diff --git a/Makefile b/Makefile
index b57976d..54fd712 100644
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,4 @@
-.PHONY: help install install-dev install-editable reinstall test test-pytest-all test-all test-input test-output test-task test-verbose test-examples-syntax lint format clean clean-build clean-pyc clean-test coverage docs dist release examples
+.PHONY: help install install-dev install-editable reinstall test test-pytest-all test-all test-input test-output test-task test-verbose test-examples-syntax lint format clean clean-build clean-pyc clean-test coverage docs dist release examples test-core test-web install-core install-web build-core build-web
 .DEFAULT_GOAL := help
 
 # Python interpreter detection
@@ -223,3 +223,53 @@ release: dist ## Package and upload a release
 	@echo "$(BLUE)Uploading to PyPI...$(NC)"
 	twine upload dist/*
 	@echo "$(GREEN)✓ Release uploaded$(NC)"
+
+##@ Monorepo - Core Package
+
+install-core: ## Install core package (packages/core)
+	@echo "$(BLUE)Installing core package...$(NC)"
+	cd packages/core && $(PYTHON) -m pip install -e .
+	@echo "$(GREEN)✓ Core package installed$(NC)"
+
+test-core: ## Run core package tests
+	$(call check_command,pytest)
+	@echo "$(BLUE)Running core package tests...$(NC)"
+	$(PYTHON) -m pytest packages/core/tests/task/ packages/core/tests/module/input_module/ packages/core/tests/module/output_module/ -v
+	@echo "$(GREEN)✓ Core tests completed$(NC)"
+
+build-core: ## Build core package distribution
+	@echo "$(BLUE)Building core package...$(NC)"
+	cd packages/core && $(PYTHON) -m pip install --upgrade build && $(PYTHON) -m build
+	@echo "$(GREEN)✓ Core package built$(NC)"
+
+##@ Monorepo - Web Package
+
+install-web: install-core ## Install web package (depends on core)
+	@echo "$(BLUE)Installing web package...$(NC)"
+	cd packages/web && $(PYTHON) -m pip install -e .
+	@echo "$(GREEN)✓ Web package installed$(NC)"
+
+test-web: ## Run web package tests
+	$(call check_command,pytest)
+	@echo "$(BLUE)Running web package tests...$(NC)"
+	$(PYTHON) -m pytest packages/web/tests/ -v
+	@echo "$(GREEN)✓ Web tests completed$(NC)"
+
+build-web: ## Build web package distribution
+	@echo "$(BLUE)Building web package...$(NC)"
+	cd packages/web && $(PYTHON) -m pip install --upgrade build && $(PYTHON) -m build
+	@echo "$(GREEN)✓ Web package built$(NC)"
+
+##@ Monorepo - All Packages
+
+install-all: install-core install-web ## Install all packages
+	@echo "$(GREEN)✓ All packages installed$(NC)"
+
+test-monorepo: test-core test-web ## Run all package tests
+	@echo ""
+	@echo "$(GREEN)========================================$(NC)"
+	@echo "$(GREEN)✓ All monorepo tests passed!$(NC)"
+	@echo "$(GREEN)========================================$(NC)"
+
+build-all: build-core build-web ## Build all packages
+	@echo "$(GREEN)✓ All packages built$(NC)"
diff --git a/README.md b/README.md
index ef7335c..cd38b0a 100644
--- a/README.md
+++ b/README.md
@@ -5,169 +5,112 @@
 [![Read the Docs (version)](https://img.shields.io/readthedocs/pymodi-plus/latest?style=flat-square)](https://pymodi-plus.readthedocs.io/en/latest/?badge=master)
 [![GitHub Workflow Status (Build)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/build.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions)
 [![GitHub LICENSE](https://img.shields.io/github/license/LUXROBO/pymodi-plus?style=flat-square&color=blue)](https://github.com/LUXROBO/pymodi-plus/blob/master/LICENSE)
-[![Lines of Code](https://img.shields.io/tokei/lines/github/LUXROBO/pymodi-plus?style=flat-square)](https://github.com/LUXROBO/pymodi-plus/tree/master/modi_plus)
 
 </div>
 
-Description
-===========
-> Python API for controlling modular electronics, MODI+.
+# PyMODI+ Monorepo
 
+> Python API for controlling modular electronics, MODI+ - Desktop and Web support
 
-Features
---------
-PyMODI+ provides a control of modular electronics.
-* Platform agnostic control of modules through serial connection
-* Utilities of wireless connection with BLE (Bluetooth Low Engery)
+This monorepo contains two packages:
 
-Build Status
-------------
-|master|develop|
-|:---:|:---:|
-| [![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/build.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/build.yml?branch=develop)](https://github.com/LUXROBO/pymodi-plus/actions)
+| Package | Description | PyPI |
+|---------|-------------|------|
+| **[packages/core](./packages/core/)** | Core library for desktop (USB/BLE) | `pymodi-plus` |
+| **[packages/web](./packages/web/)** | Web extension for Pyodide/Browser | `pymodi-plus-web` |
 
-System Support
---------------
-| System | 3.7 | 3.8 | 3.9 | 3.10 | 3.11 |
-| :---: | :---: | :---: | :---: | :---: | :---: |
-| Linux | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_ubuntu.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_ubuntu.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_ubuntu.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_ubuntu.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_ubuntu.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions)
-| Mac OS | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_macos.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_macos.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_macos.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_macos.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_macos.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions)
-| Windows | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_windows.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_windows.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_windows.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_windows.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_windows.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions)
+## Quick Start
 
-Contribution Guidelines
------------------------
-We appreciate all contributions. If you are planning to report bugs, please do so [here](https://github.com/LUXROBO/pymodi/issues). Feel free to fork our repository to your local environment, and please send us feedback by filing an issue.
+### Desktop Usage (USB/BLE)
 
-If you want to contribute to pymodi, be sure to review the contribution guidelines. This project adheres to pymodi's code of conduct. By participating, you are expected to uphold this code.
+```bash
+# Install with all features
+pip install pymodi-plus[all]
 
-[![Contributor Covenant](https://img.shields.io/badge/Contributor%20Covenant-v2.0%20adopted-ff69b4.svg?style=flat-square)](CODE_OF_CONDUCT.md)
-
-Installation
-------------
-> When installing PyMODI+ package, we highly recommend you to use Anaconda to manage the distribution.
-> With Anaconda, you can use an isolated virtual environment, solely for PyMODI+.
-
-[Optional] Once you install [Anaconda](https://docs.anaconda.com/anaconda/install/), then:
+# Or minimal install
+pip install pymodi-plus
 ```
-# Install new python environment for PyMODI+ package, choose python version >= 3.7
-conda create --name pymodi_plus python=3.7
 
-# After you properly install the python environment, activate it
-conda activate pymodi_plus
-
-# Ensure that your python version is compatible with PyMODI+
-python --version
-```
-
-Install the latest PyMODI+ if you haven't installed it yet:
-```
-python -m pip install pymodi-plus --user --upgrade
-```
-
-Usage
------
-Import modi_plus package and create MODIPlus object (we call it "bundle", a bundle of MODI+ modules).
 ```python
-# Import modi_plus package
 import modi_plus
 
-"""
-Create MODIPlus object, make sure that you have connected your network module
-to your machine while other modules are attached to the network module
-"""
 bundle = modi_plus.MODIPlus()
+led = bundle.leds[0]
+led.turn_on()
 ```
 
-[Optional] Specify how you would like to establish the connection between your machine and the network module.
+### Web/Pyodide Usage
+
 ```python
-# 1. Serial connection (via USB), it's the default connection method
-bundle = modi_plus.MODIPlus(connection_type="serialport")
+# In Pyodide environment
+import micropip
+await micropip.install('pymodi-plus-web')
 
-# 2. BLE (Bluetooth Low Energy) connection, it's wireless! But it can be slow :(
-bundle = modi_plus.MODIPlus(conn_type="ble", network_uuid="YOUR_NETWORK_MODULE_UUID")
+from modi_plus_web import MODIPlusWeb
+
+modi = MODIPlusWeb()
+modi.set_send_callback(js_send_function)
+# ... use like regular MODIPlus
 ```
 
-List and create connected modules' object.
-```python
-# List connected modules
-print(bundle.modules)
+## Development
 
-# List connected leds
-print(bundle.leds)
+```bash
+# Install all packages in development mode
+make install-all
 
-# Pick the first led object from the bundle
-led = bundle.leds[0]
+# Run all tests
+make test-monorepo
+
+# Build all packages
+make build-all
 ```
 
-Let's blink the LED 5 times.
-```python
-import time
+### Package-specific commands
 
-for _ in range(5):
-    # turn on for 0.5 second
-    led.turn_on()
-    time.sleep(0.5)
+```bash
+# Core package
+make install-core
+make test-core
+make build-core
 
