
+    requestInitialData() { 
+        console.log("requestInitialData");
+
+        var init_str = "import button;";
+//        var init_str = "import button; import music; import dht11; import tm1637; import vibration_sensor; import hcsr04; light = AnalogPin(1); vs = vibration_sensor.create(1, 1000); tm1637.open(3, 4); ht = dht11.create(5); bt = button.create(6); hcsr04.open(7, 8); buzzer = OutputPin(11); music.open(12);";
+        return Buffer.from(init_str, "ascii");
+    }
+
+    setSerialPort(sp) {
+        this.sp = sp;
+    }
+
+    setSocket(socket) {
+        this.socket = socket;
+    }
+    
+    checkInitialData(data, config) {
+        return true;
+    }
+
+    validateLocalData(data) {
+        return true;
+    }
+
+    requestRemoteData(handler) {
+        var sendToEntry = this.sendToEntry;
+        // console.log("to Entry: ", sendToEntry);
+
+        for (var key in sendToEntry) {
+            handler.write(key, sendToEntry[key]);
+        }
+        return;
+    }
+
+    handleRemoteData({ receiveHandler = {} }) {
+        const { data: handlerData } = receiveHandler;
+        if (_.isEmpty(handlerData)) {
+            return;
+        }
+
+        if (handlerData.msg_id == undefined) {
+            console.log("from handlerData.msg_id == undefined", handlerData);
+            return;
+        }
+
+        if (handlerData.msg_id != this.msg_id) {
+            console.log("from Entry: ", handlerData);
+
+            this.msg_id = handlerData.msg_id;
+            this.sendBuffer.push(Buffer.from(handlerData.msg + "\r", 'ascii'));
+            this.sendBuffer.push(Buffer.from("'#I'" + "'D " + handlerData.msg_id + "'\r", 'ascii'));
+        }
+    }
+
+    requestLocalData() {
+        var self = this;
+
+        if (!this.isDraing && this.sendBuffer.length > 0) {
+            this.isDraing = true;
+            var msg = this.sendBuffer.shift();
+            console.log("to AsomeBot: ", msg.toString(), this.sendBuffer.length);
+            this.sp.write(msg, function() {
+                if (self.sp) {
+                    self.sp.drain(function() {
+                        self.isDraing = false;
+                    });
+                }
+            });
+        }
+
+        return null;
+    }
+
+    handleLocalData(data) {
+//         console.log("handleLocalData: ", this.receivedText);
+
+        this.receivedText = this.receivedText + data.toString();
+
+        var index = this.receivedText.indexOf('\r');
+        while (index >= 0) {
+            var line = this.receivedText.substring(0, index);
+            this.receivedText = this.receivedText.substring(index + 1);
+
+            console.log("from AsomeBot: ", line);
+
+            if (line.indexOf('#DT') >= 0) {
+                var values = line.split(" ");
+                if (values.length > 1) this.sendToEntry.distance = values[1];
+            }
+            if (line.indexOf('#UDP') >= 0) {
+                var values = line.split(" ");
+                if (values.length > 1) {
+                    this.sendToEntry.udp_id = this.msg_id;
+                    this.sendToEntry.udp_msg = values[1];
+                }
+            }
+            if (line.indexOf('#ID') >= 0) this.sendToEntry.msg_id = line;
+
+            index = this.receivedText.indexOf('\r');
+        }
+    }
+
+    setSocketData({ socketData, data }) {
+    }
+
+    lostController() { }
+
+    disconnect(connect) {
+        connect.close();
+        this.sp = null;
+    }
+
+    reset() {
+        this.sp = null;
+        this.sendBuffer = [];
+        this.receivedText = "";
+    }
+}
+
+module.exports = new AsomeKit();
diff --git a/app/modules/asomekit.json b/app/modules/asomekit.json
new file mode 100644
index 0000000000..c200fbf339
--- /dev/null
+++ b/app/modules/asomekit.json
@@ -0,0 +1,30 @@
+{
+	"id": "320201",
+	"name": {
+		"en": "AsomeKit",
+		"ko": "AsomeKit"
+	},
+	"category": "robot",
+	"platform": [
+		"win32",
+		"darwin"
+	],
+	"icon": "asomekit.png",
+	"module": "asomekit.js",
+	"driver": {
+        "win32-ia32": "CP210x_VCP_Windows/CP210xVCPInstaller_x86.exe",
+        "win32-x64": "CP210x_VCP_Windows/CP210xVCPInstaller_x64.exe",
+        "darwin-x64": "Mac_OSX_VCP_Driver/SiLabsUSBDriverDisk.dmg"
+	},
+    "selectPort": true,
+	"reconnect": true,
+	"hardware": {
+		"type": "serial",
+		"control": "slave",
+		"duration": 32,
+		"vendor": "Silicon Labs",
+		"baudRate": 115200,
+		"lostTimer": 1000,
+		"firmwarecheck": false
+	}
+}
diff --git a/app/modules/asomekit.png b/app/modules/asomekit.png
new file mode 100644
index 0000000000..a9d2fedc6f
Binary files /dev/null and b/app/modules/asomekit.png differ
diff --git a/app/modules/roborobo_base.js b/app/modules/roborobo_base.js
index d281a10ed6..8241e07871 100644
--- a/app/modules/roborobo_base.js
+++ b/app/modules/roborobo_base.js
@@ -1,5 +1,8 @@
 const BaseModule = require('./baseModule');
 
+const THREAD_STEP_INTERVAL = 1000 / 60;
+const THREAD_STEP_INTERVAL_COMPATIBILITY = 1000 / 30;
+
 const FirmataCMD = {
     ENABLE_DIGITAL: 0xD0,
     DIGITAL_CH0: 0x90,
@@ -14,7 +17,7 @@ const FirmataCMD = {
     SET_PIN_MODE: 0xF4,
     GET_VERSION: 0xF9,
     RESET: 0xFF,
-}
+};
 
 const PinMode = {
     INPUT: 0x00,
@@ -34,7 +37,7 @@ const PinMode = {
     RGBLED: 0x0E,
     ROTARYPOSITION: 0x0F,
     IGNORE: 0x7F
-}
+};
 
 const SysexCMD = {
     START: 0xF0,
@@ -48,7 +51,7 @@ const SysexCMD = {
     I2C_REPLY: 0x77,
     I2C_CONFIG: 0x78,
     END: 0xF7
-}
+};
 
 const Instruction = {
     DIGITAL: 0x00,
@@ -71,7 +74,7 @@ const Instruction = {
     GET_VERSION_FIRMWARE: 0x7D,
     GET_VERSION_HARDWARE: 0x7E,
     GET_VERSION: 0x7F,
-}
+};
 
 const Frequency = {
     0: 32.7032, 1: 34.6478, 2: 36.7081, 3: 38.8909, 4: 41.2034, 5: 43.6535, 6: 46.2493, 7: 48.9994, 8: 51.9130, 9: 55.0000, 10: 58.2705, 11: 61.7354,
@@ -84,6 +87,16 @@ const Frequency = {
     84: 4186.009, 85: 4434.922, 86: 4698.636, 87: 4978.036, 88: 5274.041, 89: 5587.652, 90: 5919.911, 91: 6271.927, 92: 6644.875, 93: 7040.000, 94: 7458.620, 95: 7902.133,
     96: 8372.018
 };
+
+const DrawMode = {
+    BIT: 0x00,
+    POINT: 0x01,
+    SIGN: 0x02,
+    STRING: 0x03,
+    SCROLLDRAW: 0x04,
+    CLEAR: 0x07
+};
+
 const RATIO_CONVERT_ANALOG_TO_ANGLE = 0.3515625;
 
 class ArduinoBase extends BaseModule {
@@ -113,8 +126,6 @@ class ArduinoBase extends BaseModule {
 
         this._receiveBuffer = [];
         this._sendBuffer = [];
-        this._sendBuffer.push(this._getResetDeviceCommand());
-        this._sendBuffer.push(this._getDigitalPinEnableCommand());
     }
 
     /**
@@ -167,7 +178,7 @@ class ArduinoBase extends BaseModule {
         if (time >= 3000) {
             this._serialPort.close();
         } else if (time >= 1000) {
-            buffer.push(...this._getRequestBatteryVoltageCommand());
+            buffer.push(...this.requestInitialData());
         }
         return buffer;
     }
@@ -635,7 +646,7 @@ class ArduinoBase extends BaseModule {
      * @param {number} pin [2, 15]
      */
     _enableDigitalInput (pin) {
-        if (this._isDigitalPin(pin)) this.setPinMode(pin, PinMode.INPUT)
+        if (this._isDigitalPin(pin)) this.setPinMode(pin, PinMode.INPUT);
     }
 