-    # turn off for 0.5 second
-    led.turn_off()
-    time.sleep(0.5)
+# Web package
+make install-web
+make test-web
+make build-web
 ```
 
-If you are still not sure how to use PyMODI, you can play PyMODI tutorial over REPL:
-```
-$ python -m modi_plus --tutorial
-```
-As well as an interactive usage examples:
-```
-$ python -m modi_plus --usage
-```
+## Architecture
 
-Additional Usage
-----------------
-To diagnose MODI+ modules (helpful to find existing malfunctioning modules),
 ```
-$ python -m modi_plus --inspect
+pymodi-plus/
+├── packages/
+│   ├── core/           # pymodi-plus (PyPI)
+│   │   ├── modi_plus/  # Core library
+│   │   ├── tests/
+│   │   └── setup.py
+│   └── web/            # pymodi-plus-web (PyPI)
+│       ├── modi_plus_web/
+│       ├── tests/
+│       └── setup.py
+├── docs/               # Documentation
+├── Makefile           # Monorepo commands
+└── pyproject.toml     # Root configuration
 ```
 
-To initialize MODI+ modules implicitly (set `i` flag to enable REPL mode),
-```
-$ python -im modi_plus --initialize
-```
+## Documentation
 
-To see what other commands are available,
-```
-$ python -m modi_plus --help
-```
+- [Quick Start Guide](./docs/getting-started/QUICKSTART.md)
+- [Env Module RGB Features](./docs/features/ENV_RGB_FEATURE.md)
+- [Development Guide](./docs/development/MAKEFILE_GUIDE.md)
+- [Web Package README](./packages/web/README.md)
+
+## Contributing
 
-Documentation
--------------
-📚 **Complete documentation is available in the [docs/](./docs/) folder.**
-
-### Quick Links
-- 🚀 [Quick Start Guide](./docs/getting-started/QUICKSTART.md) - Get up and running quickly
-- ✨ [Env Module RGB Features](./docs/features/ENV_RGB_FEATURE.md) - New RGB sensor support (v2.x+)
-- 🛠️ [Development Guide](./docs/development/MAKEFILE_GUIDE.md) - Build, test, and contribute
-- 📦 [Deployment Guide](./docs/deployment/DEPLOY_GUIDE_KOREAN.md) - Release to PyPI
-- 🐛 [Troubleshooting](./docs/troubleshooting/) - Platform-specific issues and fixes
-
-### What's New in v0.4.0
-- ✅ **RGB Color Sensor Support** for Env module v2.x+
-  - New properties: `red`, `green`, `blue`, `white`, `black`
-  - Color classification: `color_class` (0-5)
-  - Brightness measurement: `brightness` (0-100%)
-- ✅ **Enhanced Testing** - 94 tests across all platforms
-- ✅ **Python 3.8-3.13 Support** - Wide version compatibility
-- ✅ **Improved CI/CD** - GitHub Actions enhancements
-
-See [Release History](./docs/project/HISTORY.md) for complete changelog.
-
-Contributing
-------------
 We welcome contributions! Please see:
 - [Contributing Guidelines](./docs/getting-started/CONTRIBUTING.md)
 - [Code of Conduct](./docs/getting-started/CODE_OF_CONDUCT.md)
-- [Development Guide](./docs/development/TESTS_README.md)
 
-License
--------
+## License
+
 This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.
diff --git a/docs/guides/WEB_DEPLOYMENT_GUIDE.md b/docs/guides/WEB_DEPLOYMENT_GUIDE.md
new file mode 100644
index 0000000..e8ed939
--- /dev/null
+++ b/docs/guides/WEB_DEPLOYMENT_GUIDE.md
@@ -0,0 +1,407 @@
+# PyMODI+ Web 배포 및 사용 가이드
+
+## 목차
+1. [개요](#개요)
+2. [내부 테스트 배포](#내부-테스트-배포)
+3. [설치 방법](#설치-방법)
+4. [사용 방법](#사용-방법)
+5. [Pyodide 통합](#pyodide-통합)
+6. [Flutter 연동](#flutter-연동)
+7. [트러블슈팅](#트러블슈팅)
+
+---
+
+## 개요
+
+`pymodi-plus-web`은 웹 브라우저 환경(Pyodide)에서 MODI+ 모듈을 제어하기 위한 패키지입니다.
+
+### 아키텍처
+
+```
+┌─────────────────────────────────────────────────────────────┐
+│                      Web Browser                             │
+│  ┌─────────────┐    postMessage    ┌─────────────────────┐  │
+│  │   Pyodide   │ ◄───────────────► │  JavaScript/Flutter │  │
+│  │  (Python)   │                   │     (WebUSB)        │  │
+│  └─────────────┘                   └─────────────────────┘  │
+│        │                                     │               │
+│        ▼                                     ▼               │
+│  ┌─────────────┐                   ┌─────────────────────┐  │
+│  │ pymodi-plus │                   │    MODI+ Hardware   │  │
+│  │    -web     │                   │    (via WebUSB)     │  │
+│  └─────────────┘                   └─────────────────────┘  │
+└─────────────────────────────────────────────────────────────┘
+```
+
+### 패키지 구조
+
+```
+pymodi-plus-web/
+├── modi_plus_web/
+│   ├── __init__.py
+│   ├── modi_plus_web.py      # MODIPlusWeb 클래스
+│   └── task/
+│       ├── __init__.py
+│       └── postmessage_task.py  # PostMessageTask 통신 레이어
+└── tests/
+```
+
+---
+
+## 내부 테스트 배포
+
+### 방법 1: TestPyPI (권장)
+
+TestPyPI는 PyPI의 테스트 서버로, 실제 배포 전 테스트용으로 사용합니다.
+
+#### 1단계: TestPyPI 계정 설정
+
+```bash
+# ~/.pypirc 파일 생성
+cat > ~/.pypirc << 'EOF'
+[testpypi]
+username = __token__
+password = pypi-YOUR_TEST_PYPI_TOKEN
+EOF
+```
+
+#### 2단계: 패키지 빌드
+
+```bash
+cd packages/web
+rm -rf dist build *.egg-info
+python -m build
+```
+
+#### 3단계: TestPyPI에 업로드
+
+```bash
+python -m twine upload --repository testpypi dist/*
+```
+
+#### 4단계: TestPyPI에서 설치 테스트
+
+```bash
+pip install -i https://test.pypi.org/simple/ --extra-index-url https://pypi.org/simple/ pymodi-plus-web
+```
+
+### 방법 2: Git에서 직접 설치
+
+브랜치에서 직접 설치하는 방법입니다.
+
+```bash
+# pymodi-plus (core) 설치 - 변경된 버전
+pip install git+https://github.com/LUXROBO/pymodi-plus.git@feature/web-support
+
+# pymodi-plus-web 설치
+pip install git+https://github.com/LUXROBO/pymodi-plus.git@feature/web-support#subdirectory=packages/web
+```
+
+### 방법 3: 로컬 wheel 파일
+
+빌드된 wheel 파일을 직접 공유하는 방법입니다.
+
+```bash
+# 빌드
+cd packages/web
+python -m build
+
+# 설치 (wheel 파일 경로)
+pip install dist/pymodi_plus_web-0.1.0-py3-none-any.whl
+```
+
+---
+
+## 설치 방법
+
+### 데스크톱 환경
+
+```bash
+# pymodi-plus-web 설치 (pymodi-plus 자동 설치됨)
+pip install pymodi-plus-web
+```
+
+### Pyodide 환경 (웹 브라우저)
+
+```python
+import micropip
+
+# pymodi-plus 설치 (최소 의존성)
+await micropip.install('pymodi-plus')
+
+# pymodi-plus-web 설치
+await micropip.install('pymodi-plus-web')
+```
+
+---
+
+## 사용 방법
+
+### 기본 사용법
+
+```python
+from modi_plus_web import MODIPlusWeb
+
+# 인스턴스 생성
+modi = MODIPlusWeb(verbose=True)
+
+# JavaScript로 메시지 전송할 콜백 설정
+def send_to_js(packet):
+    # JavaScript postMessage로 전송
+    js.window.modiSend(packet)
+
+modi.set_send_callback(send_to_js)
+
+# JavaScript에서 메시지 수신 시 호출
+def on_js_message(data):
+    modi.on_message(data)
+
+# 모듈 사용 (기존 pymodi-plus와 동일)
+led = modi.leds[0]
+led.turn_on()
+led.set_rgb(255, 0, 0)
+```
+
+### PostMessageTask 직접 사용
+
+```python
+from modi_plus_web.task import PostMessageTask
+
+# Task 직접 생성
+task = PostMessageTask(verbose=True)
+task.open_connection()
+
+# 콜백 설정
+task.set_send_callback(lambda pkt: print(f"Send: {pkt}"))
+
+# 메시지 수신
+task.on_message('{"c":0,"s":100,"d":0}')
+
+# 메시지 처리
+received = task.recv()
+print(f"Received: {received}")
+
+# 메시지 전송
+task.send('{"c":4,"s":0,"d":100}')
+```
+
+---
+
+## Pyodide 통합
+
+### HTML 템플릿
+
+```html
+<!DOCTYPE html>
+<html>
+<head>
+    <title>PyMODI+ Web</title>
+    <script src="https://cdn.jsdelivr.net/pyodide/v0.24.1/full/pyodide.js"></script>
+</head>
+<body>
+    <div id="output"></div>
+
+    <script>
+    // 전역 변수
+    let pyodide = null;
+    let modi = null;
+
+    // Python으로 메시지 전송 (하드웨어 → Python)
+    function sendToPython(data) {
+        if (pyodide && modi) {
+            pyodide.runPython(`modi.on_message('${JSON.stringify(data)}')`);
+        }
+    }
+
+    // JavaScript에서 하드웨어로 전송 (Python → 하드웨어)
+    window.modiSend = function(packet) {
+        console.log('To hardware:', packet);
+        // WebUSB 또는 Flutter로 전송
+        // flutterChannel.postMessage(packet);
+    };
+
+    async function main() {
+        // Pyodide 로드
+        pyodide = await loadPyodide();
+
+        // 패키지 설치
+        await pyodide.loadPackage('micropip');
+        await pyodide.runPythonAsync(`
+            import micropip
+            await micropip.install('pymodi-plus')
+            await micropip.install('pymodi-plus-web')
+        `);
+
+        // MODI+ 초기화
+        await pyodide.runPythonAsync(`
+            from modi_plus_web import MODIPlusWeb
+            import js
+
+            modi = MODIPlusWeb(verbose=True)
+            modi.set_send_callback(lambda pkt: js.window.modiSend(pkt))
+        `);
+
+        // 전역 참조 저장
+        modi = pyodide.globals.get('modi');
+
+        console.log('PyMODI+ Web initialized!');
+    }
+
+    main();
+    </script>
+</body>
+</html>
+```
+
+### Python 코드 실행
+
+```javascript
+// JavaScript에서 Python 코드 실행
+async function runPythonCode(code) {
+    try {
+        const result = await pyodide.runPythonAsync(code);
+        return result;
+    } catch (error) {
+        console.error('Python error:', error);
+        throw error;
+    }
+}
+
+// 예시: LED 제어
+await runPythonCode(`
+led = modi.leds[0]
+led.turn_on()
+led.set_rgb(255, 0, 0)
+`);
+```
+
+---
+
+## Flutter 연동
+
+### Flutter → Pyodide 통신
+
+```dart
+// Flutter (Dart)
+import 'package:webview_flutter/webview_flutter.dart';
+
+class ModiWebView extends StatefulWidget {
+  @override
+  _ModiWebViewState createState() => _ModiWebViewState();
+}
+
+class _ModiWebViewState extends State<ModiWebView> {
+  late WebViewController controller;
+
+  @override
+  void initState() {
+    super.initState();
+    controller = WebViewController()
+      ..setJavaScriptMode(JavaScriptMode.unrestricted)
+      ..addJavaScriptChannel(
+        'ModiChannel',
+        onMessageReceived: (message) {
+          // Python에서 온 메시지 → 하드웨어로 전송
+          _sendToHardware(message.message);
+        },
+      )
+      ..loadFlutterAsset('assets/pyodide.html');
+  }
+
+  // 하드웨어에서 온 메시지 → Python으로 전송
+  void sendToPython(String data) {
+    controller.runJavaScript('sendToPython($data)');
+  }
+
+  void _sendToHardware(String packet) {
+    // WebUSB 또는 시리얼 통신으로 전송
+  }
+}
+```
+
+### JavaScript Bridge 설정
+
+```javascript
+// pyodide.html 내 JavaScript
+window.modiSend = function(packet) {
+    // Flutter로 전송
+    if (window.ModiChannel) {
+        ModiChannel.postMessage(packet);
+    }
+};
+```
+
+---
+
+## 트러블슈팅
+
+### 1. micropip 설치 오류
+
+**증상:**
+```
+ValueError: Can't find a pure Python 3 wheel for 'pymodi-plus'
+```
+
+**해결:**
+pymodi-plus가 pure Python wheel로 빌드되어야 합니다. TestPyPI나 PyPI에서 올바른 버전을 확인하세요.
+
+### 2. JavaScript 콜백 오류
+
+**증상:**
+```
+AttributeError: 'JsProxy' object has no attribute 'js_send'
+```
+
+**해결:**
+`js.window.modiSend` 형식으로 전역 함수를 호출하세요:
+```python
+modi.set_send_callback(lambda pkt: js.window.modiSend(pkt))
+```
+
+### 3. 모듈을 찾을 수 없음
+
+**증상:**
+```
+IndexError: list index out of range (modi.leds[0])
+```
+
+**해결:**
+모듈 검색이 완료될 때까지 대기하거나, 하드웨어 연결 상태를 확인하세요:
+```python
+import time
+time.sleep(2)  # 모듈 검색 대기
+print(modi.modules)  # 연결된 모듈 확인
+```
+
+### 4. 메시지 형식 오류
+
+**증상:**
+```
+json.JSONDecodeError: Expecting property name
+```
+
+**해결:**
+JSON 형식이 올바른지 확인하세요:
+```python
+# 올바른 형식
+modi.on_message('{"c":0,"s":100,"d":0}')
+
+# 잘못된 형식
+modi.on_message("{c:0,s:100,d:0}")  # 따옴표 누락
+```
+
+---
+
+## 버전 호환성
+
+| pymodi-plus | pymodi-plus-web | Python | Pyodide |
+|-------------|-----------------|--------|---------|
+| >= 0.5.0    | 0.1.0           | >= 3.8 | >= 0.24 |
+
+---
+
+## 참고 자료
+
+- [PyMODI+ GitHub](https://github.com/LUXROBO/pymodi-plus)
+- [Pyodide 공식 문서](https://pyodide.org/)
+- [WebUSB API](https://developer.mozilla.org/en-US/docs/Web/API/WebUSB_API)
diff --git a/modi_plus/modi_plus.py b/modi_plus/modi_plus.py
index 8f0b872..291e6a3 100644
--- a/modi_plus/modi_plus.py
+++ b/modi_plus/modi_plus.py
@@ -2,6 +2,7 @@
 
 import time
 import atexit
+from typing import Optional
 
 from importlib import import_module as im
 
@@ -21,6 +22,7 @@
 from modi_plus.module.module import ModuleList
 from modi_plus._exe_thread import ExeThread
 from modi_plus.util.connection_util import get_platform, get_ble_task_path
+from modi_plus.task import HAS_SERIAL, HAS_BLE, ConnectionTask
 
 
 class MODIPlus:
@@ -37,9 +39,20 @@ def __call__(cls, *args, **kwargs):
             cls.network_uuids[network_uuid] = super(MODIPlus, cls).__call__(*args, **kwargs)
         return cls.network_uuids[network_uuid]
 
-    def __init__(self, connection_type="serialport", verbose=False, port=None, network_uuid=""):
+    def __init__(
+        self,
+        connection_type: str = "serialport",
+        verbose: bool = False,
+        port: Optional[str] = None,
+        network_uuid: str = "",
+        task: Optional[ConnectionTask] = None,
+    ):
         self._modules = list()
-        self._connection = self.__init_task(connection_type, verbose, port, network_uuid)
+        # 외부에서 task 주입 가능 (웹 버전용)
+        if task is not None:
+            self._connection = task
+        else:
+            self._connection = self.__init_task(connection_type, verbose, port, network_uuid)
         self._exe_thread = ExeThread(self._modules, self._connection)
 
         print("Start initializing connected MODI+ modules")
@@ -59,15 +72,25 @@ def __init__(self, connection_type="serialport", verbose=False, port=None, netwo
 
     def __init_task(self, connection_type, verbose, port, network_uuid):
         if connection_type == "serialport":
+            if not HAS_SERIAL:
+                raise ImportError(
+                    "Serial 통신을 사용하려면 pyserial이 필요합니다.\n"
+                    "설치: pip install pymodi-plus[serial] 또는 pip install pymodi-plus[all]"
+                )
             return im("modi_plus.task.serialport_task").SerialportTask(verbose, port)
         elif connection_type == "ble":
+            if not HAS_BLE:
+                raise ImportError(
+                    "BLE 통신을 사용하려면 bleak이 필요합니다.\n"
+                    "설치: pip install pymodi-plus[ble] 또는 pip install pymodi-plus[all]"
+                )
             if not network_uuid:
                 raise ValueError("Network UUID not specified!")
             self.network_uuids[network_uuid] = self
 
             os = get_platform()
             if os == "chrome" or os == "linux":
-                raise ValueError(f"{os} doen't supported for ble connection")
+                raise ValueError(f"{os} doesn't support ble connection")
 
             return im(get_ble_task_path()).BleTask(verbose, network_uuid)
         else:
diff --git a/modi_plus/task/__init__.py b/modi_plus/task/__init__.py
index e69de29..0152acc 100644
--- a/modi_plus/task/__init__.py
+++ b/modi_plus/task/__init__.py
@@ -0,0 +1,34 @@
+"""MODI+ Task module - 통신 레이어
+
+조건부 import를 통해 pyserial/bleak 없이도 패키지 import 가능
+"""
+
+# 플래그 초기화
+HAS_SERIAL = False
+HAS_BLE = False
+
+# Serial Task (pyserial 필요)
+try:
+    from modi_plus.task.serialport_task import SerialportTask
+    HAS_SERIAL = True
+except ImportError:
+    SerialportTask = None
+
+# BLE Task (bleak 필요)
+try:
+    from modi_plus.util.connection_util import get_ble_task_path
+    from importlib import import_module
+    # BLE task는 플랫폼별로 다르므로 여기서 직접 import하지 않음
+    HAS_BLE = True
+except ImportError:
+    HAS_BLE = False
+
+# Connection Task (항상 사용 가능)
+from modi_plus.task.connection_task import ConnectionTask
+
+__all__ = [
+    'ConnectionTask',
+    'HAS_SERIAL',
+    'HAS_BLE',
+    'SerialportTask',
+]
diff --git a/modi_plus/util/connection_util.py b/modi_plus/util/connection_util.py
index 9c130d7..b9a1da7 100644
--- a/modi_plus/util/connection_util.py
+++ b/modi_plus/util/connection_util.py
@@ -3,7 +3,13 @@
 import platform
 from typing import List
 
-import serial.tools.list_ports as stl
+# 조건부 import - pyserial 없어도 기본 기능은 사용 가능
+try:
+    import serial.tools.list_ports as stl
+    HAS_SERIAL = True
+except ImportError:
+    stl = None
+    HAS_SERIAL = False
 
 
 def list_modi_ports() -> List[str]:
@@ -11,6 +17,9 @@ def list_modi_ports() -> List[str]:
 
     :return: List[ListPortInfo]
     """
+    if not HAS_SERIAL:
+        return []
+
     info_list = []
 
     def __is_modi_port(port):
diff --git a/packages/core/HISTORY.md b/packages/core/HISTORY.md
new file mode 100644
index 0000000..a98144e
--- /dev/null
+++ b/packages/core/HISTORY.md
@@ -0,0 +1,81 @@
+History
+==
+
+0.4.2 (2025-12-22)
+--
+* Feature
+1. Add RGB raw value properties for Env module v2.x+
+   - New properties: `raw_red`, `raw_green`, `raw_blue`, `raw_white` (0-65535)
+   - New property: `raw_rgb` tuple (raw_red, raw_green, raw_blue, raw_white)
+2. Add `set_rgb_mode(mode, duration)` method for Env module
+   - RGB mode constants: `RGB_MODE_AMBIENT`, `RGB_MODE_ON`, `RGB_MODE_DUALSHOT`
+3. Code style fixes for flake8 compatibility
+
+0.4.0 (2025-11-19)
+--
+* Feature
+1. Add RGB support for Env module v2.x+
+   - New properties: `red`, `green`, `blue`, `white`, `black` (0-100%)
+   - New property: `rgb` - returns tuple (red, green, blue)
+   - New property: `color_class` (0-5: unknown/red/green/blue/white/black)
+   - New property: `brightness` (0-100%)
+   - Automatic version detection via `_is_rgb_supported()` method
+   - Raises `AttributeError` when accessing RGB properties on v1.x modules
+2. Enhanced GitHub Actions workflows
+   - Support Python 3.8-3.13 across all platforms
+   - Platform-specific compatibility fixes (macOS, Windows)
+   - Improved CI/CD with conditional linting (flake8 for 3.8-3.11, ruff for 3.12+)
+
+* Tests
+1. Add 31 new RGB-related tests
+   - Version compatibility tests
+   - RGB property tests
+   - Data type validation tests
+   - Total: 94 tests (all passing)
+
+* Documentation
+1. Complete RGB feature documentation
+2. GitHub Actions compatibility guides
+3. Branch protection setup guide
+
+0.3.0 (2023-01-19)
+--
+* Feature
+1. Add `draw_dot` function on display module
+
+* Patch
+1. Fix `write_text` function error on display module if text length is 23
+2. Change module constructor argument from uuid to id
+
+0.2.1 (2022-12-02)
+--
+* Patch
+1. Refactor `write_text` input type on display module
+
+0.2.0 (2022-12-02)
+--
+* Feature
+1. Refactor getter/setter for each MODI+ module
+
+0.1.1 (2022-11-23)
+--
+* Feature
+1. Change python minimum version to 3.7
+
+0.1.0 (2022-11-22)
+--
+* Feature
+1. Add creation examples (brush, dodge)
+2. Add network, battery module functions
+3. Fix `play_music` function on speaker module
+4. Add preset resource on speaker and display module
+5. Add search module time and timeout exception
+
+0.0.2 (2022-11-18)
+--
+* Feature
+1. Change python minimum version to 3.9
+
+0.0.1 (2022-11-15)
+--
+* Release initial version of the package on in-house GitHub
diff --git a/packages/core/LICENSE b/packages/core/LICENSE
new file mode 100644
index 0000000..1aeaadd
--- /dev/null
+++ b/packages/core/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2018, LUXROBO
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/packages/core/MANIFEST.in b/packages/core/MANIFEST.in
new file mode 100644
index 0000000..2721a0a
--- /dev/null
+++ b/packages/core/MANIFEST.in
@@ -0,0 +1,15 @@
+include HISTORY.md
+include LICENSE
+include README.md
+
+include requirements.txt
+include requirements-dev.txt
+
+recursive-include modi_plus/assets *
+recursive-include modi_plus/task/ble_task *
+
+recursive-include tests *
+recursive-exclude * __pycache__
+recursive-exclude * *.py[co]
+
+recursive-include docs conf.py Makefile make.bat
diff --git a/packages/core/README.md b/packages/core/README.md
new file mode 100644
index 0000000..9d344d1
--- /dev/null
+++ b/packages/core/README.md
@@ -0,0 +1,197 @@
+<div align="center">
+
+[![Python Versions](https://img.shields.io/pypi/pyversions/pymodi-plus.svg?style=flat-square)](https://pypi.python.org/pypi/pymodi-plus)
+[![PyPI Release (latest by date)](https://img.shields.io/github/v/release/LUXROBO/pymodi-plus?style=flat-square)](https://pypi.python.org/pypi/pymodi-plus)
+[![Read the Docs (version)](https://img.shields.io/readthedocs/pymodi-plus/latest?style=flat-square)](https://pymodi-plus.readthedocs.io/en/latest/?badge=master)
+[![GitHub Workflow Status (Build)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/build.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions)
+[![GitHub LICENSE](https://img.shields.io/github/license/LUXROBO/pymodi-plus?style=flat-square&color=blue)](https://github.com/LUXROBO/pymodi-plus/blob/master/LICENSE)
+[![Lines of Code](https://img.shields.io/tokei/lines/github/LUXROBO/pymodi-plus?style=flat-square)](https://github.com/LUXROBO/pymodi-plus/tree/master/modi_plus)
+
+</div>
+
+Description
+===========
+> Python API for controlling modular electronics, MODI+.
+
+
+Features
+--------
+PyMODI+ provides a control of modular electronics.
+* Platform agnostic control of modules through serial connection
+* Utilities of wireless connection with BLE (Bluetooth Low Engery)
+
+Build Status
+------------
+|master|develop|
+|:---:|:---:|
+| [![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/build.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/build.yml?branch=develop)](https://github.com/LUXROBO/pymodi-plus/actions)
+
+System Support
+--------------
+| System | 3.7 | 3.8 | 3.9 | 3.10 | 3.11 |
+| :---: | :---: | :---: | :---: | :---: | :---: |
+| Linux | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_ubuntu.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_ubuntu.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_ubuntu.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_ubuntu.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_ubuntu.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions)
+| Mac OS | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_macos.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_macos.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_macos.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_macos.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_macos.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions)
+| Windows | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_windows.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_windows.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_windows.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_windows.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions) | [![GitHub Workflow Status (branch)](https://img.shields.io/github/actions/workflow/status/LUXROBO/pymodi-plus/unit_test_windows.yml?branch=master)](https://github.com/LUXROBO/pymodi-plus/actions)
+
+Contribution Guidelines
+-----------------------
+We appreciate all contributions. If you are planning to report bugs, please do so [here](https://github.com/LUXROBO/pymodi/issues). Feel free to fork our repository to your local environment, and please send us feedback by filing an issue.
+
+If you want to contribute to pymodi, be sure to review the contribution guidelines. This project adheres to pymodi's code of conduct. By participating, you are expected to uphold this code.
+
+[![Contributor Covenant](https://img.shields.io/badge/Contributor%20Covenant-v2.0%20adopted-ff69b4.svg?style=flat-square)](CODE_OF_CONDUCT.md)
+
+Installation
+------------
+> When installing PyMODI+ package, we highly recommend you to use Anaconda to manage the distribution.
+> With Anaconda, you can use an isolated virtual environment, solely for PyMODI+.
+
+[Optional] Once you install [Anaconda](https://docs.anaconda.com/anaconda/install/), then:
+```
+# Install new python environment for PyMODI+ package, choose python version >= 3.7
+conda create --name pymodi_plus python=3.7
+
+# After you properly install the python environment, activate it
+conda activate pymodi_plus
+
+# Ensure that your python version is compatible with PyMODI+
+python --version
+```
+
+Install the latest PyMODI+ with all features (USB + BLE):
+```bash
+pip install pymodi-plus[all]
+```
+
+Or install with specific features:
+```bash
+# USB/Serial connection only
+pip install pymodi-plus[serial]
+
+# BLE connection only
+pip install pymodi-plus[ble]
+
+# Minimal install (for web/Pyodide environments)
+pip install pymodi-plus
+```
+
+### Web/Pyodide Support
+
+For web browser environments using Pyodide, install [pymodi-plus-web](https://github.com/LUXROBO/pymodi-plus-web):
+```python
+# In Pyodide
+import micropip
+await micropip.install('pymodi-plus-web')
+
+from modi_plus_web import MODIPlusWeb
+modi = MODIPlusWeb()
+```
+
+Usage
+-----
+Import modi_plus package and create MODIPlus object (we call it "bundle", a bundle of MODI+ modules).
+```python
+# Import modi_plus package
+import modi_plus
+
+"""
+Create MODIPlus object, make sure that you have connected your network module
+to your machine while other modules are attached to the network module
+"""
+bundle = modi_plus.MODIPlus()
+```
+
+[Optional] Specify how you would like to establish the connection between your machine and the network module.
+```python
+# 1. Serial connection (via USB), it's the default connection method
+bundle = modi_plus.MODIPlus(connection_type="serialport")
+
+# 2. BLE (Bluetooth Low Energy) connection, it's wireless! But it can be slow :(
+bundle = modi_plus.MODIPlus(conn_type="ble", network_uuid="YOUR_NETWORK_MODULE_UUID")
+```
+
+List and create connected modules' object.
+```python
+# List connected modules
+print(bundle.modules)
+
+# List connected leds
+print(bundle.leds)
+
+# Pick the first led object from the bundle
+led = bundle.leds[0]
+```
+
+Let's blink the LED 5 times.
+```python
+import time
+
+for _ in range(5):
+    # turn on for 0.5 second
+    led.turn_on()
+    time.sleep(0.5)
+
+    # turn off for 0.5 second
+    led.turn_off()
+    time.sleep(0.5)
+```
+
+If you are still not sure how to use PyMODI, you can play PyMODI tutorial over REPL:
+```
+$ python -m modi_plus --tutorial
+```
+As well as an interactive usage examples:
+```
+$ python -m modi_plus --usage
+```
+
+Additional Usage
+----------------
+To diagnose MODI+ modules (helpful to find existing malfunctioning modules),
+```
+$ python -m modi_plus --inspect
+```
+
+To initialize MODI+ modules implicitly (set `i` flag to enable REPL mode),
+```
+$ python -im modi_plus --initialize
+```
+
+To see what other commands are available,
+```
+$ python -m modi_plus --help
+```
+
+Documentation
+-------------
+📚 **Complete documentation is available in the [docs/](./docs/) folder.**
+
+### Quick Links
+- 🚀 [Quick Start Guide](./docs/getting-started/QUICKSTART.md) - Get up and running quickly
+- ✨ [Env Module RGB Features](./docs/features/ENV_RGB_FEATURE.md) - New RGB sensor support (v2.x+)
+- 🛠️ [Development Guide](./docs/development/MAKEFILE_GUIDE.md) - Build, test, and contribute
+- 📦 [Deployment Guide](./docs/deployment/DEPLOY_GUIDE_KOREAN.md) - Release to PyPI
+- 🐛 [Troubleshooting](./docs/troubleshooting/) - Platform-specific issues and fixes
+
+### What's New in v0.4.0
+- ✅ **RGB Color Sensor Support** for Env module v2.x+
+  - New properties: `red`, `green`, `blue`, `white`, `black`
+  - Color classification: `color_class` (0-5)
+  - Brightness measurement: `brightness` (0-100%)
+- ✅ **Enhanced Testing** - 94 tests across all platforms
+- ✅ **Python 3.8-3.13 Support** - Wide version compatibility
+- ✅ **Improved CI/CD** - GitHub Actions enhancements
+
+See [Release History](./docs/project/HISTORY.md) for complete changelog.
+
+Contributing
+------------
+We welcome contributions! Please see:
+- [Contributing Guidelines](./docs/getting-started/CONTRIBUTING.md)
+- [Code of Conduct](./docs/getting-started/CODE_OF_CONDUCT.md)
+- [Development Guide](./docs/development/TESTS_README.md)
+
+License
+-------
+This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.
diff --git a/packages/core/examples/basic_usage_examples/active_error.py b/packages/core/examples/basic_usage_examples/active_error.py
new file mode 100644
index 0000000..a117d48
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/active_error.py
@@ -0,0 +1,29 @@
+import modi_plus
+import time
+bundle=modi_plus.MODIPlus()
+
+led=bundle.leds[0]
+time.sleep(3)
+led.red=255
+time.sleep(3)
+led.red=0
+time.sleep(1)
+
+led.green=100
+time.sleep(3)
+led.green=0
+time.sleep(1)
+
+led.blue=100
+time.sleep(3)
+led.blue=0
+time.sleep(1)
+
+led.turn_on()
+time.sleep(2)
+led.turn_off()
+time.sleep(1)
+
+led.rgb=(100, 0, 100)
+time.sleep(2)
+led.turn_off()
diff --git a/packages/core/examples/basic_usage_examples/battery_example.py b/packages/core/examples/basic_usage_examples/battery_example.py
new file mode 100644
index 0000000..bb3fb49
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/battery_example.py
@@ -0,0 +1,16 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of battery module
+Make sure you connect 1 battery module to your
+network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    battery = bundle.batterys[0]
+
+    while True:
+        print(f"level(%): {battery.level:<10}", end="\r")
+        time.sleep(0.02)
diff --git a/packages/core/examples/basic_usage_examples/button_example.py b/packages/core/examples/basic_usage_examples/button_example.py
new file mode 100644
index 0000000..e145a9d
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/button_example.py
@@ -0,0 +1,22 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of button module
+Make sure you connect 1 button module to your
+network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    button = bundle.buttons[0]
+
+    while True:
+        if button.pressed:
+            print("pressed       ", end="\r")
+        else:
+            print("not pressed   ", end="\r")
+        if button.double_clicked:
+            print("double clicked", end="\r")
+            break
+        time.sleep(0.02)
diff --git a/packages/core/examples/basic_usage_examples/dial_example.py b/packages/core/examples/basic_usage_examples/dial_example.py
new file mode 100644
index 0000000..1cdba74
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/dial_example.py
@@ -0,0 +1,16 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of dial module
+Make sure you connect 1 dial module and 1 speaker module to your network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    dial = bundle.dials[0]
+    speak = bundle.speakers[0]
+
+    while True:
+        speak.tune = "DO6", dial.turn
+        time.sleep(0.02)
diff --git a/packages/core/examples/basic_usage_examples/display_example.py b/packages/core/examples/basic_usage_examples/display_example.py
new file mode 100644
index 0000000..1460e20
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/display_example.py
@@ -0,0 +1,33 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of display module
+Make sure you connect 1 display module to your network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    display = bundle.displays[0]
+
+    display.text = "Bouncing ball simulation..."
+    time.sleep(3)
+
+    vel = (1, 1)
+    pos = (20, 30)
+
+    for i in range(500):
+        display.write_variable_xy(pos[0], pos[1], 0)
+        pos = (pos[0] + vel[0], pos[1] + vel[1])
+        if pos[0] < 0 or pos[0] > 40:
+            vel = (-vel[0], vel[1])
+        if pos[1] < 0 or pos[1] > 60:
+            vel = (vel[0], -vel[1])
+        if pos[1] < 0:
+            pos = (pos[0], 0)
+        if pos[0] < 0:
+            pos = (0, pos[1])
+        time.sleep(0.02)
+
+    display.reset()
+    time.sleep(2)
diff --git a/packages/core/examples/basic_usage_examples/env_example.py b/packages/core/examples/basic_usage_examples/env_example.py
new file mode 100644
index 0000000..866f207
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/env_example.py
@@ -0,0 +1,16 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of env module
+Make sure you connect 1 env module to your network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    env = bundle.envs[0]
+
+    while True:
+        print(f"humidity(%): {env.humidity:<10} temperature(°C): {env.temperature:<10} "
+              f"illuminance(%): {env.illuminance:<10} Volume(%): {env.volume:<10}", end="\r")
+        time.sleep(0.02)
diff --git a/packages/core/examples/basic_usage_examples/env_rgb_color_detection.py b/packages/core/examples/basic_usage_examples/env_rgb_color_detection.py
new file mode 100644
index 0000000..491d86f
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/env_rgb_color_detection.py
@@ -0,0 +1,144 @@
+"""Example: RGB Color Detection with multiple Env modules
+
+This example demonstrates color detection using RGB sensors.
+Works with multiple Env modules simultaneously.
+"""
+
+import modi_plus
+import time
+
+
+def detect_color(r, g, b, threshold=50):
+    """Detect dominant color from RGB values
+
+    Args:
+        r, g, b: RGB values (0-255)
+        threshold: Minimum difference to consider dominant
+
+    Returns:
+        Color name string
+    """
+    # Calculate relative differences
+    colors = {'R': r, 'G': g, 'B': b}
+    max_color = max(colors, key=colors.get)
+    max_value = colors[max_color]
+
+    # Check if dominant enough
+    other_values = [v for k, v in colors.items() if k != max_color]
+    if max_value - max(other_values) < threshold:
+        return "MIXED/GRAY"
+
+    # Determine color
+    if max_color == 'R':
+        if g > 100 and b < 50:
+            return "YELLOW"
+        elif g < 50 and b < 50:
+            return "RED"
+        elif g > 100 and b > 100:
+            return "WHITE"
+    elif max_color == 'G':
+        if r < 50 and b < 50:
+            return "GREEN"
+        elif r > 100 and b > 100:
+            return "WHITE"
+    elif max_color == 'B':
+        if r < 50 and g < 50:
+            return "BLUE"
+        elif r > 100 and g < 50:
+            return "PURPLE"
+        elif r > 100 and g > 100:
+            return "WHITE"
+
+    return "MIXED"
+
+
+def get_rgb_modules(bundle):
+    """Get all RGB-capable Env modules"""
+    rgb_modules = []
+    for i, env in enumerate(bundle.envs):
+        if hasattr(env, '_is_rgb_supported') and env._is_rgb_supported():
+            rgb_modules.append({
+                'index': i,
+                'env': env,
+                'id': env.id,
+                'version': env.app_version
+            })
+    return rgb_modules
+
+
+def color_detection_demo(rgb_modules):
+    """Run color detection on all RGB modules"""
+    print(f"\n{'=' * 70}")
+    print(f"Color Detection - {len(rgb_modules)} RGB Sensor(s)")
+    print("Press Ctrl+C to stop")
+    print(f"{'=' * 70}\n")
+
+    try:
+        while True:
+            output_lines = []
+
+            for m in rgb_modules:
+                try:
+                    m['env'].set_rgb_mode(m['env'].RGB_MODE_DUALSHOT)
+                    # m['env'].set_rgb_mode(m['env'].RGB_MODE_ON)
+                      # Ensure RGB mode is enabled
+                    r, g, b = m['env'].rgb
+                    color = detect_color(r, g, b)
+
+                    # Create color bar (simple ASCII visualization)
+                    r_bar = '█' * (r // 10)
+                    g_bar = '█' * (g // 10)
+                    b_bar = '█' * (b // 10)
+
+                    output_lines.append(
+                        f"Module #{m['index'] + 1} (0x{m['id']:X}): "
+                        f"RGB=({r:3d}, {g:3d}, {b:3d}) -> {color:12s}"
+                    )
+                    output_lines.append(f"  R: {r_bar}")
+                    output_lines.append(f"  G: {g_bar}")
+                    output_lines.append(f"  B: {b_bar}")
+                    output_lines.append("")
+
+                except Exception as e:
+                    output_lines.append(f"Module #{m['index'] + 1}: Error - {e}\n")
+
+            # Clear and display
+            print("\033[2J\033[H", end="")  # Clear screen
+            print(f"{'=' * 70}")
+            print("RGB Color Detection Monitor")
+            print(f"{'=' * 70}\n")
+            for line in output_lines:
+                print(line)
+
+            time.sleep(0.2)
+
+    except KeyboardInterrupt:
+        print("\n\nStopped by user")
+
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+
+    print("=" * 70)
+    print("RGB Color Detection Example")
+    print("=" * 70)
+
+    # Find RGB-capable modules
+    print(f"\nScanning for RGB-capable Env modules...")
+    rgb_modules = get_rgb_modules(bundle)
+
+    if not rgb_modules:
+        print("\nError: No RGB-capable Env modules found!")
+        print("This example requires Env module version 2.x or higher")
+        bundle.close()
+        exit(1)
+
+    print(f"Found {len(rgb_modules)} RGB-capable module(s):")
+    for m in rgb_modules:
+        print(f"  Module #{m['index'] + 1}: ID=0x{m['id']:X}, Version={m['version']}")
+
+    # Start color detection
+    input("\nPress Enter to start color detection...")
+    color_detection_demo(rgb_modules)
+
+    bundle.close()
diff --git a/packages/core/examples/basic_usage_examples/env_rgb_example.py b/packages/core/examples/basic_usage_examples/env_rgb_example.py
new file mode 100644
index 0000000..5f8cbef
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/env_rgb_example.py
@@ -0,0 +1,173 @@
+"""Example of using Env module RGB and color properties
+
+This example demonstrates how to use the color sensor properties
+of the Env module including:
+- RGB (red, green, blue) values
+- White and Black values
+- Color class detection (red/green/blue/white/black/unknown)
+- Brightness value
+
+Note: These properties are only available in version 2.x and above.
+This example tests ALL connected Env modules.
+"""
+
+import os
+import sys
+
+import modi_plus
+import time
+
+# --- OS 구분 ---
+IS_WINDOWS = (os.name == "nt")
+
+if IS_WINDOWS:
+    import msvcrt
+else:
+    import termios
+    import tty
+    import select
+
+
+def get_key_nonblocking():
+    """
+    - 키가 눌리면: 1글자(str) 반환
+    - 아무 키도 없으면: None 반환
+    """
+    if IS_WINDOWS:
+        # Windows: msvcrt 사용
+        if msvcrt.kbhit():
+            ch = msvcrt.getch()
+            try:
+                return ch.decode(errors="ignore")
+            except Exception:
+                return None
+        return None
+    else:
+        # macOS / Linux: select + cbreak 모드에서 stdin 읽기
+        dr, _, _ = select.select([sys.stdin], [], [], 0)
+        if dr:
+            return sys.stdin.read(1)
+        return None
+
+
+# --- macOS / Linux에서는 터미널 모드 변경 필요(cbreak) ---
+if not IS_WINDOWS:
+    fd = sys.stdin.fileno()
+    old_term_attr = termios.tcgetattr(fd)
+    tty.setcbreak(fd)  # Enter 없이 한 글자씩 읽히도록
+
+def test_env_module(env, index):
+    """Test a single Env module for RGB support"""
+    print(f"\n{'=' * 60}")
+    print(f"Env Module #{index + 1} (ID: 0x{env.id:X})")
+    print(f"{'=' * 60}")
+    print(f"App Version: {env.app_version}")
+
+    # Check if version supports RGB
+    if hasattr(env, '_is_rgb_supported') and env._is_rgb_supported():
+        print("✓ RGB properties are supported!")
+        return True
+    else:
+        print("✗ RGB properties are NOT supported in this version")
+        print("Please upgrade firmware to version 2.x or above")
+        print("\nAvailable properties:")
+        print(f"  - Temperature: {env.temperature}°C")
+        print(f"  - Humidity: {env.humidity}%")
+        print(f"  - Illuminance: {env.illuminance} lux")
+        print(f"  - Volume: {env.volume} dB")
+        return False
+
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+
+    print("=" * 60)
+    print("Env Module Color Sensor Example - Multi-Module Support")
+    print("=" * 60)
+
+    # Check how many Env modules are connected
+    num_envs = len(bundle.envs)
+    print(f"\nFound {num_envs} Env module(s)")
+
+    if num_envs == 0:
+        print("Error: No Env modules found!")
+        bundle.close()
+        exit(1)
+
+    # Test each Env module
+    rgb_supported_modules = []
+    for i, env in enumerate(bundle.envs):
+        if test_env_module(env, i):
+            rgb_supported_modules.append((i, env))
+
+    stop_flag = False
+
+    # If any module supports RGB, start continuous reading
+    if rgb_supported_modules:
+        print(f"\n{'=' * 60}")
+        print(f"Reading color sensor values from {len(rgb_supported_modules)} module(s)")
+        print("Press Ctrl+C to stop")
+        print(f"{'=' * 60}\n")
+
+        # Color class 이름 매핑
+        color_names = {
+            0: "unknown",
+            1: "red",
+            2: "green",
+            3: "blue",
+            4: "white",
+            5: "black"
+        }
+
+        try:
+            while True:
+                ch = get_key_nonblocking()
+                if ch is not None:
+                    ch = ch.lower()
+                    if ch == 'q':
+                        print("\n\nStop command received. Exiting...")
+                        break
+                    elif ch == 's':
+                        stop_flag = not stop_flag
+                        if stop_flag:
+                            print("\nReading paused. Press 's' to resume.")
+                        else:
+                            print("\nReading resumed.")
+
+                if stop_flag:
+                    time.sleep(0.1)
+                    continue
+
+                # Read and display all color properties from all supported modules
+                for idx, env in rgb_supported_modules:
+                    # env.set_rgb_mode(env.RGB_MODE_DUALSHOT)
+                    env.set_rgb_mode(env.RGB_MODE_AMBIENT)
+                    try:
+                        r, g, b = env.rgb
+                        white = env.white
+                        black = env.black
+                        color_class = env.color_class
+                        brightness = env.brightness
+                        color_name = color_names.get(color_class, "unknown")
+                        
+                        print(f"Module #{idx + 1}: ", end="")
+                        print(f"RGB=({r:3d},{g:3d},{b:3d}) ", end="")
+                        print(f"W={white:3d} B={black:3d} ", end="")
+                        print(f"Bright={brightness:3d} ", end="")
+                        print(f"Color={color_name:7s}", end="  ")
+                    except Exception as e:
+                        print(f"Module #{idx + 1}: Error - {e}", end="  ")
+
+                print("\r", end="", flush=True)
+                time.sleep(0.1)
+
+        except KeyboardInterrupt:
+            print("\n\nStopped by user")
+
+    else:
+        print(f"\n{'=' * 60}")
+        print("No modules with RGB support found.")
+        print("All connected modules are version 1.x")
+        print(f"{'=' * 60}")
+
+    bundle.close()
diff --git a/packages/core/examples/basic_usage_examples/env_rgb_mixed_versions.py b/packages/core/examples/basic_usage_examples/env_rgb_mixed_versions.py
new file mode 100644
index 0000000..4728567
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/env_rgb_mixed_versions.py
@@ -0,0 +1,133 @@
+"""Example: Mixed version Env modules (v1.x and v2.x together)
+
+This example shows how to handle multiple Env modules with different versions.
+Some modules may support RGB (v2.x+) while others don't (v1.x).
+"""
+
+import modi_plus
+import time
+
+
+def classify_env_modules(envs):
+    """Classify Env modules by RGB support"""
+    rgb_modules = []
+    legacy_modules = []
+
+    for i, env in enumerate(envs):
+        module_info = {
+            'index': i,
+            'env': env,
+            'id': env.id,
+            'version': env.app_version
+        }
+
+        if hasattr(env, '_is_rgb_supported') and env._is_rgb_supported():
+            rgb_modules.append(module_info)
+        else:
+            legacy_modules.append(module_info)
+
+    return rgb_modules, legacy_modules
+
+
+def print_module_summary(rgb_modules, legacy_modules):
+    """Print summary of all connected modules"""
+    total = len(rgb_modules) + len(legacy_modules)
+
+    print(f"\n{'=' * 70}")
+    print(f"Connected Env Modules Summary ({total} total)")
+    print(f"{'=' * 70}")
+
+    if rgb_modules:
+        print(f"\n✓ RGB-capable modules (v2.x+): {len(rgb_modules)}")
+        for m in rgb_modules:
+            print(f"  Module #{m['index'] + 1}: ID=0x{m['id']:X}, Version={m['version']}")
+
+    if legacy_modules:
+        print(f"\n✗ Legacy modules (v1.x): {len(legacy_modules)}")
+        for m in legacy_modules:
+            print(f"  Module #{m['index'] + 1}: ID=0x{m['id']:X}, Version={m['version']}")
+
+
+def read_all_sensors(rgb_modules, legacy_modules):
+    """Read all available sensors from all modules"""
+    print(f"\n{'=' * 70}")
+    print("Reading sensor values from all modules (Press Ctrl+C to stop)")
+    print(f"{'=' * 70}\n")
+
+    try:
+        while True:
+            output_lines = []
+
+            # Read RGB from v2.x modules
+            if rgb_modules:
+                output_lines.append("RGB Modules:")
+                for m in rgb_modules:
+                    try:
+                        r, g, b = m['env'].rgb
+                        temp = m['env'].temperature
+                        output_lines.append(
+                            f"  #{m['index'] + 1}: RGB=({r:3d},{g:3d},{b:3d}) "
+                            f"Temp={temp:2d}°C"
+                        )
+                    except Exception as e:
+                        output_lines.append(f"  #{m['index'] + 1}: Error - {e}")
+
+            # Read sensors from v1.x modules
+            if legacy_modules:
+                output_lines.append("\nLegacy Modules:")
+                for m in legacy_modules:
+                    try:
+                        temp = m['env'].temperature
+                        hum = m['env'].humidity
+                        lux = m['env'].illuminance
+                        output_lines.append(
+                            f"  #{m['index'] + 1}: Temp={temp:2d}°C "
+                            f"Humidity={hum:2d}% Lux={lux:3d}"
+                        )
+                    except Exception as e:
+                        output_lines.append(f"  #{m['index'] + 1}: Error - {e}")
+
+            # Clear screen and print
+            print("\033[2J\033[H", end="")  # Clear screen
+            print(f"{'=' * 70}")
+            print("Multi-Version Env Modules Monitor")
+            print(f"{'=' * 70}")
+            for line in output_lines:
+                print(line)
+
+            time.sleep(0.2)
+
+    except KeyboardInterrupt:
+        print("\n\nStopped by user")
+
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+
+    print("=" * 70)
+    print("Mixed Version Env Modules Example")
+    print("=" * 70)
+
+    # Check connected modules
+    num_envs = len(bundle.envs)
+    print(f"\nDetecting Env modules... Found {num_envs} module(s)")
+
+    if num_envs == 0:
+        print("Error: No Env modules found!")
+        bundle.close()
+        exit(1)
+
+    # Classify by version
+    rgb_modules, legacy_modules = classify_env_modules(bundle.envs)
+
+    # Print summary
+    print_module_summary(rgb_modules, legacy_modules)
+
+    # Start reading
+    if rgb_modules or legacy_modules:
+        input("\nPress Enter to start monitoring...")
+        read_all_sensors(rgb_modules, legacy_modules)
+    else:
+        print("\nNo modules found!")
+
+    bundle.close()
diff --git a/packages/core/examples/basic_usage_examples/env_rgb_stats.py b/packages/core/examples/basic_usage_examples/env_rgb_stats.py
new file mode 100644
index 0000000..b29616b
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/env_rgb_stats.py
@@ -0,0 +1,332 @@
+"""Example of using Env module RGB and color properties
+
+This example demonstrates how to use the color sensor properties
+of the Env module including:
+- RGB (red, green, blue) values
+- White and Black values
+- Color class detection (red/green/blue/white/black/unknown)
+- Brightness value
+
+Note: These properties are only available in version 2.x and above.
+This example tests ALL connected Env modules.
+"""
+
+import os
+import sys
+
+from dataclasses import dataclass
+from typing import Dict, Optional, Tuple
+
+import modi_plus
+import time
+
+# --- OS 구분 ---
+IS_WINDOWS = (os.name == "nt")
+
+if IS_WINDOWS:
+    import msvcrt
+else:
+    import termios
+    import tty
+    import select
+
+
+# ---------------------------------------------------------------------------
+# Statistics helpers (refactored from globals -> class)
+# ---------------------------------------------------------------------------
+
+@dataclass
+class RunningStat:
+    """min/max/avg용 누적 통계"""
+    min: Optional[int] = None
+    max: Optional[int] = None
+    sum: int = 0
+    count: int = 0
+
+    def update(self, value: int) -> None:
+        if self.min is None or value < self.min:
+            self.min = value
+        if self.max is None or value > self.max:
+            self.max = value
+        self.sum += int(value)
+        self.count += 1
+
+    @property
+    def avg(self) -> float:
+        return (self.sum / self.count) if self.count else 0.0
+
+
+class EnvStats:
+    """Env RGB/조도 측정값 + color_name count 통계를 관리"""
+
+    def __init__(self, metric_names=None) -> None:
+        if metric_names is None:
+            metric_names = ("raw_r", "raw_g", "raw_b", "raw_w", "r", "g", "b", "white", "black", "brightness")
+        self._metric_names = tuple(metric_names)
+        self.reset()
+
+    def reset(self) -> None:
+        # 숫자 통계
+        self.metrics: Dict[str, RunningStat] = {n: RunningStat() for n in self._metric_names}
+        # color_name 통계
+        self.color_counts: Dict[str, int] = {}
+
+    def update_metric(self, name: str, value: int) -> None:
+        if name not in self.metrics:
+            # 오타/새 항목이 들어와도 안전하게 처리
+            self.metrics[name] = RunningStat()
+        self.metrics[name].update(value)
+
+    def update_color(self, color_name: Optional[str]) -> None:
+        if not color_name:
+            color_name = "None"
+        self.color_counts[color_name] = self.color_counts.get(color_name, 0) + 1
+
+    def top_color(self) -> Tuple[str, int]:
+        if not self.color_counts:
+            return ("N/A", 0)
+        name, cnt = max(self.color_counts.items(), key=lambda x: x[1])
+        return (name, cnt)
+
+    def print_stats(self) -> None:
+        """현재까지 누적된 통계 출력"""
+        print("\n\n=== Measurement Statistics ===")
+        for name in self._metric_names:
+            s = self.metrics[name]
+            if s.count == 0:
+                print(f"{name:10s}: no data")
+            else:
+                print(f"{name:10s} min={s.min:4d}  max={s.max:4d}  avg={s.avg:8.2f}  (n={s.count})")
+
+        # color_name 통계
+        print("\n=== Color Name Counts ===")
+        if not self.color_counts:
+            print("no color data")
+            return
+
+        sorted_colors = sorted(self.color_counts.items(), key=lambda x: -x[1])
+        max_count = sorted_colors[0][1] if sorted_colors else 0
+        top_color = sorted_colors[0][0] if sorted_colors else "N/A"
+
+        for cname, cnt in sorted_colors:
+            line = f"{cname:10s}: {cnt:5d}"
+            if cnt == max_count:
+                line += "  <== The top-ranked color"
+            print(line)
+
+        # 요약 한줄
+        raw_r = self.metrics["raw_r"].avg
+        raw_g = self.metrics["raw_g"].avg
+        raw_b = self.metrics["raw_b"].avg
+        raw_w = self.metrics["raw_w"].avg
+
+        r = self.metrics["r"].avg
+        g = self.metrics["g"].avg
+        b = self.metrics["b"].avg
+        w = self.metrics["white"].avg
+        k = self.metrics["black"].avg
+        print("\n[Summary] RAW_R,RAW_G,RAW_B,RAW_W,R,G,B,W,K Avg,Top Color")
+        print(f"{raw_r:.1f},{raw_g:.1f},{raw_b:.1f},{raw_w:.1f},", end="")
+        print(f"{r:.1f},{g:.1f},{b:.1f},{w:.1f},{k:.1f},{top_color}")
+
+
+# 통계 인스턴스 딕셔너리: module_idx -> EnvStats
+# rgb_supported_modules 기준으로 동적 생성
+stats_by_module: Dict[int, EnvStats] = {}
+
+
+def get_stats(module_idx: int) -> EnvStats:
+    """모듈 인덱스에 해당하는 EnvStats 반환 (없으면 생성)"""
+    if module_idx not in stats_by_module:
+        stats_by_module[module_idx] = EnvStats()
+    return stats_by_module[module_idx]
+
+
+def reset_all_stats() -> None:
+    """모든 모듈의 통계 초기화"""
+    for s in stats_by_module.values():
+        s.reset()
+
+
+def print_all_stats() -> None:
+    """모든 모듈의 통계 출력"""
+    for module_idx, s in sorted(stats_by_module.items()):
+        print(f"\n{'#' * 60}")
+        print(f"# Module #{module_idx + 1} Statistics")
+        print(f"{'#' * 60}")
+        s.print_stats()
+def get_key_nonblocking():
+    """
+    - 키가 눌리면: 1글자(str) 반환
+    - 아무 키도 없으면: None 반환
+    """
+    if IS_WINDOWS:
+        # Windows: msvcrt 사용
+        if msvcrt.kbhit():
+            ch = msvcrt.getch()
+            try:
+                return ch.decode(errors="ignore")
+            except Exception:
+                return None
+        return None
+    else:
+        # macOS / Linux: select + cbreak 모드에서 stdin 읽기
+        dr, _, _ = select.select([sys.stdin], [], [], 0)
+        if dr:
+            return sys.stdin.read(1)
+        return None
+
+
+# --- macOS / Linux에서는 터미널 모드 변경 필요(cbreak) ---
+if not IS_WINDOWS:
+    fd = sys.stdin.fileno()
+    old_term_attr = termios.tcgetattr(fd)
+    tty.setcbreak(fd)  # Enter 없이 한 글자씩 읽히도록
+
+def test_env_module(env, index):
+    """Test a single Env module for RGB support"""
+    print(f"\n{'=' * 60}")
+    print(f"Env Module #{index + 1} (ID: 0x{env.id:X})")
+    print(f"{'=' * 60}")
+    print(f"App Version: {env.app_version}")
+
+    # Check if version supports RGB
+    if hasattr(env, '_is_rgb_supported') and env._is_rgb_supported():
+        print("✓ RGB properties are supported!")
+        return True
+    else:
+        print("✗ RGB properties are NOT supported in this version")
+        print("Please upgrade firmware to version 2.x or above")
+        print("\nAvailable properties:")
+        print(f"  - Temperature: {env.temperature}°C")
+        print(f"  - Humidity: {env.humidity}%")
+        print(f"  - Illuminance: {env.illuminance} lux")
+        print(f"  - Volume: {env.volume} dB")
+        return False
+
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+
+    print("=" * 60)
+    print("Env Module Color Sensor Example - Multi-Module Support")
+    print("=" * 60)
+
+    # Check how many Env modules are connected
+    num_envs = len(bundle.envs)
+    print(f"\nFound {num_envs} Env module(s)")
+
+    if num_envs == 0:
+        print("Error: No Env modules found!")
+        bundle.close()
+        exit(1)
+
+    # Test each Env module
+    rgb_supported_modules = []
+    for i, env in enumerate(bundle.envs):
+        if test_env_module(env, i):
+            rgb_supported_modules.append((i, env))
+
+    stop_flag = False
+
+    # If any module supports RGB, start continuous reading
+    if rgb_supported_modules:
+        print(f"\n{'=' * 60}")
+        print(f"Reading color sensor values from {len(rgb_supported_modules)} module(s)")
+        print("Press Ctrl+C to stop")
+        print(f"{'=' * 60}\n")
+
+        # Color class 이름 매핑
+        color_names = {
+            0: "unknown",
+            1: "red",
+            2: "green",
+            3: "blue",
+            4: "white",
+            5: "black"
+        }
+
+        # 각 모듈별 통계 초기화
+        for idx, env in rgb_supported_modules:
+            get_stats(idx).reset()
+        stats_count = 0
+        try:
+            while True:
+                ch = get_key_nonblocking()
+                if ch is not None:
+                    ch = ch.lower()
+                    if ch == 'q':
+                        print("\n\nStop command received. Exiting...")
+                        break
+                    elif ch == 's':
+                        stop_flag = not stop_flag
+                        if stop_flag:
+                            print("\nReading paused. Press 's' to resume.")
+                            print_all_stats()
+                            reset_all_stats()
+                            stats_count = 0
+                        else:
+                            reset_all_stats()
+                            stats_count = 0
+                            print("\nReading resumed.")
+                elif stats_count >= 100:
+                    stop_flag = True
+                    print_all_stats()
+                    reset_all_stats()
+                    stats_count = 0
+
+                if stop_flag:
+                    time.sleep(0.1)
+                    continue
+
+                # Read and display all color properties from all supported modules
+                for idx, env in rgb_supported_modules:
+                    # env.set_rgb_mode(env.RGB_MODE_DUALSHOT)
+                    env.set_rgb_mode(env.RGB_MODE_ON, 300)
+                    try:
+                        r, g, b = env.rgb
+                        raw_r, raw_g, raw_b, raw_w = env.raw_rgb
+                        white = env.white
+                        black = env.black
+                        color_class = env.color_class
+                        brightness = env.brightness
+                        color_name = color_names.get(color_class, "unknown")
+
+                        # --- 모듈별 통계 갱신 ---
+                        module_stats = get_stats(idx)
+                        module_stats.update_metric("raw_r", raw_r)
+                        module_stats.update_metric("raw_g", raw_g)
+                        module_stats.update_metric("raw_b", raw_b)
+                        module_stats.update_metric("raw_w", raw_w)
+
+                        module_stats.update_metric("r", r)
+                        module_stats.update_metric("g", g)
+                        module_stats.update_metric("b", b)
+                        module_stats.update_metric("white", white)
+                        module_stats.update_metric("black", black)
+                        module_stats.update_metric("brightness", brightness)
+                        module_stats.update_color(color_name)
+
+                        print(f"Module #{idx + 1}: ", end="")
+                        print(f"RAW_RGB=({raw_r:5d},{raw_g:5d},{raw_b:5d},{raw_w:5d}) ", end="")
+                        print(f"RGB=({r:3d},{g:3d},{b:3d}) ", end="")
+                        print(f"W={white:3d} B={black:3d} ", end="")
+                        print(f"Bright={brightness:3d} ", end="")
+                        print(f"Color={color_name:7s}", end="  ")
+                        stats_count += 1
+                    except Exception as e:
+                        print(f"Module #{idx + 1}: Error - {e}", end="  ")
+
+                print("\r", end="", flush=True)
+                time.sleep(0.1)
+
+        except KeyboardInterrupt:
+            print("\n\nStopped by user")
+
+    else:
+        print(f"\n{'=' * 60}")
+        print("No modules with RGB support found.")
+        print("All connected modules are version 1.x")
+        print(f"{'=' * 60}")
+
+    bundle.close()
\ No newline at end of file
diff --git a/packages/core/examples/basic_usage_examples/error1.py b/packages/core/examples/basic_usage_examples/error1.py
new file mode 100644
index 0000000..0b7dc9e
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/error1.py
@@ -0,0 +1,23 @@
+import modi_plus
+import time
+
+bundle = modi_plus.MODIPlus()
+
+button = bundle.buttons[0]
+led = bundle.leds[0]
+
+mode = 0
+while True:
+    if button.double_clicked:
+        break
+    if button.clicked:
+        mode = mode + 1
+        if mode == 1:
+            led.rgb = 20, 20, 20
+        elif mode == 2:
+            led.rgb = 60, 60, 60
+        elif mode == 3:
+            led.rgb = 100, 100, 100
+        elif mode == 4:
+            led.rgb = 0, 0, 0
+            mode = 0
diff --git a/packages/core/examples/basic_usage_examples/imu_example.py b/packages/core/examples/basic_usage_examples/imu_example.py
new file mode 100644
index 0000000..24d8af8
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/imu_example.py
@@ -0,0 +1,23 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of imu module
+Make sure you connect 1 imu module to your network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    imu = bundle.imus[0]
+
+    while True:
+        print(f"Angle_y: {imu.angle_y:<10}"
+              f"Angle_x: {imu.angle_x:<10}"
+              f"Angle_z: {imu.angle_z:<10}"
+              f"Vel x: {imu.angular_vel_x:<10}"
+              f"Vel y: {imu.angular_vel_y:<10}"
+              f"Vel z: {imu.angular_vel_z:<10}"
+              f"Acc x: {imu.acceleration_x:<10}"
+              f"Acc y: {imu.acceleration_y:<10}"
+              f"Acc z: {imu.acceleration_z:<10}", end="\r")
+        time.sleep(0.02)
diff --git a/packages/core/examples/basic_usage_examples/joystick_example.py b/packages/core/examples/basic_usage_examples/joystick_example.py
new file mode 100644
index 0000000..8bbf9b4
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/joystick_example.py
@@ -0,0 +1,15 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of joystick module
+Make sure you connect 1 joystick module to your network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    joystick = bundle.joysticks[0]
+
+    while True:
+        print("x: {0:<10} y: {1:<10} direction: {2:<10}".format(joystick.x, joystick.y, joystick.direction), end="\r")
+        time.sleep(0.02)
diff --git a/packages/core/examples/basic_usage_examples/led_example.py b/packages/core/examples/basic_usage_examples/led_example.py
new file mode 100644
index 0000000..69e3adc
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/led_example.py
@@ -0,0 +1,30 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of led module
+Make sure you connect 1 led module to your network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    led = bundle.leds[0]
+
+    led.blue = 100
+    time.sleep(1)
+    led.blue = 0
+    time.sleep(1)
+    led.green = 255
+    time.sleep(1)
+    led.green = 0
+    time.sleep(1)
+    led.red = 100
+    time.sleep(1)
+    for c in range(100):
+        led.rgb = 100 - c, c, 0
+        time.sleep(0.02)
+
+    led.turn_on()
+    time.sleep(1)
+    led.turn_off()
+    time.sleep(1)
diff --git a/packages/core/examples/basic_usage_examples/motor_example.py b/packages/core/examples/basic_usage_examples/motor_example.py
new file mode 100644
index 0000000..324ca81
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/motor_example.py
@@ -0,0 +1,22 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of motor module
+Make sure you connect 1 motor module to your network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    motor = bundle.motors[0]
+
+    motor.angle = 0, 70
+    time.sleep(3)
+    motor.angle = 50, 70
+    time.sleep(3)
+    motor.speed = 50
+    time.sleep(3)
+    motor.speed = 100
+    time.sleep(3)
+    motor.speed = 0
+    time.sleep(1)
diff --git a/packages/core/examples/basic_usage_examples/speaker_example.py b/packages/core/examples/basic_usage_examples/speaker_example.py
new file mode 100644
index 0000000..d8cf341
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/speaker_example.py
@@ -0,0 +1,20 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of speaker module
+Make sure you connect 1 speaker module to your network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    speak = bundle.speakers[0]
+
+    speak.tune = 800, 70
+    time.sleep(3)
+    speak.frequency = 700
+    time.sleep(3)
+    speak.volume = 100
+    time.sleep(1)
+    speak.reset()
+    time.sleep(1)
diff --git a/packages/core/examples/basic_usage_examples/tof_example.py b/packages/core/examples/basic_usage_examples/tof_example.py
new file mode 100644
index 0000000..36a2807
--- /dev/null
+++ b/packages/core/examples/basic_usage_examples/tof_example.py
@@ -0,0 +1,15 @@
+import modi_plus
+import time
+
+"""
+Example script for the usage of tof module
+Make sure you connect 1 tof module to your network module
+"""
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    tof = bundle.tofs[0]
+
+    while True:
+        print(f"Distance(cm): {tof.distance:<10}                ", end="\r")
+        time.sleep(0.02)
diff --git a/packages/core/examples/creation_examples/brush.py b/packages/core/examples/creation_examples/brush.py
new file mode 100644
index 0000000..cc2aa3b
--- /dev/null
+++ b/packages/core/examples/creation_examples/brush.py
@@ -0,0 +1,32 @@
+import modi_plus
+from playscii import GameManager, GameObject
+from math import sin, radians
+
+
+class BrushManager(GameManager):
+    def __init__(self, size, imu, button):
+        super().__init__(size)
+        self.cursor = Brush(pos=(size[0] // 2, size[1] // 2), render="o")
+        self.imu = imu
+        self.button = button
+
+    def setup(self):
+        self.add_object(self.cursor)
+
+    def update(self):
+        h, w = self.height // 2, self.width // 2
+        self.cursor.y = h - h * sin(radians(-self.imu.angle_x))
+        self.cursor.x = w - w * sin(radians(-self.imu.angle_y))
+        if self.button.pressed:
+            self.add_object(Brush((self.cursor.x, self.cursor.y), "x"))
+
+
+class Brush(GameObject):
+    def update(self):
+        pass
+
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    canvas = BrushManager((100, 20), bundle.imus[0], bundle.buttons[0])
+    canvas.start()
diff --git a/packages/core/examples/creation_examples/dodge.py b/packages/core/examples/creation_examples/dodge.py
new file mode 100644
index 0000000..e283d2b
--- /dev/null
+++ b/packages/core/examples/creation_examples/dodge.py
@@ -0,0 +1,58 @@
+import modi_plus
+from playscii import GameManager, GameObject
+from random import randint
+import time
+
+"""
+This example requires you to install playascii package
+"""
+
+PLAYER_RENDER = " O    \n" \
+                "/|\\   \n" \
+                "/ \\"
+MODI_RENDER = "-------\n" \
+              "|MODI+|\n" \
+              "_______"
+
+
+class DodgeManager(GameManager):
+
+    def __init__(self, controller):
+        super().__init__((50, 20))
+
+        self.player = self.GameObject(
+            pos=(25, 2),
+            render=PLAYER_RENDER)
+        self.fire = self.GameObject(render=MODI_RENDER)
+        self.imu = controller.imus[0]
+        self.button = controller.buttons[0]
+
+    def setup(self):
+        self.set_title("PyMODI+ Dodge")
+        self.add_object(self.player)
+        self.add_object(self.fire)
+        self.fire.x, self.fire.y = 25, 20
+
+    def update(self):
+        angle_y = -self.imu.angle_y
+        if angle_y < -5 and self.player.x < 48:
+            self.player.x += 30 * self.delta_time
+        elif angle_y > 5 and self.player.x > 0:
+            self.player.x -= 30 * self.delta_time
+        self.fire.y -= 15 * self.delta_time
+        if self.fire.y < 0:
+            self.fire.x, self.fire.y = randint(0, 40), 25
+        if self.fire.y < 3 and (self.fire.x - 4 <= self.player.x <= self.fire.x + 4):
+            self.set_title("GAME OVER")
+            self.set_flag("quit", True)
+
+    class GameObject(GameObject):
+        def update(self):
+            pass
+
+
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    game_manager = DodgeManager(bundle)
+    game_manager.start()
+    time.sleep(3)
diff --git a/packages/core/examples/creation_examples/requirements.txt b/packages/core/examples/creation_examples/requirements.txt
new file mode 100644
index 0000000..56dbca8
--- /dev/null
+++ b/packages/core/examples/creation_examples/requirements.txt
@@ -0,0 +1 @@
+pyplayscii
diff --git a/packages/core/examples/intermediate_usage_examples/multi_module_example.py b/packages/core/examples/intermediate_usage_examples/multi_module_example.py
new file mode 100644
index 0000000..5875ae0
--- /dev/null
+++ b/packages/core/examples/intermediate_usage_examples/multi_module_example.py
@@ -0,0 +1,26 @@
+import modi_plus
+
+"""
+This example explains the convention that pymodi uses when multiple modules
+with the same type are connected.
+
+When multiple modules are connected, the modules are sorted in ascending connected time.
+"""
+
+# Let say you run the code below, then one of the four cases below will occur
+if __name__ == "__main__":
+    bundle = modi_plus.MODIPlus()
+    led0 = bundle.leds[0]
+    led1 = bundle.leds[1]
+
+"""
+It is also possible to access modules by there id or uuid.
+
+led0 = bundle.leds.get(0x881)
+led1 = bundle.leds.get(0xA55)
+
+or
+
+led0 = bundle.led(0x881)
+led1 = bundle.led(0xA55)
+"""
diff --git a/packages/core/modi_plus/__init__.py b/packages/core/modi_plus/__init__.py
new file mode 100644
index 0000000..b84dd3c
--- /dev/null
+++ b/packages/core/modi_plus/__init__.py
@@ -0,0 +1,13 @@
+"""Top-level package for pyMODI+."""
+from modi_plus import about
+from modi_plus.modi_plus import (
+    MODIPlus,
+)
+
+__all__ = [
+    "MODIPlus",
+]
+
+__version__ = about.__version__
+
+print(f"Running PyMODI+ (v{__version__})")
diff --git a/packages/core/modi_plus/__main__.py b/packages/core/modi_plus/__main__.py
new file mode 100644
index 0000000..e85a573
--- /dev/null
+++ b/packages/core/modi_plus/__main__.py
@@ -0,0 +1,130 @@
+import os
+import sys
+import time
+import textwrap
+
+from getopt import getopt, GetoptError
+
+import modi_plus
+
+from modi_plus.util.usage_util import UsageInstructor
+from modi_plus.util.tutorial_util import Tutor
+from modi_plus.util.inspection_util import Inspector
+
+from modi_plus.util.message_util import parse_message, decode_message
+
+
+def check_option(*options):
+    for o, a in opts:
+        if o in options:
+            return a if a else True
+    return False
+
+
+if __name__ == "__main__":
+    usage = textwrap.dedent(
+        """
+        Usage: python -m modi_plus -<options>
+        Options:
+        -t, --tutorial: Interactive Tutorial
+        -h, --help: Print out help page
+        """.rstrip()
+    )
+
+    help_page = textwrap.dedent(
+        """
+        Usage: python -m modi_plus -<options>
+        Options:
+        -t, --tutorial: Interactive Tutorial
+             Usage: python -m modi_plus --tutorial
+        """.rstrip()
+    )
+
+    try:
+        # all commands should be defined here in advance
+        opts, args = getopt(
+            sys.argv[1:], "tahvpiu",
+            [
+                "tutorial",
+                "initialize",
+                "help",
+                "verbose",
+                "performance",
+                "inspect",
+                "usage",
+            ]
+        )
+    # exit program if an invalid option has been entered
+    except GetoptError as err:
+        print(str(err))
+        print(usage)
+        os._exit(2)
+
+    # Ensure that there is an option but argument
+    if len(sys.argv) == 1 or len(args) > 0:
+        print(usage)
+        os._exit(2)
+
+    # Print help page
+    if check_option("-h", "--help"):
+        print(help_page)
+        os._exit(0)
+
+    # Start interactive pymodi+ tutorial
+    if check_option("-t", "--tutorial"):
+        pymodi_tutor = Tutor()
+        pymodi_tutor.run_introduction()
+        os._exit(0)
+
+    # Time message transfer between local machine and network module
+    if check_option("-p", "--performance"):
+        print("[PyMODI+ Performance Test]" + "\n" + "=" * 25)
+        init_time = time.time()
+        bundle = modi_plus.MODIPlus()
+        fin_time = time.time()
+        took = (fin_time - init_time) * 100 // 1 / 100
+        print(f"Took {took} seconds to initialize")
+        req_tp_msg = parse_message(0x2A, 0, bundle.networks[0].id)
+        print(f"request message... {req_tp_msg}")
+        bundle._exe_thread.close()
+        init_time = time.perf_counter()
+        bundle.send(req_tp_msg)
+        msg = None
+        while True:
+            msg = bundle.recv()
+            if not msg:
+                continue
+            recv_cmd = decode_message(msg)[0]
+            if recv_cmd == 0x07:
+                break
+        fin_time = time.perf_counter()
+        took = fin_time - init_time
+        print(f"received message... {msg}")
+        print(f"Took {took / 2:.10f} seconds for message transfer")
+        os._exit(0)
+
+    # Initialize modules implicitly
+    if check_option("-a", "--initialize"):
+        # TODO: Handle when there are more than one module with the same type
+        print(">>> bundle = modi_plus.MODIPlus()")
+        init_time = time.time()
+        bundle = modi_plus.MODIPlus(verbose=check_option("-v", "--verbose"))
+        fin_time = time.time()
+        print(f"Took {fin_time - init_time:.2f} seconds to init MODI+ modules")
+
+        for module in bundle.modules:
+            module_name = module.module_type.lower()
+            print(">>> " + module_name + " = bundle." + module_name + "s[0]")
+            exec(module_name + " = module")
+
+    # Run inspection mode
+    if check_option("-i", "--inspect"):
+        pymodi_inspector = Inspector()
+        pymodi_inspector.run_inspection()
+        os._exit(0)
+
+    # Show each module usage
+    if check_option("-u", "--usage"):
+        usage = UsageInstructor()
+        usage.run_usage_manual()
+        os._exit(0)
diff --git a/packages/core/modi_plus/_exe_thread.py b/packages/core/modi_plus/_exe_thread.py
new file mode 100644
index 0000000..bd30853
--- /dev/null
+++ b/packages/core/modi_plus/_exe_thread.py
@@ -0,0 +1,28 @@
+import threading as th
+
+from modi_plus.task.exe_task import ExeTask
+
+
+class ExeThread(th.Thread):
+    """
+    :param dict() modules: dict() of module instance
+    """
+
+    def __init__(self, modules, connection_task):
+        super().__init__(daemon=True)
+        connection_task.open_connection()
+        self.__exe_task = ExeTask(modules, connection_task)
+        self.__kill_sig = False
+
+    def close(self):
+        self.__kill_sig = True
+
+    def run(self) -> None:
+        """ Run executor task
+
+        :return: None
+        """
+        while True:
+            self.__exe_task.run(delay=0.001)
+            if self.__kill_sig:
+                break
diff --git a/packages/core/modi_plus/about.py b/packages/core/modi_plus/about.py
new file mode 100644
index 0000000..a19d49e
--- /dev/null
+++ b/packages/core/modi_plus/about.py
@@ -0,0 +1,8 @@
+__title__ = "pymodi-plus"
+__version__ = "0.4.2"
+__author__ = "LUXROBO"
+__email__ = "module.dev@luxrobo.com"
+__description__ = "Python API for controlling modular electronics, MODI+."
+__url__ = "https://github.com/LUXROBO/pymodi-plus"
+__license__ = "MIT"
+__summary__ = "Python API for controlling modular electronics, MODI+."
diff --git a/packages/core/modi_plus/assets/firmware/esp32/bootloader.bin b/packages/core/modi_plus/assets/firmware/esp32/bootloader.bin
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index 0000000..7c5db03
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diff --git a/packages/core/modi_plus/assets/firmware/esp32/modi_ota_factory.bin b/packages/core/modi_plus/assets/firmware/esp32/modi_ota_factory.bin
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diff --git a/packages/core/modi_plus/assets/firmware/esp32/ota_data_initial.bin b/packages/core/modi_plus/assets/firmware/esp32/ota_data_initial.bin
new file mode 100644
index 0000000..b4033a7
--- /dev/null
+++ b/packages/core/modi_plus/assets/firmware/esp32/ota_data_initial.bin
@@ -0,0 +1 @@
+�������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������������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\ No newline at end of file
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diff --git a/packages/core/modi_plus/assets/firmware/modules/tof.bin b/packages/core/modi_plus/assets/firmware/modules/tof.bin
new file mode 100644
index 0000000..c1cb183
Binary files /dev/null and b/packages/core/modi_plus/assets/firmware/modules/tof.bin differ
diff --git a/packages/core/modi_plus/assets/version.txt b/packages/core/modi_plus/assets/version.txt
new file mode 100644
index 0000000..274ed2c
--- /dev/null
+++ b/packages/core/modi_plus/assets/version.txt
@@ -0,0 +1,21 @@
+{
+    "battery": "v1.0.5",
+    "bootloader_e103": "v1.0.1",
+    "bootloader_e230": "v1.0.0",
+    "button": "v1.0.0",
+    "dial": "v1.0.3",
+    "display": "v1.3.0",
+    "env": "v1.0.2",
+    "esp32_app": "v4.3.0",
+    "esp32_ota": "v1.0.0",
+    "imu": "v1.1.3",
+    "joystick": "v1.1.1",
+    "led": "v1.0.0",
+    "motor": "v1.2.1",
+    "network": "v1.1.2",
+    "os_e103": "v1.3.0",
+    "os_e230": "v1.3.0",
+    "release": "v20220826",
+    "speaker": "v1.2.1",
+    "tof": "v1.1.2"
+}
\ No newline at end of file
diff --git a/packages/core/modi_plus/modi_plus.py b/packages/core/modi_plus/modi_plus.py
new file mode 100644
index 0000000..291e6a3
--- /dev/null
+++ b/packages/core/modi_plus/modi_plus.py
@@ -0,0 +1,324 @@
+"""Main MODI+ module."""
+
+import time
+import atexit
+from typing import Optional
+
+from importlib import import_module as im
+
+from modi_plus.module.setup_module.network import Network
+from modi_plus.module.setup_module.battery import Battery
+from modi_plus.module.input_module.env import Env
+from modi_plus.module.input_module.imu import Imu
+from modi_plus.module.input_module.button import Button
+from modi_plus.module.input_module.dial import Dial
+from modi_plus.module.input_module.joystick import Joystick
+from modi_plus.module.input_module.tof import Tof
+from modi_plus.module.output_module.display import Display
+from modi_plus.module.output_module.motor import Motor
+from modi_plus.module.output_module.led import Led
+from modi_plus.module.output_module.speaker import Speaker
+
+from modi_plus.module.module import ModuleList
+from modi_plus._exe_thread import ExeThread
+from modi_plus.util.connection_util import get_platform, get_ble_task_path
+from modi_plus.task import HAS_SERIAL, HAS_BLE, ConnectionTask
+
+
+class MODIPlus:
+    network_uuids = {}
+
+    def __call__(cls, *args, **kwargs):
+        network_uuid = kwargs.get("network_uuid")
+        connection_type = kwargs.get("connection_type")
+        if connection_type != "ble":
+            return super(MODIPlus, cls).__call__(*args, **kwargs)
+        if not network_uuid:
+            raise ValueError("Should input a valid network uuid!")
+        if network_uuid not in cls.network_uuids:
+            cls.network_uuids[network_uuid] = super(MODIPlus, cls).__call__(*args, **kwargs)
+        return cls.network_uuids[network_uuid]
+
+    def __init__(
+        self,
+        connection_type: str = "serialport",
+        verbose: bool = False,
+        port: Optional[str] = None,
+        network_uuid: str = "",
+        task: Optional[ConnectionTask] = None,
+    ):
+        self._modules = list()
+        # 외부에서 task 주입 가능 (웹 버전용)
+        if task is not None:
+            self._connection = task
+        else:
+            self._connection = self.__init_task(connection_type, verbose, port, network_uuid)
+        self._exe_thread = ExeThread(self._modules, self._connection)
+
+        print("Start initializing connected MODI+ modules")
+        self._exe_thread.start()
+
+        # check usb connected module
+        init_time = time.time()
+        while not self.__is_usb_connected():
+            time.sleep(0.1)
+            if time.time() - init_time > 3:
+                print("MODI init timeout over. Check your module connection.")
+                break
+
+        print("MODI+ modules are initialized!")
+
+        atexit.register(self.close)
+
+    def __init_task(self, connection_type, verbose, port, network_uuid):
+        if connection_type == "serialport":
+            if not HAS_SERIAL:
+                raise ImportError(
+                    "Serial 통신을 사용하려면 pyserial이 필요합니다.\n"
+                    "설치: pip install pymodi-plus[serial] 또는 pip install pymodi-plus[all]"
+                )
+            return im("modi_plus.task.serialport_task").SerialportTask(verbose, port)
+        elif connection_type == "ble":
+            if not HAS_BLE:
+                raise ImportError(
+                    "BLE 통신을 사용하려면 bleak이 필요합니다.\n"
+                    "설치: pip install pymodi-plus[ble] 또는 pip install pymodi-plus[all]"
+                )
+            if not network_uuid:
+                raise ValueError("Network UUID not specified!")
+            self.network_uuids[network_uuid] = self
+
+            os = get_platform()
+            if os == "chrome" or os == "linux":
+                raise ValueError(f"{os} doesn't support ble connection")
+
+            return im(get_ble_task_path()).BleTask(verbose, network_uuid)
+        else:
+            raise ValueError(f"Invalid connection type: {connection_type}")
+
+    def open(self):
+        atexit.register(self.close)
+        self._exe_thread = ExeThread(self._modules, self._connection)
+        self._connection.open_connection()
+        self._exe_thread.start()
+
+    def close(self):
+        atexit.unregister(self.close)
+        print("Closing MODI+ connection...")
+        self._exe_thread.close()
+        self._connection.close_connection()
+
+    def send(self, message):
+        """Low level method to send json pkt directly to modules
+
+        :param message: Json packet to send
+        :return: None
+        """
+        self._connection.send_nowait(message)
+
+    def recv(self):
+        """Low level method to receive json pkt directly from modules
+
+        :return: Json msg received
+        :rtype: str if msg exists, else None
+        """
+        return self._connection.recv()
+
+    def __get_module_by_id(self, module_id):
+        for module in self._modules:
+            if module.id == module_id:
+                return module
+        return None
+
+    def __is_usb_connected(self):
+        for module in self._modules:
+            if module.is_usb_connected:
+                return True
+        return False
+
+    def __get_connected_module_by_id(self, id):
+        target = self.__get_module_by_id(id)
+        if target is None:
+            start_time = time.time()
+            while time.time() - start_time < 3:
+                target = self.__get_module_by_id(id)
+                if target is not None:
+                    return target
+                time.sleep(0.1)
+            raise Exception("Module with given id does not exits!")
+        else:
+            return target
+
+    def network(self, id: int) -> Network:
+        """Module Class of connected Network module.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "network":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not network!")
+        return module
+
+    def battery(self, id: int) -> Battery:
+        """Module Class of connected Battery module.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "battery":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not battery!")
+        return module
+
+    def env(self, id: int) -> Env:
+        """Module Class of connected Environment modules.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "env":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not env!")
+        return module
+
+    def imu(self, id: int) -> Imu:
+        """Module Class of connected IMU modules.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "imu":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not imu!")
+        return module
+
+    def button(self, id: int) -> Button:
+        """Module Class of connected Button modules.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "button":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not button!")
+        return module
+
+    def dial(self, id: int) -> Dial:
+        """Module Class of connected Dial modules.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "dial":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not dial!")
+        return module
+
+    def joystick(self, id: int) -> Joystick:
+        """Module Class of connected Joystick modules.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "joystick":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not joystick!")
+        return module
+
+    def tof(self, id: int) -> Tof:
+        """Module Class of connected ToF modules.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "tof":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not tof!")
+        return module
+
+    def display(self, id: int) -> Display:
+        """Module Class of connected Display modules.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "display":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not display!")
+        return module
+
+    def motor(self, id: int) -> Motor:
+        """Module Class of connected Motor modules.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "motor":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not motor!")
+        return module
+
+    def led(self, id: int) -> Led:
+        """Module Class of connected Led modules.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "led":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not led!")
+        return module
+
+    def speaker(self, id: int) -> Speaker:
+        """Module Class of connected Speaker modules.
+        """
+        module = self.__get_connected_module_by_id(id)
+        if module.module_type != "speaker":
+            raise Exception(f"This module(0x{id:X}) is {module.module_type} not speaker!")
+        return module
+
+    @property
+    def modules(self) -> ModuleList:
+        """Module List of connected modules except network module.
+        """
+        return ModuleList(self._modules)
+
+    @property
+    def networks(self) -> ModuleList:
+        """Module List of connected Network modules.
+        """
+        return ModuleList(self._modules, "network")
+
+    @property
+    def batterys(self) -> ModuleList:
+        """Module List of connected Battery modules.
+        """
+        return ModuleList(self._modules, "battery")
+
+    @property
+    def envs(self) -> ModuleList:
+        """Module List of connected Environment modules.
+        """
+        return ModuleList(self._modules, "env")
+
+    @property
+    def imus(self) -> ModuleList:
+        """Module List of connected IMU modules.
+        """
+        return ModuleList(self._modules, "imu")
+
+    @property
+    def buttons(self) -> ModuleList:
+        """Module List of connected Button modules.
+        """
+        return ModuleList(self._modules, "button")
+
+    @property
+    def dials(self) -> ModuleList:
+        """Module List of connected Dial modules.
+        """
+        return ModuleList(self._modules, "dial")
+
+    @property
+    def joysticks(self) -> ModuleList:
+        """Module List of connected Joystick modules.
+        """
+        return ModuleList(self._modules, "joystick")
+
+    @property
+    def tofs(self) -> ModuleList:
+        """Module List of connected ToF modules.
+        """
+        return ModuleList(self._modules, "tof")
+
+    @property
+    def displays(self) -> ModuleList:
+        """Module List of connected Display modules.
+        """
+        return ModuleList(self._modules, "display")
+
+    @property
+    def motors(self) -> ModuleList:
+        """Module List of connected Motor modules.
+        """
+        return ModuleList(self._modules, "motor")
+
+    @property
+    def leds(self) -> ModuleList:
+        """Module List of connected Led modules.
+        """
+        return ModuleList(self._modules, "led")
+
+    @property
+    def speakers(self) -> ModuleList:
+        """Module List of connected Speaker modules.
+        """
+        return ModuleList(self._modules, "speaker")
diff --git a/packages/core/modi_plus/module/__init__.py b/packages/core/modi_plus/module/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/modi_plus/module/input_module/__init__.py b/packages/core/modi_plus/module/input_module/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/modi_plus/module/input_module/button.py b/packages/core/modi_plus/module/input_module/button.py
new file mode 100644
index 0000000..f010ac6
--- /dev/null
+++ b/packages/core/modi_plus/module/input_module/button.py
@@ -0,0 +1,69 @@
+"""Button module."""
+
+import struct
+from modi_plus.module.module import InputModule
+
+
+class Button(InputModule):
+
+    STATE_TRUE = 100
+    STATE_FALSE = 0
+
+    PROPERTY_BUTTON_STATE = 2
+
+    PROPERTY_OFFSET_CLICKED = 0
+    PROPERTY_OFFSET_DOUBLE_CLICKED = 2
+    PROPERTY_OFFSET_PRESSED = 4
+    PROPERTY_OFFSET_TOGGLED = 6
+
+    @property
+    def clicked(self) -> bool:
+        """Returns true when button is clicked
+
+        :return: `True` if clicked or `False`.
+        :rtype: bool
+        """
+
+        offset = Button.PROPERTY_OFFSET_CLICKED
+        raw = self._get_property(Button.PROPERTY_BUTTON_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data == Button.STATE_TRUE
+
+    @property
+    def double_clicked(self) -> bool:
+        """Returns true when button is double clicked
+
+        :return: `True` if double clicked or `False`.
+        :rtype: bool
+        """
+
+        offset = Button.PROPERTY_OFFSET_DOUBLE_CLICKED
+        raw = self._get_property(Button.PROPERTY_BUTTON_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data == Button.STATE_TRUE
+
+    @property
+    def pressed(self) -> bool:
+        """Returns true while button is pressed
+
+        :return: `True` if pressed or `False`.
+        :rtype: bool
+        """
+
+        offset = Button.PROPERTY_OFFSET_PRESSED
+        raw = self._get_property(Button.PROPERTY_BUTTON_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data == Button.STATE_TRUE
+
+    @property
+    def toggled(self) -> bool:
+        """Returns true when button is toggled
+
+        :return: `True` if toggled or `False`.
+        :rtype: bool
+        """
+
+        offset = Button.PROPERTY_OFFSET_TOGGLED
+        raw = self._get_property(Button.PROPERTY_BUTTON_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data == Button.STATE_TRUE
diff --git a/packages/core/modi_plus/module/input_module/dial.py b/packages/core/modi_plus/module/input_module/dial.py
new file mode 100644
index 0000000..02eaaa5
--- /dev/null
+++ b/packages/core/modi_plus/module/input_module/dial.py
@@ -0,0 +1,38 @@
+"""Dial module."""
+
+import struct
+from modi_plus.module.module import InputModule
+
+
+class Dial(InputModule):
+
+    PROPERTY_DIAL_STATE = 2
+
+    PROPERTY_OFFSET_TURN = 0
+    PROPERTY_OFFSET_SPEED = 2
+
+    @property
+    def turn(self) -> int:
+        """Returns the angle of the dial between 0 and 100
+
+        :return: The dial's angle.
+        :rtype: int
+        """
+
+        offset = Dial.PROPERTY_OFFSET_TURN
+        raw = self._get_property(Dial.PROPERTY_DIAL_STATE)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def speed(self) -> int:
+        """Returns the turn speed of the dial between -100 and 100
+
+        :return: The dial's turn speed.
+        :rtype: int
+        """
+
+        offset = Dial.PROPERTY_OFFSET_SPEED
+        raw = self._get_property(Dial.PROPERTY_DIAL_STATE)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
diff --git a/packages/core/modi_plus/module/input_module/env.py b/packages/core/modi_plus/module/input_module/env.py
new file mode 100644
index 0000000..ffc4fa7
--- /dev/null
+++ b/packages/core/modi_plus/module/input_module/env.py
@@ -0,0 +1,409 @@
+"""Env module."""
+
+import struct
+from modi_plus.module.module import InputModule
+
+
+class Env(InputModule):
+
+    # -- Property Numbers --
+    PROPERTY_ENV_STATE = 2
+    PROPERTY_RGB_STATE = 3
+    PROPERTY_RAW_RGB_STATE = 4
+
+    PROPERTY_OFFSET_ILLUMINANCE = 0
+    PROPERTY_OFFSET_TEMPERATURE = 2
+    PROPERTY_OFFSET_HUMIDITY = 4
+    PROPERTY_OFFSET_VOLUME = 6
+
+    # RGB property offsets (only available in version 2.x and above)
+    PROPERTY_OFFSET_RED = 0
+    PROPERTY_OFFSET_GREEN = 2
+    PROPERTY_OFFSET_BLUE = 4
+    PROPERTY_OFFSET_WHITE = 6
+    PROPERTY_OFFSET_BLACK = 8
+    PROPERTY_OFFSET_COLOR_CLASS = 10
+    PROPERTY_OFFSET_BRIGHTNESS = 11
+
+    PROPERTY_RAW_OFFSET_RED = 0
+    PROPERTY_RAW_OFFSET_GREEN = 2
+    PROPERTY_RAW_OFFSET_BLUE = 4
+    PROPERTY_RAW_OFFSET_WHITE = 6
+
+    PROPERTY_ENV_SET_RECORD_VOICE = 16
+    PROPERTY_ENV_SET_RGB_MODE = 17
+
+    RGB_MODE_AMBIENT = 0
+    RGB_MODE_ON = 1
+    RGB_MODE_DUALSHOT = 2
+
+    @property
+    def illuminance(self) -> int:
+        """Returns the value of illuminance between 0 and 100
+
+        :return: The environment's illuminance.
+        :rtype: int
+        """
+
+        offset = Env.PROPERTY_OFFSET_ILLUMINANCE
+        raw = self._get_property(Env.PROPERTY_ENV_STATE)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def temperature(self) -> int:
+        """Returns the value of temperature between -10 and 60
+
+        :return: The environment's temperature.
+        :rtype: int
+        """
+
+        offset = Env.PROPERTY_OFFSET_TEMPERATURE
+        raw = self._get_property(Env.PROPERTY_ENV_STATE)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def humidity(self) -> int:
+        """Returns the value of humidity between 0 and 100
+
+        :return: The environment's humidity.
+        :rtype: int
+        """
+
+        offset = Env.PROPERTY_OFFSET_HUMIDITY
+        raw = self._get_property(Env.PROPERTY_ENV_STATE)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def volume(self) -> int:
+        """Returns the value of volume between 0 and 100
+
+        :return: The environment's volume.
+        :rtype: int
+        """
+
+        offset = Env.PROPERTY_OFFSET_VOLUME
+        raw = self._get_property(Env.PROPERTY_ENV_STATE)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    def _is_rgb_supported(self) -> bool:
+        """Check if RGB properties are supported based on app version
+
+        RGB is supported in app version 2.x and above.
+        Version 1.x does not support RGB.
+
+        :return: True if RGB is supported, False otherwise
+        :rtype: bool
+        """
+        if not hasattr(self, '_Module__app_version') or self._Module__app_version is None:
+            return False
+
+        # Extract major version: version >> 13
+        major_version = self._Module__app_version >> 13
+        return major_version >= 2
+
+    @property
+    def red(self) -> int:
+        """Returns the red color value between 0 and 100
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The environment's red color value (0-100%).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_OFFSET_RED