     /**
@@ -967,21 +978,6 @@ class ArduinoBase extends BaseModule {
         }
 
         switch (data[2]) {
-            case Instruction.GET_SENSOR: {
-                // ���̷� ���� ���� ���� ��
-                if (data[4] == 0x09) {
-                    const obj = this.state.rx.gyro;
-                    obj.angle.x = (data[5] + ((data[6] & 0x01) << 7)) * ((data[6] >> 4 & 0x01) == 1 ? -1 : 1);
-                    obj.angle.y = (data[7] + ((data[8] & 0x01) << 7)) * ((data[8] >> 4 & 0x01) == 1 ? -1 : 1);
-                    obj.angle.z = (data[9] + ((data[10] & 0x01) << 7)) * ((data[10] >> 4 & 0x01) == 1 ? -1 : 1);
-
-                    obj.gyro.x = (data[11] + ((data[12] & 0x01) << 7)) * ((data[12] >> 4 & 0x01) == 1 ? -1 : 1);
-                    obj.gyro.y = (data[13] + ((data[14] & 0x01) << 7)) * ((data[14] >> 4 & 0x01) == 1 ? -1 : 1);
-                    obj.gyro.z = (data[15] + ((data[16] & 0x01) << 7)) * ((data[16] >> 4 & 0x01) == 1 ? -1 : 1);
-
-                    obj.shake = data[20] & 0x01;
-                }
-            } break;
             // ���� üũ ��������
             case Instruction.GET_VOLTAGE: {
                 this.voltage = data[4];
@@ -992,7 +988,7 @@ class ArduinoBase extends BaseModule {
                     model: data[4],
                     hardware: data[5],
                     firmware: data[6]
-                }
+                };
             } break;
         }
         data.splice(0, length);
@@ -1053,7 +1049,7 @@ class ArduinoStateBase {
              * }
              */
             piezo: [],
-        }
+        };
 
         /**
          * ������ ���� �����Ͽ� ����
@@ -1093,24 +1089,7 @@ class ArduinoStateBase {
              */
             rotaryPosition: [],
 
-            /**
-             * I2C pin ��� [18, 19] ��ȣ ����
-             */
-            gyro: {
-                enable: false,
-                angle: {
-                    x: 0,
-                    y: 0,
-                    z: 0
-                },
-                gyro: {
-                    x: 0,
-                    y: 0,
-                    z: 0
-                },
-                shake: 0,
-            }
-        }
+        };
     }
 
     /**
@@ -1121,7 +1100,7 @@ class ArduinoStateBase {
         if (!this.pin[pin]) {
             this.pin[pin] = {
                 mode: null
-            }
+            };
         }
         return this.pin[pin];
     }
@@ -1136,7 +1115,7 @@ class ArduinoStateBase {
                 motor: null,
                 speed: null,
                 state: null
-            }
+            };
         }
         return this.tx.motor[index];
     }
@@ -1150,7 +1129,7 @@ class ArduinoStateBase {
             this.tx.piezo[pin] = {
                 note: null,
                 duration: null
-            }
+            };
         }
         return this.tx.piezo[pin];
     }
@@ -1166,7 +1145,7 @@ class ArduinoStateBase {
                 g: null,
                 b: null,
                 a: null
-            }
+            };
         }
         return this.tx.rgbLed[pin];
     }
@@ -1181,7 +1160,7 @@ class ArduinoStateBase {
                 value: 0,
                 values: [],
                 enable: false
-            }
+            };
         }
         return this.rx.temperature[analogPin];
     }
@@ -1204,10 +1183,29 @@ class ArduinoStateBase {
                 isIntegerPosition: true,
                 isIntegerRotation: true,
                 isIntegerAngle: true,
-            }
+            };
         }
         return this.rx.rotaryPosition[analogPin];
     }
 }
 
-module.exports = {ArduinoBase, ArduinoStateBase, FirmataCMD, PinMode, SysexCMD, Instruction};
+const Sleep = function (ms) {
+    return new Promise(resolve => setTimeout(() => resolve(), ms));
+};
+
+module.exports = {
+    ArduinoBase,
+    ArduinoStateBase,
+
+    FirmataCMD,
+    PinMode,
+    SysexCMD,
+    Instruction,
+    Frequency,
+    DrawMode,
+
+    THREAD_STEP_INTERVAL,
+    THREAD_STEP_INTERVAL_COMPATIBILITY,
+
+    Sleep
+};
diff --git a/app/modules/roborobo_cube.js b/app/modules/roborobo_cube.js
new file mode 100644
index 0000000000..23671b4981
--- /dev/null
+++ b/app/modules/roborobo_cube.js
@@ -0,0 +1,464 @@
+const {
+    ArduinoBase,
+    // protocol
+    SysexCMD,
+    Instruction,
+    Frequency,
+    DrawMode
+} = require('./roborobo_base');
+
+class Cube extends ArduinoBase {
+    constructor () {
+        super();
+    }
+
+    /**
+     * @override
+     */
+    newTypedState () {
+        return new State();
+    }
+
+    init (handler, config) {
+        super.init(handler, config);
+    }
+
+    /**
+     * @override
+     */
+    reset () {
+        super.reset();
+
+        this._clearDotMatrix();
+        this._setSensorMode(0);
+    }
+
+    /**
+     * @override
+     */
+    requestInitialData () {
+        return this.getRequestAllVersionCommand();
+    }
+
+    checkInitialData (data, config) {
+        return super.checkInitialData(data, config);
+    }
+
+    validateLocalData (data) {
+        return super.validateLocalData(data);
+    }
+
+    requestLocalData () {
+        return super.requestLocalData();
+    }
+
+    handleLocalData (data) {
+        super.handleLocalData(data);
+    }
+
+    /**
+     * @override
+     */
+    requestRemoteData (handler) {
+        handler.write("state", {rx: this.state.rx});
+
+        // ����� ���� ����
+        handler.write('sensor_gesture', this._toGestureDiectionString());
+        handler.write('sensor_proximity', this._getProximitySensorValue());
+    }
+
+    handleRemoteData (handler) {
+        super.handleRemoteData(handler);
+    }
+
+    execute (command, data) {
+        switch (command) {
+            case 'reset': {
+                this.reset();
+            } break;
+            case 'setDotMatrix': {
+                this._setDotMatrix(data);
+            } break;
+            case 'setPiezoBuzzer': {
+                this._setPiezoBuzzer(data.note, data.duration);
+            } break;
+            case 'setSensorMode': {
+                this._setSensorMode(data.option);
+            } break;
+        }
+    }
+
+    /**
+     * @override
+     */
+    get targetVersion () {
+        return {model: 65, hardware: 1, firmware: 16};
+    }
+
+    /**
+     * @param {string} info 0 �Ǵ� 1�� �̷���� ���ڿ� (ex=>'00101001111~')
+     */
+    _setDotMatrix (info) {
+
+        let dots = this.state.tx.dotMatrix;
+        if (!dots) {
+            dots = this._defaultDots();
+        }
+
+        switch (info.type) {
+            case 'dot': {
+                const index = info.x + info.y * 7;
+                dots = dots.substring(0, index) + info.dot + dots.substring(index + 1, 7 * 7 - 1);
+            } break;
+            case 'row': {
+                dots = dots.substring(0, info.y * 7) + info.dots + dots.substring((info.y + 1) * 7, 7 * 7 - 1);
+            } break;
+            case 'all': {
+                dots = info.dots;
+            } break;
+        }
+
+        if (this.state.tx.dotMatrix === dots) return;
+        else this.state.tx.dotMatrix = dots;
+
+        dots = this._toDots(dots);
+        let sum = 0;
+        if (dots && dots.length > 0) {
+            dots.forEach(v => sum += v);
+        }
+
+        // Dot Matrix �����Ͱ� ���ų� ��� �����ִ� ���.
+        if (sum == 0) {
+            this._sendBuffer.push([SysexCMD.START, SysexCMD.SET, Instruction.SET_DOTMATRIX, 0x01, DrawMode.CLEAR, SysexCMD.END]);
+            return;
+        }
+
+        const data = [DrawMode.BIT];
+        for (let i = 0; i < 7; i++) {
+            let dot = 0;
+            for (let j = 0; j < 7; j++) {
+                const index = (i * 7) + j;
+                dot += (dots[index] == 1) ? 1 << (7 - j - 1) : 0;
+            }
+            data.push(dot);
+        }
+
+        data.unshift(SysexCMD.START, SysexCMD.SET, Instruction.SET_DOTMATRIX, data.length);
+        data.push(SysexCMD.END);
+        this._sendBuffer.push(data);
+    }
+
+    _clearDotMatrix () {
+        this._setDotMatrix({type: 'all', dots: this._defaultDots()});
+    }
+
+    _defaultDots () {
+        const length = 7 * 7;
+        let dots = '';
+        for (let i = 0; i < length; i++) {
+            dots += 0;
+        }
+        return dots;
+    }
+
+    /**
+     * dotMatrix ���ڿ� ������ ���� number array�� ��ȯ �ϴ� �Լ�
+     * @param {string} data 0 �Ǵ� 1�� �̷���� ���ڿ� (ex=>'00101001111~')
+     * @returns {Array.<number>} 
+     */
+    _toDots (data) {
+        let dots = [];
+        const length = 7 * 7;
+        if (!data || data.length <= 0) {
+            for (let i = 0; i < length; i++) {
+                dots.push(0);
+            }
+            return dots;
+        }
+
+        for (let i = 0; i < length; i++) {
+            const dot = data[i];
+            if (dot == '1') {
+                dots.push(1);
+            } else {
+                dots.push(0);
+            }
+        }
+        return dots;
+    }
+
+    _playSounds (num) {
+        num = Math.max(0, Math.min(127, num)) & 0x7F;
+        this._sendBuffer.push([
+            SysexCMD.START, SysexCMD.SET, Instruction.SET_OUTPUT_WRITE,
+            0x03, // legnth
+            0x00, // default
+            0x02, // sound
+            num,  // sound number
+            SysexCMD.END]);
+    }
+
+    /**
+     * �ǿ��� ���� �Ҹ� ���� �Լ�
+     * @param {number} pin [2, 15]
+     * @param {number} note
+     * @param {number} duration
+     */
+    _setPiezoBuzzer (note, duration) {
+        if (typeof note === 'number') {
+            const max = Object.keys(Frequency).length;
+            note = Math.min(max, Math.max(0, note));
+        } else {
+            note = 0;
+        }
+        duration = (typeof duration === 'number') ? duration = Math.max(0, duration) : 0;
+
+        const obj = this.state.tx.piezo;
+        if (Object.entries(obj).toString() === Object.entries({note, duration}).toString()) return;
+        else {
+            obj.note = note;
+            obj.duration = duration;
+        }
+
+        let frequency = Math.round(Frequency[note]);
+        let frequencies = [(frequency & 0xFF), ((frequency >> 8) & 0xFF)];
+
+        const frequencyMsb = (frequencies[0] >> 7) & 0x01;
+        frequencies[0] = frequencies[0] & 0x7F;
+        frequencies[1] = ((frequencies[1] << 1) + frequencyMsb) & 0x7F;
+
+        const msec = duration * 1000;
+        let durations = [(msec & 0xFF), ((msec >> 8) & 0xFF)];
+
+        const durationMsb = (durations[0] >> 7) & 0x01;
+        durations[0] = durations[0] & 0x7F;
+        durations[1] = ((durations[1] << 1) + durationMsb) & 0x7F;
+
+        this._sendBuffer.push([
+            SysexCMD.START, SysexCMD.SET, Instruction.SET_OUTPUT_WRITE,
+            0x07, //length
+            0x00,
+            0x01, // buzzer: 1
+            0x00, // on: 0, off: 1
+            frequencies[0],
+            frequencies[1],
+            durations[0],
+            durations[1],
+            SysexCMD.END
+        ]);
+
+        // 0�� ����� �ݺ��� �ǹ̰� �����Ƿ� ����
+        if (duration === 0) return;
+        // ���� ���Ƶ� �ݺ������� �����ϱ� ���Ͽ� ��� �� �ʱ�ȭ
+        const reset = setTimeout(() => {
+            const obj = this.state.tx.piezo;
+            if (Object.entries(obj).toString() === Object.entries({note, duration}).toString()) {
+                obj.note = null;
+                obj.duration = null;
+                clearTimeout(reset);
+            }
+        }, msec * 0.8);
+    }
+
+    /**
+     * ������: 0, ���� ����:2, ������ ����: 3
+     * @param {any} sensor
+     */
+    _setSensorMode (sensor = 0) {
+        if (this.state.tx.sensorMode === sensor) return;
+        this.state.tx.sensorMode = sensor;
+
+        this._sendBuffer.push([
+            SysexCMD.START, SysexCMD.SET, Instruction.SET_SENSOR_MODE,
+            0x01, // length
+            Math.max(0, Math.min(127, sensor)) & 0x7F,
+            SysexCMD.END
+        ]);
+    }
+
+    _getProximitySensorValue () {
+        const value = this.state.rx.proximity;
+        let result = 0; // not detected
+        if (value >= 255) {
+            result = 0;
+        } else if (value >= 115) {
+            result = 1;
+        } else if (value >= 50) {
+            result = 2;
+        } else if (value >= 30) {
+            result = 3;
+        } else if (value >= 15) {
+            result = 4;
+        } else if (value >= 8) {
+            result = 5;
+        } else {
+            result = 6;
+        }
+        return result;
+    }
+
+    /**
+     * ���̷� ���� ���� ���� �ʱ�ȭ �Լ�
+     * @override
+     * @param {number} type
+     */
+    _resetGyroSensor (type) {
+        type = Math.max(0, Math.min(7, type)) & 0x0F;
+        this._sendBuffer.push([
+            SysexCMD.START, SysexCMD.SET, Instruction.SET_MODE,
+            0x02, // length
+            0x07, // ���̷� �⺻ �ڼ� 
+            type, // 0: ���� �� ��� �� ����, 1: ���� ������ �ʱ�ȭ
+            SysexCMD.END
+        ]);
+    }
+
+    /**
+     * @override
+     * @param {Array} data
+     */
+    _processSysexCMD_Get (data) {
+        if (data.length < 4) return;
+
+        const length = data[3] + 5;
+        if (data.length < length) return;
+        if (data[length - 1] != 0xF7) {
+            data.splice(0, 1);
+            return;
+        }
+
+        if (data[2] == Instruction.GET_SENSOR && this._processSysexCMD_GetSensor(data)) {
+            data.splice(0, length);
+        } else {
+            super._processSysexCMD_Get(data);
+        }
+    }
+
+    /**
+     * @override
+     * @param {Array} data
+     */
+    _processSysexCMD_GetSensor (data) {
+        switch (data[4]) {
+            case 0x00: {
+                this.state.rx.buttons.g = data[5] == 0;
+            } break;
+            case 0x01: {
+                this.state.rx.buttons.b = data[5] == 0;
+            } break;
+            case 0x02: {
+                this.state.rx.buttons.r = data[5] == 0;
+            } break;
+            case 0x03: {
+                this.state.rx.buttons.y = data[5] == 0;
+            } break;
+            case 0x07: { // gesture
+                this.state.rx.gesture = data[5] + ((data[6] & 0x01) << 7);
+                if (this._resetTimer) {
+                    clearTimeout(this._resetTimer);
+                    this._resetTimer = null;
+                }
+
+                this._resetTimer = setTimeout(() => {
+                    this.state.rx.gesture = 127;
+                    clearTimeout(this._resetTimer);
+                }, 300);
+
+            } break;
+            case 0x08: { // proximity
+                this.state.rx.proximity = data[5] + ((data[6] & 0x01) << 7);
+            } break;
+            case 0x09: {
+                const obj = this.state.rx.gyro;
+                obj.angle.x = (data[5] + ((data[6] & 0x01) << 7)) * ((data[6] >> 4 & 0x01) == 1 ? 1 : -1);
+                obj.angle.y = (data[7] + ((data[8] & 0x01) << 7)) * ((data[8] >> 4 & 0x01) == 1 ? 1 : -1);
+                obj.angle.z = (data[9] + ((data[10] & 0x01) << 7)) * ((data[10] >> 4 & 0x01) == 1 ? 1 : -1);
+
+                obj.gyro.x = (data[11] + ((data[12] & 0x01) << 7)) * ((data[12] >> 4 & 0x01) == 1 ? 1 : -1);
+                obj.gyro.y = (data[13] + ((data[14] & 0x01) << 7)) * ((data[14] >> 4 & 0x01) == 1 ? 1 : -1);
+                obj.gyro.z = (data[15] + ((data[16] & 0x01) << 7)) * ((data[16] >> 4 & 0x01) == 1 ? 1 : -1);
+
+                obj.accel.x = (data[17] & 0x3F) * ((data[17] >> 6 & 0x01) == 1 ? 1 : -1);
+                obj.accel.y = (data[18] & 0x3F) * ((data[18] >> 6 & 0x01) == 1 ? 1 : -1);
+                obj.accel.z = (data[19] & 0x3F) * ((data[19] >> 6 & 0x01) == 1 ? 1 : -1);
+
+                obj.shake = data[20] & 0x01;
+            } break;
+            default:
+                return false;
+        }
+        return true;
+    }
+
+    _toGestureDiectionString () {
+        switch (this.state.rx.gesture) {
+            case 1: return 'RIGHT';
+            case 2: return 'DOWN';
+            case 4: return 'LEFT';
+            case 8: return 'UP';
+            default: return 'NONE';
+        }
+    }
+}
+
+class State {
+    constructor () {
+        this.tx = {
+            /**
+             * 0 �Ǵ� 1�� ���� 7 * 7�� ������ ���ڿ�
+             */
+            dotMatrix: null,
+            /**
+             * {
+             *      note: 0, => �ǹ� ��ȣ
+             *      duration: 0 => ���� �ð�
+             * }
+             */
+            piezo: {
+                note: null,
+                duration: null
+            },
+
+            sensorMode: 0
+        };
+
+        /**
+         * ������ ���� �����Ͽ� ����
+         */
+        this.rx = {
+            gyro: {
+                angle: {
+                    x: 0,
+                    y: 0,
+                    z: 0
+                },
+                gyro: {
+                    x: 0,
+                    y: 0,
+                    z: 0
+                },
+                accel: {
+                    x: 0,
+                    y: 0,
+                    z: 0
+                },
+                shake: 0,
+            },
+
+            gesture: 127,
+
+            proximity: 6,
+            /**
+             * ��ư�� ���ȴ��� ����
+             */
+            buttons: {
+                r: false,
+                g: false,
+                b: false,
+                y: false
+            }
+        };
+    }
+}
+
+module.exports = new Cube();
\ No newline at end of file
diff --git a/app/modules/roborobo_cube.json b/app/modules/roborobo_cube.json
new file mode 100644
index 0000000000..5fafa7f9af
--- /dev/null
+++ b/app/modules/roborobo_cube.json
@@ -0,0 +1,31 @@
+{
+  "id": "100401",
+  "name": {
+    "en": "Cube",
+    "ko": "큐브"
+  },
+  "category": "robot",
+  "platform": [ "win32", "darwin" ],
+  "icon": "roborobo_cube.png",
+  "module": "roborobo_cube.js",
+  "driver": {
+    "win32-ia32": "CH34x_Install_Windows_v3_4/CH34x_Install_Windows_v3_4.EXE",
+    "win32-x64": "CH34x_Install_Windows_v3_4/CH34x_Install_Windows_v3_4.EXE",
+    "darwin-x64": "https://entrylabs.github.io/docs/files/drivers/CH34x_Install_MAC_10_9_AND_ABOVE/CH34x_Install_V1.3.pkg"
+  },
+  "url": "http://www.roborobo.co.kr",
+  "email": "software@roborobo.co.kr",
+  "reconnect": true,
+  "firmware": "roborobo_cube",
+  "firmwareBaudRate": 115200,
+  "tryFlahserNumber": 3,
+  "selectPort": true,
+  "hardware": {
+    "type": "serial",
+    "control": "slave",
+    "duration": 32,
+    "vendor": [ "wch.cn" ],
+    "firmwarecheck": false,
+    "baudRate": 115200
+  }
+}
\ No newline at end of file
diff --git a/app/modules/roborobo_cube.png b/app/modules/roborobo_cube.png
new file mode 100644
index 0000000000..0fcb9e828a
Binary files /dev/null and b/app/modules/roborobo_cube.png differ
diff --git a/app/modules/roborobo_robokit_rs.js b/app/modules/roborobo_robokit_rs.js
index 9a4381ac79..b1365df986 100644
--- a/app/modules/roborobo_robokit_rs.js
+++ b/app/modules/roborobo_robokit_rs.js
@@ -1,19 +1,13 @@
 const {
     ArduinoBase,
     ArduinoStateBase,
+    // protocol
     PinMode,
     SysexCMD,
-    Instruction
+    Instruction,
+    DrawMode
 } = require('./roborobo_base');
 