+        raw = self._get_property(Env.PROPERTY_RGB_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def green(self) -> int:
+        """Returns the green color value between 0 and 100
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The environment's green color value (0-100%).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_OFFSET_GREEN
+        raw = self._get_property(Env.PROPERTY_RGB_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def blue(self) -> int:
+        """Returns the blue color value between 0 and 100
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The environment's blue color value (0-100%).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_OFFSET_BLUE
+        raw = self._get_property(Env.PROPERTY_RGB_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def white(self) -> int:
+        """Returns the white color value between 0 and 100
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The environment's white color value (0-100%).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_OFFSET_WHITE
+        raw = self._get_property(Env.PROPERTY_RGB_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def black(self) -> int:
+        """Returns the black color value between 0 and 100
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The environment's black color value (0-100%).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_OFFSET_BLACK
+        raw = self._get_property(Env.PROPERTY_RGB_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def color_class(self) -> int:
+        """Returns the detected color class
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The detected color class (0=unknown, 1=red, 2=green, 3=blue, 4=white, 5=black).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_OFFSET_COLOR_CLASS
+        raw = self._get_property(Env.PROPERTY_RGB_STATE)
+        data = struct.unpack("B", raw[offset:offset + 1])[0]
+        return data
+
+    @property
+    def brightness(self) -> int:
+        """Returns the brightness value between 0 and 100
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The environment's brightness value (0-100%).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_OFFSET_BRIGHTNESS
+        raw = self._get_property(Env.PROPERTY_RGB_STATE)
+        data = struct.unpack("B", raw[offset:offset + 1])[0]
+        return data
+
+    @property
+    def rgb(self) -> tuple:
+        """Returns the RGB color values as a tuple (red, green, blue)
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: Tuple of (red, green, blue) values, each between 0 and 100.
+        :rtype: tuple
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        return (self.red, self.green, self.blue)
+
+    @property
+    def raw_red(self) -> int:
+        """Returns the raw red value between 0 and 65536
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The environment's red color value (0-100%).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_RAW_OFFSET_RED
+        raw = self._get_property(Env.PROPERTY_RAW_RGB_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def raw_green(self) -> int:
+        """Returns the raw green value between 0 and 65536
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The environment's green color value (0-100%).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_RAW_OFFSET_GREEN
+        raw = self._get_property(Env.PROPERTY_RAW_RGB_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def raw_blue(self) -> int:
+        """Returns the raw blue color between 0 and 65535
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The environment's blue color value (0-100%).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_RAW_OFFSET_BLUE
+        raw = self._get_property(Env.PROPERTY_RAW_RGB_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def raw_white(self) -> int:
+        """Returns the raw white color between 0 and 65535
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: The environment's white color value (0-100%).
+        :rtype: int
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        offset = Env.PROPERTY_RAW_OFFSET_WHITE
+        raw = self._get_property(Env.PROPERTY_RAW_RGB_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def raw_rgb(self) -> tuple:
+        """Returns the RGB color values as a tuple (raw_red, raw_green, raw_blue, raw_white)
+
+        Note: This property is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :return: Tuple of (red, green, blue) values, each between 0 and 100.
+        :rtype: tuple
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        return (self.raw_red, self.raw_green, self.raw_blue, self.raw_white)
+
+    def set_rgb_mode(self, mode: int, duration: int = 3) -> None:
+        """Sets the RGB mode of the Env module
+
+        Note: This method is only available in Env module version 2.x and above.
+        Version 1.x does not support RGB properties.
+
+        :param mode: RGB mode to set (0=off, 1=on)
+        :type mode: int
+        :return: None
+        :raises AttributeError: If app version is 1.x (RGB not supported)
+        """
+        if not self._is_rgb_supported():
+            raise AttributeError(
+                "RGB properties are not supported in Env module version 1.x. "
+                "Please upgrade to version 2.x or above."
+            )
+
+        self._set_property(
+            destination_id=self.id,
+            property_num=Env.PROPERTY_ENV_SET_RGB_MODE,
+            property_values=(("u8", mode),
+                             ("u16", duration), ))
diff --git a/packages/core/modi_plus/module/input_module/imu.py b/packages/core/modi_plus/module/input_module/imu.py
new file mode 100644
index 0000000..c469a76
--- /dev/null
+++ b/packages/core/modi_plus/module/input_module/imu.py
@@ -0,0 +1,184 @@
+"""Imu module."""
+
+import struct
+from typing import Tuple
+from modi_plus.module.module import InputModule
+
+
+class Imu(InputModule):
+
+    PROPERTY_ANGLE_STATE = 2
+    PROPERTY_ACC_STATE = 3
+    PROPERTY_GYRO_STATE = 4
+    PROPERTY_VIBRATION_STATE = 5
+
+    PROPERTY_OFFSET_ROLL = 0
+    PROPERTY_OFFSET_PITCH = 4
+    PROPERTY_OFFSET_YAW = 8
+    PROPERTY_OFFSET_ACC_X = 0
+    PROPERTY_OFFSET_ACC_Y = 4
+    PROPERTY_OFFSET_ACC_Z = 8
+    PROPERTY_OFFSET_GYRO_X = 0
+    PROPERTY_OFFSET_GYRO_Y = 4
+    PROPERTY_OFFSET_GYRO_Z = 8
+    PROPERTY_OFFSET_VIBRATION = 0
+
+    @property
+    def angle_x(self) -> float:
+        """Returns the angle_x angle of the imu
+
+        :return: The imu's angle_x angle.
+        :rtype: float
+        """
+
+        offset = Imu.PROPERTY_OFFSET_ROLL
+        raw = self._get_property(Imu.PROPERTY_ANGLE_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
+
+    @property
+    def angle_y(self) -> float:
+        """Returns the angle_y angle of the imu
+
+        :return: The imu's angle_y angle.
+        :rtype: float
+        """
+
+        offset = Imu.PROPERTY_OFFSET_PITCH
+        raw = self._get_property(Imu.PROPERTY_ANGLE_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
+
+    @property
+    def angle_z(self) -> float:
+        """Returns the angle_zle_z angle of the imu
+
+        :return: The imu's angle_z angle.
+        :rtype: float
+        """
+
+        offset = Imu.PROPERTY_OFFSET_YAW
+        raw = self._get_property(Imu.PROPERTY_ANGLE_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
+
+    @property
+    def angle(self) -> Tuple[float, float, float]:
+        """Returns the angle_x, angle_y and angle_z angle of the imu
+
+        :return: The imu's angles of angle_x, angle_y and angle_z.
+        :rtype: tuple
+        """
+
+        return self.angle_x, self.angle_y, self.angle_z
+
+    @property
+    def angular_vel_x(self) -> float:
+        """Returns the angle_x angle of the imu
+
+        :return: The imu's angular velocity the about x-axis.
+        :rtype: float
+        """
+
+        offset = Imu.PROPERTY_OFFSET_GYRO_X
+        raw = self._get_property(Imu.PROPERTY_GYRO_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
+
+    @property
+    def angular_vel_y(self) -> float:
+        """Returns the angular velocity about y-axis
+
+        :return: The imu's angular velocity the about y-axis.
+        :rtype: float
+        """
+
+        offset = Imu.PROPERTY_OFFSET_GYRO_Y
+        raw = self._get_property(Imu.PROPERTY_GYRO_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
+
+    @property
+    def angular_vel_z(self) -> float:
+        """Returns the angular velocity about z-axis
+
+        :return: The imu's angular velocity the about z-axis.
+        :rtype: float
+        """
+
+        offset = Imu.PROPERTY_OFFSET_GYRO_Z
+        raw = self._get_property(Imu.PROPERTY_GYRO_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
+
+    @property
+    def angular_velocity(self) -> Tuple[float, float, float]:
+        """Returns the angular velocity about x, y and z axis
+
+        :return: The imu's angular velocity the about x, y and z axis.
+        :rtype: tuple
+        """
+
+        return self.angular_vel_x, self.angular_vel_y, self.angular_vel_z
+
+    @property
+    def acceleration_x(self) -> float:
+        """Returns the x component of the acceleration
+
+        :return: The imu's x-axis acceleration.
+        :rtype: float
+        """
+
+        offset = Imu.PROPERTY_OFFSET_ACC_X
+        raw = self._get_property(Imu.PROPERTY_ACC_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
+
+    @property
+    def acceleration_y(self) -> float:
+        """Returns the y component of the acceleration
+
+        :return: The imu's y-axis acceleration.
+        :rtype: float
+        """
+
+        offset = Imu.PROPERTY_OFFSET_ACC_Y
+        raw = self._get_property(Imu.PROPERTY_ACC_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
+
+    @property
+    def acceleration_z(self) -> float:
+        """Returns the z component of the acceleration
+
+        :return: The imu's z-axis acceleration.
+        :rtype: float
+        """
+
+        offset = Imu.PROPERTY_OFFSET_ACC_Z
+        raw = self._get_property(Imu.PROPERTY_ACC_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
+
+    @property
+    def acceleration(self) -> Tuple[float, float, float]:
+        """Returns the acceleration about x, y and z axis
+
+        :return: The imu's acceleration the about x, y and z axis.
+        :rtype: tuple
+        """
+
+        return self.acceleration_x, self.acceleration_y, self.acceleration_z
+
+    @property
+    def vibration(self) -> float:
+        """Returns the vibration value
+
+        :return: The imu's vibration.
+        :rtype: float
+        """
+
+        offset = Imu.PROPERTY_OFFSET_VIBRATION
+        raw = self._get_property(Imu.PROPERTY_VIBRATION_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
diff --git a/packages/core/modi_plus/module/input_module/joystick.py b/packages/core/modi_plus/module/input_module/joystick.py
new file mode 100644
index 0000000..b6a404d
--- /dev/null
+++ b/packages/core/modi_plus/module/input_module/joystick.py
@@ -0,0 +1,66 @@
+"""Joystick module."""
+
+import struct
+from modi_plus.module.module import InputModule
+
+
+class Joystick(InputModule):
+
+    STATE_UP = 100
+    STATE_DOWN = -100
+    STATE_LEFT = -50
+    STATE_RIGHT = 50
+    STATE_ORIGIN = 0
+
+    PROPERTY_POSITION_STATE = 2
+    PROPERTY_DIRECTION_STATE = 3
+
+    PROPERTY_OFFSET_X = 0
+    PROPERTY_OFFSET_Y = 2
+    PROPERTY_OFFSET_DIRECTION = 0
+
+    @property
+    def x(self) -> int:
+        """Returns the x position of the joystick between -100 and 100
+
+        :return: The joystick's x position.
+        :rtype: int
+        """
+
+        offset = Joystick.PROPERTY_OFFSET_X
+        raw = self._get_property(Joystick.PROPERTY_POSITION_STATE)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def y(self) -> int:
+        """Returns the y position of the joystick between -100 and 100
+
+        :return: The joystick's y position.
+        :rtype: int
+        """
+
+        offset = Joystick.PROPERTY_OFFSET_Y
+        raw = self._get_property(Joystick.PROPERTY_POSITION_STATE)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def direction(self) -> str:
+        """Returns the direction of the joystick
+
+        :return: 'up', 'down', 'left', 'right', 'origin'
+        :rtype: str
+        """
+
+        offset = Joystick.PROPERTY_OFFSET_DIRECTION
+        raw = self._get_property(Joystick.PROPERTY_DIRECTION_STATE)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+
+        return {
+            Joystick.STATE_UP: "up",
+            Joystick.STATE_DOWN: "down",
+            Joystick.STATE_LEFT: "left",
+            Joystick.STATE_RIGHT: "right",
+            Joystick.STATE_ORIGIN: "origin"
+        }.get(data)
diff --git a/packages/core/modi_plus/module/input_module/tof.py b/packages/core/modi_plus/module/input_module/tof.py
new file mode 100644
index 0000000..aabe970
--- /dev/null
+++ b/packages/core/modi_plus/module/input_module/tof.py
@@ -0,0 +1,24 @@
+"""Tof module."""
+
+import struct
+from modi_plus.module.module import InputModule
+
+
+class Tof(InputModule):
+
+    PROPERTY_DISTANCE_STATE = 2
+
+    PROPERTY_OFFSET_DISTANCE = 0
+
+    @property
+    def distance(self) -> float:
+        """Returns the distance of the object between 0cm and 100cm
+
+        :return: The tof's distance to object.
+        :rtype: float
+        """
+
+        offset = Tof.PROPERTY_OFFSET_DISTANCE
+        raw = self._get_property(Tof.PROPERTY_DISTANCE_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
diff --git a/packages/core/modi_plus/module/module.py b/packages/core/modi_plus/module/module.py
new file mode 100644
index 0000000..36a41e5
--- /dev/null
+++ b/packages/core/modi_plus/module/module.py
@@ -0,0 +1,388 @@
+"""Module module."""
+
+import time
+import json
+from os import path
+from typing import Tuple, Union
+from importlib.util import find_spec
+
+from modi_plus.util.message_util import parse_get_property_message, parse_set_property_message
+
+BROADCAST_ID = 0xFFF
+
+
+def get_module_type_from_uuid(uuid):
+    module_type_num = uuid >> 32
+    module_type = {
+        # Setup modules
+        0: "network",
+        0x10: "battery",
+
+        # Input modules
+        0x2000: "env",
+        0x2010: "imu",
+        0x2030: "button",
+        0x2040: "dial",
+        0x2070: "joystick",
+        0x2080: "tof",
+
+        # Output modules
+        0x4000: "display",
+        0x4010: "motor",
+        0x4011: "motor",
+        0x4020: "led",
+        0x4030: "speaker",
+    }.get(module_type_num)
+    return "network" if module_type is None else module_type
+
+
+def get_module_from_name(module_type: str):
+    """ Find module type for module initialize
+
+    :param module_type: Type of the module in string
+    :type module_type: str
+    :return: Module corresponding to the type
+    :rtype: Module
+    """
+
+    module_type = module_type[0].lower() + module_type[1:]
+    module_name = module_type[0].upper() + module_type[1:]
+    module_module = find_spec(f"modi_plus.module.input_module.{module_type}")
+    if not module_module:
+        module_module = find_spec(f"modi_plus.module.output_module.{module_type}")
+    if not module_module:
+        module_module = find_spec(f"modi_plus.module.setup_module.{module_type}")
+    module_module = module_module.loader.load_module(module_module.name)
+    return getattr(module_module, module_name)
+
+
+def ask_modi_plus_device(devices):
+    if not devices:
+        raise ValueError(
+            "No MODI+ network module(s) available!\n"
+            "The network module that you\"re trying to connect, may in use."
+        )
+    for idx, dev in enumerate(devices):
+        print(f"<{idx}>: {dev}")
+    i = input("Choose your device index (ex: 0) : ")
+    return devices[int(i)].lstrip("MODI+_")
+
+
+class Module:
+    """
+    :param int id_: The id of the module.
+    :param int uuid: The uuid of the module.
+    """
+
+    class Property:
+        def __init__(self):
+            self.value = None
+            self.last_update_time = time.time()
+
+    class GetValueInitTimeout(Exception):
+        def __init__(self):
+            super().__init__("property initialization failed\nplease check the module connection")
+
+    RUN = 0
+    WARNING = 1
+    FORCED_PAUSE = 2
+    ERROR_STOP = 3
+    UPDATE_FIRMWARE = 4
+    UPDATE_FIRMWARE_READY = 5
+    REBOOT = 6
+    PNP_ON = 1
+    PNP_OFF = 2
+
+    def __init__(self, id_, uuid, connection_task):
+        self._id = id_
+        self._uuid = uuid
+        self._connection = connection_task
+        self.module_type = str()
+
+        # property
+        self.prop_samp_freq = 91        # sampling_rate[ms] = (100 - property_sampling_frequency) * 11
+        self.prop_request_period = 2    # [s]
+        self.__get_properties = dict()
+        self.__set_properties = dict()
+        self.__last_set_property_num = None
+
+        self.is_connected = True
+        self.is_usb_connected = False
+        self.has_printed = False
+        self.last_updated_time = time.time()
+        self.first_connected_time = None
+        self.__app_version = None
+        self.__os_version = None
+        self._enable_get_property_timeout = True
+
+    def __gt__(self, other):
+        if self.first_connected_time is not None:
+            if other.first_connected_time is not None:
+                return self.first_connected_time > other.first_connected_time
+            else:
+                return False
+        else:
+            if other.first_connected_time is not None:
+                return True
+            else:
+                return False
+
+    def __lt__(self, other):
+        if self.first_connected_time is not None:
+            if other.first_connected_time is not None:
+                return self.first_connected_time < other.first_connected_time
+            else:
+                return True
+        else:
+            if other.first_connected_time is not None:
+                return False
+            else:
+                return True
+
+    def __str__(self):
+        return f"{self.__class__.__name__}(0x{self._id:X})"
+
+    @property
+    def app_version(self):
+        version_string = ""
+        version_string += str(self.__app_version >> 13) + "."
+        version_string += str(self.__app_version % (2 ** 13) >> 8) + "."
+        version_string += str(self.__app_version % (2 ** 8))
+        return version_string
+
+    @app_version.setter
+    def app_version(self, version_info):
+        self.__app_version = version_info
+
+    @property
+    def os_version(self):
+        version_string = ""
+        version_string += str(self.__os_version >> 13) + "."
+        version_string += str(self.__os_version % (2 ** 13) >> 8) + "."
+        version_string += str(self.__os_version % (2 ** 8))
+        return version_string
+
+    @os_version.setter
+    def os_version(self, version_info):
+        self.__os_version = version_info
+
+    @property
+    def id(self) -> int:
+        return self._id
+
+    @property
+    def uuid(self) -> int:
+        return self._uuid
+
+    @property
+    def is_up_to_date(self):
+        root_path = path.join(path.dirname(__file__), "..", "assets")
+        version_path = path.join(root_path, "version.txt")
+
+        with open(version_path, "r") as version_file:
+            try:
+                version_info = json.loads(version_file.read())
+            except Exception:
+                pass
+
+        app_version_info = version_info[self.module_type].lstrip("v").rstrip("\n")
+        if self.module_type in ["env", "display", "speaker"]:
+            os_version_info = version_info["os_e103"].lstrip("v").rstrip("\n")
+        else:
+            os_version_info = version_info["os_e230"].lstrip("v").rstrip("\n")
+
+        app_version_digits = [int(digit) for digit in app_version_info.split(".")]
+        os_version_digits = [int(digit) for digit in os_version_info.split(".")]
+
+        latest_app_version = (
+            app_version_digits[0] << 13
+            | app_version_digits[1] << 8
+            | app_version_digits[2]
+        )
+        latest_os_version = (
+            os_version_digits[0] << 13
+            | os_version_digits[1] << 8
+            | os_version_digits[2]
+        )
+
+        return latest_app_version <= self.__app_version or latest_os_version <= self.__os_version
+
+    def _get_property(self, property_type: int) -> bytearray:
+        """ Get module property value and request
+
+        :param property_type: Type of the requested property
+        :type property_type: int
+        """
+
+        # Register property if not exists
+        if property_type not in self.__get_properties:
+            self.__get_properties[property_type] = self.Property()
+            self.__request_property(self._id, property_type)
+
+        # Request property value if not updated for 2 sec
+        last_update = self.__get_properties[property_type].last_update_time
+        if time.time() - last_update > self.prop_request_period:
+            self.__request_property(self._id, property_type)
+
+        if self.__get_properties[property_type].value is None:
+            if self._enable_get_property_timeout:
+                first_request_time = time.time()
+
+                # 3s timeout
+                while self.__get_properties[property_type].value is None:
+                    if time.time() - first_request_time > 3:
+                        raise Module.GetValueInitTimeout
+                    time.sleep(0.1)
+            else:
+                return bytearray(14)  # Increased from 12 to 14 to support RGB properties (offset 12 + 2 bytes)
+
+        return self.__get_properties[property_type].value
+
+    def _set_property(self, destination_id: int,
+                      property_num: int,
+                      property_values: Union[Tuple, str],
+                      force: bool = False) -> None:
+        """Send the message of set_property command to the module
+
+        :param destination_id: Id of the destination module
+        :type destination_id: int
+        :param property_num: Property Type
+        :type property_num: int
+        :param property_values: Property Values
+        :type property_values: Tuple
+        :param force: Force data to be sent
+        :type force: bool
+        :return: None
+        """
+
+        do_send = False
+        now_time = time.time()
+
+        if not self.__check_last_set_property(property_num):
+            force = True
+
+        if property_num in self.__set_properties:
+            if property_values == self.__set_properties[property_num].value:
+                duration = now_time - self.__set_properties[property_num].last_update_time
+                if force or duration > self.prop_request_period:
+                    # 마지막으로 보낸 데이터와 같은 경우, 2초마다 전송 or force가 true인 경우
+                    self.__set_properties[property_num].value = property_values
+                    self.__set_properties[property_num].last_update_time = now_time
+                    do_send = True
+            else:
+                # 마지막으로 보낸 데이터와 다른 경우, 바로 전송
+                self.__set_properties[property_num].value = property_values
+                self.__set_properties[property_num].last_update_time = now_time
+                do_send = True
+        else:
+            # 데이터를 한번도 안 보낸 경우, 바로 전송
+            self.__set_properties[property_num] = self.Property()
+            self.__set_properties[property_num].value = property_values
+            self.__set_properties[property_num].last_update_time = now_time
+            do_send = True
+
+        if do_send:
+            message = parse_set_property_message(
+                destination_id,
+                property_num,
+                property_values,
+            )
+            self._connection.send_nowait(message)
+
+        self.__last_set_property_num = property_num
+
+    def update_property(self, property_type: int, property_value: bytearray) -> None:
+        """ Update property value and time
+
+        :param property_type: Type of the updated property
+        :type property_type: int
+        :param property_value: Value to update the property
+        :type property_value: bytearray
+        """
+
+        if property_type not in self.__get_properties:
+            self.__get_properties[property_type] = self.Property()
+        self.__get_properties[property_type].value = property_value
+        self.__get_properties[property_type].last_update_time = time.time()
+
+    def __request_property(self, destination_id: int, property_type: int) -> None:
+        """ Generate message for request property
+
+        :param destination_id: Id of the destination module
+        :type destination_id: int
+        :param property_type: Type of the requested property
+        :type property_type: int
+        :return: None
+        """
+
+        self.__get_properties[property_type].last_update_time = time.time()
+        req_prop_msg = parse_get_property_message(destination_id, property_type, self.prop_samp_freq)
+        self._connection.send(req_prop_msg)
+
+    def __check_last_set_property(self, property_num: int) -> bool:
+        if self.__last_set_property_num is None:
+            return False
+        else:
+            return self.__last_set_property_num == property_num
+
+
+class SetupModule(Module):
+    pass
+
+
+class InputModule(Module):
+    pass
+
+
+class OutputModule(Module):
+    pass
+
+
+class ModuleList(list):
+
+    def __init__(self, src, module_type=None):
+        self.__src = src
+        self.__module_type = module_type
+        super().__init__(self.sublist())
+
+    def __len__(self):
+        return len(self.sublist())
+
+    def __eq__(self, other):
+        return super().__eq__(other)
+
+    def __getitem__(self, key):
+        if int(key) >= len(self):
+            start_time = time.time()
+            # 3s timeout
+            while ((time.time() - start_time) < 3) and (int(key) >= len(self)):
+                time.sleep(0.1)
+            if int(key) >= len(self):
+                raise Exception("Not enough modules exits!!")
+        return self.sublist()[key]
+
+    def get(self, module_id):
+        for module in self.sublist():
+            if module.id == module_id:
+                return module
+        raise Exception("Module with given id does not exits!!")
+
+    def sublist(self):
+        """ When accessing the module, the modules are sorted in an ascending order of
+        1. the connected time from network module
+
+        :return: Module
+        """
+
+        if self.__module_type:
+            modules = list(filter(lambda module: module.module_type == self.__module_type, self.__src))
+        else:
+            modules = self.__src
+        modules.sort()
+        return modules
+
+    def find(self, module_id):
+        for idx, module in enumerate(self.sublist()):
+            if module_id == module.id:
+                return idx
+        return -1
diff --git a/packages/core/modi_plus/module/output_module/__init__.py b/packages/core/modi_plus/module/output_module/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/modi_plus/module/output_module/display.py b/packages/core/modi_plus/module/output_module/display.py
new file mode 100644
index 0000000..1823e8c
--- /dev/null
+++ b/packages/core/modi_plus/module/output_module/display.py
@@ -0,0 +1,347 @@
+"""Display module."""
+
+import time
+from typing import List
+from modi_plus.module.module import OutputModule
+
+
+class Display(OutputModule):
+
+    WIDTH = 96
+    HEIGHT = 96
+
+    TEXT_SPLIT_LEN = 24
+    DOT_SPLIT_LEN = 23
+    DOT_LEN = int(WIDTH * HEIGHT / 8)
+
+    PROPERTY_DISPLAY_WRITE_TEXT = 17
+    PROPERTY_DISPLAY_DRAW_DOT = 18
+    PROPERTY_DISPLAY_DRAW_PICTURE = 19
+    PROPERTY_DISPLAY_RESET = 21
+    PROPERTY_DISPLAY_WRITE_VARIABLE = 22
+    PROPERTY_DISPLAY_SET_OFFSET = 25
+    PROPERTY_DISPLAY_MOVE_SCREEN = 26
+
+    PRESET_PICTURE = {
+        "smiling brightly": "res/smileb.bmp",
+        "falling in love": "res/love.bmp",
+        "smiling": "res/smiling.bmp",
+        "angry": "res/angry.bmp",
+        "tired": "res/tired.bmp",
+        "surprised": "res/surprise.bmp",
+        "crying": "res/cry.bmp",
+        "dizzy": "res/dizzy.bmp",
+        "turn a blind eye": "res/bilnd.bmp",
+        "sleeping": "res/sleeping.bmp",
+        "embarrassed": "res/emv.bmp",
+        "proud": "res/proud.bmp",
+        "Devil": "res/devil.bmp",
+        "Angel": "res/angel.bmp",
+        "Dragon": "res/dragon.bmp",
+        "Santa Claus": "res/santa.bmp",
+        "Ludolf": "res/ludolf.bmp",
+        "Ghost": "res/ghost.bmp",
+        "Witch": "res/witch.bmp",
+        "Halloween Pumpkin": "res/pumpkin.bmp",
+        "magic wand": "res/wand.bmp",
+        "magic hat": "res/hat.bmp",
+        "crystal ball": "res/ball.bmp",
+        "potion": "res/potion.bmp",
+        "Dog": "res/dog.bmp",
+        "Cat": "res/cat.bmp",
+        "Rabbit": "res/rabbit.bmp",
+        "Chick": "res/chick.bmp",
+        "Lion": "res/lion.bmp",
+        "Turtle": "res/turtle.bmp",
+        "Sparrow": "res/sparrow.bmp",
+        "Penguin": "res/penguin.bmp",
+        "Butterfly": "res/butfly.bmp",
+        "Fish": "res/fish.bmp",
+        "Dolphin": "res/dolphin.bmp",
+        "Hedgehog": "res/hedgeh.bmp",
+        "Flower": "res/flower.bmp",
+        "Tree": "res/tree.bmp",
+        "Sun": "res/sun.bmp",
+        "Star": "res/star.bmp",
+        "Moon": "res/moon.bmp",
+        "Earth": "res/earth.bmp",
+        "Space": "res/space.bmp",
+        "Cloud": "res/cloud.bmp",
+        "Rain": "res/rain.bmp",
+        "Snow": "res/snow.bmp",
+        "Wind": "res/wind.bmp",
+        "Thunder": "res/thunder.bmp",
+        "Water drop": "res/water.bmp",
+        "Fire": "res/fire.bmp",
+        "Car": "res/car.bmp",
+        "Ship": "res/ship.bmp",
+        "Airplane": "res/airplane.bmp",
+        "Train": "res/train.bmp",
+        "Bus": "res/bus.bmp",
+        "Police car": "res/policec.bmp",
+        "Ambulance": "res/ambul.bmp",
+        "Rocket": "res/rocket.bmp",
+        "Hot-air balloon": "res/hotair.bmp",
+        "Helicopter": "res/helicop.bmp",
+        "Sports car": "res/sportsc.bmp",
+        "Bicycle": "res/bicycle.bmp",
+        "School": "res/school.bmp",
+        "Park": "res/park.bmp",
+        "Hospital": "res/hospital.bmp",
+        "Building": "res/build.bmp",
+        "Apartment": "res/apart.bmp",
+        "Amusement park": "res/amuse.bmp",
+        "a house of brick": "res/brick.bmp",
+        "log cabin": "res/cabin.bmp",
+        "a house of straw": "res/straw.bmp",
+        "vacant lot": "res/vacant.bmp",
+        "Field": "res/field.bmp",
+        "Mountain": "res/mountain.bmp",
+        "Apple": "res/apple.bmp",
+        "Banana": "res/banana.bmp",
+        "Strawberry": "res/strawb.bmp",
+        "Peach": "res/peach.bmp",
+        "Watermelon": "res/waterm.bmp",
+        "Chicken": "res/chicken.bmp",
+        "Pizza": "res/pizza.bmp",
+        "Hamburger": "res/hamburg.bmp",
+        "Cake": "res/cake.bmp",
+        "Nuddle": "res/nuddle.bmp",
+        "Donut": "res/donut.bmp",
+        "Candy": "res/candy.bmp",
+        "Communication ": "res/comm.bmp",
+        "Battery": "res/battery.bmp",
+        "Download": "res/download.bmp",
+        "Check": "res/check.bmp",
+        "X": "res/x.bmp",
+        "Play": "res/play.bmp",
+        "Stop": "res/stop2.bmp",
+        "Pause": "res/pause.bmp",
+        "Power": "res/power.bmp",
+        "Bulb": "res/bulb.bmp",
+        "straight sign": "res/straigh.bmp",
+        "turn left sign": "res/lefts.bmp",
+        "turn right sign": "res/rights.bmp",
+        "stop sign": "res/stop.bmp",
+        "prize": "res/prize.bmp",
+        "losing ticket": "res/losing.bmp",
+        "Retry": "res/retry.bmp",
+        "Thumbs up": "res/thumbs.bmp",
+        "Scissors": "res/scissors.bmp",
+        "Rock": "res/rock.bmp",
+        "Paper": "res/paper.bmp",
+        "up arrow": "res/up.bmp",
+        "down arrow": "res/down.bmp",
+        "Right arrow": "res/righta.bmp",
+        "Left arrow": "res/lefta.bmp",
+        "Heart": "res/heart.bmp",
+        "Musical note": "res/note.bmp",
+        "baby": "res/baby.bmp",
+        "Girl": "res/girl.bmp",
+        "Boy": "res/boy.bmp",
+        "Women": "res/women.bmp",
+        "Men": "res/men.bmp",
+        "Grandmother": "res/grandm.bmp",
+        "Grandfather": "res/grandf.bmp",
+        "Teacher": "res/teacher.bmp",
+        "Programmer": "res/program.bmp",
+        "Police": "res/police.bmp",
+        "Doctor": "res/doctor.bmp",
+        "Farmer": "res/farmer.bmp",
+        "game console": "res/game.bmp",
+        "Microphone": "res/microp.bmp",
+        "loud speaker": "res/speaker.bmp",
+        "Watch": "res/watch.bmp",
+        "Telephone": "res/tele.bmp",
+        "Camera": "res/camera.bmp",
+        "TV": "res/tv.bmp",
+        "Radio": "res/radio.bmp",
+        "Book": "res/book.bmp",
+        "Microscope": "res/micros.bmp",
+        "Telescope": "res/teles.bmp",
+        "Wastebasket": "res/waste.bmp",
+        "Mask": "res/mask.bmp",
+        "Flag": "res/flag.bmp",
+        "Letter": "res/letter.bmp",
+        "Soccer ball": "res/soccer.bmp",
+        "basketball": "res/basket.bmp",
+        "Piano": "res/piano.bmp",
+        "Gittar": "res/gittar.bmp",
+        "Drum": "res/drum.bmp",
+        "Siren": "res/siren.bmp",
+        "Gift box": "res/giftbox.bmp",
+        "Crown": "res/crown.bmp",
+        "Dice": "res/dice.bmp",
+        "Medal": "res/medal.bmp",
+        "Key": "res/key.bmp",
+        "jewerly": "res/jewerly.bmp",
+        "Coin": "res/coin.bmp",
+    }
+
+    @staticmethod
+    def preset_pictures() -> List[str]:
+        return list(Display.PRESET_PICTURE.keys())
+
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._text = ""
+
+    @property
+    def text(self) -> str:
+        return self._text
+
+    @text.setter
+    def text(self, text: str) -> None:
+        self.write_text(text)
+
+    def write_text(self, text: str) -> None:
+        """Show the input string on the display.
+
+        :param text: Text to display.
+        :type text: str
+        :return: None
+        """
+
+        n = Display.TEXT_SPLIT_LEN
+        encoding_data = str.encode(str(text)) + bytes(1)
+        splited_data = [encoding_data[x - n:x] for x in range(n, len(encoding_data) + n, n)]
+        for index, data in enumerate(splited_data):
+            self._set_property(
+                self._id,
+                Display.PROPERTY_DISPLAY_WRITE_TEXT,
+                property_values=(("bytes", data), ),
+                force=True
+            )
+
+        self._text = text
+        time.sleep(0.02 + 0.003 * len(encoding_data))
+
+    def write_variable_xy(self, x: int, y: int, variable: float) -> None:
+        """Show the input variable on the display.
+
+        :param x: X coordinate of the desired position
+        :type x: int
+        :param y: Y coordinate of te desired position
+        :type y: int
+        :param variable: Variable to display.
+        :type variable: float
+        :return: None
+        """
+        self._set_property(
+            self._id,
+            Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
+            property_values=(("u8", x),
+                             ("u8", y),
+                             ("float", variable), )
+        )
+        self._text += str(variable)
+        time.sleep(0.01)
+
+    def write_variable_line(self, line: int, variable: float) -> None:
+        """Show the input variable on the display.
+
+        :param line: display line number of the desired position
+        :type line: int
+        :param variable: Variable to display.
+        :type variable: float
+        :return: None
+        """
+        self._set_property(
+            self._id,
+            Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
+            property_values=(("u8", 0),
+                             ("u8", line * 20),
+                             ("float", variable), )
+        )
+        self._text += str(variable)
+        time.sleep(0.01)
+
+    def draw_picture(self, name: int) -> None:
+        """Clears the display and show the input picture on the display.
+
+        :param x: X coordinate of the desired position
+        :type x: int
+        :param y: Y coordinate of te desired position
+        :type y: int
+        :param name: Picture name to display.
+        :type name: float
+        :return: None
+        """
+
+        file_name = Display.PRESET_PICTURE.get(name)
+        if file_name is None:
+            raise ValueError(f"{file_name} is not on the list, check 'Display.preset_pictures()'")
+
+        self._set_property(
+            self._id,
+            Display.PROPERTY_DISPLAY_DRAW_PICTURE,
+            property_values=(("u8", 0),
+                             ("u8", 0),
+                             ("u8", Display.WIDTH),
+                             ("u8", Display.HEIGHT),
+                             ("string", file_name), )
+        )
+        time.sleep(0.05)
+
+    def draw_dot(self, dot: bytes) -> None:
+        """Clears the display and show the input dot on the display.
+
+        :param dot: Dot to display
+        :type dot: bytes
+        :return: None
+        """
+
+        if not isinstance(dot, bytes):
+            raise ValueError("dot type must bytes")
+
+        if len(dot) != Display.DOT_LEN:
+            raise ValueError(f"dot length must be {Display.DOT_LEN}")
+
+        n = Display.DOT_SPLIT_LEN
+        splited_data = [dot[x - n:x] for x in range(n, len(dot) + n, n)]
+        for index, data in enumerate(splited_data):
+            send_data = bytes([index]) + data
+
+            self._set_property(
+                self._id,
+                Display.PROPERTY_DISPLAY_DRAW_DOT,
+                property_values=(("bytes", send_data), )
+            )
+        time.sleep(0.3)
+
+    def set_offset(self, x: int, y: int) -> None:
+        """Set origin point on the screen
+
+        :param x: X-axis offset on screen
+        :type x: int
+        :param y: Y-axis offset on screen
+        :type y: int
+        :return: None
+        """
+
+        self._set_property(
+            self.id,
+            Display.PROPERTY_DISPLAY_SET_OFFSET,
+            property_values=(("s8", x), ("s8", y), )
+        )
+        time.sleep(0.01)
+
+    def reset(self, mode=0) -> None:
+        """Clear the screen.
+
+        :param mode: Erase mode
+            - mode 0 : Erase inside buffer(it looks like nothing has changed)
+            - mode 1 : Erase display
+        :return: None
+        """
+
+        if mode > 1:
+            mode = 0
+
+        self._set_property(
+            self._id,
+            Display.PROPERTY_DISPLAY_RESET,
+            property_values=(("u8", mode), )
+        )
+        self._text = ""
+        time.sleep(0.01)
diff --git a/packages/core/modi_plus/module/output_module/led.py b/packages/core/modi_plus/module/output_module/led.py
new file mode 100644
index 0000000..1ce71ac
--- /dev/null
+++ b/packages/core/modi_plus/module/output_module/led.py
@@ -0,0 +1,145 @@
+"""Led module."""
+
+import struct
+from typing import Tuple
+from modi_plus.module.module import OutputModule
+
+
+class Led(OutputModule):
+
+    PROPERTY_LED_STATE = 2
+
+    PROPERTY_LED_SET_RGB = 16
+
+    PROPERTY_OFFSET_RED = 0
+    PROPERTY_OFFSET_GREEN = 2
+    PROPERTY_OFFSET_BLUE = 4
+
+    @property
+    def rgb(self) -> Tuple[int, int, int]:
+        return self.red, self.green, self.blue
+
+    @rgb.setter
+    def rgb(self, color: Tuple[int, int, int]) -> None:
+        """Sets the color of the LED light with given RGB values, and returns
+        the current RGB values.
+
+        :param color: RGB value to set
+        :type color: Tuple[int, int, int]
+        :return: None
+        """
+
+        self.set_rgb(color[0], color[1], color[2])
+
+    @property
+    def red(self) -> int:
+        """Returns the current value of the red component of the LED
+
+        :return: Red component
+        :rtype: int
+        """
+
+        offset = Led.PROPERTY_OFFSET_RED
+        raw = self._get_property(Led.PROPERTY_LED_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @red.setter
+    def red(self, red: int) -> None:
+        """Sets the red component of the LED light by given value
+
+        :param red: Red component to set
+        :type red: int
+        :return: None
+        """
+
+        self.rgb = red, self.green, self.blue
+
+    @property
+    def green(self) -> int:
+        """Returns the current value of the green component of the LED
+
+        :return: Green component
+        :rtype: int
+        """
+
+        offset = Led.PROPERTY_OFFSET_GREEN
+        raw = self._get_property(Led.PROPERTY_LED_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @green.setter
+    def green(self, green: int) -> None:
+        """Sets the green component of the LED light by given value
+
+        :param green: Green component to set
+        :type green: int
+        :return: None
+        """
+
+        self.rgb = self.red, green, self.blue
+
+    @property
+    def blue(self) -> int:
+        """Returns the current value of the blue component of the LED
+
+        :return: Blue component
+        :rtype: int
+        """
+
+        offset = Led.PROPERTY_OFFSET_BLUE
+        raw = self._get_property(Led.PROPERTY_LED_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @blue.setter
+    def blue(self, blue: int) -> None:
+        """Sets the blue component of the LED light by given value
+
+        :param blue: Blue component to set
+        :type blue: int
+        :return: None
+        """
+
+        self.rgb = self.red, self.green, blue
+
+    def set_rgb(self, red: int, green: int, blue: int) -> None:
+        """Sets the color of the LED light with given RGB values, and returns
+        the current RGB values.
+
+        :param red: Red component to set
+        :type red: int
+        :param green: Green component to set
+        :type green: int
+        :param blue: Blue component to set
+        :type blue: int
+        :return: None
+        """
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=Led.PROPERTY_LED_SET_RGB,
+            property_values=(("u16", red),
+                             ("u16", green),
+                             ("u16", blue), )
+        )
+
+    #
+    # Legacy Support
+    #
+    def turn_on(self) -> None:
+        """Turn on led at maximum brightness.
+
+        :return: RGB value of the LED set to maximum brightness
+        :rtype: None
+        """
+
+        self.rgb = 100, 100, 100
+
+    def turn_off(self) -> None:
+        """Turn off led.
+
+        :return: None
+        """
+
+        self.rgb = 0, 0, 0
diff --git a/packages/core/modi_plus/module/output_module/motor.py b/packages/core/modi_plus/module/output_module/motor.py
new file mode 100644
index 0000000..2795b8c
--- /dev/null
+++ b/packages/core/modi_plus/module/output_module/motor.py
@@ -0,0 +1,168 @@
+"""Motor module."""
+
+import time
+import struct
+from typing import Tuple
+from modi_plus.module.module import OutputModule
+
+
+class Motor(OutputModule):
+
+    PROPERTY_MOTOR_STATE = 2
+
+    PROPERTY_MOTOR_SPEED = 17
+    PROPERTY_MOTOR_ANGLE = 18
+    PROPERTY_MOTOR_ANGLE_APPEND = 19
+    PROPERTY_MOTOR_STOP = 20
+
+    PROPERTY_OFFSET_CURRENT_ANGLE = 0
+    PROPERTY_OFFSET_CURRENT_SPEED = 2
+    PROPERTY_OFFSET_TARGET_ANGLE = 4
+    PROPERTY_OFFSET_TARGET_SPEED = 6
+
+    @property
+    def angle(self) -> int:
+        """Returns current angle
+
+        :return: Current angle value
+        :rtype: int
+        """
+
+        offset = Motor.PROPERTY_OFFSET_CURRENT_ANGLE
+        raw = self._get_property(Motor.PROPERTY_MOTOR_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @angle.setter
+    def angle(self, angle_value: Tuple[int, int]) -> None:
+        """Sets the angle of the motor
+
+        :param angle_value: Value of angle and speed to reach target angle
+        :type angle_value: Tuple[int, int]
+        :return: None
+        """
+
+        self.set_angle(angle_value[0], angle_value[1])
+
+    @property
+    def target_angle(self) -> int:
+        """Returns target angle
+
+        :return: Target angle value
+        :rtype: int
+        """
+
+        offset = Motor.PROPERTY_OFFSET_TARGET_ANGLE
+        raw = self._get_property(Motor.PROPERTY_MOTOR_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    def speed(self) -> int:
+        """Returns current speed
+
+        :return: Current speed value
+        :rtype: int
+        """
+
+        offset = Motor.PROPERTY_OFFSET_CURRENT_SPEED
+        raw = self._get_property(Motor.PROPERTY_MOTOR_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @speed.setter
+    def speed(self, target_speed: int) -> None:
+        """Sets the speed of the motor
+
+        :param target_speed: Speed to set the motor.
+        :type target_speed: int
+        :return: None
+        """
+
+        self.set_speed(target_speed)
+
+    @property
+    def target_speed(self) -> int:
+        """Returns target speed
+
+        :return: Target speed value
+        :rtype: int
+        """
+
+        offset = Motor.PROPERTY_OFFSET_TARGET_SPEED
+        raw = self._get_property(Motor.PROPERTY_MOTOR_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    def set_angle(self, target_angle: int, target_speed: int = 70) -> None:
+        """Sets the angle of the motor
+
+        :param target_angle: Angle to set the motor.
+        :type target_angle: int
+        :param target_speed: Speed to reach target angle.
+        :type target_speed: int
+        :return: None
+        """
+
+        invalid_angle = (target_angle < 0 or target_angle > 360)
+        invalid_speed = (target_speed < 0 or target_speed > 100)
+
+        if invalid_angle or invalid_speed:
+            return
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=Motor.PROPERTY_MOTOR_ANGLE,
+            property_values=(("u16", target_angle),
+                             ("u16", target_speed),
+                             ("u16", 0),
+                             ("u16", 0), )
+        )
+        time.sleep(0.01)
+
+    def set_speed(self, target_speed: int) -> None:
+        """Sets the speed of the motor
+
+        :param target_speed: Speed to set the motor.
+        :type target_speed: int
+        :return: None
+        """
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=Motor.PROPERTY_MOTOR_SPEED,
+            property_values=(("s32", target_speed), )
+        )
+        time.sleep(0.01)
+
+    def append_angle(self, target_angle: int, target_speed: int = 70) -> None:
+        """append the angle form current angle of the motor