-const DrawMode = {
-    BIT: 0x00,
-    POINT: 0x01,
-    SIGN: 0x02,
-    STRING: 0x03,
-    SCROLLDRAW: 0x04,
-    CLEAR: 0x07
-}
 
 class RobokitRS extends ArduinoBase {
     constructor () {
@@ -33,6 +27,9 @@ class RobokitRS extends ArduinoBase {
 
     reset () {
         super.reset();
+
+        this._sendBuffer.push(this._getResetDeviceCommand());
+        this._sendBuffer.push(this._getDigitalPinEnableCommand());
     }
 
     requestInitialData () {
@@ -55,6 +52,9 @@ class RobokitRS extends ArduinoBase {
         super.handleLocalData(data);
     }
 
+    /**
+     * @override
+     */
     requestRemoteData (handler) {
         super.requestRemoteData(handler);
 
@@ -225,6 +225,57 @@ class RobokitRS extends ArduinoBase {
         direction = Math.max(0, Math.min(7, direction)) & 0x0F;
         this._sendBuffer.push([SysexCMD.START, SysexCMD.SET, Instruction.SET_MODE, 0x02, 0x07, direction, SysexCMD.END]);
     }
+
+    /**
+    * @override
+    * @param {Array} data
+    */
+    _processSysexCMD_Get (data) {
+        if (data.length < 4) return;
+
+        const length = data[3] + 5;
+        if (data.length < length) return;
+        if (data[length - 1] != 0xF7) {
+            data.splice(0, 1);
+            return;
+        }
+
+        if (data[2] == Instruction.GET_SENSOR && this._processSysexCMD_GetSensor(data)) {
+            data.splice(0, length);
+        } else {
+            super._processSysexCMD_Get(data);
+        }
+    }
+
+    /**
+     * @override
+     * @param {Array} data
+     */
+    _processSysexCMD_GetSensor (data) {
+        switch (data[4]) {
+            // ���̷� ���� ���� ���� ��
+            // this.readData[4] => device id, gyro => 0x09
+            case 0x09: {
+                const obj = this.state.rx.gyro;
+                obj.angle.x = (data[5] + ((data[6] & 0x01) << 7)) * ((data[6] >> 4 & 0x01) == 1 ? -1 : 1);
+                obj.angle.y = (data[7] + ((data[8] & 0x01) << 7)) * ((data[8] >> 4 & 0x01) == 1 ? -1 : 1);
+                obj.angle.z = (data[9] + ((data[10] & 0x01) << 7)) * ((data[10] >> 4 & 0x01) == 1 ? -1 : 1);
+
+                obj.gyro.x = (data[11] + ((data[12] & 0x01) << 7)) * ((data[12] >> 4 & 0x01) == 1 ? -1 : 1);
+                obj.gyro.y = (data[13] + ((data[14] & 0x01) << 7)) * ((data[14] >> 4 & 0x01) == 1 ? -1 : 1);
+                obj.gyro.z = (data[15] + ((data[16] & 0x01) << 7)) * ((data[16] >> 4 & 0x01) == 1 ? -1 : 1);
+
+                obj.accel.x = (data[17] & 0x3F) * ((data[17] >> 6 & 0x01) == 1 ? -1 : 1);
+                obj.accel.y = (data[18] & 0x3F) * ((data[18] >> 6 & 0x01) == 1 ? -1 : 1);
+                obj.accel.z = (data[19] & 0x3F) * ((data[19] >> 6 & 0x01) == 1 ? -1 : 1);
+
+                obj.shake = data[20] & 0x01;
+            } break;
+            default:
+                return false;
+        }
+        return true;
+    }
 }
 
 class State extends ArduinoStateBase {
@@ -251,6 +302,11 @@ class State extends ArduinoStateBase {
                 y: 0,
                 z: 0
             },
+            accel: {
+                x: 0,
+                y: 0,
+                z: 0
+            },
             shake: 0,
         }
     }
diff --git a/app/modules/roborobo_robokit_rs.json b/app/modules/roborobo_robokit_rs.json
index bf3f64794c..2bf3f1f4cc 100644
--- a/app/modules/roborobo_robokit_rs.json
+++ b/app/modules/roborobo_robokit_rs.json
@@ -19,7 +19,7 @@
   "firmware": "roborobo_robokit_rs",
   "firmwareBaudRate": 115200,
   "tryFlahserNumber": 3,
-  "select_com_port": true,
+  "selectPort": true,
   "hardware": {
     "type": "serial",
     "control": "slave",
diff --git a/app/modules/roborobo_roduino.js b/app/modules/roborobo_roduino.js
index 0302bfc5bc..bc46322f57 100644
--- a/app/modules/roborobo_roduino.js
+++ b/app/modules/roborobo_roduino.js
@@ -1,6 +1,7 @@
 const {
     ArduinoBase,
     ArduinoStateBase,
+    // protocol
     PinMode,
     FirmataCMD
 } = require('./roborobo_base');
@@ -23,10 +24,13 @@ class Roduino extends ArduinoBase {
 
     reset () {
         super.reset();
+
+        this._sendBuffer.push(this._getResetDeviceCommand());
+        this._sendBuffer.push(this._getDigitalPinEnableCommand());
     }
 
     requestInitialData () {
-        return super.requestInitialData();
+        return this.getRequestAllVersionCommand();
     }
 
     checkInitialData (data, config) {
@@ -37,32 +41,17 @@ class Roduino extends ArduinoBase {
         return super.validateLocalData(data);
     }
 
-    /**
-     * @override
-     */
     requestLocalData () {
-        const buffer = [];
-        for (let i = 0; i < this._sendBuffer.length; i++) {
-            const bytes = this._sendBuffer.shift();
-            if (bytes && bytes.length > 0) {
-                buffer.push(...bytes);
-            }
-        }
-
-        //  ���� ���� ���� 
-        const time = Date.now() - this._lastTime;
-        if (time >= 3000) {
-            this._serialPort.close();
-        } else if (time >= 1000) {
-            buffer.push(...this.getRequestAllVersionCommand());
-        }
-        return buffer;
+        return super.requestLocalData();
     }
 
     handleLocalData (data) {
         super.handleLocalData(data);
     }
 
+    /**
+     * @override
+     */
     requestRemoteData (handler) {
         super.requestRemoteData(handler);
 
@@ -87,15 +76,11 @@ class Roduino extends ArduinoBase {
         super.execute(command, data);
     }
 
-    _getRequestFirmataVersion () {
-        return [FirmataCMD.GET_VERSION, 0xF0, 0x79, 0xF7];
-    }
-
     /**
      * @override
      */
     get targetVersion () {
-        return {model: 1, hardware: 1, firmware: 2}
+        return {model: 1, hardware: 1, firmware: 2};
     }
 
     /**
diff --git a/app/modules/roborobo_roduino.json b/app/modules/roborobo_roduino.json
index ca016c1e85..222ab62aa6 100644
--- a/app/modules/roborobo_roduino.json
+++ b/app/modules/roborobo_roduino.json
@@ -20,7 +20,7 @@
   "firmware": "roborobo_roduino",
   "firmwareBaudRate": 115200,
   "tryFlahserNumber": 3,
-  "select_com_port": true,
+  "selectPort": true,
   "hardware": {
     "type": "serial",
     "control": "slave",
diff --git a/app/modules/roborobo_roe.js b/app/modules/roborobo_roe.js
index 2eb8bf15f9..e27aa0b73d 100644
--- a/app/modules/roborobo_roe.js
+++ b/app/modules/roborobo_roe.js
@@ -1,369 +1,622 @@
-function Module() {
-    this.OUTPUT_INST = {
-        MOTOR: 0x05,
-        OUTPUT: 0x0a,
-    };
-
-    this.OUTPUT_TYPE = {
-        LED: 0,
-        MELODY: 1,
-    };
-
-    this.INPUT_INST = 0x02;
-    this.INPUT_TYPE = {
-        LEFT_COLOR: 0,
-        RIGHT_COLOR: 1,
-        IR: 2,
-        SWITCH: 3,
-    };
-
-    this.MOTOR_DATA = {
-        RUN: 0b01000000,
-        STOP: 0b00000000,
-        CW: 0b00000000,
-        CCW: 0b00010000,
-        CHANNEL: {
-            MOTOR1: 0b00000000,
-            MOTOR2: 0b00000100,
-        },
-    };
-
-    this.MOTOR_MOVEMENT = {
-        STOP: 0,
-        CW: 1,
-        CCW: 2,
-    };
-
-    this.LED_COLOR = {
-        0: [ 0x00, 0x00, 0x00, 0x00 ],  // off
-        1: [ 0x7f, 0x00, 0x00, 0x01 ],  //red
-        2: [ 0x7f, 0x7f, 0x00, 0x01 ],  // orange
-        3: [ 0x00, 0x7f, 0x00, 0x03 ],  // yellow
-        4: [ 0x10, 0x50, 0x00, 0x02 ],  // yellowgreen
-        5: [ 0x00, 0x7f, 0x00, 0x02 ],  // green
-        6: [ 0x00, 0x58, 0x7f, 0x06 ],  // skyblue
-        7: [ 0x00, 0x00, 0x7f, 0x04 ],  // blue
-        8: [ 0x5f, 0x00, 0x7f, 0x05 ],  // purple
-        9: [ 0x7f, 0x33, 0x19, 0x05 ],  // pink
-        10: [ 0x7f, 0x7f, 0x7f, 0x02 ], // white
-    };
-
-    this.TONE_TABLE = {
-        1: [ 261, 293, 329, 349, 392, 440, 493 ],
-        2: [ 523, 587, 659, 698, 783, 880, 987 ],
-        3: [ 1046, 1175, 1319, 1397, 1568, 1760, 1976 ],
-        4: [ 2093, 2349, 2637, 2794, 3136, 3520, 3951 ],
-    };
-
-    this.sensorData = {
-        LeftColor: 0,
-        RightColor: 0,
-        IR: 0,
-        Switch : 0,
-    };
-
-    this.outputData = {
-        LED: {
-            value: 0,
-            isChange: false,
-        },
-        Melody: {
-            octave: 0,
-            note: 0,
-            duration: 0,
-            isChange: false,
-        },
-        LeftMotor: {
-            value: 0,
-            direction: 0,
-            isChange: false,
-        },
-        RightMotor: {
-            value: 0,
-            direction: 0,
-            isChange: false,
-        },
-    };
-
-    this.VERSION_CHECK = [ 0xf0, 0x01, 0x7f, 0x00, 0xf7 ];
-    this.ROE_MODE = [ 0xf0, 0x00, 0x7d, 0x01, 0x00, 0xf7 ];
-    this.STOP_ROE = [ 0xf0, 0x00, 0x7d, 0x01, 0x05, 0xf7 ];
-    this.CONNECTION_SOUND = [ 0xf0, 0x00, 0x0a, 0x03, 0x00, 0x02, 0x01, 0xf7 ];
-    this.HEADER = 0xf0;
-    this.SET = 0x00;
-    this.GET = 0x01;
-    this.ON = 0x00;
-    this.OFF = 0x01;
-    this.DUMMY = 0x00;
-    this.END = 0xf7;
-
-    this.isConnecting = false;
-    this.isConnected = false;
-    this.isRequest = false;
-    this.requestData = [];
-    this.debugFlag =false;
-}
-/*
-  최초에 커넥션이 이루어진 후의 초기 설정.
-  handler 는 워크스페이스와 통신하 데이터를 json 화 하는 오브젝트입니다. (datahandler/json 참고)
-  config 은 module.json 오브젝트입니다.
-*/
-Module.prototype.init = function (handler, config) {};
-
-/*
-  연결 후 초기에 송신할 데이터가 필요한 경우 사용합니다.
-  requestInitialData 를 사용한 경우 checkInitialData 가 필수입니다.
-  이 두 함수가 정의되어있어야 로직이 동작합니다. 필요없으면 작성하지 않아도 됩니다.
-*/
-Module.prototype.requestInitialData = function () {
-    this.isConnecting = false;
-    this.isConnected = false;
-    return this.VERSION_CHECK;
+const {
+    ArduinoBase,
+    // protocol
+    SysexCMD,
+    Instruction,
+    Frequency,
+    // define
+    THREAD_STEP_INTERVAL,
+    THREAD_STEP_INTERVAL_COMPATIBILITY,
+    // util
+    Sleep
+} = require('./roborobo_base');
+
+const ColorNumber = {
+    RED: 1,
+    ORANGE: 2,
+    YELLOW: 3,
+    YELLOWGREEN: 7,
+    GREEN: 4,
+    SKYBLUE: 8,
+    BLUE: 5,
+    PURPLE: 6,
+    PINK: 9,
+    BLACK: 10,
+    WHITE: 11,
+    NONE: 127
 };
 
-// 연결 후 초기에 수신받아서 정상연결인지를 확인해야하는 경우 사용합니다.
-Module.prototype.checkInitialData = function (data, config) {
-    return this.checkConnect(data);
+const ControlMode = {
+    REALTIME: 0x00,
+    CARD: 0x03,
+    STOP: 0x05,
+    CALIBRATION: 0x06,
+    GYRO_DIRECTION: 0x07,
+    LINE_TRACING: 0x08,
+    DISCONNECT: 0x7F
 };
 
-// 주기적으로 하드웨어에서 받은 데이터의 검증이 필요한 경우 사용합니다.
-Module.prototype.validateLocalData = function (data) {
-    return true;
+const Direction = {
+    FORWARD: 'FORWARD',
+    BACKWARD: 'BACKWARD',
+    LEFTWARD: 'LEFTWARD',
+    RIGHTWARD: 'RIGHTWARD',
+    TURNLEFT: 'TURNLEFT',
+    TURNRIGHT: 'TURNRIGHT',
+    STOP: 'STOP',
 };
 
-/*
-  하드웨어 기기에 전달할 데이터를 반환합니다.
-  slave 모드인 경우 duration 속성 간격으로 지속적으로 기기에 요청을 보냅니다.
-*/
-Module.prototype.requestLocalData = function () {
-    this.requestData = [];
-    if(this.isConnecting && !this.isConnected) {
-        this.requestData = this.makeSendData();
-        this.isConnected = true;
+class RoE extends ArduinoBase {
+    constructor () {
+        super();
     }
-    
-    if(this.isRequest) {
-        this.requestData = this.makeSendData();
-        this.isRequest = false;
+
+    /**
+     * @override
+     */
+    newTypedState () {
+        return new State();
     }
-    return this.requestData;
-};
 
-// 하드웨어에서 온 데이터 처리
-Module.prototype.handleLocalData = function (data) {
-    this.parsingData(data);
-};
+    init (handler, config) {
+        super.init(handler, config);
+    }
+
+    /**
+     * @override
+     */
+    reset () {
+        super.reset();
+
+        this._stopLineTracing();
+
+        this._setMode(ControlMode.STOP);
+        this._setMode(ControlMode.REALTIME);
+    }
+
+    requestInitialData () {
+        return super.requestInitialData();
+    }
 
-// 엔트리로 전달할 데이터
-Module.prototype.requestRemoteData = function (handler) {
-    var self = this;
-    if (!self.sensorData) {
-        return;
+    checkInitialData (data, config) {
+        return super.checkInitialData(data, config);
     }
 
-    Object.keys(self.sensorData).forEach(function(key) {
-        if (self.sensorData[key] != undefined) {
-            handler.write(key, self.sensorData[key]);
+    validateLocalData (data) {
+        return super.validateLocalData(data);
+    }
+
+    /**
+     * @override
+     */
+    requestLocalData () {
+        const buffer = [];
+        for (let i = 0; i < this._sendBuffer.length; i++) {
+            const bytes = this._sendBuffer.shift();
+            if (bytes && bytes.length > 0) {
+                buffer.push(...bytes);
+            }
         }
-    });
-};
 
-// 엔트리에서 받은 데이터에 대한 처리
-Module.prototype.handleRemoteData = function (handler) {
-    var ledValue = handler.read('LED');
-    var melodyValue = handler.read('Melody');
-    var leftMotorValue = handler.read('LeftMotor');
-    var rightMotorValue = handler.read('RightMotor');
+        //  연결 상태 유지 
+        const time = Date.now() - this._lastTime;
+        if (time >= 3000) {
+            this._serialPort.close();
+        } else if (time >= 1000) {
+            buffer.push(...this.getRequestAllVersionCommand());
+        }
+        return buffer;
+    }
+
+    handleLocalData (data) {
+        super.handleLocalData(data);
+    }
 
-    if(this.outputData.LED.value != ledValue) {
-        this.outputData.LED.value = ledValue;
-        this.outputData.LED.isChange = true;
+    /**
+     * @override
+     */
+    requestRemoteData (handler) {
+        handler.write("state", {rx: this.state.rx, isLineTracerRunning: this.state.isLineTracerRunning});
+
+        // 모니터 관련 정보
+        handler.write('sensor_touch', this.state.rx.touch ? 1 : 0);
+        handler.write('sensor_infrared', this.state.rx.infrared ? 1 : 0);
+        handler.write('sensor_color_left', this._toRoEColorString(this.state.rx.colorSensor.left));
+        handler.write('sensor_color_right', this._toRoEColorString(this.state.rx.colorSensor.right));
     }
 
-    if(this.outputData.Melody.octave != melodyValue[0] || this.outputData.Melody.note != melodyValue[1]) {
-        this.outputData.Melody.octave = melodyValue[0];
-        this.outputData.Melody.note = melodyValue[1];
-        this.outputData.Melody.duration = melodyValue[2];
-        this.outputData.Melody.isChange = true;
+    handleRemoteData (handler) {
+        super.handleRemoteData(handler);
     }
 