+
+        :param target_angle: Angle to append the motor angle.
+        :type target_angle: int
+        :param target_speed: Speed to reach target angle.
+        :type target_speed: int
+        :return: None
+        """
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=Motor.PROPERTY_MOTOR_ANGLE_APPEND,
+            property_values=(("s16", target_angle),
+                             ("u16", target_speed), ),
+            force=True
+        )
+        time.sleep(0.01)
+
+    def stop(self) -> None:
+        """Stop operating motor
+
+        :return: None
+        """
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=Motor.PROPERTY_MOTOR_STOP,
+            property_values=()
+        )
+        time.sleep(0.01)
diff --git a/packages/core/modi_plus/module/output_module/speaker.py b/packages/core/modi_plus/module/output_module/speaker.py
new file mode 100644
index 0000000..79083b1
--- /dev/null
+++ b/packages/core/modi_plus/module/output_module/speaker.py
@@ -0,0 +1,311 @@
+"""Speaker module."""
+
+import time
+import struct
+from typing import List, Tuple, Union
+from modi_plus.module.module import OutputModule
+
+
+class Speaker(OutputModule):
+
+    STATE_STOP = 0
+    STATE_START = 1
+    STATE_PAUSE = 2
+    STATE_RESUME = 3
+
+    PROPERTY_SPEAKER_STATE = 2
+
+    PROPERTY_SPEAKER_SET_TUNE = 16
+    PROPERTY_SPEAKER_RESET = 17
+    PROPERTY_SPEAKER_MUSIC = 18
+    PROPERTY_SPEAKER_MELODY = 19
+
+    PROPERTY_OFFSET_CURRENT_VOLUME = 0
+    PROPERTY_OFFSET_CURRENT_FREQUENCY = 2
+
+    SCALE_TABLE = {
+        "FA5": 698,
+        "SOL5": 783,
+        "LA5": 880,
+        "TI5": 988,
+        "DO#5": 554,
+        "RE#5": 622,
+        "FA#5": 739,
+        "SOL#5": 830,
+        "LA#5": 932,
+        "DO6": 1046,
+        "RE6": 1174,
+        "MI6": 1318,
+        "FA6": 1397,
+        "SOL6": 1567,
+        "LA6": 1760,
+        "TI6": 1975,
+        "DO#6": 1108,
+        "RE#6": 1244,
+        "FA#6": 1479,
+        "SOL#6": 1661,
+        "LA#6": 1864,
+        "DO7": 2093,
+        "RE7": 2349,
+        "MI7": 2637
+    }
+
+    PRESET_MUSIC = {
+        # .mid
+        "Sylvia : Pizzicato": "res/Delibes.mid",
+        "London Bridge is Falling Down": "res/London.mid",
+        "Old MacDonald Had a Farm": "res/OldMac.mid",
+        "Piano Concerto No.21": "res/Mozart21.mid",
+        "Le Donna E mobile": "res/Verdi.mid",
+        "Four Seasons: Spring": "res/Vivaldi.mid",
+        "Carmen : Les Toreadors": "res/Bizet.mid",
+        "The Washington Post": "res/Sousa.mid",
+        "Die Forelle(The Trout)": "res/SchubeD.mid",
+        "The Cuckoo Waltz": "res/Jonasson.mid",
+        "Entry of the Gladiators": "res/Fucik.mid",
+        "Mary had a Little Lamb": "res/Mary.mid",
+        "Symphony No.9": "res/Dvorak.mid",
+        "William Tell Overture": "res/Rossini.mid",
+        "Symphony No.40": "res/Mozart40.mid",
+        "Queen of the Night": "res/MozartQ.mid",
+        "Orpheus in the Underworld": "res/BachO.mid",
+        "Piano Concerto": "res/Grieg.mid",
+        "Toccata and Fugue in D minor": "res/BachD.mid",
+        "Symphony No. 5: I": "res/Beeth5.mid",
+        "For Elise": "res/BeethF.mid",
+        "Blue Danube": "res/Straus.mid",
+        "Carmina Burana: O Fortuna": "res/Orff.mid",
+        "Piano Concerto No.1": "res/Tchaiko1.mid",
+        "Csikos Post": "res/Necke.mid",
+        "Turkish March": "res/MozartR.mid",
+        "Hungarian Dance No.5": "res/Brahms5.mid",
+        "Dance of the Sugar Plum Fairy": "res/TchaikoD.mid",
+        "Itsy Bitsy Spider": "res/Spider.mid",
+        "The Farmer in The Dell": "res/Farmer.mid",
+        "Liebestraum No.3(Love Dream)": "res/Liszt.mid",
+        "Piano Sonata No.16": "res/Mozart16.mid",
+        "Bach: Minuet in G": "res/BachG.mid",
+        "Twinkle Twinkle Little Star": "res/twinkle.mid",
+        "Beethoven: Minuet in G": "res/BeethG.mid",
+        "Minuet": "res/Bocc.mid",
+        "16 Waltzes": "res/Brahms16.mid",
+        "Brahms: Lullaby": "res/BrahmsL.mid",
+        "Schubert: Lullaby": "res/SchubeW.mid",
+        "Yankee Doodle": "res/yankee.mid",
+        "Salut d'Amour(Love's Greeting)": "res/ElgarS.mid",
+        "Silver Waves": "res/Wyman.mid",
+        "Waltz of the Flowers": "res/TchaikoW.mid",
+        "Swan Lake : Scene": "res/TchaikoS.mid",
+        "Wedding March": "res/Mendel.mid",
+        "Bridal Chorus": "res/Wagner.mid",
+        "Pomp and Circumstance March": "res/ElgarP.mid",
+        "Happy Birthday to You": "res/Birthday.mid",
+        "Jingle Bells": "res/Jingle.mid",
+        "We Wish You a Merry Christmas": "res/Merry.mid",
+        "Excitement": "res/Emotion1.mid",
+        "Depressed": "res/Emotion2.mid",
+        "Joy": "res/Emotion3.mid",
+        "Warning 1": "res/Warning1.mid",
+        "Warning 2": "res/Warning2.mid",
+        "Start 1": "res/Start1.mid",
+        "Start 2": "res/Start2.mid",
+        "Complete 1": "res/Complet1.mid",
+        "Complete 2": "res/Complet2.mid",
+
+        # .wav
+        "Alarm": "res/Alarm.wav",
+        "Bomb": "res/Bomb.wav",
+        "Camera": "res/Camera.wav",
+        "Car": "res/Car.wav",
+        "Complete": "res/Complete.wav",
+        "Exciting": "res/Exciting.wav",
+        "Robot": "res/Robot.wav",
+        "Siren": "res/Siren.wav",
+        "Start": "res/Start.wav",
+        "Success": "res/Success.wav",
+        "Win": "res/Win.wav",
+        "Bouncing": "res/bouncing.wav",
+    }
+
+    @staticmethod
+    def preset_notes() -> List[str]:
+        return list(Speaker.SCALE_TABLE.keys())
+
+    @staticmethod
+    def preset_musics() -> List[str]:
+        return list(Speaker.PRESET_MUSIC.keys())
+
+    @property
+    def tune(self) -> Tuple[int, int]:
+        return self.frequency, self.volume
+
+    @tune.setter
+    def tune(self, tune_value: Tuple[Union[int, str], int]) -> None:
+        """Set tune for the speaker
+
+        :param tune_value: Value of frequency and volume
+        :type tune_value: Tuple[Union[int, str], int]
+        :return: None
+        """
+
+        self.set_tune(tune_value[0], tune_value[1])
+
+    @property
+    def frequency(self) -> int:
+        """Returns Current frequency
+
+        :return: Frequency value
+        :rtype: int
+        """
+
+        offset = Speaker.PROPERTY_OFFSET_CURRENT_FREQUENCY
+        raw = self._get_property(Speaker.PROPERTY_SPEAKER_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @frequency.setter
+    def frequency(self, frequency_value: int) -> None:
+        """Set the frequency for the speaker
+
+        :param frequency_value: Frequency to set
+        :type frequency_value: int
+        :return: None
+        """
+        self.tune = frequency_value, self.volume
+
+    @property
+    def volume(self) -> int:
+        """Returns Current volume
+
+        :return: Volume value
+        :rtype: int
+        """
+
+        offset = Speaker.PROPERTY_OFFSET_CURRENT_VOLUME
+        raw = self._get_property(Speaker.PROPERTY_SPEAKER_STATE)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @volume.setter
+    def volume(self, volume_value: int) -> None:
+        """Set the volume for the speaker
+
+        :param volume_value: Volume to set
+        :type volume_value: int
+        :return: None
+        """
+        self.tune = self.frequency, volume_value
+
+    def set_tune(self, frequency: Union[int, str], volume: int) -> None:
+        """Set tune for the speaker
+
+        :param frequency: Frequency value
+        :type frequency: int
+        :param volume: Volume value
+        :type volume: int
+        :return: None
+        """
+
+        if isinstance(frequency, str):
+            frequency = Speaker.SCALE_TABLE.get(frequency, -1)
+
+        if frequency < 0:
+            raise ValueError("Not a supported frequency value")
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=Speaker.PROPERTY_SPEAKER_SET_TUNE,
+            property_values=(("u16", frequency), ("u16", volume), )
+        )
+        time.sleep(0.01)
+
+    def play_music(self, name: str, volume: int) -> None:
+        """Play music in speaker module
+
+        :param name: Music name for playing
+        :type name: str
+        :param volume: Volume of speaker
+        :type volume: int
+        :return: None
+        """
+
+        file_name = Speaker.PRESET_MUSIC.get(name)
+        if file_name is None:
+            raise ValueError(f"{file_name} is not on the list, check 'Speaker.preset_musics()'")
+
+        property_num = Speaker.PROPERTY_SPEAKER_MELODY if ".mid" in file_name else Speaker.PROPERTY_SPEAKER_MUSIC
+        self.playing_file_name = file_name
+
+        self._set_property(
+            self._id,
+            property_num,
+            property_values=(("u8", Speaker.STATE_START),
+                             ("u8", volume),
+                             ("string", self.playing_file_name), )
+        )
+        time.sleep(0.1)
+
+    def stop_music(self) -> None:
+        """Stop music in speaker module
+
+        :return: None
+        """
+
+        if not len(self.playing_file_name):
+            return
+
+        property_num = Speaker.PROPERTY_SPEAKER_MELODY if ".mid" in self.playing_file_name else Speaker.PROPERTY_SPEAKER_MUSIC
+
+        self._set_property(
+            self._id,
+            property_num,
+            property_values=(("u8", Speaker.STATE_STOP),
+                             ("u8", 0),
+                             ("string", self.playing_file_name), )
+        )
+
+    def pause_music(self) -> None:
+        """Pause music in speaker module
+
+        :return: None
+        """
+
+        if not len(self.playing_file_name):
+            return
+
+        property_num = Speaker.PROPERTY_SPEAKER_MELODY if ".mid" in self.playing_file_name else Speaker.PROPERTY_SPEAKER_MUSIC
+
+        self._set_property(
+            self._id,
+            property_num,
+            property_values=(("u8", Speaker.STATE_PAUSE),
+                             ("u8", 0),
+                             ("string", self.playing_file_name), )
+        )
+
+    def resume_music(self) -> None:
+        """Resume music in speaker module
+
+        :return: None
+        """
+
+        if not len(self.playing_file_name):
+            return
+
+        property_num = Speaker.PROPERTY_SPEAKER_MELODY if ".mid" in self.playing_file_name else Speaker.PROPERTY_SPEAKER_MUSIC
+
+        self._set_property(
+            self._id,
+            property_num,
+            property_values=(("u8", Speaker.STATE_RESUME),
+                             ("u8", 0),
+                             ("string", self.playing_file_name), )
+        )
+
+    def reset(self) -> None:
+        """Turn off the sound
+
+        :return: None
+        """
+
+        self.set_tune(0, 0)
diff --git a/packages/core/modi_plus/module/setup_module/__init__.py b/packages/core/modi_plus/module/setup_module/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/modi_plus/module/setup_module/battery.py b/packages/core/modi_plus/module/setup_module/battery.py
new file mode 100644
index 0000000..a809c53
--- /dev/null
+++ b/packages/core/modi_plus/module/setup_module/battery.py
@@ -0,0 +1,24 @@
+"""Battery module."""
+
+import struct
+from modi_plus.module.module import SetupModule
+
+
+class Battery(SetupModule):
+
+    PROPERTY_BATTERY_STATE = 2
+
+    PROPERTY_OFFSET_LEVEL = 0
+
+    @property
+    def level(self) -> float:
+        """Returns the level value
+
+        :return: The battery's level.
+        :rtype: float
+        """
+
+        offset = Battery.PROPERTY_OFFSET_LEVEL
+        raw = self._get_property(Battery.PROPERTY_BATTERY_STATE)
+        data = struct.unpack("f", raw[offset:offset + 4])[0]
+        return data
diff --git a/packages/core/modi_plus/module/setup_module/network.py b/packages/core/modi_plus/module/setup_module/network.py
new file mode 100644
index 0000000..bf3bdc5
--- /dev/null
+++ b/packages/core/modi_plus/module/setup_module/network.py
@@ -0,0 +1,395 @@
+"""Network module."""
+
+import time
+import struct
+from importlib import import_module as im
+
+from modi_plus.util.connection_util import get_ble_task_path
+from modi_plus.module.module import SetupModule
+
+
+def check_connection(func):
+    """Check connection decorator
+    """
+    def wrapper(*args, **kwargs):
+        if isinstance(args[0]._connection, im(get_ble_task_path()).BleTask):
+            raise ValueError(f"{func.__name__} doen't supported for ble connection")
+        return func(*args, **kwargs)
+    return wrapper
+
+
+class Network(SetupModule):
+
+    STATE_TRUE = 100
+    STATE_FALSE = 0
+
+    STATE_JOYSTICK_UP = 100
+    STATE_JOYSTICK_DOWN = -100
+    STATE_JOYSTICK_LEFT = -50
+    STATE_JOYSTICK_RIGHT = 50
+    STATE_JOYSTICK_UNPRESSED = 0
+
+    STATE_TIMER_REACHED = 100
+    STATE_TIMER_UNREACHED = 0
+
+    STATE_IMU_FRONT = 100
+    STATE_IMU_REAR = -100
+    STATE_IMU_LEFT = -50
+    STATE_IMU_RIGHT = 50
+    STATE_IMU_ORIGIN = 0
+
+    STATE_BUZZER_ON = 100
+    STATE_BUZZER_OFF = 0
+
+    STATE_CAMERA_PICTURE = 100
+
+    PROPERTY_NETWORK_RECEIVE_DATA = 2
+    PROPERTY_NETWORK_BUTTON = 3
+    PROPERTY_NETWORK_SWITCH = 4
+    PROPERTY_NETWORK_DIAL = 5
+    PROPERTY_NETWORK_JOYSTICK = 6
+    PROPERTY_NETWORK_SLIDER = 7
+    PROPERTY_NETWORK_TIMER = 8
+    PROPERTY_NETWORK_IMU = 9
+    PROPERTY_NETWORK_IMU_DIRECTION = 0
+
+    PROPERTY_NETWORK_SEND_DATA = 2
+    PROPERTY_NETWORK_SEND_TEXT = 3
+    PROPERTY_NETWORK_BUZZER = 4
+    PROPERTY_NETWORK_CAMERA = 5
+
+    PROPERTY_OFFSET_BUTTON_PRESSED = 0
+    PROPERTY_OFFSET_BUTTON_CLICKED = 2
+    PROPERTY_OFFSET_BUTTON_DOUBLE_CLICKED = 4
+
+    PROPERTY_OFFSET_IMU_ROLL = 0
+    PROPERTY_OFFSET_IMU_PITCH = 2
+    PROPERTY_OFFSET_IMU_YAW = 4
+
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self.__buzzer_flag = True
+        self.__esp_version = None
+
+    @property
+    def esp_version(self):
+        if self.__esp_version:
+            return self.__esp_version
+        self._conn.send('{"c":160,"s":25,"d":4095,"b":"AAAAAAAAAA==","l":8}')
+        while not self.__esp_version:
+            time.sleep(0.01)
+        return self.__esp_version
+
+    @esp_version.setter
+    def esp_version(self, version):
+        self.__esp_version = version
+
+    @check_connection
+    def received_data(self, index: int = 0) -> int:
+        """Returns received data from MODI Play
+
+        :param index: Data's index
+        :type index: int
+        :return: Received data
+        :rtype: int
+        """
+
+        property_num = Network.PROPERTY_NETWORK_RECEIVE_DATA + 100 * index
+        offset = 0
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("i", raw[offset:offset + 4])[0]
+        return data
+
+    @check_connection
+    def button_pressed(self, index: int = 0) -> bool:
+        """Returns whether MODI Play button is pressed
+
+        :param index: Button's index
+        :type index: int
+        :return: True is pressed
+        :rtype: bool
+        """
+
+        property_num = Network.PROPERTY_NETWORK_BUTTON + 100 * index
+        offset = Network.PROPERTY_OFFSET_BUTTON_PRESSED
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data == Network.STATE_TRUE
+
+    @check_connection
+    def button_clicked(self, index: int = 0) -> bool:
+        """Returns whether MODI Play button is clicked
+
+        :param index: Button's index
+        :type index: int
+        :return: True is clicked
+        :rtype: bool
+        """
+
+        property_num = Network.PROPERTY_NETWORK_BUTTON + 100 * index
+        offset = Network.PROPERTY_OFFSET_BUTTON_CLICKED
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data == Network.STATE_TRUE
+
+    @check_connection
+    def button_double_clicked(self, index: int = 0) -> bool:
+        """Returns whether MODI Play button is double clicked
+
+        :param index: Button's index
+        :type index: int
+        :return: True is double clicked
+        :rtype: bool
+        """
+
+        property_num = Network.PROPERTY_NETWORK_BUTTON + 100 * index
+        offset = Network.PROPERTY_OFFSET_BUTTON_DOUBLE_CLICKED
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data == Network.STATE_TRUE
+
+    @check_connection
+    def switch_toggled(self, index: int = 0) -> bool:
+        """Returns whether MODI Play switch is toggled
+
+        :param index: Switch's index
+        :type index: int
+        :return: `True` if toggled or `False`.
+        :rtype: bool
+        """
+
+        property_num = Network.PROPERTY_NETWORK_SWITCH + 100 * index
+        offset = 0
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data == Network.STATE_TRUE
+
+    @check_connection
+    def dial_turn(self, index: int = 0) -> int:
+        """Returns the current degree of MODI Play dial
+
+        :param index: Dial's index
+        :type index: int
+        :return: Current degree
+        :rtype: int
+        """
+
+        property_num = Network.PROPERTY_NETWORK_DIAL + 100 * index
+        offset = 0
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data
+
+    @check_connection
+    def joystick_direction(self, index: int = 0) -> str:
+        """Returns the direction of the MODI Play joystick
+
+        :param index: Joystick's index
+        :type index: int
+        :return: 'up', 'down', 'left', 'right', 'unpressed'
+        :rtype: str
+        """
+
+        property_num = Network.PROPERTY_NETWORK_JOYSTICK + 100 * index
+        offset = 0
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+
+        return {
+            Network.STATE_JOYSTICK_UP: "up",
+            Network.STATE_JOYSTICK_DOWN: "down",
+            Network.STATE_JOYSTICK_LEFT: "left",
+            Network.STATE_JOYSTICK_RIGHT: "right",
+            Network.STATE_JOYSTICK_UNPRESSED: "unpressed"
+        }.get(data)
+
+    @check_connection
+    def slider_position(self, index: int = 0) -> int:
+        """Returns the current percentage of MODI Play slider
+
+        :param index: Slider's index
+        :type index: int
+        :return: Current percentage
+        :rtype: int
+        """
+
+        property_num = Network.PROPERTY_NETWORK_SLIDER + 100 * index
+        offset = 0
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    @check_connection
+    def time_up(self) -> bool:
+        """Returns if the MODI Play timer ticks
+
+        :return: True if timer is up
+        :rtype: bool
+        """
+
+        property_num = Network.PROPERTY_NETWORK_TIMER
+        offset = 0
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("H", raw[offset:offset + 2])[0]
+        return data == Network.STATE_TIMER_REACHED
+
+    @property
+    @check_connection
+    def imu_roll(self) -> int:
+        """Returns the roll angle of the MODI Play imu
+
+        :return: Roll angle.
+        :rtype: int
+        """
+
+        property_num = Network.PROPERTY_NETWORK_IMU
+        offset = Network.PROPERTY_OFFSET_IMU_ROLL
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    @check_connection
+    def imu_pitch(self) -> int:
+        """Returns the pitch angle of the MODI Play imu
+
+        :return: Pitch angle.
+        :rtype: int
+        """
+
+        property_num = Network.PROPERTY_NETWORK_IMU
+        offset = Network.PROPERTY_OFFSET_IMU_PITCH
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    @check_connection
+    def imu_yaw(self) -> int:
+        """Returns the yaw angle of the MODI Play imu
+
+        :return: Yaw angle.
+        :rtype: int
+        """
+
+        property_num = Network.PROPERTY_NETWORK_IMU
+        offset = Network.PROPERTY_OFFSET_IMU_YAW
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+        return data
+
+    @property
+    @check_connection
+    def imu_direction(self) -> str:
+        """Returns the direction of the MODI Play imu
+
+        :return: 'front', 'rear', 'left', 'right', 'origin'
+        :rtype: str
+        """
+
+        property_num = Network.PROPERTY_NETWORK_IMU_DIRECTION
+        offset = 0
+
+        raw = self._get_property(property_num)
+        data = struct.unpack("h", raw[offset:offset + 2])[0]
+
+        return {
+            Network.STATE_IMU_FRONT: "front",
+            Network.STATE_IMU_REAR: "rear",
+            Network.STATE_IMU_LEFT: "left",
+            Network.STATE_IMU_RIGHT: "right",
+            Network.STATE_IMU_ORIGIN: "origin"
+        }.get(data)
+
+    @check_connection
+    def send_data(self, index: int, data: int) -> None:
+        """Send text to MODI Play
+
+        :param index: Data's index
+        :type index: int
+        :param data: Data to send.
+        :type data: int
+        :return: None
+        """
+
+        property_num = Network.PROPERTY_NETWORK_SEND_DATA + 0x100 * index
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=property_num,
+            property_values=(("s32", data),),
+            force=True
+        )
+
+    @check_connection
+    def send_text(self, text: str) -> None:
+        """Send text to MODI Play
+
+        :param text: Text to send.
+        :type text: str
+        :return: None
+        """
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=Network.PROPERTY_NETWORK_SEND_TEXT,
+            property_values=(("string", text),),
+            force=True
+        )
+
+    @check_connection
+    def buzzer_on(self) -> None:
+        """Turns on MODI Play buzzer
+
+        :return: None
+        """
+
+        if self.__buzzer_flag:
+            self.buzzer_off()
+            self.__buzzer_flag = False
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=Network.PROPERTY_NETWORK_BUZZER,
+            property_values=(("u8", Network.STATE_BUZZER_ON),)
+        )
+
+    @check_connection
+    def buzzer_off(self) -> None:
+        """Turns off MODI Play buzzer
+
+        :return: None
+        """
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=Network.PROPERTY_NETWORK_BUZZER,
+            property_values=(("u8", Network.STATE_BUZZER_OFF),)
+        )
+        self.__buzzer_flag = False
+
+    @check_connection
+    def take_picture(self) -> None:
+        """Takes a picture on MODI Play
+
+        :return: None
+        """
+
+        self._set_property(
+            destination_id=self._id,
+            property_num=Network.PROPERTY_NETWORK_CAMERA,
+            property_values=(("u8", Network.STATE_CAMERA_PICTURE),)
+        )
diff --git a/packages/core/modi_plus/task/__init__.py b/packages/core/modi_plus/task/__init__.py
new file mode 100644
index 0000000..0152acc
--- /dev/null
+++ b/packages/core/modi_plus/task/__init__.py
@@ -0,0 +1,34 @@
+"""MODI+ Task module - 통신 레이어
+
+조건부 import를 통해 pyserial/bleak 없이도 패키지 import 가능
+"""
+
+# 플래그 초기화
+HAS_SERIAL = False
+HAS_BLE = False
+
+# Serial Task (pyserial 필요)
+try:
+    from modi_plus.task.serialport_task import SerialportTask
+    HAS_SERIAL = True
+except ImportError:
+    SerialportTask = None
+
+# BLE Task (bleak 필요)
+try:
+    from modi_plus.util.connection_util import get_ble_task_path
+    from importlib import import_module
+    # BLE task는 플랫폼별로 다르므로 여기서 직접 import하지 않음
+    HAS_BLE = True
+except ImportError:
+    HAS_BLE = False
+
+# Connection Task (항상 사용 가능)
+from modi_plus.task.connection_task import ConnectionTask
+
+__all__ = [
+    'ConnectionTask',
+    'HAS_SERIAL',
+    'HAS_BLE',
+    'SerialportTask',
+]
diff --git a/packages/core/modi_plus/task/ble_task/__init__.py b/packages/core/modi_plus/task/ble_task/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/modi_plus/task/ble_task/ble_task_linux.py b/packages/core/modi_plus/task/ble_task/ble_task_linux.py
new file mode 100644
index 0000000..c699434
--- /dev/null
+++ b/packages/core/modi_plus/task/ble_task/ble_task_linux.py
@@ -0,0 +1,29 @@
+from typing import Optional
+
+from modi_plus.task.connection_task import ConnectionTask
+
+
+class BleTask(ConnectionTask):
+    CHAR_UUID = "00008421-0000-1000-8000-00805f9b34fb"
+
+    def __init__(self, verbose=False, uuid=None):
+        super().__init__(verbose=verbose)
+
+    def open_connection(self):
+        pass
+
+    def close_connection(self):
+        pass
+
+    def handle_disconnected(self, _):
+        print("Device is being properly disconnected...")
+
+    def recv(self) -> Optional[str]:
+        return ""
+
+    @ConnectionTask.wait
+    def send(self, pkt: str) -> None:
+        pass
+
+    def send_nowait(self, pkt: str) -> None:
+        pass
diff --git a/packages/core/modi_plus/task/ble_task/ble_task_mac.py b/packages/core/modi_plus/task/ble_task/ble_task_mac.py
new file mode 100644
index 0000000..f74656a
--- /dev/null
+++ b/packages/core/modi_plus/task/ble_task/ble_task_mac.py
@@ -0,0 +1,162 @@
+import sys
+import json
+import time
+import base64
+import asyncio
+import nest_asyncio
+
+from typing import Optional
+from queue import Queue
+from threading import Thread
+
+from bleak import BleakClient, BleakError, BleakScanner
+
+from modi_plus.task.connection_task import ConnectionTask
+from modi_plus.util.connection_util import MODIConnectionError
+
+
+nest_asyncio.apply()
+
+
+class BleTask(ConnectionTask):
+    CHAR_UUID = "00008421-0000-1000-8000-00805f9b34fb"
+
+    def __init__(self, verbose=False, uuid=None):
+        super().__init__(verbose=verbose)
+        self.modi_name = f"MODI+_{uuid.upper()}"
+        print(f"Initiating ble_task connection with {self.modi_name}")
+        self._loop = asyncio.get_event_loop()
+        self._recv_q = Queue()
+        self._send_q = Queue()
+        self.__close_event = False
+
+        if sys.platform == "darwin":
+            from bleak.backends.corebluetooth import client as mac_client
+            self.__get_service = mac_client.BleakClientCoreBluetooth.get_services
+            mac_client.BleakClientCoreBluetooth.get_services = self.mac_get_service
+
+    @staticmethod
+    async def mac_get_service(client):
+        return None
+
+    def match_device(self, device, _):
+        return device.name == self.modi_name
+
+    async def __connect(self, address):
+        client = BleakClient(address, disconnected_callback=self.handle_disconnected, timeout=2)
+        await client.connect(timeout=2)
+        await asyncio.sleep(1)
+        if sys.platform == "darwin":
+            await self.__get_service(client)
+        return client
+
+    def __run_loop(self):
+        asyncio.set_event_loop(self._loop)
+        tasks = asyncio.gather(self.__send_handler(), self.__watch_notify())
+        self._loop.run_until_complete(tasks)
+
+    async def __watch_notify(self):
+        await self._bus.start_notify(self.CHAR_UUID, self.__recv_handler)
+        while True:
+            await asyncio.sleep(0.001)
+            if self.__close_event:
+                break
+
+    async def __send_handler(self):
+        while True:
+            if self._send_q.empty():
+                await asyncio.sleep(0.001)
+            else:
+                try:
+                    pkt = self._send_q.get()
+                    await self._bus.write_gatt_char(self.CHAR_UUID, pkt, response=True)
+                except BleakError:
+                    self.__close_event = True
+            if self.__close_event:
+                break
+
+    def __recv_handler(self, _, data):
+        self._recv_q.put(data)
+
+    def open_connection(self):
+        modi_device = self._loop.run_until_complete(BleakScanner.find_device_by_filter(self.match_device))
+        if modi_device:
+            self._bus = self._loop.run_until_complete(self.__connect(modi_device.address))
+            Thread(target=self.__run_loop, daemon=True).start()
+            print(f"Connected to {modi_device.name}")
+        else:
+            raise MODIConnectionError(f"Network module of {self.modi_name} not found! Perhaps, the module is already paired with your device?")
+
+    async def __close_client(self):
+        try:
+            await self._bus.stop_notify(self.CHAR_UUID)
+            await self._bus.disconnect()
+        except BleakError:
+            pass
+
+    def close_connection(self):
+        if self._bus:
+            self.__close_event = True
+            while self._loop.is_running():
+                time.sleep(0.1)
+            self._loop.run_until_complete(self.__close_client())
+            self._loop.close()
+
+    def handle_disconnected(self, _):
+        print("Device is being properly disconnected...")
+
+    def recv(self) -> Optional[str]:
+        if self._recv_q.empty():
+            return None
+        json_pkt = self.__parse_ble_msg(self._recv_q.get())
+        if self.verbose:
+            print(f"recv: {json_pkt}")
+        return json_pkt
+
+    @ConnectionTask.wait
+    def send(self, pkt: str) -> None:
+        self._send_q.put(self.__compose_ble_msg(pkt))
+        while not self._send_q.empty():
+            time.sleep(0.01)
+        if self.verbose:
+            print(f"send: {pkt}")
+
+    def send_nowait(self, pkt: str) -> None:
+        self._send_q.put(self.__compose_ble_msg(pkt))
+        if self.verbose:
+            print(f"send: {pkt}")
+
+    #
+    # Non-Async Methods
+    #
+    @staticmethod
+    def __parse_ble_msg(ble_msg):
+        json_msg = dict()
+        json_msg["c"] = ble_msg[1] << 8 | ble_msg[0]
+        json_msg["s"] = ble_msg[3] << 8 | ble_msg[2]
+        json_msg["d"] = int.from_bytes(ble_msg[4:6], byteorder="little")
+        json_msg["b"] = base64.b64encode(ble_msg[8:]).decode("utf-8")
+        json_msg["l"] = ble_msg[7] << 8 | ble_msg[6]
+        return json.dumps(json_msg, separators=(",", ":"))
+
+    @staticmethod
+    def __compose_ble_msg(json_msg):
+        json_msg = json.loads(json_msg)
+        ins = json_msg["c"]
+        sid = json_msg["s"]
+        did = json_msg["d"]
+        dlc = json_msg["l"]
+        data = json_msg["b"]
+
+        ble_msg = bytearray(8 + dlc)
+        ble_msg[0] = ins & 0xFF
+        ble_msg[1] = ins >> 8 & 0xFF
+        ble_msg[2] = sid & 0xFF
+        ble_msg[3] = sid >> 8 & 0xFF
+        ble_msg[4] = did & 0xFF
+        ble_msg[5] = did >> 8 & 0xFF
+        ble_msg[6] = dlc & 0xFF
+        ble_msg[7] = dlc >> 8 & 0xFF
+
+        ble_msg[8:8 + dlc] = bytearray(base64.b64decode(data))
+        return ble_msg
diff --git a/packages/core/modi_plus/task/ble_task/ble_task_rpi.py b/packages/core/modi_plus/task/ble_task/ble_task_rpi.py
new file mode 100644
index 0000000..f4dc89a
--- /dev/null
+++ b/packages/core/modi_plus/task/ble_task/ble_task_rpi.py
@@ -0,0 +1,182 @@
+import time
+import os
+import json
+import queue
+import base64
+import pexpect
+import subprocess
+
+from typing import Optional
+from threading import Thread
+
+from modi_plus.task.connection_task import ConnectionTask
+from modi_plus.util.connection_util import ask_modi_device
+
+
+class BleTask(ConnectionTask):
+
+    def __init__(self, verbose=False, uuid=None):
+        print("Initiating ble_task connection...")
+        script = os.path.join(os.path.dirname(__file__), "change_interval.sh")
+
+        # Security: Validate script path to prevent path traversal
+        script_abs = os.path.abspath(script)
+        expected_dir = os.path.abspath(os.path.dirname(__file__))
+        if not script_abs.startswith(expected_dir):
+            raise ValueError("Invalid script path")
+
+        # Security: Use subprocess instead of os.system to prevent command injection
+        # Change permissions to 755 (rwxr-xr-x) instead of 777 for better security
+        try:
+            subprocess.run(['chmod', '755', script], check=True, timeout=5)
+            subprocess.run(['sudo', script], check=True, timeout=10)
+        except subprocess.CalledProcessError as e:
+            print(f"Warning: Failed to execute Bluetooth configuration script: {e}")
+        except subprocess.TimeoutExpired:
+            print("Warning: Bluetooth configuration script timed out")
+
+        super().__init__(verbose=verbose)
+        self._bus = None
+        self.__uuid = uuid
+        self._recv_q = queue.Queue()
+        self.__close_event = False
+
+    @property
+    def bus(self):
+        return self._bus
+
+    def __find_modi_device(self):
+        scanner = pexpect.spawn("sudo hcitool lescan")
+        init_time = time.time()
+        devices = []
+        while time.time() - init_time < 1:
+            info = scanner.readline()
+            info = info.decode().split()
+            if "MODI+" in info[1] and info[1] not in (d[1] for d in devices):
+                devices.append(info)
+        scanner.terminate()
+        if not self.__uuid:
+            self.__uuid = ask_modi_device([d[1].upper() for d in devices])
+        for info in devices:
+            if self.__uuid.upper() in info[1].upper():
+                return info
+        raise ValueError("MODI+ network module does not exist!")
+
+    def __reset(self):
+        # Security: Use subprocess instead of os.system to prevent command injection
+        try:
+            subprocess.run(['sudo', 'hciconfig', 'hci0', 'down'],
+                           check=True, timeout=5, capture_output=True)
+            subprocess.run(['sudo', 'hciconfig', 'hci0', 'up'],
+                           check=True, timeout=5, capture_output=True)
+        except subprocess.CalledProcessError as e:
+            print(f"Warning: Bluetooth reset failed: {e.stderr.decode() if e.stderr else e}")
+        except subprocess.TimeoutExpired:
+            print("Warning: Bluetooth reset timed out")
+
+    def open_connection(self):
+        self.__reset()
+        modi_device = self.__find_modi_device()
+        print(f"Connecting to {modi_device[1]}...")
+        self.__reset()
+        self._bus = pexpect.spawn("gatttool -I")
+        self._bus.expect("LE")
+        for _ in range(5):
+            try:
+                self._bus.sendline(f"connect {modi_device[0]}")
+                self._bus.expect("Connection successful", timeout=1)
+                Thread(daemon=True, target=self.__ble_read).start()
+                break
+            except Exception:
+                print("...")
+
+    def close_connection(self):
+        # Reboot modules to stop receiving channel messages
+        self.__close_event = True
+        self.send('{"c":9,"s":0,"d":4095,"b":"Bgg=","l":2}')
+        time.sleep(0.5)
+        self._bus.sendline("disconnect")
+        self._bus.terminate()
+
+        # Security: Use subprocess instead of os.system to prevent command injection
+        try:
+            subprocess.run(['sudo', 'hciconfig', 'hci0', 'down'],
+                           check=True, timeout=5, capture_output=True)
+        except subprocess.CalledProcessError as e:
+            print(f"Warning: Failed to shut down Bluetooth: {e.stderr.decode() if e.stderr else e}")
+        except subprocess.TimeoutExpired:
+            print("Warning: Bluetooth shutdown timed out")
+
+    def __ble_read(self):
+        """
+        handle -- integer, characteristic read handle the data was received on
+        value -- bytearray, the data returned in the notification
+        """
+
+        while True:
+            try:
+                self._bus.expect("value: .*?\r", timeout=0.5)
+            except Exception:
+                continue
+            msg = self._bus.after.decode().lstrip("value: ").split()
+            json_msg = self.__parse_ble_msg(bytearray([int(b, len(msg)) for b in msg]))
+            if self.verbose:
+                print(f"recv: {json_msg}")
+            self._recv_q.put(json_msg)
+            if self.__close_event:
+                break
+            time.sleep(0.002)
+
+    @ConnectionTask.wait
+    def send(self, pkt: str) -> None:
+        self.send_nowait(pkt)
+
+    def send_nowait(self, pkt: str) -> None:
+        json_msg = json.loads(pkt)
+        ble_msg = self.__compose_ble_msg(json_msg)
+        if self.verbose:
+            print(f"send: {json_msg}")
+        self._bus.sendline(f"char-write-cmd 0x002a {ble_msg}")
+
+    def recv(self) -> Optional[str]:
+        if self._recv_q.empty():
+            return None
+        return self._recv_q.get()
+
+    #
+    # Ble Helper Methods
+    #
+    @staticmethod
+    def __parse_ble_msg(ble_msg):
+        json_msg = dict()
+        json_msg["c"] = ble_msg[1] << 8 | ble_msg[0]
+        json_msg["s"] = ble_msg[3] << 8 | ble_msg[2]
+        json_msg["d"] = ble_msg[5] << 8 | ble_msg[4]
+        json_msg["l"] = ble_msg[7] << 8 | ble_msg[6]
+        json_msg["b"] = base64.b64encode(ble_msg[8:]).decode("utf-8")
+        return json.dumps(json_msg, separators=(",", ":"))
+
+    @staticmethod
+    def __compose_ble_msg(json_msg):
+
+        ins = json_msg["c"]
+        sid = json_msg["s"]
+        did = json_msg["d"]
+        dlc = json_msg["l"]
+        data = json_msg["b"]
+
+        ble_msg = bytearray(8 + dlc)
+        ble_msg[0] = ins & 0xFF
+        ble_msg[1] = ins >> 8 & 0xFF
+        ble_msg[2] = sid & 0xFF
+        ble_msg[3] = sid >> 8 & 0xFF
+        ble_msg[4] = did & 0xFF
+        ble_msg[5] = did >> 8 & 0xFF
+        ble_msg[6] = dlc & 0xFF
+        ble_msg[7] = dlc >> 8 & 0xFF
+
+        ble_msg[8:8 + dlc] = bytearray(base64.b64decode(data))
+        data = ""
+        for b in ble_msg:
+            data += f"{b:02X}"
+        return data
diff --git a/packages/core/modi_plus/task/ble_task/ble_task_win.py b/packages/core/modi_plus/task/ble_task/ble_task_win.py
new file mode 100644
index 0000000..5364d1f
--- /dev/null
+++ b/packages/core/modi_plus/task/ble_task/ble_task_win.py
@@ -0,0 +1,145 @@
+import time
+import json
+import base64
+import asyncio
+
+from typing import Optional
+from queue import Queue
+from threading import Thread
+
+from bleak import BleakClient, BleakError, BleakScanner
+
+from modi_plus.task.connection_task import ConnectionTask
+from modi_plus.util.connection_util import MODIConnectionError
+
+
+class BleTask(ConnectionTask):
+    CHAR_UUID = "00008421-0000-1000-8000-00805f9b34fb"
+
+    def __init__(self, verbose=False, uuid=None):
+        super().__init__(verbose=verbose)
+        self.modi_name = f"MODI+_{uuid.upper()}"
+        print(f"Initiating ble_task connection with {self.modi_name}")
+        self._loop = asyncio.get_event_loop()
+        self._recv_q = Queue()
+        self._send_q = Queue()
+        self.__close_event = False
+
+    def match_device(self, device, _):
+        return device.name == self.modi_name
+
+    async def __connect(self, address):
+        client = BleakClient(address, disconnected_callback=self.handle_disconnected, timeout=5)
+        await client.connect(timeout=2)
+        return client
+
+    def __run_loop(self):
+        asyncio.set_event_loop(self._loop)
+        tasks = asyncio.gather(self.__send_handler(), self.__watch_notify())
+        self._loop.run_until_complete(tasks)
+
+    async def __watch_notify(self):
+        await self._bus.start_notify(self.CHAR_UUID, self.__recv_handler)
+        while True:
+            await asyncio.sleep(0.001)
+            if self.__close_event:
+                break
+
+    async def __send_handler(self):
+        while True:
+            if self._send_q.empty():
+                await asyncio.sleep(0.001)
+            else:
+                try:
+                    pkt = self._send_q.get()
+                    await self._bus.write_gatt_char(self.CHAR_UUID, pkt, response=True)
+                except BleakError:
+                    self.__close_event = True
+            if self.__close_event:
+                break
+
+    def __recv_handler(self, _, data):
+        self._recv_q.put(data)
+
+    def open_connection(self):
+        modi_device = self._loop.run_until_complete(BleakScanner.find_device_by_filter(self.match_device))
+        if modi_device:
+            self._bus = self._loop.run_until_complete(self.__connect(modi_device.address))
+            Thread(target=self.__run_loop, daemon=True).start()
+            print(f"Connected to {modi_device.name}")
+        else:
+            raise MODIConnectionError(f"Network module of 0x{self.__uuid:X} not found!")
+
+    async def __close_client(self):
+        try:
+            await self._bus.stop_notify(self.CHAR_UUID)
+            await self._bus.disconnect()
+        except BleakError:
+            pass
+
+    def close_connection(self):
+        if self._bus:
+            self.__close_event = True
+            while self._loop.is_running():
+                time.sleep(0.1)
+            self._loop.run_until_complete(self.__close_client())
+            self._loop.close()
+
+    def handle_disconnected(self, _):
+        print("Device is being properly disconnected...")
+
+    def recv(self) -> Optional[str]:
+        if self._recv_q.empty():
+            return None
+        json_pkt = self.__parse_ble_msg(self._recv_q.get())
+        if self.verbose:
+            print(f"recv: {json_pkt}")
+        return json_pkt
+
+    @ConnectionTask.wait
+    def send(self, pkt: str) -> None:
+        self._send_q.put(self.__compose_ble_msg(pkt))
+        while not self._send_q.empty():
+            time.sleep(0.01)
+        if self.verbose:
+            print(f"send: {pkt}")
+
+    def send_nowait(self, pkt: str) -> None:
+        self._send_q.put(self.__compose_ble_msg(pkt))
+        if self.verbose:
+            print(f"send: {pkt}")
+
+    #
+    # Non-Async Methods
+    #
+    @staticmethod
+    def __parse_ble_msg(ble_msg):
+        json_msg = dict()
+        json_msg["c"] = ble_msg[1] << 8 | ble_msg[0]
+        json_msg["s"] = ble_msg[3] << 8 | ble_msg[2]
+        json_msg["d"] = int.from_bytes(ble_msg[4:6], byteorder="little")
+        json_msg["b"] = base64.b64encode(ble_msg[8:]).decode("utf-8")
+        json_msg["l"] = ble_msg[7] << 8 | ble_msg[6]
+        return json.dumps(json_msg, separators=(",", ":"))
+
+    @staticmethod
+    def __compose_ble_msg(json_msg):
+        json_msg = json.loads(json_msg)
+        ins = json_msg["c"]
+        sid = json_msg["s"]
+        did = json_msg["d"]
+        dlc = json_msg["l"]
+        data = json_msg["b"]
+
+        ble_msg = bytearray(8 + dlc)
+        ble_msg[0] = ins & 0xFF
+        ble_msg[1] = ins >> 8 & 0xFF
+        ble_msg[2] = sid & 0xFF
+        ble_msg[3] = sid >> 8 & 0xFF
+        ble_msg[4] = did & 0xFF
+        ble_msg[5] = did >> 8 & 0xFF
+        ble_msg[6] = dlc & 0xFF
+        ble_msg[7] = dlc >> 8 & 0xFF
+
+        ble_msg[8:8 + dlc] = bytearray(base64.b64decode(data))
+        return ble_msg
diff --git a/packages/core/modi_plus/task/ble_task/change_interval.sh b/packages/core/modi_plus/task/ble_task/change_interval.sh
new file mode 100644
index 0000000..a89340c
--- /dev/null
+++ b/packages/core/modi_plus/task/ble_task/change_interval.sh
@@ -0,0 +1,2 @@
+echo 6 > /sys/kernel/debug/bluetooth/hci0/conn_min_interval
+echo 20 > /sys/kernel/debug/bluetooth/hci0/conn_max_interval
diff --git a/packages/core/modi_plus/task/connection_task.py b/packages/core/modi_plus/task/connection_task.py
new file mode 100644
index 0000000..8e3e59a
--- /dev/null
+++ b/packages/core/modi_plus/task/connection_task.py
@@ -0,0 +1,54 @@
+import time
+from abc import ABC
+from abc import abstractmethod
+from typing import Optional
+
+
+class ConnectionTask(ABC):
+
+    def __init__(self, verbose=False):
+        self._bus = None
+        self.verbose = verbose
+
+    @property
+    def bus(self):
+        return self._bus
+
+    @bus.setter
+    def bus(self, new_bus):
+        if not isinstance(new_bus, type(self._bus)):
+            raise ValueError()
+        else:
+            self._bus = new_bus
+
+    #
+    # Abstract Methods
+    #
+    @abstractmethod
+    def close_connection(self):
+        pass
+
+    @abstractmethod
+    def open_connection(self):
+        pass
+
+    @abstractmethod
+    def recv(self) -> Optional[str]:
+        pass
+
+    @abstractmethod
+    def send(self, pkt: str) -> None:
+        pass
+
+    @staticmethod
+    def wait(func):
+        """Wait decorator
+        Make sure this is attached to inherited send method
+        """
+
+        def decorator(self, pkt: str) -> None:
+            init_time = time.perf_counter()
+            func(self, pkt)
+            while time.perf_counter() - init_time < 0.04:
+                pass
+        return decorator
diff --git a/packages/core/modi_plus/task/exe_task.py b/packages/core/modi_plus/task/exe_task.py
new file mode 100644
index 0000000..6b0c05d
--- /dev/null
+++ b/packages/core/modi_plus/task/exe_task.py
@@ -0,0 +1,217 @@
+import json
+import time
+from packaging import version
+from base64 import b64decode
+
+from modi_plus.module.module import Module, BROADCAST_ID, get_module_from_name, get_module_type_from_uuid
+from modi_plus.util.message_util import unpack_data, parse_message
+
+
+class ExeTask:
+
+    def __init__(self, modules, connection_task):
+        self._modules = modules
+        self._connection = connection_task
+
+        # Reboot all modules
+        self.__request_reboot(BROADCAST_ID)
+
+    def run(self, delay):
+        """ Run in ExecutorThread
+
+        :param delay: time value to wait in seconds
+        :type delay: float
+        """
+
+        json_pkt = self._connection.recv()
+        if not json_pkt:
+            time.sleep(delay)
+        else:
+            try:
+                json_msg = json.loads(json_pkt)
+                self.__command_handler(json_msg["c"])(json_msg)
+            except json.decoder.JSONDecodeError:
+                print("current json message:", json_pkt)
+
+    def __command_handler(self, command):
+        """ Execute task based on command message
+
+        :param command: command code
+        :type command: int
+        :return: a function the corresponds to the command code
+        :rtype: Callable[[Dict[str, int]], None]
+        """
+
+        return {
+            0x00: self.__update_health,
+            0x05: self.__update_assign_id,
+            0x1F: self.__update_channel,
+            0xA1: self.__update_esp_version,
+        }.get(command, lambda _: None)
+
+    def __get_module_by_id(self, module_id):
+        for module in self._modules:
+            if module.id == module_id:
+                return module
+
+    def __compare_version(self, left, right):
+        if version.parse(left) > version.parse(right):
+            return 1
+        elif version.parse(left) == version.parse(right):
+            return 0
+        else:
+            return -1
+
+    def __update_health(self, message):
+        """ Update information by health message
+
+        :param message: Dictionary format message of the module
+        :type message: Dictionary
+        :return: None
+        """
+
+        # Record battery information and user code state
+        module_id = message["s"]
+        curr_time = time.time()
+
+        # Checking starts only when module is registered
+        if module_id in (module.id for module in self._modules):
+            module = self.__get_module_by_id(module_id)
+            module.last_updated_time = curr_time
+            module.is_connected = True
+
+            if module.module_type == "network" and message["l"] == 6:
+                _, dir = unpack_data(message["b"], (5, 1))
+
+                # usb로 연결된 네트워크 모듈인 경우 interpreter 삭제
+                if dir & 2 and module.is_usb_connected is False:
+                    self.__request_erase_interpreter()
+                    self.__request_reboot(BROADCAST_ID)
+                    time.sleep(1)
+                    self.__request_pnp_off()
+                    module.is_usb_connected = True
+
+            # 일반 모듈의 OS 버전이 1.3.1 이상일 경우, health data에 pnp on/off 상태가 포함되어 있다.
+            if module.module_type != "network" and self.__compare_version(module.os_version, "1.3.1") != -1:
+                _, pnp = unpack_data(message["b"], (3, 1))
+                if pnp == 0:
+                    # pnp 상태일 경우, pnp off
+                    self.__request_pnp_off(module_id)
+
+            # Reset disconnection alert status
+            if module.has_printed:
+                module.has_printed = False
+        else:
+            self.__request_find_id(module_id)
+            self.__request_find_network_id(module_id)
+
+        # Disconnect module with no health message for more than 2 second
+        for module in self._modules:
+            if (curr_time - module.last_updated_time > 2) and (module.is_connected is True):
+                module.is_connected = False
+                module._last_set_message = None
+
+    def __update_assign_id(self, message):
+        """ Update module information
+        :param message: Dictionary format module info
+        :type message: Dictionary
+        :return: None
+        """
+
+        module_id = message["s"]
+        module_uuid, module_os_version_info, module_app_version_info = unpack_data(message["b"], (6, 2, 2))
+        module_type = get_module_type_from_uuid(module_uuid)
+
+        # Handle new modules
+        if module_id not in (module.id for module in self._modules):
+            new_module = self.__add_new_module(module_type, module_id, module_uuid, module_app_version_info, module_os_version_info)
+            new_module.module_type = module_type
+            new_module.first_connected_time = time.time()
+            if module_type == "network":
+                self.__request_esp_version(module_id)
+        else:
+            module = self.__get_module_by_id(module_id)
+            if not module.is_connected:
+                # Handle Reconnected modules
+                module.is_connected = True
+                self.__request_pnp_off()
+                print(f"{str(module)} has been reconnected!")
+
+    def __add_new_module(self, module_type, module_id, module_uuid, module_app_version_info, module_os_version_info):
+        module_template = get_module_from_name(module_type)
+        module_instance = module_template(module_id, module_uuid, self._connection)
+        self.__request_pnp_off()
+        module_instance.app_version = module_app_version_info
+        module_instance.os_version = module_os_version_info
+        self._modules.append(module_instance)
+        print(f"{str(module_instance)} has been connected!")
+        return module_instance
+
+    def __update_channel(self, message):
+        """ Update module property
+
+        :param message: Dictionary format message
+        :type message: Dictionary
+        :return: None
+        """
+
+        module_id = message["s"]
+        property_number = message["d"]
+        property_data = bytearray(b64decode(message["b"]))
+
+        # Do not update reserved property
+        if property_number == 0 or property_number == 1:
+            return
+
+        module = self.__get_module_by_id(module_id)
+        if not module:
+            return
+
+        module.update_property(property_number, property_data)
+
+    def __update_esp_version(self, message):
+        network_module = None
+        for module in self._modules:
+            if module.module_type == "network":
+                network_module = module
+                break
+        if not network_module:
+            return
+
+        raw_data = b64decode(message["b"])
+        network_module.esp_version = raw_data.lstrip(b"\x00").decode()
+
+    def __set_module_state(self, destination_id, module_state, pnp_state):
+        """ Generate message for set module state and pnp state
+
+        :param destination_id: Id to target destination
+        :type destination_id: int
+        :param module_state: State value of the module
+        :type module_state: int
+        :param pnp_state: Pnp state value
+        :type pnp_state: int
+        :return: None
+        """
+
+        self._connection.send_nowait(parse_message(0x09, 0, destination_id, (module_state, pnp_state)))
+
+    def __request_reboot(self, id=BROADCAST_ID):
+        self.__set_module_state(id, Module.REBOOT, Module.PNP_OFF)
+
+    def __request_pnp_on(self, id=BROADCAST_ID):
+        self.__set_module_state(id, Module.RUN, Module.PNP_ON)
+
+    def __request_pnp_off(self, id=BROADCAST_ID):
+        self.__set_module_state(id, Module.RUN, Module.PNP_OFF)
+
+    def __request_find_id(self, id=BROADCAST_ID):
+        self._connection.send_nowait(parse_message(0x08, 0x00, id, (0xFF, 0x0F)))
+
+    def __request_find_network_id(self, id=BROADCAST_ID):
+        self._connection.send_nowait(parse_message(0x28, 0x00, id, (0xFF, 0x0F)))
+
+    def __request_esp_version(self, id):
+        self._connection.send_nowait(parse_message(0xA0, 25, id, (0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF)))
+
+    def __request_erase_interpreter(self):
+        self._connection.send_nowait(parse_message(160, 80, 4095, (0, 0, 0, 0, 0, 0, 0, 0)))
diff --git a/packages/core/modi_plus/task/serialport_task.py b/packages/core/modi_plus/task/serialport_task.py
new file mode 100644
index 0000000..3caf535
--- /dev/null
+++ b/packages/core/modi_plus/task/serialport_task.py
@@ -0,0 +1,150 @@
+from typing import Optional
+from queue import Queue
+import threading as th
+
+from serial.serialutil import SerialException
+
+from modi_plus.task.connection_task import ConnectionTask
+from modi_plus.util.connection_util import list_modi_ports
+from modi_plus.util.modi_serialport import ModiSerialPort
+
+
+class SerialportTask(ConnectionTask):
+
+    def __init__(self, verbose=False, port=None):
+        print("Initiating serial connection...")
+        super().__init__(verbose)
+        self.__port = port
+        self.__json_buffer = b""
+        self._recv_queue = Queue()
+        self.__recv_thread = None
+        self.__stop_signal = False
+
+    #
+    # Inherited Methods
+    #
+    def open_connection(self) -> None:
+        """ Open serial port
+
+        :return: None
+        """
+
+        modi_ports = list_modi_ports()
+        if not modi_ports:
+            raise SerialException("No MODI+ network module is available")
+
+        if self.__port:
+            if self.__port not in map(lambda info: info, modi_ports):
+                raise SerialException(f"{self.__port} is not connected to a MODI+ network module.")
+            else:
+                try:
+                    self._bus = self.__init_serial(self.__port)
+                    self._bus.open()
+                    self.__open_recv_thread()
+                    return
+                except SerialException:
+                    raise SerialException(f"{self.__port} is not available.")
+
+        for modi_port in modi_ports:
+            self._bus = self.__init_serial(modi_port)
+            try:
+                self._bus.open(modi_port)
+                self.__open_recv_thread()
+                print(f'Serial is open at "{modi_port}"')
+                return
+            except SerialException:
+                continue
+        raise SerialException("No MODI+ port is available now")
+
+    @staticmethod
+    def __init_serial(port):
+        ser = ModiSerialPort(timeout=0.01)
+        return ser
+
+    def __open_recv_thread(self):
+        self.__json_buffer = b""
+        self._recv_queue = Queue()
+        self.__stop_signal = False
+        self.__recv_thread = th.Thread(target=self.__recv_handler, daemon=True)
+        self.__recv_thread.start()
+
+    def __close_recv_thread(self):
+        self.__stop_signal = True
+        if self.__recv_thread:
+            self.__recv_thread.join()
+
+    def __recv_handler(self):
+        while not self.__stop_signal:
+            recv = self._bus.read()
+            if recv:
+                self.__json_buffer += recv
+
+            header_index = self.__json_buffer.find(b"{")
+            if header_index < 0:
+                self.__json_buffer = b""
+                continue
+            self.__json_buffer = self.__json_buffer[header_index:]
+
+            tail_index = self.__json_buffer.find(b"}")
+            if tail_index < 0:
+                continue
+
+            json_pkt = self.__json_buffer[:tail_index + 1].decode("utf8")
+            self.__json_buffer = self.__json_buffer[tail_index + 1:]
+            self._recv_queue.put(json_pkt)
+
+    def close_connection(self) -> None:
+        """ Close serial port
+
+        :return: None
+        """
+
+        self.__close_recv_thread()
+        self._bus.close()
+
+    def recv(self) -> Optional[str]:
+        """ Read serial message and put message to serial read queue
+
+        :return: str
+        """
+
+        if self._recv_queue.empty():
+            return None
+
+        json_pkt = self._recv_queue.get()
+        if json_pkt is None:
+            return None
+
+        if self.verbose:
+            print(f"recv: {json_pkt}")
+
+        return json_pkt
+
+    @ConnectionTask.wait
+    def send(self, pkt: str, verbose=False) -> None:
+        """ Send json pkt
+
+        :param pkt: Json pkt to send
+        :type pkt: str
+        :param verbose: Verbosity parameter
+        :type verbose: bool
+        :return: None
+        """
+
+        self._bus.write(pkt.encode("utf8"))
+        if self.verbose or verbose:
+            print(f"send: {pkt}")
+
+    def send_nowait(self, pkt: str, verbose=False) -> None:
+        """ Send json pkt
+
+        :param pkt: Json pkt to send
+        :type pkt: str
+        :param verbose: Verbosity parameter
+        :type verbose: bool
+        :return: None
+        """
+
+        self._bus.write(pkt.encode("utf8"))
+        if self.verbose or verbose:
+            print(f"send: {pkt}")
diff --git a/packages/core/modi_plus/util/__init__.py b/packages/core/modi_plus/util/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/modi_plus/util/connection_util.py b/packages/core/modi_plus/util/connection_util.py
new file mode 100644
index 0000000..b9a1da7
--- /dev/null
+++ b/packages/core/modi_plus/util/connection_util.py
@@ -0,0 +1,89 @@
+import os
+import sys
+import platform
+from typing import List
+
+# 조건부 import - pyserial 없어도 기본 기능은 사용 가능
+try:
+    import serial.tools.list_ports as stl
+    HAS_SERIAL = True
+except ImportError:
+    stl = None
+    HAS_SERIAL = False
+
+
+def list_modi_ports() -> List[str]:
+    """Returns a list of connected MODI ports
+
+    :return: List[ListPortInfo]
+    """
+    if not HAS_SERIAL:
+        return []
+
+    info_list = []
+
+    def __is_modi_port(port):
+        return (port.vid == 0x2FDE and port.pid == 0x0003) or port.description == "MODI+ Network Module"
+    modi_ports = [port for port in stl.comports() if __is_modi_port(port)]
+    for modi_port in modi_ports:
+        info_list.append(modi_port.device)
+
+    if sys.platform.startswith("win"):
+        from modi_plus.util.winusb import list_modi_winusb_paths
+        path_list = list_modi_winusb_paths()
+        for index, value in enumerate(path_list):
+            info_list.append(value)
+
+    return info_list
+
+
+def is_on_pi() -> bool:
+    """Returns whether connected to pi
+
+    :return: true if connected to pi
+    :rtype: bool
+    """
+    return os.name != "nt" and os.uname()[4][:3] == "arm"
+
+
+def is_network_module_connected() -> bool:
+    """Returns whether network module is connected
+
+    :return: true if connected
+    :rtype: bool
+    """
+    return bool(list_modi_ports())
+
+
+def ask_modi_device(devices):
+    if not devices:
+        raise ValueError(
+            "No MODI network module(s) available!\n"
+            "The network module that you're trying to connect, may in use."
+        )
+    for idx, dev in enumerate(devices):
+        print(f"<{idx}>: {dev}")
+    i = input("Choose your device index (ex: 0) : ")
+    return devices[int(i)].lstrip("MODI+_")
+
+
+def get_platform():
+    if platform.uname().node == "raspberrypi":
+        return "rpi"
+    elif platform.uname().node == "penguin":
+        return "chrome"
+    return sys.platform
+
+
+def get_ble_task_path():
+    mod_path = {
+        "win32": "modi_plus.task.ble_task.ble_task_win",
+        "darwin": "modi_plus.task.ble_task.ble_task_mac",
+        "linux": "modi_plus.task.ble_task.ble_task_linux",
+        "rpi": "modi_plus.task.ble_task.ble_task_rpi",
+    }.get(get_platform())
+    return mod_path
+
+
+class MODIConnectionError(Exception):
+    pass
diff --git a/packages/core/modi_plus/util/inspection_util.py b/packages/core/modi_plus/util/inspection_util.py
new file mode 100644
index 0000000..d02a1ab
--- /dev/null
+++ b/packages/core/modi_plus/util/inspection_util.py
@@ -0,0 +1,425 @@
+import os
+import time
+
+import threading as th
+
+from textwrap import fill
+from textwrap import dedent
+
+
+class StoppableThread(th.Thread):
+
+    def __init__(self, module, method):
+        super(StoppableThread, self).__init__(daemon=True)
+        self._stop = th.Event()
+        self._module = module
+        self._method = method
+
+    def stop(self):
+        self._stop.set()
+
+    def stopped(self):
+        return self._stop.isSet()
+
+    def run(self):
+        # Security: Validate method name to prevent code injection
+        if not self._method.isidentifier():
+            raise ValueError(f"Invalid method name: {self._method}")
+
+        # Security: Check that the method exists before accessing it
+        if not hasattr(self._module, self._method):
+            raise AttributeError(f"Module has no attribute: {self._method}")
+
+        while True:
+            # Security: Use getattr() instead of eval() to prevent code injection
+            prop = getattr(self._module, self._method)
+            print(f"\rObtained property value: {prop} ", end="")
+            time.sleep(0.1)
+
+
+class Inspector:
+    """
+    Inspector diagnoses malfunctioning modules (all modules but network)
+    """
+
+    row_len = 79
+
+    def __init__(self):
+        self.bundle = None
+
+    @staticmethod
+    def clear():
+        clear_cmd = "cls" if os.name == "nt" else "clear"
+        os.system(clear_cmd)
+
+    def print_wrap(self, msg):
+        message = fill(dedent(msg), self.row_len).lstrip()
+        print(message)
+
+    def print_module_page(self, module, i, nb_modules):
+        print("-" * self.row_len)
+        module_to_inspect = \
+            f"| {' ' * 5} Diagnosing {module.module_type} ({module.id})"
+        progress_indicator = f"({i + 1} / {nb_modules}) {' ' * 5} |"
+        ls = f"{module_to_inspect:<{self.row_len}}"
+        s = progress_indicator.join(
+            ls.rsplit(" " * len(progress_indicator), 1)
+        )
+        print(s)
+        print("-" * self.row_len)
+
+    def inspect(self, module, i, nb_modules):
+        self.print_module_page(module, i, nb_modules)
+
+        inspect_module = {
+            # inspection method for input modules
+            "battery": self.inspect_battery,
+
+            # inspection method for input modules
+            "env": self.inspect_env,
+            "imu": self.inspect_imu,
+            "button": self.inspect_button,
+            "dial": self.inspect_dial,
+            "joystick": self.inspect_joystick,
+            "tof": self.inspect_tof,
+
+            # inspection method for input modules
+            "display": self.inspect_display,
+            "motor": self.inspect_motor,
+            "led": self.inspect_led,
+            "speaker": self.inspect_speaker,
+        }.get(module.module_type)
+        inspect_module(module, i, nb_modules)
+
+        self.clear()
+
+    def inspect_battery(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            Battery module has distance as its property.
+            """
+        )
+        input("\nIf you are ready to inspect this module, Press ENTER: ")
+        self.clear()
+
+        properties = ["level"]
+
+        for prop in properties:
+            self.print_module_page(module, i, nb_modules)
+            print(f"If the {prop} shown below seems correct, press ENTER: \n")
+            t = StoppableThread(module, prop)
+            t.start()
+            input()
+            t.stop()
+
+    def inspect_env(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            Environment module has illuminance, temperature, humidity and volume as its property.
+            """
+        )
+        input("\nIf you are ready to inspect this module, Press ENTER: ")
+        self.clear()
+
+        properties = ["illuminance", "temperature", "humidity", "volume"]
+
+        for prop in properties:
+            self.print_module_page(module, i, nb_modules)
+            print(f"If the {prop} shown below seems correct, press ENTER: \n")
+            t = StoppableThread(module, prop)
+            t.start()
+            input()
+            t.stop()
+
+    def inspect_imu(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            IMU module has angle, angular_velocity, acceleration and vibration as its property.
+            """
+        )
+        input("\nIf you are ready to inspect this module, Press ENTER: ")
+        self.clear()
+
+        properties = ["angle", "angular_velocity", "acceleration", "vibration"]
+
+        for prop in properties:
+            self.print_module_page(module, i, nb_modules)
+            print(f"If the {prop} shown below seems correct, press ENTER: \n")
+            t = StoppableThread(module, prop)
+            t.start()
+            input()
+            t.stop()
+
+    def inspect_button(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            Button module has cliked, double_clicked, pressed and toggled as its property.
+            """
+        )
+        input("\nIf you are ready to inspect this module, Press ENTER: ")
+        self.clear()
+
+        properties = ["cliked", "double_clicked", "pressed", "toggled"]
+
+        for prop in properties:
+            self.print_module_page(module, i, nb_modules)
+            print(f"If the {prop} shown below seems correct, press ENTER: \n")
+            t = StoppableThread(module, prop)
+            t.start()
+            input()
+            t.stop()
+
+    def inspect_dial(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            Dial module has turn and speed as its property.
+            """
+        )
+        input("\nIf you are ready to inspect this module, Press ENTER: ")
+        self.clear()
+
+        properties = ["turn", "speed"]
+
+        for prop in properties:
+            self.print_module_page(module, i, nb_modules)
+            print(f"If the {prop} shown below seems correct, press ENTER: \n")
+            t = StoppableThread(module, prop)
+            t.start()
+            input()
+            t.stop()
+
+    def inspect_joystick(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            Joystick module has turn and speed as its property.
+            """
+        )
+        input("\nIf you are ready to inspect this module, Press ENTER: ")
+        self.clear()
+
+        properties = ["x", "y", "direction"]
+
+        for prop in properties:
+            self.print_module_page(module, i, nb_modules)
+            print(f"If the {prop} shown below seems correct, press ENTER: \n")
+            t = StoppableThread(module, prop)
+            t.start()
+            input()
+            t.stop()
+
+    def inspect_tof(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            Tof module has distance as its property.
+            """
+        )
+        input("\nIf you are ready to inspect this module, Press ENTER: ")
+        self.clear()
+
+        properties = ["distance"]
+
+        for prop in properties:
+            self.print_module_page(module, i, nb_modules)
+            print(f"If the {prop} shown below seems correct, press ENTER: \n")
+            t = StoppableThread(module, prop)
+            t.start()
+            input()
+            t.stop()
+
+    def inspect_display(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            Display module has a text field as its property. We wil inspect
+            this property for the module.
+            """
+        )
+        input("\nIf you are ready to inspect this module, Press ENTER: ")
+        self.clear()
+
+        self.print_module_page(module, i, nb_modules)
+        module.set_text("Hello MODI+!")
+        input(dedent(
+            """
+            We have set "Hello MODI+!" as its text, if you see this press ENTER:
+            """.lstrip().rstrip() + " "
+        ))
+        module.reset()
+
+    def inspect_motor(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            Motor module has degree (i.e. position) and speed as its
+            property. We will inspect position property of the module.
+            """
+        )
+        print()
+        self.print_wrap(
+            """
+            Before continuing, we have set motors' initial position to zero
+            (your motor module may have moved a bit), so be clam :)
+            """
+        )
+        input("\nPress ENTER to continue: ")
+        self.clear()
+        module.set_angle(0, 70)
+
+        self.print_module_page(module, i, nb_modules)
+        self.print_wrap(
+            """
+            Firstly, in order to inspect position property, we have rotated 360 degree.
+            """
+        )
+        module.set_angle(360, 70)
+        time.sleep(1.5)
+        input("\nIf the first motor has rotated 360 degrees, press ENTER: ")
+        self.clear()
+
+        self.print_module_page(module, i, nb_modules)
+        self.print_wrap(
+            f"""
+            It looks like the motor module ({module.id}) is properly
+            functioning!
+            """
+        )
+        input("\nTo inspect next module, press ENTER to continue: ")
+
+    def inspect_led(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            LED module has red, green and blue as its property. We will inspect
+            these properties each.
+            """
+        )
+        input("\nPress ENTER to continue: ")
+        self.clear()
+
+        self.print_module_page(module, i, nb_modules)
+        self.print_wrap(
+            """
+            To inspect RED, We have set LED's RED to its maximum intensity.
+            """
+        )
+        module.set_rgb(255, 0, 0)
+        input("\nIf you see strong red from the led module, Press ENTER: ")
+        self.clear()
+
+        self.print_module_page(module, i, nb_modules)
+        self.print_wrap(
+            """
+            To inspect GREEN, We have set LED's GREEN to its maximum intensity.
+            """
+        )
+        module.set_rgb(0, 255, 0)
+        input("\nIf you see strong green from the led module, Press ENTER: ")
+        self.clear()
+
+        self.print_module_page(module, i, nb_modules)
+        self.print_wrap(
+            """
+            To inspect BLUE, We have set LED's BLUE to its maximum intensity.
+            """
+        )
+        module.set_rgb(0, 0, 255)
+        input("\nIf you see strong blue from the led module, Press ENTER: ")
+        self.clear()
+
+        module.set_rgb(0, 0, 0)
+        self.print_module_page(module, i, nb_modules)
+        input(dedent(
+            f"""
+            It looks like the LED module ({module.id}) is properly functioning!
+            To inspect next module, press ENTER to continue:
+            """
+        ))
+
+    def inspect_speaker(self, module, i, nb_modules):
+        self.print_wrap(
+            """
+            Speaker module has tune as its property, tune is composed of
+            frequency and volume. Thus inspecting the tune property consists of
+            inspecting frequency and volume properties.
+            """
+        )
+        self.clear()
+
+        self.print_module_page(module, i, nb_modules)
+        self.print_wrap(
+            """
+            To inspect tune property, we have set frequency of 880 and volume
+            of 50.
+            """
+        )
+        module.set_tune(880, 50)
+        input(dedent(
+            "\nPress ENTER if you hear a gentle sound from the speaker module!"
+        ))
+        module.set_tune(880, 0)
+        self.clear()
+
+    #
+    # Main methods are defined below
+    #
+    def run_inspection(self):
+        self.clear()
+        print("=" * self.row_len)
+        print(f"= {'This is PyMODI+ Module Inspector':^{self.row_len - 4}} =")
+        print("=" * self.row_len)
+
+        self.print_wrap(
+            """
+            PyMODI+ provides a number of tools that can be utilized in different
+            purpose. One of them is the module (all modules but network)
+            inspector which diagnoses any malfunctioning MODI+ module.
+            """
+        )
+
+        nb_modules = int(input(dedent(
+            """
+            Connect network module to your local machine, attach other modi+
+            modules to the network module. When attaching modi+ modules, make
+            sure that you provide sufficient power to the modules. Using modi+
+            battery module is a good way of supplying the power to the modules.
+
+            Type the number of modi+ modules (integer value) that are connected
+            to the network module (note that the maximum number of modules is
+            20) and press ENTER:
+            """.rstrip() + " "
+        )))
+        self.clear()
+
+        if not (1 <= nb_modules <= 20):
+            print(f"ERROR: {nb_modules} is invalid for the number of modules")
+            os._exit(0)
+
+        print("Importing modi_plus package and creating a modi+ bundle object...\n")
+        import modi_plus
+        self.bundle = modi_plus.MODIPlus()
+
+        input("wait for connecting.....\nif check the module connected, press ENTER\n")
+
+        modules = [m for m in self.bundle.modules if m.module_type != "network"]
+        nb_modules_detected = len(modules)
+        if nb_modules != nb_modules_detected:
+            self.print_wrap(
+                f"""
+                You said that you have attached {nb_modules} modules but PyMODI+
+                detects only {nb_modules_detected} number of modules! Look at
+                the printed log above regarding module connection and check
+                which modules have not been printed above.
+                """
+            )
+            os._exit(0)
+
+        input(dedent(
+            """
+            It looks like all stm modules have been initialized properly! Let's
+            diagnose each module, one by one!
+
+            Press ENTER to continue:
+            """.rstrip() + " "
+        ))
+        self.clear()
+
+        # Let's inspect each stm module!
+        for i, module in enumerate(modules):
+            self.inspect(module, i, nb_modules)
diff --git a/packages/core/modi_plus/util/message_util.py b/packages/core/modi_plus/util/message_util.py
new file mode 100644
index 0000000..8f8a43e
--- /dev/null
+++ b/packages/core/modi_plus/util/message_util.py
@@ -0,0 +1,101 @@
+import json
+import struct
+from base64 import b64encode, b64decode
+from typing import Optional
+from typing import Tuple
+
+
+def parse_get_property_message(destination_id: int, property_type: int, property_frequency: int):
+    return parse_message(0x03, 0, destination_id, (property_type, 0x00, property_frequency, 0x00))
+
+
+def parse_set_property_message(destination_id: int, property_type: int, property_values: Tuple):
+    data = []
+    for value_type, value in property_values:
+        data += parse_data(value, value_type)
+    return parse_message(0x04, property_type, destination_id, data)
+
+
+def parse_message(command: int, source: int, destination: int,
+                  byte_data: Tuple =
+                  (None, None, None, None, None, None, None, None)):
+    message = dict()
+    message["c"] = command
+    message["s"] = source
+    message["d"] = destination
+    message["b"] = __encode_bytes(byte_data)
+    message["l"] = len(byte_data)
+    return json.dumps(message, separators=(",", ":"))
+
+
+def __extract_length(begin: int, src: Tuple) -> int:
+    length = 1
+    for i in range(begin + 1, len(src)):
+        if not src[i]:
+            length += 1
+        else:
+            break
+    return length
+
+
+def __encode_bytes(byte_data: Tuple):
+    idx = 0
+    data = bytearray(len(byte_data))
+    while idx < len(byte_data):
+        if not byte_data[idx]:
+            idx += 1
+        elif byte_data[idx] > 256:
+            length = __extract_length(idx, byte_data)
+            data[idx: idx + length] = int.to_bytes(
+                byte_data[idx], byteorder="little", length=length, signed=True
+            )
+            idx += length
+        elif byte_data[idx] < 0:
+            data[idx: idx + 4] = int.to_bytes(
+                int(byte_data[idx]), byteorder="little", length=4, signed=True
+            )
+            idx += 4
+        elif byte_data[idx] < 256:
+            data[idx] = int(byte_data[idx])
+            idx += 1
+    return b64encode(bytes(data)).decode("utf8")
+
+
+def decode_message(message: str):
+    message = json.loads(message)
+    command = message["c"]
+    source = message["s"]
+    destination = message["d"]
+    data = message["b"]
+    length = message["l"]
+    return command, source, destination, data, length
+
+
+def unpack_data(data: str, structure: Tuple = (1, 1, 1, 1, 1, 1, 1, 1)):
+    data = bytearray(b64decode(data.encode("utf8")))
+    idx = 0
+    result = []
+    for size in structure:
+        result.append(int.from_bytes(data[idx:idx + size], byteorder="little"))
+        idx += size
+    return result
+
+
+def parse_data(values, data_type: str) -> Optional[Tuple]:
+    if data_type == "string":
+        return tuple(str.encode(values))
+    elif data_type == "float":
+        return tuple(bytearray(struct.pack("f", values)))
+    elif data_type == "bytes":
+        return values
+    elif data_type in ["s8", "s16", "s32"]:
+        return tuple(int.to_bytes(int(values), byteorder="little", signed=True, length=(int(data_type[1:])) // 8))
+    elif data_type in ["u8", "u16", "u32"]:
+        return tuple(int.to_bytes(int(values), byteorder="little", signed=False, length=(int(data_type[1:])) // 8))
+    else:
+        # error type
+        return None
+
+
+def decode_data(data: str) -> float:
+    return round(struct.unpack("f", bytes(unpack_data(data)[:4]))[0], 2)
diff --git a/packages/core/modi_plus/util/modi_serialport.py b/packages/core/modi_plus/util/modi_serialport.py
new file mode 100644
index 0000000..40b1683
--- /dev/null
+++ b/packages/core/modi_plus/util/modi_serialport.py
@@ -0,0 +1,211 @@
+import sys
+import time
+import serial
+
+
+class ModiSerialPort():
+    SERIAL_MODE_COMPORT = 1
+    SERIAL_MODI_WINUSB = 2
+
+    def __init__(self, port=None, baudrate=921600, timeout=0.2, write_timeout=None):
+        self.type = self.SERIAL_MODE_COMPORT
+        self._port = port
+        self._baudrate = baudrate
+        self._timeout = timeout
+        self._write_timeout = write_timeout
+
+        self.serial_port = None
+        self._is_open = False
+
+        if self._port is not None:
+            self.open(self._port)
+
+    def open(self, port):
+        self._port = port
+
+        if sys.platform.startswith("win"):
+            from modi_plus.util.winusb import ModiWinUsbComPort, list_modi_winusb_paths
+            if port in list_modi_winusb_paths():
+                self.type = self.SERIAL_MODI_WINUSB
+                winusb = ModiWinUsbComPort(path=self._port, baudrate=self._baudrate, timeout=self._timeout)
+                self.serial_port = winusb
+            else:
+                ser = serial.Serial(port=self._port, baudrate=self._baudrate, timeout=self._timeout, write_timeout=self._write_timeout, exclusive=True)
+                self.serial_port = ser
+        else:
+            ser = serial.Serial(port=self._port, baudrate=self._baudrate, timeout=self._timeout, write_timeout=self._write_timeout, exclusive=True)
+            self.serial_port = ser
+
+        self.is_open = True
+
+    def close(self):
+        if self.is_open:
+            self.serial_port.close()
+
+    def write(self, data):
+        if not self.is_open:
+            raise Exception("serialport is not opened")
+        if type(data) is str:
+            data = data.encode("utf8")
+        self.serial_port.write(data)
+
+    def read(self, size=1):
+        if not self.is_open:
+            raise Exception("serialport is not opened")
+        if size is None and self.type == self.SERIAL_MODE_COMPORT:
+            size = 1
+        return self.serial_port.read(size)
+
+    def read_until(self, expected=b"\x0A", size=None):
+        if not self.is_open:
+            raise Exception("serialport is not opened")
+
+        lenterm = len(expected)
+        line = bytearray()
+        modi_timeout = self.Timeout(self._timeout)
+        while True:
+            c = self.read(1)
+            if c:
+                line += c
+                if line[-lenterm:] == expected:
+                    break
+                if size is not None and len(line) >= size:
+                    break
+            else:
+                break
+            if modi_timeout.expired():
+                break
+        return bytes(line)
+
+    def read_all(self):
+        if not self.is_open:
+            raise Exception("serialport is not opened")
+        return self.serial_port.read_all()
+
+    def flush(self):
+        if not self.is_open:
+            raise Exception("serialport is not opened")
+        self.serial_port.flush()
+
+    def flushInput(self):
+        if not self.is_open:
+            raise Exception("serialport is not opened")
+        self.serial_port.flushInput()
+
+    def flushOutput(self):
+        if not self.is_open:
+            raise Exception("serialport is not opened")
+        self.serial_port.flushOutput()
+
+    def setDTR(self, state):
+        if not self.is_open:
+            raise Exception("serialport is not opened")
+        self.serial_port.setDTR(state)
+
+    def setRTS(self, state):
+        if not self.is_open:
+            raise Exception("serialport is not opened")
+        self.serial_port.setRTS(state)
+
+    def inWaiting(self):
+        if not self.is_open:
+            raise Exception("serialport is not opened")
+
+        waiting = None
+        if self.type == self.SERIAL_MODE_COMPORT:
+            waiting = self.serial_port.inWaiting()
+        return waiting
+
+    @property
+    def port(self):
+        return self._port
+
+    @port.setter
+    def port(self, value):
+        self._port = value
+        self.serial_port.port = value
+
+    @property
+    def baudrate(self):
+        return self._baudrate
+
+    @baudrate.setter
+    def baudrate(self, value):
+        self._baudrate = value
+        self.serial_port.baudrate = value
+
+    @property
+    def timeout(self):
+        return self._timeout
+
+    @timeout.setter
+    def timeout(self, value):
+        self._timeout = value
+        self.serial_port.timeout = value
+
+    @property
+    def write_timeout(self):
+        return self._write_timeout
+
+    @write_timeout.setter
+    def write_timeout(self, value):
+        self._write_timeout = value
+        self.serial_port.write_timeout = value
+
+    class Timeout(object):
+        """\
+        Abstraction for timeout operations. Using time.monotonic() if available
+        or time.time() in all other cases.
+
+        The class can also be initialized with 0 or None, in order to support
+        non-blocking and fully blocking I/O operations. The attributes
+        is_non_blocking and is_infinite are set accordingly.
+        """
+        if hasattr(time, "monotonic"):
+            # Timeout implementation with time.monotonic(). This function is only
+            # supported by Python 3.3 and above. It returns a time in seconds
+            # (float) just as time.time(), but is not affected by system clock
+            # adjustments.
+            TIME = time.monotonic
+        else:
+            # Timeout implementation with time.time(). This is compatible with all
+            # Python versions but has issues if the clock is adjusted while the
+            # timeout is running.
+            TIME = time.time
+
+        def __init__(self, duration):
+            """Initialize a timeout with given duration"""
+            self.is_infinite = (duration is None)
+            self.is_non_blocking = (duration == 0)
+            self.duration = duration
+            if duration is not None:
+                self.target_time = self.TIME() + duration
+            else:
+                self.target_time = None
+
+        def expired(self):
+            """Return a boolean, telling if the timeout has expired"""
+            return self.target_time is not None and self.time_left() <= 0
+
+        def time_left(self):
+            """Return how many seconds are left until the timeout expires"""
+            if self.is_non_blocking:
+                return 0
+            elif self.is_infinite:
+                return None
+            else:
+                delta = self.target_time - self.TIME()
+                if delta > self.duration:
+                    # clock jumped, recalculate
+                    self.target_time = self.TIME() + self.duration
+                    return self.duration
+                else:
+                    return max(0, delta)
+
+        def restart(self, duration):
+            """\
+            Restart a timeout, only supported if a timeout was already set up
+            before.
+            """
+            self.duration = duration
+            self.target_time = self.TIME() + duration
diff --git a/packages/core/modi_plus/util/tutorial_util.py b/packages/core/modi_plus/util/tutorial_util.py
new file mode 100644
index 0000000..735f35c
--- /dev/null
+++ b/packages/core/modi_plus/util/tutorial_util.py
@@ -0,0 +1,357 @@
+import os
+import time
+
+from textwrap import fill
+from textwrap import dedent
+
+
+class Tutor:
+    """
+    Tutor teaches overall usage of PyMODI+
+    """
+
+    row_len = 79
+
+    def __init__(self):
+        self.bundle = None
+        self.led = None
+        self.button = None
+
+    @staticmethod
+    def clear():
+        clear_cmd = "cls" if os.name == "nt" else "clear"
+        os.system(clear_cmd)
+
+    def print_wrap(self, msg):
+        message = fill(dedent(msg), self.row_len).lstrip()
+        print(message)
+
+    def print_lesson(self, lesson, title):
+        print("-" * self.row_len)
+        topic = f"Lesson {lesson}: {title}"
+        print(f"{topic:^{self.row_len}}")
+        print("-" * self.row_len)
+
+    @staticmethod
+    def check_user_input(answer, give_answer=True, guide=">>> "):
+        response = input(guide)
+        nb_wrong = 1
+        while response != answer:
+            if give_answer:
+                print(f"Write below code precisely.\n>>> {answer}\n")
+            elif nb_wrong > 2:
+                print(f"The answer is {answer}. Type it below.")
+            else:
+                print("Try again!")
+            response = input(guide)
+            nb_wrong += 1
+        return response
+
+    def run_introduction(self):
+        self.clear()
+        print("=" * self.row_len)
+        print(f"= {'Welcome to the PyMODI+ Tutor':^{self.row_len - 4}} =")
+        print("=" * self.row_len)
+
+        self.print_wrap(
+            """
+            PyMODI+ is a very powerful tool that can control the MODI+ modules
+            using python scripts. As long as you learn how to use built-in
+            functions of PyMODI+, you can easily control MODI+ modules. This
+            interactive CUI tutorial will guide you through the world of
+            PyMODI+.
+            """
+        )
+
+        selection = dedent(
+            """
+            Tutorial includes:
+            1. Making MODI+
+            2. Accessing Modules
+            3. Controlling Modules
+            4. Your First PyMODI+ Project
+            """
+        )
+        print(selection)
+
+        lesson_nb = int(input("Enter the lesson number and press ENTER: "))
+        self.clear()
+
+        if not (0 < lesson_nb < 5):
+            print("ERROR: lesson_nb must be one of 1, 2, 3 or 4")
+            os._exit(0)
+
+        # Skip lesson 1
+        if lesson_nb > 1:
+            print("=" * self.row_len)
+            print(f"= {'Preparing the modi_plus object...':^{self.row_len - 4}} =")
+            print("=" * self.row_len)
+            import modi_plus
+            self.print_wrap(
+                """
+                In order to skip the first lesson, we need to set-up the
+                prerequisites. Thus, connect button and led module to your
+                device.
+                """
+            )
+            input("\nif the modules are ready, press ENTER to continue: \n")
+            print()
+
+            self.bundle = modi_plus.MODIPlus()
+
+        # Skip lesson 2
+        if lesson_nb > 2:
+            self.button = self.bundle.buttons[0]
+            self.led = self.bundle.leds[0]
+
+        run_selected_lesson = {
+            1: self.run_lesson1,
+            2: self.run_lesson2,
+            3: self.run_lesson3,
+            4: self.run_lesson4,
+        }.get(lesson_nb)
+        run_selected_lesson()
+
+    def run_lesson1(self):
+        self.print_lesson(1, "Making MODI+")
+        self.print_wrap('First, you should import modi_plus. Type "import modi_plus"')
+
+        self.check_user_input("import modi_plus")
+        import modi_plus
+        print("\nGreat! Now you can use all the features of MODI+!\n")
+
+        self.print_wrap(
+            """
+            To control the modules, make a MODIPlus object that contains all the
+            connected modules. Once you create it, it will automatically find
+            all the modules connected to the network module.
+            """
+        )
+        input("\nPress ENTER")
+        self.clear()
+
+        self.print_wrap(
+            """
+            Now, prepare real MODI+ modules. Connect a network module to your
+            computing device. Then, connect a Button module and an Led module.
+            Make a MODIPlus bundle object by typing bundle = modi_plus.MODIPlus()
+            """
+        )
+        self.check_user_input("bundle = modi_plus.MODIPlus()")
+        bundle = modi_plus.MODIPlus()
+
+        self.print_wrap(
+            """
+            Great! The "bundle" is your MODIPlus object. With it, you can control
+            all the modules connected to your device.
+            """
+        )
+        input("\nYou have completed this lesson. Press ENTER to continue.\n")
+        self.bundle = bundle
+        self.run_lesson2()
+
+    def run_lesson2(self):
+        self.clear()
+        self.print_lesson(2, "Accessing modules")
+        self.print_wrap(
+            """
+            In the previous lesson, you created a MODIPlus object. Let's figure out
+            how we can access modules connected to it.
+            """
+        )
+        print()
+        self.print_wrap(
+            """
+            "bundle.modules" is a method to get all the modules connected to
+            the device.
+            """
+        )
+        print("\nType: bundle.modules")
+        self.check_user_input("bundle.modules")
+        print(self.bundle.modules)
+        print()
+
+        self.print_wrap(
+            """
+            You can see two modules connected (excluding the network module) to
+            the machine. You can access each module by the same method we use
+            with an array.
+            """
+        )
+        self.print_wrap(
+            """
+            You can also access modules by types.
+            """
+        )
+        print("\nType: bundle.leds")
+
+        self.check_user_input("bundle.leds")
+        print(self.bundle.leds)
+        print()
+        self.print_wrap(
+            """
+            If you have followed previous instructions correctly, there must be
+            one led module connected to the network module. Now, make an led
+            variable by accessing the first led module.
+            """
+        )
+        print("\nType: led = bundle.leds[0]")
+
+        self.check_user_input("led = bundle.leds[0]")
+        led = self.bundle.leds[0]
+        self.led = led
+        print()
+        self.print_wrap(
+            """
+            Super! You can now do whatever you want with these modules. If you
+            have different modules connected, you can access the modules in a
+            same way, just typing bundle.<module_name>s"
+            """
+        )
+
+        input("\nYou have completed this lesson. Press ENTER to continue: \n")
+        self.run_lesson3()
+
+    def run_lesson3(self):
+        led = self.led
+        led.set_rgb(0, 0, 0)
+        self.clear()
+        self.print_lesson(3, "Controlling modules")
+        self.print_wrap(
+            """
+            Now you know how to access individual modules.
+
+            Let's make an object named "button" as well for your button module.
+            You know how to do it (You have the modi_plus object, "bundle").
+            """
+        )
+
+        self.check_user_input("button = bundle.buttons[0]", False)
+        button = self.bundle.buttons[0]
+        self.button = button
+        print()
+
+        self.print_wrap(
+            """
+            Perfect. With your button module and led module, we can either get
+            data from the module or send command to the module.
+            """
+        )
+
+        print()
+        self.print_wrap(
+            """
+            "pressed" is a property method of a button module which returns
+            whether the button is pressed or not (i.e. press state).
+            """
+        )
+        print("Check the press state of the button by typing button.pressed")
+
+        self.check_user_input("button.pressed")
+        print(button.pressed)
+        print()
+
+        self.print_wrap(
+            """
+            Now, see if the same command returns True when pressing the button.
+            """
+        )
+