-    if(this.outputData.LeftMotor.direction != leftMotorValue[0] || this.outputData.LeftMotor.value != leftMotorValue[1]) {
-        this.outputData.LeftMotor.direction = leftMotorValue[0];
-        this.outputData.LeftMotor.value = leftMotorValue[1];
-        this.outputData.LeftMotor.isChange = true;
+    execute (command, data) {
+        switch (command) {
+            case 'reset': {
+                this.reset();
+            } break;
+            case 'setMode': {
+                this._setMode(data.mode);
+            } break;
+            case 'setStepMotor': {
+                const motors = [];
+                const keys = data ? Object.keys(data) : [];
+                keys.forEach(key => motors.push(data[key]));
+                this._setStepMotor(motors);
+            } break;
+            case 'setLineTracingMode': {
+                this._setLineTracingMode(data.mode);
+            } break;
+            case 'stopLineTracing': {
+                this._stopLineTracing();
+            } break;
+            case 'setRgbLedColor': {
+                this._setRgbLedColor(data.color);
+            } break;
+            case 'setPiezoBuzzer': {
+                this._setPiezoBuzzer(data.note, data.duration);
+            } break;
+        }
     }
 
-    if(this.outputData.RightMotor.direction != rightMotorValue[0] || this.outputData.RightMotor.value != rightMotorValue[1]) {
-        this.outputData.RightMotor.direction = rightMotorValue[0];
-        this.outputData.RightMotor.value = rightMotorValue[1];
-        this.outputData.RightMotor.isChange = true;
+    /**
+     * @override
+     */
+    get targetVersion () {
+        return {model: 64, hardware: 1, firmware: 26};
     }
-    this.isRequest = true;
-};
 
-Module.prototype.checkConnect = function (data) {
-    if(data[0] == 0xf0 && data[1] == 0x01 && data[2] == 0x7f && data[4] == 0x40 && data[7] == 0xf7) {
-        if(data.length > 8) {
-            this.parsingData(data);
+    /**
+        * 실시간: 0, 카드리더모드: 3, 정지:5, 컬러보정모드:6, 자이로센서 기본자세:7, 라인트레이싱: 8, 연결해제: 127
+        * @param {any} mode
+        */
+    _setMode (mode) {
+        this._sendBuffer.push([
+            SysexCMD.START, SysexCMD.SET, Instruction.SET_MODE,
+            0x01, // legnth
+            mode & 0x7F, // realtime
+            SysexCMD.END
+        ]);
+    }
+
+    /**
+     * 
+     * @param {any} motors
+     */
+    _setStepMotor (motors) {
+        const isEqual = function () {
+            let ret = true;
+            for (let i = 0; i < motors.length; i++) {
+                const m = motors[i];
+                if (!m) {
+                    ret = false;
+                    break;
+                }
+
+                const obj = this.state.getTxStepMotor(i);
+                ret &= (Object.entries(obj).toString() === Object.entries(m).toString());
+            }
+            return ret;
+        }.bind(this);
+
+        if (isEqual()) return;
+
+        const data = [];
+        for (let i = 0; i < motors.length; i++) {
+            const m = motors[i];
+            if (!m) continue;
+
+            const obj = this.state.getTxStepMotor(i);
+            const isInfinity = m.distance === undefined || m.distance === null;
+
+            obj.motor = m.motor;
+            obj.distance = isInfinity ? null : Math.max(0, Math.min(m.distance, 255));
+            obj.state = m.state;
+
+            m.distance = isInfinity ? 0 : Math.max(0, Math.min(m.distance, 255));
+            data.push(m.state > 0 ? m.distance & 0x7F : 0);
+
+            const distanceMsb = (m.distance >> 7) & 0x01;
+            const num = ((m.motor - 1) & 0x01) << 2;
+            const state = ((Math.max(1, m.state) - 1) & 0x01) << 4;
+            const speed = 0x00 << 5;
+            const infinity = (m.state > 0 && isInfinity ? 1 : 0) << 6;
+            data.push((infinity + speed + state + num + distanceMsb) & 0x7F);
+
+            if (isInfinity) continue;
+            const reset = setTimeout(() => {
+                if (Object.entries(obj).toString() === Object.entries(m).toString()) {
+                    obj.motor = null;
+                    obj.distance = null;
+                    obj.state = null;
+                    clearTimeout(reset);
+                }
+            }, m.distance);
+        }
+
+        if (data.length > 0) {
+            data.unshift(SysexCMD.START, SysexCMD.SET, Instruction.SET_STEP_MOTOR, data.length);
+            data.push(SysexCMD.END);
+            this._sendBuffer.push(data);
         }
-        this.isConnecting = true;
-        return true;
-    } else {
-        return false;
     }
-};
 
-Module.prototype.parsingData = function(data) {
-    var count = 0;
-    var instruction = 0;
-    var length = 0;
-    while(count < data.length) {
-        if(data[count++] == this.HEADER) {
-            if (data[count++] == this.GET) {
-                instruction = data[count++];
-                length = data[count++];
-                if(instruction == this.INPUT_INST && data[count + length] == this.END) {
-                    for(var i = 0; i < length; i += 3) {
-                        if(data[count + i] == this.INPUT_TYPE.LEFT_COLOR) {
-                            this.sensorData.LeftColor = data[count + i + 1];
-                        } else if(data[count + i] == this.INPUT_TYPE.RIGHT_COLOR) {
-                            this.sensorData.RightColor = data[count + i + 1];
-                        } else if(data[count + i] == this.INPUT_TYPE.IR) {
-                            this.sensorData.IR = data[count + i + 1];
-                        } else if(data[count + i] == this.INPUT_TYPE.SWITCH) {
-                            this.sensorData.Switch = data[count + i + 1];
+    _setLineTracingMode (mode) {
+        if (!this._lineTracer) {
+            this.state.isLineTracerRunning = true;
+            return this._lineTracer = this._startLineTracing(mode)
+                .then(() => {
+                    this._lineTracer = null;
+                    this.state.isLineTracerRunning = false;
+                })
+                .catch(() => {
+                    this._lineTracer = null;
+                    this.state.isLineTracerRunning = false;
+                });
+        }
+    }
+
+    _startLineTracing (mode) {
+        this._isLineTracerInterrupt = false;
+        const isEquals = function (v1, v2, v3, v4) {
+            let result = true;
+            result &= (typeof v1 !== undefined && v1 === v2);
+            result &= (typeof v3 !== undefined && v3 === v4);
+            return result;
+        };
+
+        const color = this.state.rx.colorSensor;
+        const defaultDelay = THREAD_STEP_INTERVAL_COMPATIBILITY;
+        const isCurveMode = mode === 'curve';
+
+        let delay = defaultDelay;
+        let dir = Direction.STOP;
+        let prevDir = Direction.STOP;
+        let prevTurn = Direction.TURNLEFT;
+
+        return new Promise(async (resolve, reject) => {
+            this._setMode(ControlMode.LINE_TRACING);
+            this._setStepMotor(this._getMotorsData(Direction.FORWARD));
+            while (!this._isLineTracerInterrupt) {
+                if (!isCurveMode) {
+                    if (isEquals(color.left, ColorNumber.GREEN, color.right, ColorNumber.GREEN)) {
+                        this._setStepMotor(this._getMotorsData(Direction.FORWARD));
+                        await Sleep(500);
+                    } else if (isEquals(color.left, ColorNumber.RED, color.right, ColorNumber.RED)) {
+                        this._setStepMotor(this._getMotorsData(Direction.BACKWARD));
+                        await Sleep(500);
+                    } else if (isEquals(color.left, ColorNumber.YELLOW, color.right, ColorNumber.YELLOW)) {
+                        this._setStepMotor(this._getMotorsData(Direction.FORWARD));
+                        await Sleep(500);
+                        this._setStepMotor(this._getMotorsData(Direction.TURNLEFT));
+                        await Sleep(700);
+                    } else if (isEquals(color.left, ColorNumber.BLUE, color.right, ColorNumber.BLUE)) {
+                        this._setStepMotor(this._getMotorsData(Direction.FORWARD));
+                        await Sleep(500);
+                        this._setStepMotor(this._getMotorsData(Direction.TURNRIGHT));
+                        await Sleep(700);
+                    }
+                }
+
+                dir = Direction.STOP;
+                delay = defaultDelay;
+
+                if (isEquals(color.left, ColorNumber.PINK, color.right, ColorNumber.PINK)) {
+                    this._setStepMotor(this._getMotorsData(dir = Direction.STOP));
+                    this._isLineTracerInterrupt = true;
+                    return resolve();
+                } else if (isEquals(color.left, ColorNumber.BLACK, color.right, ColorNumber.BLACK)) {
+                    if (isCurveMode && isEquals(prevTurn, Direction.RIGHTWARD)) {
+                        dir = Direction.TURNLEFT;
+                        prevTurn = Direction.STOP;
+                        delay = 500;
+                    } else {
+                        dir = Direction.FORWARD;
+                    }
+                } else if (isEquals(color.left, ColorNumber.BLACK)) {
+                    dir = Direction.LEFTWARD;
+                    prevTurn = dir;
+                } else if (isEquals(color.right, ColorNumber.BLACK)) {
+                    dir = Direction.RIGHTWARD;
+                    prevTurn = dir;
+                } else {
+                    if (this.state.rx.infrared) {
+                        if (isEquals(prevDir, Direction.FORWARD) || isEquals(prevDir, Direction.LEFTWARD) || isEquals(prevDir, Direction.RIGHTWARD)) {
+                            dir = prevDir;
+                        } else {
+                            dir = Direction.FORWARD;
+                        }
+                    } else {
+                        if (isEquals(prevDir, Direction.FORWARD)) {
+                            dir = prevDir;
+                        } else {
+                            dir = Direction.FORWARD;
                         }
                     }
-                    count = count + length;
                 }
+
+                this._setStepMotor(this._getMotorsData(dir));
+                prevDir = dir;
+                await Sleep(delay);
             }
+            return resolve();
+        }).then(() => {
+            this._setStepMotor(this._getMotorsData(Direction.STOP));
+            this._setMode(ControlMode.REALTIME);
+        }).catch(() => {
+            this._setStepMotor(this._getMotorsData(Direction.STOP));
+            this._setMode(ControlMode.REALTIME);
+        });
+    }
+
+    _getMotorsData (direction) {
+        switch (direction) {
+            case Direction.FORWARD: return [{motor: 1, state: 2}, {motor: 2, state: 1}];
+            case Direction.BACKWARD: return [{motor: 1, state: 1}, {motor: 2, state: 2}];
+            case Direction.LEFTWARD: return [{motor: 1, state: 0}, {motor: 2, distance: 45, state: 1}];
+            case Direction.RIGHTWARD: return [{motor: 1, distance: 45, state: 2}, {motor: 2, state: 0}];
+            case Direction.TURNLEFT: return [{motor: 1, distance: 90, state: 1}, {motor: 2, distance: 90, state: 1}];
+            case Direction.TURNRIGHT: return [{motor: 1, distance: 90, state: 2}, {motor: 2, distance: 90, state: 2}];
+            default: return [{motor: 1, distance: 0, state: 0}, {motor: 2, distance: 0, state: 0}];
         }
     }
-};
 