+        self.check_user_input("button.pressed")
+        print(button.pressed)
+        print()
+
+        self.print_wrap(
+            """
+            Good. Now let's send a command to the led module. Led's set_rgb is a
+            method of an led module.
+            """
+        )
+        print("Let there be light by typing led.set_rgb(0, 0, 100)")
+
+        response = self.check_user_input("led.set_rgb(0, 0, 100)")
+        # Security: Use direct function call instead of exec() to prevent code injection
+        if response == "led.set_rgb(0, 0, 100)":
+            led.set_rgb(0, 0, 100)
+        else:
+            print(f"Invalid input. Expected 'led.set_rgb(0, 0, 100)', got '{response}'")
+        print()
+
+        self.print_wrap(
+            """
+            Perfect! You will see the blue light from the led module.
+            """
+        )
+
+        input("\nYou have completed this lesson. Press ENTER to continue.\n")
+        self.run_lesson4()
+
+    def run_lesson4(self):
+        button = self.button
+        led = self.led
+
+        self.clear()
+        self.print_lesson(4, "Your First PyMODI+ Project(i.e. Creation)")
+
+        self.print_wrap(
+            """
+            Let's make a PyMODI+ project that blinks led when button is pressed.
+            """
+        )
+        self.print_wrap(
+            """
+            In an infinite loop, we want our led to light up when button is
+            pressed, and turn off when not pressed. Complete the following code
+            based on the description.
+            """
+        )
+
+        input("\nPress ENTER when you're ready! ")
+        self.clear()
+
+        print(">>> while True:")
+        print("...     # Check if button is pressed")
+        self.check_user_input(
+            "button.pressed:", give_answer=False, guide="...     if "
+        )
+        print("...         # Set Led color to green")
+        self.check_user_input(
+            "led.set_rgb(0, 100, 0)", give_answer=False, guide="...         "
+        )
+        print("...     elif button.double_clicked:")
+        print("...         break")
+        print("...     else:")
+        print("...         # Turn off the led. (i.e. set color to (0, 0, 0))")
+        self.check_user_input(
+            "led.set_rgb(0, 0, 0)", give_answer=False, guide="...         "
+        )
+        print()
+
+        self.print_wrap(
+            """
+            Congrats!! Now let's see if the code works as we want.
+            Press the button to light up the led. Double click the button to
+            break out of the loop.
+            """
+        )
+
+        while True:
+            if button.pressed:
+                led.set_rgb(0, 100, 0)
+            elif button.double_clicked:
+                break
+            else:
+                led.set_rgb(0, 0, 0)
+            time.sleep(0.01)
+        print()
+        self.print_wrap(
+            """
+            It looks great! Now you know how to use PyMODI+ to control modules.
+            """
+        )
+        print(
+            'You can check more functions at "pymodi-plus.readthedocs.io/en/latest"'
+        )
+
+        input("You have completed the tutorial. Press ENTER to exit: ")
+        os._exit(0)
diff --git a/packages/core/modi_plus/util/unittest_util.py b/packages/core/modi_plus/util/unittest_util.py
new file mode 100644
index 0000000..f48d905
--- /dev/null
+++ b/packages/core/modi_plus/util/unittest_util.py
@@ -0,0 +1,98 @@
+from modi_plus.module.setup_module.network import Network
+from modi_plus.module.setup_module.battery import Battery
+from modi_plus.module.input_module.env import Env
+from modi_plus.module.input_module.imu import Imu
+from modi_plus.module.input_module.button import Button
+from modi_plus.module.input_module.dial import Dial
+from modi_plus.module.input_module.joystick import Joystick
+from modi_plus.module.input_module.tof import Tof
+from modi_plus.module.output_module.display import Display
+from modi_plus.module.output_module.motor import Motor
+from modi_plus.module.output_module.led import Led
+from modi_plus.module.output_module.speaker import Speaker
+
+
+class MockConnection:
+    def __init__(self):
+        self.send_list = []
+
+    def send(self, pkt):
+        self.send_list.append(pkt)
+
+    def send_nowait(self, pkt):
+        self.send_list.append(pkt)
+
+    def recv(self):
+        return "Test"
+
+
+class MockNetwork(Network):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockBattery(Battery):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockEnv(Env):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockImu(Imu):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockButton(Button):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockDial(Dial):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockJoystick(Joystick):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockTof(Tof):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockDisplay(Display):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockMotor(Motor):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockLed(Led):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
+
+
+class MockSpeaker(Speaker):
+    def __init__(self, id_, uuid, connection_task):
+        super().__init__(id_, uuid, connection_task)
+        self._enable_get_property_timeout = False
diff --git a/packages/core/modi_plus/util/usage_util.py b/packages/core/modi_plus/util/usage_util.py
new file mode 100644
index 0000000..fa8b347
--- /dev/null
+++ b/packages/core/modi_plus/util/usage_util.py
@@ -0,0 +1,308 @@
+import os
+
+from textwrap import fill
+from textwrap import dedent
+
+
+class UsageInstructor:
+    """
+    Usage Instructor teaches basic module usage of PyMODI+.
+    It mainly teachs what methods are available for each module.
+    """
+
+    row_len = 79
+
+    def __init__(self):
+        self.bundle = None
+        self.led = None
+        self.button = None
+
+    @staticmethod
+    def clear():
+        clear_cmd = "cls" if os.name == "nt" else "clear"
+        os.system(clear_cmd)
+
+    def print_wrap(self, msg):
+        message = fill(dedent(msg), self.row_len).lstrip()
+        print(message)
+
+    def print_topic(self, module_type):
+        print("-" * self.row_len)
+        topic = f"Usage Manual {module_type}"
+        print(f"{topic:^{self.row_len}}")
+        print("-" * self.row_len)
+
+    def run_usage_manual(self):
+        self.clear()
+        print("=" * self.row_len)
+        print(f"= {'Welcome to PyMODI+ Usage Manual':^{self.row_len - 4}} =")
+        print("=" * self.row_len)
+
+        selection = dedent(
+            """
+            Modules available for usage:
+            1. Button
+            2. Dial
+            3. Env
+            4. Imu
+            5. Joystick
+            7. Tof
+            8. Display
+            9. Led
+            10. Motor
+            11. Speaker
+            """
+        )
+        print(selection)
+        module_nb = int(input(
+            "Enter the module index (0 to exit) and press ENTER: "
+        ))
+        self.clear()
+
+        if not (0 <= module_nb <= 11):
+            print("ERROR: invalid module index")
+            os._exit(0)
+
+        run_selected_manual = {
+            0: self.exit,
+            1: self.run_button_manual,
+            2: self.run_dial_manual,
+            3: self.run_env_manual,
+            4: self.run_imu_manual,
+            5: self.run_joystick_manual,
+            7: self.run_tof_manual,
+            8: self.run_display_manual,
+            9: self.run_led_manual,
+            10: self.run_motor_manual,
+            11: self.run_speaker_manual,
+        }.get(module_nb)
+        run_selected_manual()
+
+    #
+    # Usage manuals for each module
+    #
+    def exit(self):
+        os._exit(0)
+
+    def run_button_manual(self):
+        self.print_topic("Button")
+
+        print(dedent(
+            """
+            import modi_plus
+
+            bundle = modi_plus.MODIPlus()
+            button = bundle.button[0]
+
+            while True:
+                if button.clicked:
+                    print(f"Button({button.id}) is clicked!")
+                if button.double_clicked:
+                    print(f"Button({button.id}) is double clicked!")
+                if button.pressed:
+                    print(f"Button({button.id}) is pressed!")
+                if button.toggled:
+                    print(f"Button({button.id}) is toggled!")
+            """
+        ))
+        input("Press ENTER to exit: ")
+        self.run_usage_manual()
+
+    def run_dial_manual(self):
+        self.print_topic("Dial")
+        print(dedent(
+            """
+            import modi_plus
+
+            bundle = modi_plus.MODIPlus()
+            dial = bundle.dials[0]
+
+            while True:
+                print(f"Dial ({dial.id}) turn: {dial.turn}")
+                print(f"Dial ({dial.id}) speed: {dial.speed}")
+            """
+        ))
+        input("Press ENTER to exit: ")
+        self.run_usage_manual()
+
+    def run_env_manual(self):
+        self.print_topic("Env")
+        print(dedent(
+            """
+            import modi_plus
+
+            bundle = modi_plus.MODIPlus()
+            env = bundle.envs[0]
+
+            while True:
+                print(f"Env ({env.id}) illuminance: {env.illuminance}")
+                print(f"Env ({env.id}) temperature: {env.temperature}")
+                print(f"Env ({env.id}) humidity: {env.humidity}")
+                print(f"Env ({env.id}) volume: {env.volume}")
+            """
+        ))
+        input("Press ENTER to exit: ")
+        self.run_usage_manual()
+
+    def run_imu_manual(self):
+        self.print_topic("Imu")
+        print(dedent(
+            """
+            import modi_plus
+
+            bundle = modi_plus.MODIPlus()
+            imu = bundle.imus[0]
+
+            while True:
+                print(f"Gyro ({imu.id}) angle_x: {imu.angle_x}")
+                print(f"Gyro ({imu.id}) angle_y: {imu.angle_y}")
+                print(f"Gyro ({imu.id}) angle_z: {imu.angle_z}")
+                print(f"Gyro ({imu.id}) angular_vel_x: {imu.angular_vel_x}")
+                print(f"Gyro ({imu.id}) angular_vel_y: {imu.angular_vel_y}")
+                print(f"Gyro ({imu.id}) angular_vel_z: {imu.angular_vel_z}")
+                print(f"Gyro ({imu.id}) acceleration_x: {imu.acceleration_x}")
+                print(f"Gyro ({imu.id}) acceleration_y: {imu.acceleration_y}")
+                print(f"Gyro ({imu.id}) acceleration_z: {imu.acceleration_z}")
+                print(f"Gyro ({imu.id}) vibration: {imu.vibration}")
+            """
+        ))
+        input("Press ENTER to exit: ")
+        self.run_usage_manual()
+
+    def run_joystick_manual(self):
+        self.print_topic("Joystick")
+        print(dedent(
+            """
+            import modi_plus
+
+            bundle = modi_plus.MODIPlus()
+            joystick = bundle.joysticks[0]
+
+            while True:
+                print(f"Joystick ({joystick.id}) x: {joystick.x}")
+                print(f"Joystick ({joystick.id}) y: {joystick.y}")
+                print(f"Joystick ({joystick.id}) direction: {joystick.direction}")
+            """
+        ))
+        input("Press ENTER to exit: ")
+        self.run_usage_manual()
+
+    def run_tof_manual(self):
+        self.print_topic("Tof")
+        print(dedent(
+            """
+            import modi_plus
+
+            bundle = modi_plus.MODIPlus()
+            tof = bundle.tofs[0]
+
+            while True:
+                print(f"ToF ({tof.id}) distance: {tof.distance}")
+            """
+        ))
+        input("Press ENTER to exit: ")
+        self.run_usage_manual()
+
+    def run_display_manual(self):
+        self.print_topic("Display")
+        print(dedent(
+            """
+            import modi_plus
+
+            bundle = modi_plus.MODIPlus()
+            display = bundle.displays[0]
+
+            # Set text to display, you can check the text being displayed
+            display.set_text("Hello World!")
+
+            # Check what text has been displayed currently (in program)
+            print(f"Display ({display.id}) text: {display.text})
+            """
+        ))
+        input("Press ENTER to exit: ")
+        self.run_usage_manual()
+
+    def run_led_manual(self):
+        self.print_topic("Led")
+        print(dedent(
+            """
+            import modi_plus
+            import time
+
+            bundle = modi_plus.MODIPlus()
+
+            led = bundle.leds[0]
+
+            # Turn the led on for a second
+            led.set_rgb(100, 100, 100)
+            time.sleep(1)
+
+            # Turn the led off for a second
+            led.set_rgb(0, 0, 0)
+            time.sleep(1)
+
+            # Turn red on for a second
+            led.set_rgb(100, 0, 0)
+            time.sleep(1)
+
+            led.set_rgb(0, 0, 0)
+
+            # Turn green on for a second
+            led.set_rgb(0, 100, 0)
+            time.sleep(1)
+
+            led.set_rgb(0, 0, 0)
+
+            # Turn blue on for a second
+            led.set_rgb(0, 0, 100)
+            time.sleep(1)
+
+            led.set_rgb(0, 0, 0)
+            """
+        ))
+        input("Press ENTER to exit: ")
+        self.run_usage_manual()
+
+    def run_motor_manual(self):
+        self.print_topic("Motor")
+        print(dedent(
+            """
+            import modi_plus
+            import time
+
+            bundle = modi_plus.MODIPlus()
+            motor = bundle.motors[0]
+
+            motor.set_angle(0, 70)
+            time.sleep(1)
+
+            motor.set_angle(60, 70)
+            time.sleep(1)
+
+            print(f"motor ({motor.id}) angle: {motor.angle}")
+
+            motor.set_speed(20)
+            time.sleep(1)
+
+            print(f"motor ({motor.id}) speed: {motor.speed}")
+            """
+        ))
+        input("Press ENTER to exit: ")
+        self.run_usage_manual()
+
+    def run_speaker_manual(self):
+        self.print_topic("Speaker")
+        print(dedent(
+            """
+            import modi_plus
+            import time
+
+            bundle = modi_plus.MODIPlus()
+            speaker = bundle.speakers[0]
+
+            speaker.set_tune("SOL6", 50)
+            time.sleep(1)
+            """
+        ))
+        input("Press ENTER to exit: ")
+        self.run_usage_manual()
diff --git a/packages/core/modi_plus/util/winusb.py b/packages/core/modi_plus/util/winusb.py
new file mode 100644
index 0000000..68f34ae
--- /dev/null
+++ b/packages/core/modi_plus/util/winusb.py
@@ -0,0 +1,560 @@
+import time
+import ctypes
+from winusbcdc import WinUSBApi
+from winusbcdc import UsbSetupPacket
+from winusbcdc.usb_cdc import CDC_CMDS
+from winusbcdc import GUID, DIGCF_PRESENT, DIGCF_DEVICE_INTERFACE, \
+    SpDeviceInterfaceData, SpDeviceInterfaceDetailData, SpDevinfoData, GENERIC_WRITE, GENERIC_READ, FILE_SHARE_WRITE, \
+    FILE_SHARE_READ, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, FILE_FLAG_OVERLAPPED, INVALID_HANDLE_VALUE, \
+    UsbInterfaceDescriptor, PipeInfo, ERROR_IO_INCOMPLETE, ERROR_IO_PENDING, Overlapped
+from ctypes import c_byte, byref, sizeof, c_ulong, resize, wstring_at, c_void_p, c_ubyte, create_string_buffer
+from ctypes.wintypes import DWORD
+from winusbcdc import SetupDiGetClassDevs, SetupDiEnumDeviceInterfaces, SetupDiGetDeviceInterfaceDetail, is_device, \
+    CreateFile, WinUsb_Initialize, Close_Handle, WinUsb_Free, GetLastError, WinUsb_QueryDeviceInformation, \
+    WinUsb_GetAssociatedInterface, WinUsb_QueryInterfaceSettings, WinUsb_QueryPipe, WinUsb_ControlTransfer, \
+    WinUsb_WritePipe, WinUsb_ReadPipe, WinUsb_GetOverlappedResult, \
+    WinUsb_SetPipePolicy, WinUsb_FlushPipe
+
+
+def list_modi_winusb_paths():
+    api = ModiWinUsb()
+    return api.list_usb_devices()
+
+
+class ModiWinUsb(object):
+
+    def __init__(self):
+        self.api = WinUSBApi()
+        byte_array = c_byte * 8
+        self.usb_device_guid = GUID(0xA5DCBF10, 0x6530, 0x11D2, byte_array(0x90, 0x1F, 0x00, 0xC0, 0x4F, 0xB9, 0x51, 0xED))
+        self.usb_winusb_guid = GUID(0xDEE824EF, 0x729b, 0x4A0E, byte_array(0x9C, 0x14, 0xB7, 0x11, 0x7D, 0x33, 0xA8, 0x17))
+        self.usb_composite_guid = GUID(0x36FC9E60, 0xC465, 0x11CF, byte_array(0x80, 0x56, 0x44, 0x45, 0x53, 0x54, 0x00, 0x00))
+        self.handle_file = INVALID_HANDLE_VALUE
+        self.handle_winusb = [c_void_p()]
+        self._index = -1
+        self.vid = 0x2FDE
+        self.pid = 0x0003
+
+    def list_usb_devices(self):
+        device_paths = []
+        value = 0x00000000
+        value |= DIGCF_PRESENT
+        value |= DIGCF_DEVICE_INTERFACE
+
+        flags = DWORD(value)
+        self.handle = self.api.exec_function_setupapi(SetupDiGetClassDevs, byref(self.usb_winusb_guid), None, None, flags)
+
+        sp_device_interface_data = SpDeviceInterfaceData()
+        sp_device_interface_data.cb_size = sizeof(sp_device_interface_data)
+        sp_device_interface_detail_data = SpDeviceInterfaceDetailData()
+        sp_device_info_data = SpDevinfoData()
+        sp_device_info_data.cb_size = sizeof(sp_device_info_data)
+
+        i = 0
+        required_size = DWORD(0)
+        member_index = DWORD(i)
+        cb_sizes = (8, 6, 5)  # different on 64 bit / 32 bit etc
+
+        while self.api.exec_function_setupapi(SetupDiEnumDeviceInterfaces, self.handle, None, byref(self.usb_winusb_guid), member_index, byref(sp_device_interface_data)):
+            self.api.exec_function_setupapi(SetupDiGetDeviceInterfaceDetail, self.handle, byref(sp_device_interface_data), None, 0, byref(required_size), None)
+            resize(sp_device_interface_detail_data, required_size.value)
+
+            path = None
+            for cb_size in cb_sizes:
+                sp_device_interface_detail_data.cb_size = cb_size
+                ret = self.api.exec_function_setupapi(SetupDiGetDeviceInterfaceDetail, self.handle, byref(sp_device_interface_data), byref(sp_device_interface_detail_data), required_size, byref(required_size), byref(sp_device_info_data))
+                if ret:
+                    cb_sizes = (cb_size, )
+                    path = wstring_at(byref(sp_device_interface_detail_data, sizeof(DWORD)))
+                    break
+            if path is None:
+                raise ctypes.WinError()
+
+            if self.find_device(path) and path not in device_paths:
+                device_paths.append(path)
+
+            i += 1
+            member_index = DWORD(i)
+            required_size = c_ulong(0)
+            resize(sp_device_interface_detail_data, sizeof(SpDeviceInterfaceDetailData))
+
+        return device_paths
+
+    def find_device(self, path):
+        return is_device(None, self.vid, self.pid, path)
+
+    def init_winusb_device(self, path):
+        self.handle_file = self.api.exec_function_kernel32(CreateFile, path, GENERIC_WRITE | GENERIC_READ,
+                                                           FILE_SHARE_WRITE | FILE_SHARE_READ, None, OPEN_EXISTING,
+                                                           FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED, None)
+
+        if self.handle_file == INVALID_HANDLE_VALUE:
+            return False
+        result = self.api.exec_function_winusb(WinUsb_Initialize, self.handle_file, byref(self.handle_winusb[0]))
+        if result == 0:
+            self.get_last_error_code()
+            raise ctypes.WinError()
+            # return False
+        else:
+            self._index = 0
+            return True
+
+    def close_winusb_device(self):
+        result_file = 1
+        if self.handle_file:
+            result_file = self.api.exec_function_kernel32(Close_Handle, self.handle_file)
+            if result_file:
+                self.handle_file = None
+
+        result_winusb = [self.api.exec_function_winusb(WinUsb_Free, h) for h in self.handle_winusb]
+        if 0 in result_winusb:
+            raise RuntimeError("Unable to close winusb handle")
+        self.handle_winusb = []
+        return result_file != 0
+
+    def get_last_error_code(self):
+        return self.api.exec_function_kernel32(GetLastError)
+
+    def query_device_info(self, query=1):
+        info_type = c_ulong(query)
+        buff = (c_void_p * 1)()
+        buff_length = c_ulong(sizeof(c_void_p))
+        result = self.api.exec_function_winusb(WinUsb_QueryDeviceInformation, self.handle_winusb[self._index], info_type, byref(buff_length), buff)
+        if result != 0:
+            return buff[0]
+        else:
+            return -1
+
+    def query_interface_settings(self, index):
+        if self._index != -1:
+            temp_handle_winusb = self.handle_winusb[self._index]
+            interface_descriptor = UsbInterfaceDescriptor()
+            result = self.api.exec_function_winusb(WinUsb_QueryInterfaceSettings, temp_handle_winusb, c_ubyte(0), byref(interface_descriptor))
+            if result != 0:
+                return interface_descriptor
+            else:
+                return None
+        else:
+            return None
+
+    def change_interface(self, index, alternate=0):
+        new_handle = c_void_p()
+        result = self.api.exec_function_winusb(WinUsb_GetAssociatedInterface, self.handle_winusb[self._index], c_ubyte(alternate), byref(new_handle))
+        if result != 0:
+            self._index = index + 1
+            self.handle_winusb.append(new_handle)
+            return True
+        else:
+            return False
+
+    def query_pipe(self, pipe_index):
+        pipe_info = PipeInfo()
+        result = self.api.exec_function_winusb(WinUsb_QueryPipe, self.handle_winusb[self._index], c_ubyte(0), pipe_index, byref(pipe_info))
+        if result != 0:
+            return pipe_info
+        else:
+            return None
+
+    def control_transfer(self, setup_packet, buff=None):
+        if buff is not None:
+            if setup_packet.length > 0:  # Host 2 Device
+                buff = (c_ubyte * setup_packet.length)(*buff)
+                buffer_length = setup_packet.length
+            else:  # Device 2 Host
+                buff = (c_ubyte * setup_packet.length)()
+                buffer_length = setup_packet.length
+        else:
+            buff = c_ubyte()
+            buffer_length = 0
+
+        result = self.api.exec_function_winusb(WinUsb_ControlTransfer, self.handle_winusb[0], setup_packet, byref(buff), c_ulong(buffer_length), byref(c_ulong(0)), None)
+        return {"result": result != 0, "buffer": [buff]}
+
+    def write(self, pipe_id, write_buffer):
+        write_buffer = create_string_buffer(write_buffer)
+        written = c_ulong(0)
+        self.api.exec_function_winusb(WinUsb_WritePipe, self.handle_winusb[self._index], c_ubyte(pipe_id), write_buffer, c_ulong(len(write_buffer) - 1), byref(written), None)
+        return written.value
+
+    def read(self, pipe_id, length_buffer):
+        read_buffer = create_string_buffer(length_buffer)
+        read = c_ulong(0)
+        result = self.api.exec_function_winusb(WinUsb_ReadPipe, self.handle_winusb[self._index], c_ubyte(pipe_id), read_buffer, c_ulong(length_buffer), byref(read), None)
+        if result != 0:
+            if read.value != length_buffer:
+                return read_buffer[:read.value]
+            else:
+                return read_buffer
+        else:
+            return None
+
+    def set_timeout(self, pipe_id, timeout):
+        class POLICY_TYPE:
+            SHORT_PACKET_TERMINATE = 1
+            AUTO_CLEAR_STALL = 2
+            PIPE_TRANSFER_TIMEOUT = 3
+            IGNORE_SHORT_PACKETS = 4
+            ALLOW_PARTIAL_READS = 5
+            AUTO_FLUSH = 6
+            RAW_IO = 7
+
+        policy_type = c_ulong(POLICY_TYPE.PIPE_TRANSFER_TIMEOUT)
+        value_length = c_ulong(4)
+        value = c_ulong(int(timeout * 1000))  # in ms
+        result = self.api.exec_function_winusb(WinUsb_SetPipePolicy, self.handle_winusb[self._index], c_ubyte(pipe_id), policy_type, value_length, byref(value))
+        return result
+
+    def flush(self, pipe_id):
+        result = self.api.exec_function_winusb(WinUsb_FlushPipe, self.handle_winusb[self._index], c_ubyte(pipe_id))
+        return result
+
+    def _overlapped_read_do(self, pipe_id):
+        self.olread_ol.Internal = 0
+        self.olread_ol.InternalHigh = 0
+        self.olread_ol.Offset = 0
+        self.olread_ol.OffsetHigh = 0
+        self.olread_ol.Pointer = 0
+        self.olread_ol.hEvent = 0
+        result = self.api.exec_function_winusb(WinUsb_ReadPipe, self.handle_winusb[self._index], c_ubyte(pipe_id), self.olread_buf, c_ulong(self.olread_buflen), byref(c_ulong(0)), byref(self.olread_ol))
+        if result != 0:
+            return True
+        else:
+            return False
+
+    def overlapped_read_init(self, pipe_id, length_buffer):
+        self.olread_ol = Overlapped()
+        self.olread_buf = create_string_buffer(length_buffer)
+        self.olread_buflen = length_buffer
+        return self._overlapped_read_do(pipe_id)
+
+    def overlapped_read(self, pipe_id):
+        """ keep on reading overlapped, return bytearray, empty if nothing to read, None if err"""
+        rl = c_ulong(0)
+        result = self.api.exec_function_winusb(WinUsb_GetOverlappedResult, self.handle_winusb[self._index], byref(self.olread_ol), byref(rl), False)
+        if result == 0:
+            if self.get_last_error_code() == ERROR_IO_PENDING or self.get_last_error_code() == ERROR_IO_INCOMPLETE:
+                return ""
+            else:
+                return None
+        else:
+            ret = str(self.olread_buf[0:rl.value])
+            self._overlapped_read_do(pipe_id)
+            return ret
+
+
+class ModiWinUsbComPort:
+    def __init__(self, path=None, baudrate=921600, timeout=0.2, write_timeout=0, start=True):
+        self.device = None
+        self.path = path
+        self._rxremaining = b""
+        self.parity = 0
+        self.stopbits = 1
+        self.databits = 8
+        self.maximum_packet_size = 0
+
+        self._baudrate = baudrate
+        self._timeout = timeout
+        self._write_timeout = write_timeout
+
+        self.is_open = False
+        if start:
+            self.open()
+
+    def open(self):
+        self.close()
+
+        # Control interface
+        api = self._select_device(self.path)
+        if not api:
+            return False
+
+        # Data Interface
+        api.change_interface(0)
+        interface2_descriptor = api.query_interface_settings(0)
+
+        pipe_info_list = map(api.query_pipe, range(interface2_descriptor.b_num_endpoints))
+        for item in pipe_info_list:
+            if item.pipe_id & 0x80:
+                self._ep_in = item.pipe_id
+            else:
+                self._ep_out = item.pipe_id
+            self.maximum_packet_size = min(item.maximum_packet_size, self.maximum_packet_size) or item.maximum_packet_size
+
+        self.device = api
+
+        self.is_open = True
+
+        self.setControlLineState()
+        self.setLineCoding()
+        self.device.set_timeout(self._ep_in, self._timeout)
+        self.reset_input_buffer()
+
+    @property
+    def in_waiting(self):
+        return False
+
+    @property
+    def timeout(self):
+        return self._timeout
+
+    @timeout.setter
+    def timeout(self, value):
+        self._timeout = value
+        if self.is_open:
+            self.device.set_timeout(self._ep_in, value)
+
+    @property
+    def write_timeout(self):
+        return self._write_timeout
+
+    @write_timeout.setter
+    def write_timeout(self, value):
+        self._write_timeout = value
+
+    @property
+    def baudrate(self):
+        return self._baudrate
+
+    @baudrate.setter
+    def baudrate(self, value):
+        self._baudrate = value
+        self.setLineCoding(baudrate=value)
+
+    def readinto(self, buf):
+        if not self.is_open:
+            return None
+        orig_size = len(buf)
+        read = 0
+        if self._rxremaining:
+            remain_len = len(self._rxremaining)
+            read = min(remain_len, orig_size)
+            buf[0:read] = self._rxremaining[0:read]
+            self._rxremaining = self._rxremaining[read:]
+        end_timeout = time.time() + (self._timeout or 0.2)
+        self.device.set_timeout(self._ep_in, 2)
+        while read < orig_size:
+            remaining = orig_size - read
+            c = self.device.read(self._ep_in, min(remaining, 1024 * 4))
+            if c is not None and len(c):
+                if len(c) > remaining:
+                    end_timeout += 0.2
+                    buf[read:] = c[0:remaining]
+                    self._rxremaining = c[remaining:]
+                    return orig_size
+                else:
+                    buf[read:] = c
+                read += len(c)
+            if time.time() > end_timeout:
+                break
+        return read
+
+    def read(self, size=1):
+        if not self.is_open:
+            return None
+        rx = [self._rxremaining]
+        length = len(self._rxremaining)
+        self._rxremaining = b""
+        end_timeout = time.time() + (self._timeout or 0.2)
+        if size:
+            self.device.set_timeout(self._ep_in, self._timeout)
+            while length < size:
+                c = self.device.read(self._ep_in, size - length)
+                if c is not None and len(c):
+                    end_timeout += 0.2
+                    rx.append(c)
+                    length += len(c)
+                if time.time() > end_timeout:
+                    break
+        else:
+            self.device.set_timeout(self._ep_in, 0.2)
+            while True:
+                c = self.device.read(self._ep_in, self.maximum_packet_size)
+                if c is not None and len(c):
+                    end_timeout += 0.2
+                    rx.append(c)
+                    length += len(c)
+                else:
+                    break
+                if time.time() > end_timeout:
+                    break
+        chunk = b"".join(rx)
+        if size and len(chunk) >= size:
+            if self._rxremaining:
+                self._rxremaining = chunk[size:] + self._rxremaining
+            else:
+                self._rxremaining = chunk[size:]
+            chunk = chunk[0:size]
+        return chunk
+
+    def readline(self, size=64 * 1024):
+        if not self.is_open:
+            return None
+        rx = [self._rxremaining]
+        length = len(self._rxremaining)
+        self._rxremaining = b""
+        end_timeout = time.time() + self.timeout
+        self.device.set_timeout(self._ep_in, 0.2)
+        while b"\n" not in rx[-1]:  # 10 == b"\n"
+            c = self.device.read(self._ep_in, size - length)
+            if c is not None and len(c):
+                end_timeout += 0.2
+                length += len(c)
+                rx.append(c)
+            if time.time() > end_timeout:
+                break
+        line = b"".join(rx)
+        i = line.find(b"\n") + 1
+        self._rxremaining = line[i:]
+        return line[0:i]
+
+    def read_all(self):
+        return self.read(None)
+
+    def write(self, data):
+        if not self.is_open:
+            return None
+        try:
+            self.device.write(self._ep_out, data)
+        except Exception:
+            # print("USB Error on write {}".format(e))
+            return
+
+        # if len(data) != ret:
+        #     print("Bytes written mismatch {0} vs {1}".format(len(data), ret))
+        # else:
+        #     print("{} bytes written to ep".format(ret))
+
+    def setControlLineState(self, RTS=None, DTR=None):
+        if not self.is_open:
+            return None
+        ctrlstate = (2 if RTS else 0) + (1 if DTR else 0)
+
+        txdir = 0           # 0:OUT, 1:IN
+        req_type = 1     # 0:std, 1:class, 2:vendor
+        # 0:device, 1:interface, 2:endpoint, 3:other
+        recipient = 1
+        req_type = (txdir << 7) + (req_type << 5) + recipient
+
+        pkt = UsbSetupPacket(
+            request_type=req_type,
+            request=CDC_CMDS["SET_CONTROL_LINE_STATE"],
+            value=ctrlstate,
+            index=0x00,
+            length=0x00
+        )
+        buff = None
+
+        self.device.control_transfer(pkt, buff)
+
+    def setLineCoding(self, baudrate=None, parity=None, databits=None, stopbits=None):
+        if not self.is_open:
+            return None
+
+        sbits = {1: 0, 1.5: 1, 2: 2}
+        dbits = {5, 6, 7, 8, 16}
+        pmodes = {0, 1, 2, 3, 4}
+        brates = {300, 600, 1200, 2400, 4800, 9600, 14400,
+                  19200, 28800, 38400, 57600, 115200, 230400, 921600}
+
+        if stopbits is not None:
+            if stopbits not in sbits.keys():
+                valid = ", ".join(str(k) for k in sorted(sbits.keys()))
+                raise ValueError("Valid stopbits are " + valid)
+            self.stopbits = stopbits
+
+        if databits is not None:
+            if databits not in dbits:
+                valid = ", ".join(str(d) for d in sorted(dbits))
+                raise ValueError("Valid databits are " + valid)
+            self.databits = databits
+
+        if parity is not None:
+            if parity not in pmodes:
+                valid = ", ".join(str(pm) for pm in sorted(pmodes))
+                raise ValueError("Valid parity modes are " + valid)
+            self.parity = parity
+
+        if baudrate is not None:
+            if baudrate not in brates:
+                brs = sorted(brates)
+                dif = [abs(br - baudrate) for br in brs]
+                best = brs[dif.index(min(dif))]
+                raise ValueError("Invalid baudrates, nearest valid is {}".format(best))
+            self._baudrate = baudrate
+
+        linecode = [
+            self._baudrate & 0xff,
+            (self._baudrate >> 8) & 0xff,
+            (self._baudrate >> 16) & 0xff,
+            (self._baudrate >> 24) & 0xff,
+            sbits[self.stopbits],
+            self.parity,
+            self.databits]
+
+        txdir = 0           # 0:OUT, 1:IN
+        req_type = 1        # 0:std, 1:class, 2:vendor
+        recipient = 1       # 0:device, 1:interface, 2:endpoint, 3:other
+        req_type = (txdir << 7) + (req_type << 5) + recipient
+
+        pkt = UsbSetupPacket(
+            request_type=req_type,
+            request=CDC_CMDS["SET_LINE_CODING"],
+            value=0x0000,
+            index=0x00,
+            length=len(linecode)
+        )
+        buff = linecode
+
+        self.device.control_transfer(pkt, buff)
+
+    def disconnect(self):
+        if not self.is_open:
+            return None
+        self.device.close_winusb_device()
+        self.is_open = False
+
+    def __del__(self):
+        self.disconnect()
+
+    def reset_input_buffer(self):
+        if self.is_open:
+            self.device.flush(self._ep_in)
+            self._rxremaining = b""
+
+    def reset_output_buffer(self):
+        pass
+
+    def flush(self):
+        if not self.is_open:
+            return None
+        self.device.flush(self._ep_in)
+
+    def close(self):
+        self.disconnect()
+
+    def flushInput(self):
+        self.reset_input_buffer()
+
+    def flushOutput(self):
+        self.reset_output_buffer()
+
+    def setDTR(self, state):
+        pass
+
+    def setRTS(self, state):
+        pass
+
+    def _select_device(self, path):
+        api = ModiWinUsb()
+
+        if not api.init_winusb_device(path):
+            return None
+
+        return api
+
+
+# main
+if __name__ == "__main__":
+    paths = list_modi_winusb_paths()
+    for index, value in enumerate(paths):
+        print(index, value)
diff --git a/packages/core/pytest.ini b/packages/core/pytest.ini
new file mode 100644
index 0000000..4ef9582
--- /dev/null
+++ b/packages/core/pytest.ini
@@ -0,0 +1,24 @@
+[pytest]
+# Test discovery patterns
+testpaths = tests
+python_files = test_*.py
+python_classes = Test*
+python_functions = test_*
+
+# Directories to ignore during test collection
+norecursedirs = .git .tox dist build *.egg .eggs __pycache__ .pytest_cache htmlcov
+
+# Output options
+addopts =
+    --strict-markers
+    --tb=short
+    -ra
+
+# Logging
+log_cli = false
+log_cli_level = INFO
+
+# Disable warnings summary
+filterwarnings =
+    ignore::DeprecationWarning
+    ignore::PendingDeprecationWarning
diff --git a/packages/core/requirements-dev.txt b/packages/core/requirements-dev.txt
new file mode 100644
index 0000000..af8db80
--- /dev/null
+++ b/packages/core/requirements-dev.txt
@@ -0,0 +1,4 @@
+flake8==4.0.1
+black==24.3.0
+tox==3.24.4
+coverage==6.1.1
diff --git a/packages/core/requirements.txt b/packages/core/requirements.txt
new file mode 100644
index 0000000..c008908
--- /dev/null
+++ b/packages/core/requirements.txt
@@ -0,0 +1,15 @@
+# common
+pyserial==3.5
+nest-asyncio==1.5.4
+websocket-client==1.2.3
+packaging>=21.3
+
+# windows
+bleak==0.13.0; sys_platform == 'win32'
+winusbcdc==1.4; sys_platform == 'win32'
+
+# mac
+bleak==0.13.0; sys_platform == 'darwin'
+
+# linux
+pexpect; sys_platform == 'linux'
diff --git a/packages/core/setup.cfg b/packages/core/setup.cfg
new file mode 100644
index 0000000..c8ab39f
--- /dev/null
+++ b/packages/core/setup.cfg
@@ -0,0 +1,15 @@
+[bumpversion]
+current_version = 0.4.0
+commit = True
+tag = False
+
+[bumpversion:file:./modi_plus/about.py]
+search = __version__ = "{current_version}"
+replace = __version__ = "{new_version}"
+
+[bdist_wheel]
+universal = 1
+
+[flake8]
+exclude = docs
+ignore = E203,W503,W504,E501
diff --git a/packages/core/setup.py b/packages/core/setup.py
new file mode 100644
index 0000000..e386ec0
--- /dev/null
+++ b/packages/core/setup.py
@@ -0,0 +1,89 @@
+from os import path
+from io import open
+from setuptools import setup, find_packages
+
+
+def get_spec(filename: str, mode: str="r"):
+    def wrapper():
+        here = path.dirname(__file__)
+        result = {}
+        with open(path.join(here, filename), encoding="utf8") as src_file:
+            if mode == "d":
+                exec(src_file.read(), result)
+            else:
+                result = src_file.read()
+        return result
+    return wrapper
+
+
+get_about = get_spec("./modi_plus/about.py", "d")
+get_readme = get_spec("README.md")
+get_history = get_spec("HISTORY.md")
+get_requirements_dev = get_spec("requirements-dev.txt")
+
+# 최소 의존성 (Pyodide 호환)
+INSTALL_REQUIRES = [
+    'nest-asyncio>=1.5.4',
+    'packaging>=21.3',
+]
+
+# Optional 의존성
+EXTRAS_REQUIRE = {
+    'serial': [
+        'pyserial>=3.5',
+    ],
+    'ble': [
+        'bleak>=0.13.0; sys_platform == "win32"',
+        'bleak>=0.13.0; sys_platform == "darwin"',
+    ],
+    'websocket': [
+        'websocket-client>=1.2.3',
+    ],
+    'all': [
+        'pyserial>=3.5',
+        'bleak>=0.13.0; sys_platform == "win32"',
+        'bleak>=0.13.0; sys_platform == "darwin"',
+        'websocket-client>=1.2.3',
+        'winusbcdc>=1.4; sys_platform == "win32"',
+        'pexpect; sys_platform == "linux"',
+    ],
+}
+EXTRAS_REQUIRE['dev'] = get_requirements_dev()
+
+about = get_about()
+setup(
+    name=about["__title__"],
+    version=about["__version__"],
+    author=about["__author__"],
+    author_email=about["__email__"],
+    description=about["__summary__"],
+    long_description=get_readme() + "\n" + get_history(),
+    long_description_content_type="text/markdown",
+    install_requires=INSTALL_REQUIRES,
+    extras_require=EXTRAS_REQUIRE,
+    license=about["__license__"],
+    include_package_data=True,
+    keywords=["python", "modi", "modi-plus", "modi_plus", "modi+"],
+    packages=find_packages(
+        include=[
+            "modi_plus", "modi_plus.util", "modi_plus.task", "modi_plus.task.ble_task",
+            "modi_plus.module",
+            "modi_plus.module.setup_module",
+            "modi_plus.module.input_module",
+            "modi_plus.module.output_module"
+        ]
+    ),
+    test_suite="tests",
+    url=about["__url__"],
+    classifiers=[
+        "Natural Language :: English",
+        "Intended Audience :: Developers",
+        "Intended Audience :: Education",
+        "Intended Audience :: Information Technology",
+        "Intended Audience :: Science/Research",
+        'Programming Language :: Python :: 3',
+        "License :: OSI Approved :: MIT License",
+        "Operating System :: OS Independent",
+    ],
+    python_requires='>=3.7',
+)
diff --git a/packages/core/tests/__init__.py b/packages/core/tests/__init__.py
new file mode 100644
index 0000000..1e12afc
--- /dev/null
+++ b/packages/core/tests/__init__.py
@@ -0,0 +1,9 @@
+"""
+DO NOT DELETE THIS __init__.py FILE.
+
+The file is required in order to correctly run the command below.
+>>> python setup.py test
+
+Setup detects test_suite="tests", as a package.
+For tests/ to be recognized as a package, __init__.py is required.
+"""
diff --git a/packages/core/tests/module/__init__.py b/packages/core/tests/module/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/tests/module/input_module/__init__.py b/packages/core/tests/module/input_module/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/tests/module/input_module/test_button.py b/packages/core/tests/module/input_module/test_button.py
new file mode 100644
index 0000000..1d38615
--- /dev/null
+++ b/packages/core/tests/module/input_module/test_button.py
@@ -0,0 +1,65 @@
+import unittest
+
+from modi_plus.module.input_module.button import Button
+from modi_plus.util.message_util import parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockButton
+
+
+class TestButton(unittest.TestCase):
+    """Tests for 'Button' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.button = MockButton(*mock_args)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.button
+
+    def test_get_clicked(self):
+        """Test get_clicked method."""
+
+        _ = self.button.clicked
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Button.PROPERTY_BUTTON_STATE, self.button.prop_samp_freq)
+        )
+        self.assertEqual(_, False)
+
+    def test_get_double_clicked(self):
+        """Test get_double_clicked method."""
+
+        _ = self.button.double_clicked
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Button.PROPERTY_BUTTON_STATE, self.button.prop_samp_freq)
+        )
+        self.assertEqual(_, False)
+
+    def test_get_pressed(self):
+        """Test get_pressed method."""
+
+        _ = self.button.pressed
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Button.PROPERTY_BUTTON_STATE, self.button.prop_samp_freq)
+        )
+        self.assertEqual(_, False)
+
+    def test_get_toggled(self):
+        """Test get_toggled method."""
+
+        _ = self.button.toggled
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Button.PROPERTY_BUTTON_STATE, self.button.prop_samp_freq)
+        )
+        self.assertEqual(_, False)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/input_module/test_dial.py b/packages/core/tests/module/input_module/test_dial.py
new file mode 100644
index 0000000..21ddddd
--- /dev/null
+++ b/packages/core/tests/module/input_module/test_dial.py
@@ -0,0 +1,45 @@
+import unittest
+
+from modi_plus.module.input_module.dial import Dial
+from modi_plus.util.message_util import parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockDial
+
+
+class TestDial(unittest.TestCase):
+    """Tests for 'Dial' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.dial = MockDial(*mock_args)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.dial
+
+    def test_get_degree(self):
+        """Test get_degree method."""
+
+        _ = self.dial.turn
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Dial.PROPERTY_DIAL_STATE, self.dial.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_speed(self):
+        """Test get_speed method."""
+
+        _ = self.dial.speed
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Dial.PROPERTY_DIAL_STATE, self.dial.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/input_module/test_env.py b/packages/core/tests/module/input_module/test_env.py
new file mode 100644
index 0000000..f5c2938
--- /dev/null
+++ b/packages/core/tests/module/input_module/test_env.py
@@ -0,0 +1,393 @@
+import unittest
+import struct
+
+from modi_plus.module.input_module.env import Env
+from modi_plus.util.message_util import parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockEnv
+
+
+class TestEnv(unittest.TestCase):
+    """Tests for 'Env' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.env = MockEnv(*mock_args)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.env
+
+    def test_get_temperature(self):
+        """Test get_temperature method."""
+
+        _ = self.env.temperature
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_ENV_STATE, self.env.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_humidity(self):
+        """Test get_humidity method."""
+
+        _ = self.env.humidity
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_ENV_STATE, self.env.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_illuminance(self):
+        """Test get_illuminance method."""
+
+        _ = self.env.illuminance
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_ENV_STATE, self.env.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_volume(self):
+        """Test get_volume method."""
+
+        _ = self.env.volume
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_ENV_STATE, self.env.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+
+class TestEnvRGBVersion1(unittest.TestCase):
+    """Tests for RGB properties with app version 1.x (not supported)."""
+
+    def setUp(self):
+        """Set up test fixtures with version 1.x."""
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.env = MockEnv(*mock_args)
+
+        # Set app version to 1.5.0 (major version = 1)
+        # Version format: major << 13 | minor << 8 | patch
+        # 1.5.0 = (1 << 13) | (5 << 8) | 0 = 8192 + 1280 = 9472
+        version_1_5_0 = (1 << 13) | (5 << 8) | 0
+        self.env.app_version = version_1_5_0
+
+    def tearDown(self):
+        """Tear down test fixtures."""
+        del self.env
+
+    def test_rgb_not_supported_version_1(self):
+        """Test that RGB properties raise AttributeError in version 1.x."""
+        with self.assertRaises(AttributeError) as context:
+            _ = self.env.red
+        self.assertIn("not supported in Env module version 1.x", str(context.exception))
+
+    def test_green_not_supported_version_1(self):
+        """Test that green property raises AttributeError in version 1.x."""
+        with self.assertRaises(AttributeError) as context:
+            _ = self.env.green
+        self.assertIn("not supported in Env module version 1.x", str(context.exception))
+
+    def test_blue_not_supported_version_1(self):