-Module.prototype.makeSendData = function() {
-    var buffer = [];  
-    if(!this.isConnected) {
-        buffer = buffer.concat(this.CONNECTION_SOUND, this.ROE_MODE, this.STOP_ROE);
-    } else {
-        if(this.outputData.LED.isChange) {
-            buffer.push(this.HEADER);
-            buffer.push(this.SET);
-            buffer.push(this.OUTPUT_INST.OUTPUT);
-            buffer.push(0x06);
-            buffer.push(this.DUMMY);
-            buffer.push(this.OUTPUT_TYPE.LED);
-            buffer = buffer.concat(this.LED_COLOR[this.outputData.LED.value]);
-            buffer.push(this.END);
-            this.outputData.LED.isChange = false;
+    _stopLineTracing () {
+        if (this._lineTracer) {
+            this._isLineTracerInterrupt = true;
+            return new Promise(async resolve => {
+                while (this._lineTracer) {
+                    await Sleep(THREAD_STEP_INTERVAL);
+                }
+                resolve();
+            });
         }
+    }
 
-        if(this.outputData.Melody.isChange) {
-            var octave = this.outputData.Melody.octave > 0 ? this.TONE_TABLE[this.outputData.Melody.octave - 3] : 0;
-            var note = this.outputData.Melody.note > 0 ? octave[this.outputData.Melody.note] - 1 : 0;
-            var duration = this.outputData.Melody.duration;
-
-            buffer.push(this.HEADER);
-            buffer.push(this.SET);
-            buffer.push(this.OUTPUT_INST.OUTPUT);
-            buffer.push(0x07);
-            buffer.push(this.DUMMY);
-            buffer.push(this.OUTPUT_TYPE.MELODY);
-            buffer.push(this.ON);
-            buffer.push(note % 128);
-            buffer.push(note / 128);
-            buffer.push(duration % 128);
-            buffer.push(duration / 128);
-            buffer.push(this.END);
-            this.outputData.Melody.isChange = false;
+    /**
+    * RGB LED 색상, 밝기 제어 함수
+    * @param {{r: number[0, 255], g: number[0, 255], b: number[0, 255], a: number[0, 100]}} color
+    */
+    _setRgbLedColor (color) {
+        if (!color) {
+            color = {r: 0, g: 0, b: 0};
+        } else {
+            color.r = (typeof color.r === 'number') ? Math.min(255, Math.max(0, color.r)) : 0;
+            color.g = (typeof color.g === 'number') ? Math.min(255, Math.max(0, color.g)) : 0;
+            color.b = (typeof color.b === 'number') ? Math.min(255, Math.max(0, color.b)) : 0;
         }
 
-        if(this.outputData.LeftMotor.isChange && this.outputData.RightMotor.isChange) {
-            buffer.push(this.HEADER);
-            buffer.push(this.SET);
-            buffer.push(this.OUTPUT_INST.MOTOR);
-            buffer.push(0x04);
-            switch(this.outputData.LeftMotor.direction) {
-                case this.MOTOR_MOVEMENT.STOP:
-                    buffer.push(this.outputData.LeftMotor.value);
-                    buffer.push(this.MOTOR_DATA.STOP | this.MOTOR_DATA.MOTOR1);
-                    break;
-                case this.MOTOR_MOVEMENT.CW:
-                    buffer.push(this.outputData.LeftMotor.value);
-                    buffer.push(this.MOTOR_DATA.RUN | this.MOTOR_DATA.CW | this.MOTOR_DATA.CHANNEL.MOTOR1);
-                    break;
-                case this.MOTOR_MOVEMENT.CCW:
-                    buffer.push(this.outputData.LeftMotor.value);
-                    buffer.push(this.MOTOR_DATA.RUN | this.MOTOR_DATA.CCW | this.MOTOR_DATA.CHANNEL.MOTOR1);
-                    break;
-            }
+        const obj = this.state.tx.rgbLed;
+        if (Object.entries(obj).toString() === Object.entries(color).toString()) return;
+        else {
+            obj.r = color.r;
+            obj.g = color.g;
+            obj.b = color.b;
+        }
 
-            switch(this.outputData.RightMotor.direction) {
-                case this.MOTOR_MOVEMENT.STOP:
-                    buffer.push(this.outputData.RightMotor.value);
-                    buffer.push(this.MOTOR_DATA.STOP | this.MOTOR_DATA.MOTOR2);
-                    break;
-                case this.MOTOR_MOVEMENT.CW:
-                    buffer.push(this.outputData.RightMotor.value);
-                    buffer.push(this.MOTOR_DATA.RUN | this.MOTOR_DATA.CW | this.MOTOR_DATA.CHANNEL.MOTOR2);
-                    break;
-                case this.MOTOR_MOVEMENT.CCW:
-                    buffer.push(this.outputData.RightMotor.value);
-                    buffer.push(this.MOTOR_DATA.RUN | this.MOTOR_DATA.CCW | this.MOTOR_DATA.CHANNEL.MOTOR2);
-                    break;
-            }
-            buffer.push(this.END);
-            this.outputData.LeftMotor.isChange = false;
-            this.outputData.RightMotor.isChange = false;
+        const rMsb = (color.r >> 7) & 0x01;
+        const gMsb = ((color.g >> 7) & 0x01) << 1;
+        const bMsb = ((color.b >> 7) & 0x01) << 2;
+
+        this._sendBuffer.push([
+            SysexCMD.START, SysexCMD.SET, Instruction.SET_OUTPUT_WRITE,
+            0x06, // legnth
+            0x00, // default
+            0x00, // led
+            color.r & 0x7F, // realtime
+            color.g & 0x7F, // realtime
+            color.b & 0x7F, // realtime
+            (rMsb + gMsb + bMsb) & 0x7F,
+            SysexCMD.END
+        ]);
+    }
+
+    _playSounds (num) {
+        if (!this.isRealtimeAvailable) return;
+
+        num = Math.max(0, Math.min(127, num)) & 0x7F;
+        this._sendBuffer.push([
+            SysexCMD.START, SysexCMD.SET, Instruction.SET_OUTPUT_WRITE,
+            0x03, // legnth
+            0x00, // default
+            0x02, // sound
+            num,  // sound number
+            SysexCMD.END
+        ]);
+    }
+
+    /**
+    * 피에조 버저 소리 제어 함수
+    * @param {number} pin [2, 15]
+    * @param {number} note
+    * @param {number} duration
+    */
+    _setPiezoBuzzer (note, duration) {
+        if (typeof note === 'number') {
+            const max = Object.keys(Frequency).length;
+            note = Math.min(max, Math.max(0, note));
+        } else {
+            note = 0;
         }
+        duration = (typeof duration === 'number') ? duration = Math.max(0, duration) : 0;
 
-        if(this.outputData.LeftMotor.isChange) {
-            buffer.push(this.HEADER);
-            buffer.push(this.SET);
-            buffer.push(this.OUTPUT_INST.MOTOR);
-            buffer.push(0x02);
-            switch(this.outputData.LeftMotor.direction) {
-                case this.MOTOR_MOVEMENT.STOP:
-                    buffer.push(this.outputData.LeftMotor.value);
-                    buffer.push(this.MOTOR_DATA.STOP | this.MOTOR_DATA.MOTOR1);
-                    break;
-                case this.MOTOR_MOVEMENT.CW:
-                    buffer.push(this.outputData.LeftMotor.value);
-                    buffer.push(this.MOTOR_DATA.RUN | this.MOTOR_DATA.CW | this.MOTOR_DATA.CHANNEL.MOTOR1);
-                    break;
-                case this.MOTOR_MOVEMENT.CCW:
-                    buffer.push(this.outputData.LeftMotor.value);
-                    buffer.push(this.MOTOR_DATA.RUN | this.MOTOR_DATA.CCW | this.MOTOR_DATA.CHANNEL.MOTOR1);
-                    break;
+        const obj = this.state.tx.piezo;
+        if (Object.entries(obj).toString() === Object.entries({note, duration}).toString()) return;
+        else {
+            obj.note = note;
+            obj.duration = duration;
+        }
+
+        let frequency = Math.round(Frequency[note]);
+        let frequencies = [(frequency & 0xFF), ((frequency >> 8) & 0xFF)];
+
+        const frequencyMsb = (frequencies[0] >> 7) & 0x01;
+        frequencies[0] = frequencies[0] & 0x7F;
+        frequencies[1] = ((frequencies[1] << 1) + frequencyMsb) & 0x7F;
+
+        const msec = duration * 1000;
+        let durations = [(msec & 0xFF), ((msec >> 8) & 0xFF)];
+
+        const durationMsb = (durations[0] >> 7) & 0x01;
+        durations[0] = durations[0] & 0x7F;
+        durations[1] = ((durations[1] << 1) + durationMsb) & 0x7F;
+
+        this._sendBuffer.push([
+            SysexCMD.START, SysexCMD.SET, Instruction.SET_OUTPUT_WRITE,
+            0x07, //length
+            0x00,
+            0x01, // buzzer: 1
+            0x00, // on: 0, off: 1
+            frequencies[0],
+            frequencies[1],
+            durations[0],
+            durations[1],
+            SysexCMD.END
+        ]);
+
+        // 0초 재생은 반복할 의미가 없으므로 리턴
+        if (duration === 0) return;
+        // 음이 같아도 반복적으로 동작하기 위하여 출력 후 초기화
+        const reset = setTimeout(() => {
+            const obj = this.state.tx.piezo;
+            if (Object.entries(obj).toString() === Object.entries({note, duration}).toString()) {
+                obj.note = null;
+                obj.duration = null;
+                clearTimeout(reset);
             }
-            buffer.push(this.END);
-            this.outputData.LeftMotor.isChange = false;
+        }, msec * 0.8);
+    }
+
+    /**
+     * @override
+     * @param {Array} data
+     */
+    _processSysexCMD_Get (data) {
+        if (data.length < 4) return;
+
+        const length = data[3] + 5;
+        if (data.length < length) return;
+        if (data[length - 1] != 0xF7) {
+            data.splice(0, 1);
+            return;
         }
 
-        if(this.outputData.RightMotor.isChange) {
-            buffer.push(this.HEADER);
-            buffer.push(this.SET);
-            buffer.push(this.OUTPUT_INST.MOTOR);
-            buffer.push(0x02);
-            switch(this.outputData.RightMotor.direction) {
-                case this.MOTOR_MOVEMENT.STOP:
-                    buffer.push(this.outputData.RightMotor.value);
-                    buffer.push(this.MOTOR_DATA.STOP | this.MOTOR_DATA.MOTOR2);
-                    break;
-                case this.MOTOR_MOVEMENT.CW:
-                    buffer.push(this.outputData.RightMotor.value);
-                    buffer.push(this.MOTOR_DATA.RUN | this.MOTOR_DATA.CW | this.MOTOR_DATA.CHANNEL.MOTOR2);
-                    break;
-                case this.MOTOR_MOVEMENT.CCW:
-                    buffer.push(this.outputData.RightMotor.value);
-                    buffer.push(this.MOTOR_DATA.RUN | this.MOTOR_DATA.CCW | this.MOTOR_DATA.CHANNEL.MOTOR2);
-                    break;
+        if (data[2] == Instruction.GET_SENSOR && this._processSysexCMD_GetSensor(data)) {
+            data.splice(0, length);
+        } else {
+            super._processSysexCMD_Get(data);
+        }
+    }
+
+    /**
+     * @override
+     * @param {Array} data
+     */
+    _processSysexCMD_GetSensor (data) {
+        switch (data[4]) {
+            case 0x00: { // datas[4] == 0x00 left, datas[7] == 0x01 right
+                this.state.rx.colorSensor.left = data[5];
+                this.state.rx.colorSensor.right = data[8];
+            } break;
+            case 0x02: { // infrared
+                this.state.rx.infrared = data[5] == 1;
+            } break;
+            case 0x03: { // touch
+                this.state.rx.touch = data[5] == 1;
+            } break;
+            case 0x04: {
+            } break;
+            default:
+                return false;
+        }
+        return true;
+    }
+
+    _toRoEColorString (protocol) {
+        switch (protocol) {
+            case 1: return 'RED';
+            case 2: return 'ORANGE';
+            case 3: return 'YELLOW';
+            case 7: return 'YELLOW GREEN';
+            case 4: return 'GREEN';
+            case 8: return 'SKY BLUE';
+            case 5: return 'BLUE';
+            case 6: return 'PURPLE';
+            case 9: return 'PINK';
+            case 10: return 'BLACK';
+            case 11: return 'WHITE';
+            default: return 'UNKNOWN';
+        }
+    }
+}
+
+class State {
+    constructor () {
+
+        this.isLineTracerRunning = false;
+
+        this.tx = {
+            /**
+             * motor index 사용 [0, 3]
+             * motor num => [1, 4]
+             * pin number => motor num 1:[4, 5] 2:[6, 7], 3:[8, 9], 4:[10, 11]
+             * {
+             *      motor: 1, => [1, 2] motor num
+             *      distance: 0, => [0, 255]
+             *      state: 0  => [0: 정지, 1: 정회전, 2: 역회전]
+             * }
+             */
+            stepMotor: [],
+            /**
+             *
+             */
+            rgbLed: {
+                r: null,
+                g: null,
+                b: null
+            },
+            /**
+             * {
+             *      note: 0, => 건반 번호
+             *      duration: 0 => 지속 시간
+             * }
+             */
+            piezo: {
+                note: null,
+                duration: null
+            },
+        };
+
+        this.rx = {
+            /**
+             *
+             */
+            infrared: false,
+            /**
+             *
+             */
+            touch: false,
+
+            colorSensor: {
+                left: 127,
+                right: 127
             }
-            buffer.push(this.END);
-            this.outputData.RightMotor.isChange = false;
+        };
+    }
+
+    /**
+    * 
+    * @param {number} index [0, 1]
+    */
+    getTxStepMotor (index) {
+        if (!this.tx.stepMotor[index]) {
+            this.tx.stepMotor[index] = {
+                motor: null,
+                distance: null,
+                state: null
+            };
         }
+        return this.tx.stepMotor[index];
     }
-    return buffer;
-};
+}
 
-module.exports = new Module();
\ No newline at end of file
+module.exports = new RoE();
\ No newline at end of file
diff --git a/app/modules/roborobo_roe.json b/app/modules/roborobo_roe.json
index ca80d7db09..e5c20c86da 100644
--- a/app/modules/roborobo_roe.json
+++ b/app/modules/roborobo_roe.json
@@ -1,26 +1,32 @@
 {
-    "id": "480101",
-    "name": {
-        "en": "Ro-E",
-        "ko": "로이"
-    },
-    "category": "robot",
-    "platform": ["win32", "darwin"],
-    "icon": "roborobo_roe.png",
-    "module": "roborobo_roe.js",
-    "url": "http://www.roborobo.co.kr",
-    "firmware": "roborobo_roe",
-    "driver": {
-        "win32-ia32": "CH34x_Install_Windows_v3_4/CH34x_Install_Windows_v3_4.EXE",
-        "win32-x64": "CH34x_Install_Windows_v3_4/CH34x_Install_Windows_v3_4.EXE"
-    },
-    "reconnect": true,
-    "selectPort": true,
-    "hardware": {
-        "type": "bluetooth",
-        "control": "slave",
-        "duration": 32,
-        "vendor": ["wch.cn"],
-        "baudRate": 115200
-    }
-}
+  "id": "480101",
+  "name": {
+    "en": "Ro-E",
+    "ko": "로이"
+  },
+  "category": "robot",
+  "platform": [ "win32", "darwin" ],
+  "icon": "roborobo_roe.png",
+  "module": "roborobo_roe.js",
+  "driver": {
+    "win32-ia32": "CH34x_Install_Windows_v3_4/CH34x_Install_Windows_v3_4.EXE",
+    "win32-x64": "CH34x_Install_Windows_v3_4/CH34x_Install_Windows_v3_4.EXE",
+    "darwin-x64": "https://entrylabs.github.io/docs/files/drivers/CH34x_Install_MAC_10_9_AND_ABOVE/CH34x_Install_V1.3.pkg"
+  },
+  "url": "http://www.roborobo.co.kr",
+  "video": "https://goo.gl/CKr9Bk",
+  "email": "software@roborobo.co.kr",
+  "reconnect": true,
+  "firmware": "roborobo_roe",
+  "firmwareBaudRate": 115200,
+  "tryFlahserNumber": 3,
+  "selectPort": true,
+  "hardware": {
+    "type": "serial",
+    "control": "slave",
+    "duration": 16,
+    "vendor": [ "wch.cn" ],
+    "firmwarecheck": false,
+    "baudRate": 115200
+  }
+}
\ No newline at end of file
diff --git a/build/entry-hw.nsi b/build/entry-hw.nsi
index a172f05891..681e7a1ad9 100644
--- a/build/entry-hw.nsi
+++ b/build/entry-hw.nsi
@@ -14,7 +14,7 @@
 !define PRODUCT_NAME "Entry_HW"
 !define PROTOCOL_NAME "entryhw"
 !define APP_NAME "Entry_HW.exe"
-!define PRODUCT_VERSION "1.9.44"
+!define PRODUCT_VERSION "1.9.45"
 !define PRODUCT_PUBLISHER "EntryLabs"
 !define PRODUCT_WEB_SITE "https://www.playentry.org/"
 
diff --git a/package.json b/package.json
index 909976018a..3d60546503 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
     "name": "entry-hw",
-    "version": "1.9.44",
+    "version": "1.9.45",
     "description": "엔트리 하드웨어 연결 프로그램",
     "author": "EntryLabs",
     "main": "./app/src/index.bundle.js",