+        """Test that blue property raises AttributeError in version 1.x."""
+        with self.assertRaises(AttributeError) as context:
+            _ = self.env.blue
+        self.assertIn("not supported in Env module version 1.x", str(context.exception))
+
+    def test_rgb_tuple_not_supported_version_1(self):
+        """Test that rgb tuple property raises AttributeError in version 1.x."""
+        with self.assertRaises(AttributeError) as context:
+            _ = self.env.rgb
+        self.assertIn("not supported in Env module version 1.x", str(context.exception))
+
+    def test_is_rgb_supported_version_1(self):
+        """Test _is_rgb_supported returns False for version 1.x."""
+        self.assertFalse(self.env._is_rgb_supported())
+
+    def test_white_not_supported_version_1(self):
+        """Test that white property raises AttributeError in version 1.x."""
+        with self.assertRaises(AttributeError) as context:
+            _ = self.env.white
+        self.assertIn("not supported in Env module version 1.x", str(context.exception))
+
+    def test_black_not_supported_version_1(self):
+        """Test that black property raises AttributeError in version 1.x."""
+        with self.assertRaises(AttributeError) as context:
+            _ = self.env.black
+        self.assertIn("not supported in Env module version 1.x", str(context.exception))
+
+    def test_color_class_not_supported_version_1(self):
+        """Test that color_class property raises AttributeError in version 1.x."""
+        with self.assertRaises(AttributeError) as context:
+            _ = self.env.color_class
+        self.assertIn("not supported in Env module version 1.x", str(context.exception))
+
+    def test_brightness_not_supported_version_1(self):
+        """Test that brightness property raises AttributeError in version 1.x."""
+        with self.assertRaises(AttributeError) as context:
+            _ = self.env.brightness
+        self.assertIn("not supported in Env module version 1.x", str(context.exception))
+
+
+class TestEnvRGBVersion2(unittest.TestCase):
+    """Tests for RGB properties with app version 2.x (supported)."""
+
+    def setUp(self):
+        """Set up test fixtures with version 2.x."""
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.env = MockEnv(*mock_args)
+
+        # Set app version to 2.0.0 (major version = 2)
+        # Version format: major << 13 | minor << 8 | patch
+        # 2.0.0 = (2 << 13) | (0 << 8) | 0 = 16384
+        version_2_0_0 = (2 << 13) | (0 << 8) | 0
+        self.env.app_version = version_2_0_0
+
+    def tearDown(self):
+        """Tear down test fixtures."""
+        del self.env
+
+    def test_get_red(self):
+        """Test get_red method with version 2.x."""
+        _ = self.env.red
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_RGB_STATE, self.env.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_green(self):
+        """Test get_green method with version 2.x."""
+        _ = self.env.green
+        # Green is the second call (red was first in previous test setup)
+        # But in isolated test, this is first
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_RGB_STATE, self.env.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_blue(self):
+        """Test get_blue method with version 2.x."""
+        _ = self.env.blue
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_RGB_STATE, self.env.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_rgb_tuple(self):
+        """Test get_rgb tuple method with version 2.x."""
+        result = self.env.rgb
+        self.assertIsInstance(result, tuple)
+        self.assertEqual(len(result), 3)
+        self.assertEqual(result, (0, 0, 0))
+
+    def test_is_rgb_supported_version_2(self):
+        """Test _is_rgb_supported returns True for version 2.x."""
+        self.assertTrue(self.env._is_rgb_supported())
+
+    def test_rgb_property_offsets(self):
+        """Test that RGB properties use correct offsets."""
+        self.assertEqual(Env.PROPERTY_OFFSET_RED, 0)
+        self.assertEqual(Env.PROPERTY_OFFSET_GREEN, 2)
+        self.assertEqual(Env.PROPERTY_OFFSET_BLUE, 4)
+        self.assertEqual(Env.PROPERTY_OFFSET_WHITE, 6)
+        self.assertEqual(Env.PROPERTY_OFFSET_BLACK, 8)
+        self.assertEqual(Env.PROPERTY_OFFSET_COLOR_CLASS, 10)
+        self.assertEqual(Env.PROPERTY_OFFSET_BRIGHTNESS, 11)
+
+    def test_get_white(self):
+        """Test get_white method with version 2.x."""
+        _ = self.env.white
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_RGB_STATE, self.env.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_black(self):
+        """Test get_black method with version 2.x."""
+        _ = self.env.black
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_RGB_STATE, self.env.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_color_class(self):
+        """Test get_color_class method with version 2.x."""
+        _ = self.env.color_class
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_RGB_STATE, self.env.prop_samp_freq)
+        )
+        # Default value should be 0 (unknown)
+        self.assertEqual(_, 0)
+
+    def test_get_brightness(self):
+        """Test get_brightness method with version 2.x."""
+        _ = self.env.brightness
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Env.PROPERTY_RGB_STATE, self.env.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+
+class TestEnvRGBVersion3(unittest.TestCase):
+    """Tests for RGB properties with app version 3.x (also supported)."""
+
+    def setUp(self):
+        """Set up test fixtures with version 3.x."""
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.env = MockEnv(*mock_args)
+
+        # Set app version to 3.2.1 (major version = 3)
+        # Version format: major << 13 | minor << 8 | patch
+        # 3.2.1 = (3 << 13) | (2 << 8) | 1 = 24576 + 512 + 1 = 25089
+        version_3_2_1 = (3 << 13) | (2 << 8) | 1
+        self.env.app_version = version_3_2_1
+
+    def tearDown(self):
+        """Tear down test fixtures."""
+        del self.env
+
+    def test_is_rgb_supported_version_3(self):
+        """Test _is_rgb_supported returns True for version 3.x."""
+        self.assertTrue(self.env._is_rgb_supported())
+
+    def test_rgb_works_in_version_3(self):
+        """Test that RGB properties work in version 3.x."""
+        # Should not raise any exception
+        _ = self.env.red
+        _ = self.env.green
+        _ = self.env.blue
+        rgb = self.env.rgb
+        self.assertEqual(rgb, (0, 0, 0))
+
+    def test_new_properties_work_in_version_3(self):
+        """Test that new color properties work in version 3.x."""
+        # Should not raise any exception
+        _ = self.env.white
+        _ = self.env.black
+        _ = self.env.color_class
+        _ = self.env.brightness
+        # All should be 0 in mock
+        self.assertEqual(self.env.white, 0)
+        self.assertEqual(self.env.black, 0)
+        self.assertEqual(self.env.color_class, 0)
+        self.assertEqual(self.env.brightness, 0)
+
+
+class TestEnvRGBNoVersion(unittest.TestCase):
+    """Tests for RGB properties when app version is not set."""
+
+    def setUp(self):
+        """Set up test fixtures without setting version."""
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.env = MockEnv(*mock_args)
+        # Don't set app_version - it should be None by default
+
+    def tearDown(self):
+        """Tear down test fixtures."""
+        del self.env
+
+    def test_rgb_not_supported_no_version(self):
+        """Test that RGB properties raise AttributeError when version is not set."""
+        with self.assertRaises(AttributeError):
+            _ = self.env.red
+
+    def test_is_rgb_supported_no_version(self):
+        """Test _is_rgb_supported returns False when version is not set."""
+        self.assertFalse(self.env._is_rgb_supported())
+
+
+class TestEnvRGBDataTypes(unittest.TestCase):
+    """Tests for RGB properties data types and values with app version 2.x."""
+
+    def setUp(self):
+        """Set up test fixtures with version 2.x and mock data."""
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.env = MockEnv(*mock_args)
+
+        # Set app version to 2.0.0
+        version_2_0_0 = (2 << 13) | (0 << 8) | 0
+        self.env.app_version = version_2_0_0
+
+        # Create mock RGB data with known values
+        # red=50, green=75, blue=100, white=25, black=10, color_class=2 (green), brightness=80
+        self.mock_rgb_data = struct.pack("HHHHHBB", 50, 75, 100, 25, 10, 2, 80)
+
+    def tearDown(self):
+        """Tear down test fixtures."""
+        del self.env
+
+    def test_rgb_values_with_mock_data(self):
+        """Test RGB values are correctly parsed from mock data."""
+        # Override _get_property to return our mock data
+        original_get_property = self.env._get_property
+
+        def mock_get_property(prop_id):
+            if prop_id == Env.PROPERTY_RGB_STATE:
+                return self.mock_rgb_data
+            return original_get_property(prop_id)
+
+        self.env._get_property = mock_get_property
+
+        # Test uint16_t values (0-100%)
+        self.assertEqual(self.env.red, 50)
+        self.assertEqual(self.env.green, 75)
+        self.assertEqual(self.env.blue, 100)
+        self.assertEqual(self.env.white, 25)
+        self.assertEqual(self.env.black, 10)
+
+        # Test uint8_t values
+        self.assertEqual(self.env.color_class, 2)  # green
+        self.assertEqual(self.env.brightness, 80)
+
+        # Test rgb tuple
+        self.assertEqual(self.env.rgb, (50, 75, 100))
+
+    def test_color_class_values(self):
+        """Test color_class returns correct values for each color."""
+        original_get_property = self.env._get_property
+
+        # Test different color classes
+        color_class_tests = [
+            (0, "unknown"),
+            (1, "red"),
+            (2, "green"),
+            (3, "blue"),
+            (4, "white"),
+            (5, "black"),
+        ]
+
+        for color_value, color_name in color_class_tests:
+            mock_data = struct.pack("HHHHHBB", 0, 0, 0, 0, 0, color_value, 0)
+
+            def mock_get_property(prop_id):
+                if prop_id == Env.PROPERTY_RGB_STATE:
+                    return mock_data
+                return original_get_property(prop_id)
+
+            self.env._get_property = mock_get_property
+            self.assertEqual(self.env.color_class, color_value,
+                             f"color_class should be {color_value} for {color_name}")
+
+    def test_property_rgb_state_constant(self):
+        """Test that PROPERTY_RGB_STATE constant is correctly defined."""
+        self.assertEqual(Env.PROPERTY_RGB_STATE, 3)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/input_module/test_imu.py b/packages/core/tests/module/input_module/test_imu.py
new file mode 100644
index 0000000..1d23bfd
--- /dev/null
+++ b/packages/core/tests/module/input_module/test_imu.py
@@ -0,0 +1,155 @@
+import unittest
+
+from modi_plus.module.input_module.imu import Imu
+from modi_plus.util.message_util import parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockImu
+
+
+class TestImu(unittest.TestCase):
+    """Tests for 'Imu' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.imu = MockImu(*mock_args)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.imu
+
+    def test_get_angle_x(self):
+        """Test get_angle_x method."""
+
+        _ = self.imu.angle_x
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_ANGLE_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_get_angle_y(self):
+        """Test get_angle_y method."""
+
+        _ = self.imu.angle_y
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_ANGLE_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_get_angle_z(self):
+        """Test get_angle_z method."""
+
+        _ = self.imu.angle_z
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_ANGLE_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_get_angular_vel_x(self):
+        """Test get_angular_vel_x method."""
+
+        _ = self.imu.angular_vel_x
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_GYRO_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_get_angular_vel_y(self):
+        """Test get_angular_vel_y method."""
+
+        _ = self.imu.angular_vel_y
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_GYRO_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_get_angular_vel_z(self):
+        """Test get_angular_vel_z method."""
+
+        _ = self.imu.angular_vel_z
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_GYRO_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_get_acceleration_x(self):
+        """Test get_acceleration_x method."""
+
+        _ = self.imu.acceleration_x
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_ACC_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_get_acceleration_y(self):
+        """Test get_acceleration_x method."""
+
+        _ = self.imu.acceleration_y
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_ACC_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_get_acceleration_z(self):
+        """Test get_acceleration_z method."""
+
+        _ = self.imu.acceleration_z
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_ACC_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_get_vibration(self):
+        """Test get_vibration method."""
+
+        _ = self.imu.vibration
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_VIBRATION_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_get_angle(self):
+        """Test get_angle_z method."""
+
+        _ = self.imu.angle
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_ANGLE_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, (0.0, 0.0, 0.0))
+
+    def test_get_angular_velocity(self):
+        """Test get_angular_velocity method."""
+
+        _ = self.imu.angular_velocity
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_GYRO_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, (0.0, 0.0, 0.0))
+
+    def test_get_acceleration(self):
+        """Test get_acceleration method."""
+
+        _ = self.imu.acceleration
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Imu.PROPERTY_ACC_STATE, self.imu.prop_samp_freq)
+        )
+        self.assertEqual(_, (0.0, 0.0, 0.0))
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/input_module/test_joystick.py b/packages/core/tests/module/input_module/test_joystick.py
new file mode 100644
index 0000000..ee0203c
--- /dev/null
+++ b/packages/core/tests/module/input_module/test_joystick.py
@@ -0,0 +1,55 @@
+import unittest
+
+from modi_plus.module.input_module.joystick import Joystick
+from modi_plus.util.message_util import parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockJoystick
+
+
+class TestJoystick(unittest.TestCase):
+    """Tests for 'Joystick' package."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.joystick = MockJoystick(*mock_args)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.joystick
+
+    def test_get_x(self):
+        """Test get_x method."""
+
+        _ = self.joystick.x
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Joystick.PROPERTY_POSITION_STATE, self.joystick.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_y(self):
+        """Test get_y method."""
+
+        _ = self.joystick.y
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Joystick.PROPERTY_POSITION_STATE, self.joystick.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_dirction(self):
+        """Test get_dirction method."""
+
+        _ = self.joystick.direction
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Joystick.PROPERTY_DIRECTION_STATE, self.joystick.prop_samp_freq)
+        )
+        self.assertEqual(_, "origin")
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/input_module/test_tof.py b/packages/core/tests/module/input_module/test_tof.py
new file mode 100644
index 0000000..d0ae840
--- /dev/null
+++ b/packages/core/tests/module/input_module/test_tof.py
@@ -0,0 +1,35 @@
+import unittest
+
+from modi_plus.module.input_module.tof import Tof
+from modi_plus.util.message_util import parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockTof
+
+
+class TestTof(unittest.TestCase):
+    """Tests for 'Tof' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        mock_args = (-1, -1, self.connection)
+        self.tof = MockTof(*mock_args)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.tof
+
+    def test_get_distance(self):
+        """Test get_distance method."""
+
+        _ = self.tof.distance
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Tof.PROPERTY_DISTANCE_STATE, self.tof.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/output_module/__init__.py b/packages/core/tests/module/output_module/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/tests/module/output_module/test_display.py b/packages/core/tests/module/output_module/test_display.py
new file mode 100644
index 0000000..94dcd5f
--- /dev/null
+++ b/packages/core/tests/module/output_module/test_display.py
@@ -0,0 +1,148 @@
+import unittest
+
+from modi_plus.module.output_module.display import Display
+from modi_plus.util.message_util import parse_set_property_message
+from modi_plus.util.unittest_util import MockConnection, MockDisplay
+
+
+class TestDisplay(unittest.TestCase):
+    """Tests for 'Display' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        self.mock_kwargs = [-1, -1, self.connection]
+        self.display = MockDisplay(*self.mock_kwargs)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.display
+
+    def test_write_text(self):
+        """Test write_text method."""
+
+        mock_text = "0123456789abcdefghijklmnopqrstuvwxyz"
+        self.display.text = mock_text
+        set_messages = []
+
+        n = Display.TEXT_SPLIT_LEN
+        encoding_data = str.encode(str(mock_text)) + bytes(1)
+        splited_data = [encoding_data[x - n:x] for x in range(n, len(encoding_data) + n, n)]
+        for index, data in enumerate(splited_data):
+            set_message = parse_set_property_message(
+                -1, Display.PROPERTY_DISPLAY_WRITE_TEXT,
+                (("bytes", data), )
+            )
+            set_messages.append(set_message)
+
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        for set_message in set_messages:
+            self.assertTrue(set_message in sent_messages)
+        self.assertEqual(self.display.text, mock_text)
+
+    def test_write_variable_xy(self):
+        """Test write_variable_xy method."""
+
+        mock_variable = 123
+        mock_position = 5
+        self.display.write_variable_xy(mock_position, mock_position, mock_variable)
+        set_message = parse_set_property_message(
+            -1, Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
+            (("u8", mock_position), ("u8", mock_position),
+             ("float", mock_variable), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_write_variable_line(self):
+        """Test write_variable_line method."""
+
+        mock_variable = 123
+        mock_line = 2
+        self.display.write_variable_line(mock_line, mock_variable)
+        set_message = parse_set_property_message(
+            -1, Display.PROPERTY_DISPLAY_WRITE_VARIABLE,
+            (("u8", 0), ("u8", mock_line * 20),
+             ("float", mock_variable), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_draw_picture(self):
+        """Test draw_picture method."""
+
+        mock_name = Display.preset_pictures()[0]
+        self.display.draw_picture(mock_name)
+        set_message = parse_set_property_message(
+            -1, Display.PROPERTY_DISPLAY_DRAW_PICTURE,
+            (("u8", 0), ("u8", 0),
+             ("u8", Display.WIDTH), ("u8", Display.HEIGHT),
+             ("string", Display.PRESET_PICTURE[mock_name]), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_draw_dot(self):
+        """Test draw_dot method."""
+
+        mock_dot = bytes([0 for i in range(Display.DOT_LEN)])
+        self.display.draw_dot(mock_dot)
+        set_messages = []
+
+        n = Display.DOT_SPLIT_LEN
+        splited_data = [mock_dot[x - n:x] for x in range(n, len(mock_dot) + n, n)]
+        for index, data in enumerate(splited_data):
+            send_data = bytes([index]) + data
+            set_message = parse_set_property_message(
+                -1, Display.PROPERTY_DISPLAY_DRAW_DOT,
+                (("bytes", send_data), )
+            )
+            set_messages.append(set_message)
+
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        for set_message in set_messages:
+            self.assertTrue(set_message in sent_messages)
+
+    def test_set_offset(self):
+        """Test set_offset method."""
+
+        mock_x = 10
+        mock_y = 20
+        self.display.set_offset(mock_x, mock_y)
+        set_message = parse_set_property_message(
+            -1, Display.PROPERTY_DISPLAY_SET_OFFSET,
+            (("s8", mock_x), ("s8", mock_y), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_reset(self):
+        """Test reset method."""
+
+        self.display.reset()
+        set_message = parse_set_property_message(
+            -1, Display.PROPERTY_DISPLAY_RESET,
+            (("u8", 0), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/output_module/test_led.py b/packages/core/tests/module/output_module/test_led.py
new file mode 100644
index 0000000..6755a87
--- /dev/null
+++ b/packages/core/tests/module/output_module/test_led.py
@@ -0,0 +1,149 @@
+import unittest
+
+from modi_plus.module.output_module.led import Led
+from modi_plus.util.message_util import parse_set_property_message, parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockLed
+
+
+class TestLed(unittest.TestCase):
+    """Tests for 'Led' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        self.mock_kwargs = -1, -1, self.connection
+        self.led = MockLed(*self.mock_kwargs)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.led
+
+    def test_set_rgb(self):
+        """Test set_rgb method with user-defined inputs."""
+
+        mock_red, mock_green, mock_blue = 10, 20, 100
+        self.led.set_rgb(mock_red, mock_green, mock_blue)
+        set_message = parse_set_property_message(
+            -1, Led.PROPERTY_LED_SET_RGB,
+            (("u16", mock_red), ("u16", mock_green), ("u16", mock_blue), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_set_red(self):
+        """Test set_red method with user-defined inputs."""
+
+        mock_red = 10
+        self.led.red = mock_red
+        set_message = parse_set_property_message(
+            -1, Led.PROPERTY_LED_SET_RGB,
+            (("u16", mock_red), ("u16", 0), ("u16", 0), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_set_green(self):
+        """Test set_green method with user-defined inputs."""
+
+        mock_green = 10
+        self.led.green = mock_green
+        set_message = parse_set_property_message(
+            -1, Led.PROPERTY_LED_SET_RGB,
+            (("u16", 0), ("u16", mock_green), ("u16", 0), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_set_blue(self):
+        """Test set_blue method with user-defined inputs."""
+
+        mock_blue = 10
+        self.led.blue = mock_blue
+        set_message = parse_set_property_message(
+            -1, Led.PROPERTY_LED_SET_RGB,
+            (("u16", 0), ("u16", 0), ("u16", mock_blue), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_get_red(self):
+        """Test get_red method with none input."""
+
+        _ = self.led.red
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Led.PROPERTY_LED_STATE, self.led.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_rgb(self):
+        """Test get_rgb method with none input."""
+
+        _ = self.led.rgb
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Led.PROPERTY_LED_STATE, self.led.prop_samp_freq)
+        )
+        self.assertEqual(_, (0, 0, 0))
+
+    def test_get_green(self):
+        """Test set_green method with none input."""
+
+        _ = self.led.green
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Led.PROPERTY_LED_STATE, self.led.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_blue(self):
+        """Test get blue method with none input."""
+
+        _ = self.led.blue
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Led.PROPERTY_LED_STATE, self.led.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_turn_on(self):
+        """Test turn_on method."""
+
+        mock_red, mock_green, mock_blue = 100, 100, 100
+        self.led.turn_on()
+        set_message = parse_set_property_message(
+            -1, Led.PROPERTY_LED_SET_RGB,
+            (("u16", mock_red), ("u16", mock_green), ("u16", mock_blue), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_turn_off(self):
+        """Test turn_off method."""
+
+        mock_red, mock_green, mock_blue = 0, 0, 0
+        self.led.turn_off()
+        set_message = parse_set_property_message(
+            -1, Led.PROPERTY_LED_SET_RGB,
+            (("u16", mock_red), ("u16", mock_green), ("u16", mock_blue), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/output_module/test_motor.py b/packages/core/tests/module/output_module/test_motor.py
new file mode 100644
index 0000000..0e6c15c
--- /dev/null
+++ b/packages/core/tests/module/output_module/test_motor.py
@@ -0,0 +1,120 @@
+import unittest
+
+from modi_plus.module.output_module.motor import Motor
+from modi_plus.util.message_util import parse_set_property_message, parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockMotor
+
+
+class TestMotor(unittest.TestCase):
+    """Tests for 'Motor' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        self.mock_kwargs = [-1, -1, self.connection]
+        self.motor = MockMotor(*self.mock_kwargs)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.motor
+
+    def test_set_speed(self):
+        """Test set_speed method."""
+
+        mock_speed = 50
+        self.motor.speed = mock_speed
+        set_message = parse_set_property_message(
+            -1, Motor.PROPERTY_MOTOR_SPEED,
+            (("s32", mock_speed), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_get_speed(self):
+        """Test get_speed method with none input."""
+
+        _ = self.motor.speed
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Motor.PROPERTY_MOTOR_STATE, self.motor.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_target_speed(self):
+        """Test get_target_speed method with none input."""
+
+        _ = self.motor.target_speed
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Motor.PROPERTY_MOTOR_STATE, self.motor.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_set_angle(self):
+        """Test set_angle method."""
+
+        mock_angle, mock_speed = 90, 50
+        self.motor.angle = mock_angle, mock_speed
+        set_message = parse_set_property_message(
+            -1, Motor.PROPERTY_MOTOR_ANGLE,
+            (("u16", mock_angle),
+             ("u16", mock_speed),
+             ("u16", 0),
+             ("u16", 0), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_get_angle(self):
+        """Test get_angle method with none input."""
+
+        _ = self.motor.angle
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Motor.PROPERTY_MOTOR_STATE, self.motor.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_get_target_angle(self):
+        """Test get_target_angle method with none input."""
+
+        _ = self.motor.target_angle
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Motor.PROPERTY_MOTOR_STATE, self.motor.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_append_angle(self):
+        """Test append_angle method with none input."""
+
+        mock_angle, mock_speed = 90, 50
+        self.motor.append_angle(mock_angle, mock_speed)
+        set_message = parse_set_property_message(
+            -1, Motor.PROPERTY_MOTOR_ANGLE_APPEND,
+            (("u16", mock_angle), ("u16", mock_speed), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_stop(self):
+        """Test stop method with none input."""
+
+        self.motor.stop()
+        set_message = parse_set_property_message(-1, Motor.PROPERTY_MOTOR_STOP, ())
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/output_module/test_speaker.py b/packages/core/tests/module/output_module/test_speaker.py
new file mode 100644
index 0000000..0621eb1
--- /dev/null
+++ b/packages/core/tests/module/output_module/test_speaker.py
@@ -0,0 +1,193 @@
+import unittest
+
+from modi_plus.module.output_module.speaker import Speaker
+from modi_plus.util.message_util import parse_set_property_message, parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockSpeaker
+
+
+class TestSpeaker(unittest.TestCase):
+    """Tests for 'Speaker' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        self.mock_kwargs = [-1, -1, self.connection]
+        self.speaker = MockSpeaker(*self.mock_kwargs)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.speaker
+
+    def test_set_tune(self):
+        """Test set_tune method."""
+
+        mock_frequency, mock_volume = 500, 30
+        self.speaker.tune = mock_frequency, mock_volume
+        set_message = parse_set_property_message(
+            -1, Speaker.PROPERTY_SPEAKER_SET_TUNE,
+            (("u16", mock_frequency), ("u16", mock_volume), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_set_tune_str(self):
+        """Test set_tune method."""
+
+        mock_note = Speaker.preset_notes()[0]
+        mock_frequency, mock_volume = Speaker.SCALE_TABLE[mock_note], 30
+        self.speaker.tune = mock_note, mock_volume
+        set_message = parse_set_property_message(
+            -1, Speaker.PROPERTY_SPEAKER_SET_TUNE,
+            (("u16", mock_frequency), ("u16", mock_volume), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_get_tune(self):
+        """Test get_tune method."""
+
+        _ = self.speaker.tune
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Speaker.PROPERTY_SPEAKER_STATE, self.speaker.prop_samp_freq)
+        )
+        self.assertEqual(_, (0, 0))
+
+    def test_set_frequency(self):
+        """Test set_frequency method."""
+
+        mock_frequency = 500
+        self.speaker.frequency = mock_frequency
+        set_message = parse_set_property_message(
+            -1, Speaker.PROPERTY_SPEAKER_SET_TUNE,
+            (("u16", mock_frequency), ("u16", 0), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_get_frequency(self):
+        """Test get_frequency method with none input."""
+
+        _ = self.speaker.frequency
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Speaker.PROPERTY_SPEAKER_STATE, self.speaker.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_set_volume(self):
+        """Test set_volume method."""
+
+        mock_volume = 30
+        self.speaker.volume = 30
+        set_message = parse_set_property_message(
+            -1, Speaker.PROPERTY_SPEAKER_SET_TUNE,
+            (("u16", 0), ("u16", mock_volume), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_get_volume(self):
+        """Test get_volume method with none input."""
+
+        _ = self.speaker.volume
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Speaker.PROPERTY_SPEAKER_STATE, self.speaker.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_play_music(self):
+        """Test play_music method."""
+
+        mock_music = Speaker.preset_musics()[0]
+        mock_volume = 80
+        self.speaker.play_music(mock_music, mock_volume)
+        set_message = parse_set_property_message(
+            -1, Speaker.PROPERTY_SPEAKER_MELODY,
+            (("u8", Speaker.STATE_START), ("u8", mock_volume),
+             ("string", Speaker.PRESET_MUSIC[mock_music]), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_stop_music(self):
+        """Test stop_music method."""
+
+        mock_music = Speaker.preset_musics()[0]
+        mock_volume = 80
+        self.speaker.play_music(mock_music, mock_volume)
+        self.speaker.stop_music()
+        set_message = parse_set_property_message(
+            -1, Speaker.PROPERTY_SPEAKER_MELODY,
+            (("u8", Speaker.STATE_STOP), ("u8", 0),
+             ("string", Speaker.PRESET_MUSIC[mock_music]), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_pause_music(self):
+        """Test pause_music method."""
+
+        mock_music = Speaker.preset_musics()[0]
+        mock_volume = 80
+        self.speaker.play_music(mock_music, mock_volume)
+        self.speaker.pause_music()
+        set_message = parse_set_property_message(
+            -1, Speaker.PROPERTY_SPEAKER_MELODY,
+            (("u8", Speaker.STATE_PAUSE), ("u8", 0),
+             ("string", Speaker.PRESET_MUSIC[mock_music]), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_resume_music(self):
+        """Test resume_music method."""
+
+        mock_music = Speaker.preset_musics()[0]
+        mock_volume = 80
+        self.speaker.play_music(mock_music, mock_volume)
+        self.speaker.resume_music()
+        set_message = parse_set_property_message(
+            -1, Speaker.PROPERTY_SPEAKER_MELODY,
+            (("u8", Speaker.STATE_RESUME), ("u8", 0),
+             ("string", Speaker.PRESET_MUSIC[mock_music]), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_reset(self):
+        """Test reset method"""
+
+        mock_frequency, mock_volume = 0, 0
+        self.speaker.reset()
+        set_message = parse_set_property_message(
+            -1, Speaker.PROPERTY_SPEAKER_SET_TUNE,
+            (("u16", mock_frequency), ("u16", mock_volume), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/setup_module/__init__.py b/packages/core/tests/module/setup_module/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/tests/module/setup_module/test_battery.py b/packages/core/tests/module/setup_module/test_battery.py
new file mode 100644
index 0000000..d847388
--- /dev/null
+++ b/packages/core/tests/module/setup_module/test_battery.py
@@ -0,0 +1,35 @@
+import unittest
+
+from modi_plus.module.setup_module.battery import Battery
+from modi_plus.util.message_util import parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockBattery
+
+
+class TestBattery(unittest.TestCase):
+    """Tests for 'Battery' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        self.mock_kwargs = [-1, -1, self.connection]
+        self.battery = MockBattery(*self.mock_kwargs)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.battery
+
+    def test_get_level(self):
+        """Test get_level method."""
+
+        _ = self.battery.level
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Battery.PROPERTY_BATTERY_STATE, self.battery.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/module/setup_module/test_network.py b/packages/core/tests/module/setup_module/test_network.py
new file mode 100644
index 0000000..7a7f7ca
--- /dev/null
+++ b/packages/core/tests/module/setup_module/test_network.py
@@ -0,0 +1,222 @@
+import unittest
+
+from modi_plus.module.setup_module.network import Network
+from modi_plus.util.message_util import parse_set_property_message, parse_get_property_message
+from modi_plus.util.unittest_util import MockConnection, MockNetwork
+
+
+class TestNetwork(unittest.TestCase):
+    """Tests for 'Network' class."""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+
+        self.connection = MockConnection()
+        self.mock_kwargs = [-1, -1, self.connection]
+        self.network = MockNetwork(*self.mock_kwargs)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+
+        del self.network
+
+    def test_received_data(self):
+        """Test received_data method."""
+
+        _ = self.network.received_data(0)
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_RECEIVE_DATA, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, 0.0)
+
+    def test_button_pressed(self):
+        """Test button_pressed method."""
+
+        _ = self.network.button_pressed(0)
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_BUTTON, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, False)
+
+    def test_button_clicked(self):
+        """Test button_clicked method."""
+
+        _ = self.network.button_clicked(0)
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_BUTTON, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, False)
+
+    def test_button_double_clicked(self):
+        """Test button_double_clicked method."""
+
+        _ = self.network.button_double_clicked(0)
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_BUTTON, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, False)
+
+    def test_switch_toggled(self):
+        """Test switch_toggled method."""
+
+        _ = self.network.switch_toggled(0)
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_SWITCH, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, False)
+
+    def test_dial_turn(self):
+        """Test dial_turn method."""
+
+        _ = self.network.dial_turn(0)
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_DIAL, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, False)
+
+    def test_joystick_direction(self):
+        """Test joystick_direction method."""
+
+        _ = self.network.joystick_direction(0)
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_JOYSTICK, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, "unpressed")
+
+    def test_slider_position(self):
+        """Test slider_position method."""
+
+        _ = self.network.slider_position(0)
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_SLIDER, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_time_up(self):
+        """Test time_up method."""
+
+        _ = self.network.time_up
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_TIMER, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, False)
+
+    def test_imu_roll(self):
+        """Test imu_roll method."""
+
+        _ = self.network.imu_roll
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_IMU, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_imu_pitch(self):
+        """Test imu_pitch method."""
+
+        _ = self.network.imu_pitch
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_IMU, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_imu_yaw(self):
+        """Test imu_yaw method."""
+
+        _ = self.network.imu_yaw
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_IMU, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, 0)
+
+    def test_imu_direction(self):
+        """Test imu_direction method."""
+
+        _ = self.network.imu_direction
+        self.assertEqual(
+            self.connection.send_list[0],
+            parse_get_property_message(-1, Network.PROPERTY_NETWORK_IMU_DIRECTION, self.network.prop_samp_freq)
+        )
+        self.assertEqual(_, "origin")
+
+    def test_send_data(self):
+        """Test send_data method."""
+
+        data = 123
+        self.network.send_data(0, data)
+        set_message = parse_set_property_message(
+            -1, Network.PROPERTY_NETWORK_SEND_DATA,
+            (("s32", data),)
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_send_text(self):
+        """Test send_text method."""
+
+        text = "MODI+"
+        self.network.send_text(text)
+        set_message = parse_set_property_message(
+            -1, Network.PROPERTY_NETWORK_SEND_TEXT,
+            (("string", text), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_buzzer_on(self):
+        """Test buzzer_on method."""
+
+        self.network.buzzer_on()
+        set_message = parse_set_property_message(
+            -1, Network.PROPERTY_NETWORK_BUZZER,
+            (("u8", Network.STATE_BUZZER_ON), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_buzzer_off(self):
+        """Test buzzer_off method."""
+
+        self.network.buzzer_off()
+        set_message = parse_set_property_message(
+            -1, Network.PROPERTY_NETWORK_BUZZER,
+            (("u8", Network.STATE_BUZZER_OFF), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+    def test_take_picture(self):
+        """Test take_picture method."""
+
+        self.network.take_picture()
+        set_message = parse_set_property_message(
+            -1, Network.PROPERTY_NETWORK_CAMERA,
+            (("u8", Network.STATE_CAMERA_PICTURE), )
+        )
+        sent_messages = []
+        while self.connection.send_list:
+            sent_messages.append(self.connection.send_list.pop())
+        self.assertTrue(set_message in sent_messages)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/task/__init__.py b/packages/core/tests/task/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/packages/core/tests/task/test_conn_task.py b/packages/core/tests/task/test_conn_task.py
new file mode 100644
index 0000000..5aeeef4
--- /dev/null
+++ b/packages/core/tests/task/test_conn_task.py
@@ -0,0 +1,21 @@
+import unittest
+# from unittest import mock
+
+from modi_plus.task.connection_task import ConnectionTask
+
+
+class TestConnTask(unittest.TestCase):
+    """Tests for 'ConnTask' class"""
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+        self.mock_kwargs = {"serialport_recv_q": None, "serialport_send_q": None}
+        self.connection_task = ConnectionTask(**self.mock_kwargs)
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+        del self.connection_task
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/core/tests/task/test_serialport_task.py b/packages/core/tests/task/test_serialport_task.py
new file mode 100644
index 0000000..2bb12e0
--- /dev/null
+++ b/packages/core/tests/task/test_serialport_task.py
@@ -0,0 +1,48 @@
+import unittest
+
+from unittest import mock
+
+from modi_plus.task.serialport_task import SerialportTask
+
+
+class TestSerialportTask(unittest.TestCase):
+    """Tests for 'SerialportTask' class"""
+    class MockSerial:
+        def __init__(self):
+            self.in_waiting = 1
+            self.write = mock.Mock()
+            self.close = mock.Mock()
+
+        def read_mock(self):
+            self.in_waiting = 0
+            return "complete"
+
+    def setUp(self):
+        """Set up test fixtures, if any."""
+        self.serialport_task = SerialportTask()
+
+    def tearDown(self):
+        """Tear down test fixtures, if any."""
+        del self.serialport_task
+
+    def test_close_conn(self):
+        """Test close_conn method"""
+        self.serialport_task._bus = self.MockSerial()
+        self.serialport_task.close_connection()
+        self.serialport_task.bus.close.assert_called_once_with()
+
+    def test_recv_data(self):
+        """Test _read_data method"""
+        self.serialport_task._bus = self.MockSerial()
+        self.serialport_task._recv_queue.put("complete")
+        self.assertEqual(self.serialport_task.recv(), "complete")
+
+    def test_send_data(self):
+        """Test _write_data method"""
+        self.serialport_task._bus = self.MockSerial()
+        self.serialport_task.send("foo")
+        self.serialport_task._bus.write.assert_called_once_with("foo".encode())
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/packages/web/LICENSE b/packages/web/LICENSE
new file mode 100644
index 0000000..8a81302
--- /dev/null
+++ b/packages/web/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 LUXROBO
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/packages/web/README.md b/packages/web/README.md
new file mode 100644
index 0000000..64ef318
--- /dev/null
+++ b/packages/web/README.md
@@ -0,0 +1,139 @@
+# pymodi-plus-web
+
+MODI+ Python Library for Web/Pyodide environments.
+
+This package provides a `PostMessageTask` communication layer that enables `pymodi-plus` to work in web browsers via Pyodide, communicating with WebUSB through JavaScript postMessage.
+
+## Installation
+
+### In Pyodide (Browser)
+
+```python
+import micropip
+await micropip.install('pymodi-plus-web')
+```
+
+### Local Development
+
+```bash
+pip install pymodi-plus-web
+```
+
+### 내부 테스트 설치
+
+#### TestPyPI에서 설치
+```bash
+pip install -i https://test.pypi.org/simple/ --extra-index-url https://pypi.org/simple/ pymodi-plus-web
+```
+
+#### Git에서 직접 설치
+```bash
+# feature/web-support 브랜치에서 설치
+pip install git+https://github.com/LUXROBO/pymodi-plus.git@feature/web-support#subdirectory=packages/web
+```
+
+#### 로컬 wheel 파일에서 설치
+```bash
+pip install pymodi_plus_web-0.1.0-py3-none-any.whl
+```
+
+## Usage
+
+### Basic Usage (Pyodide)
+
+```python
+from modi_plus_web import MODIPlusWeb
+
+# Create MODI+ instance with postMessage communication
+modi = MODIPlusWeb()
+
+# Use standard MODI+ API
+led = modi.led(0x1234)
+led.rgb = (255, 0, 0)
+```
+
+### With JavaScript Integration
+
+```javascript
+// JavaScript side
+const pyodide = await loadPyodide();
+await pyodide.loadPackage('micropip');
+await pyodide.runPythonAsync(`
+    import micropip
+    await micropip.install('pymodi-plus-web')
+
+    from modi_plus_web import MODIPlusWeb
+    modi = MODIPlusWeb()
+`);
+
+// Send data from WebUSB to Python
+window.addEventListener('message', (e) => {
+    if (e.data.type === 'modi_packet') {
+        pyodide.runPython(`modi.task.on_message('${JSON.stringify(e.data.payload)}')`);
+    }
+});
+
+// Set up Python to JavaScript callback
+pyodide.runPython(`
+    import js
+    def send_to_webusb(pkt):
+        js.parent.postMessage({'type': 'modi_packet', 'payload': pkt}, '*')
+    modi.set_send_callback(send_to_webusb)
+`);
+```
+
+## Architecture
+
+```
+┌─────────────────────────────────────────────────────────────┐
+│                        Browser                               │
+│  ┌─────────────────┐      postMessage      ┌─────────────┐ │
+│  │  modi_flutter   │ <──────────────────> │   iframe    │ │
+│  │   (WebUSB)      │      JSON packets     │             │ │
+│  │                 │                        │  ┌───────┐ │ │
+│  │  MODI Hardware  │                        │  │Pyodide│ │ │
+│  │  Connection     │                        │  │pymodi │ │ │
+│  │                 │                        │  │-plus  │ │ │
+│  └─────────────────┘                        │  │-web   │ │ │
+│                                             │  └───────┘ │ │
+│                                             └─────────────┘ │
+└─────────────────────────────────────────────────────────────┘
+```
+
+## API Reference
+
+### MODIPlusWeb
+
+Inherits from `modi_plus.MODIPlus` with `PostMessageTask` as the default communication layer.
+
+```python
+class MODIPlusWeb(MODIPlus):
+    def set_send_callback(self, callback): ...
+    def on_message(self, data): ...
+```
+
+### PostMessageTask
+
+Communication task for JavaScript postMessage integration.
+
+```python
+class PostMessageTask(ConnectionTask):
+    def set_send_callback(self, callback): ...
+    def on_message(self, data): ...
+    def send(self, pkt): ...
+    def recv(self): ...
+```
+
+## Requirements
+
+- Python >= 3.8
+- pymodi-plus (automatically installed)
+
+## License
+
+MIT License - see LICENSE file for details.
+
+## Related Projects
+
+- [pymodi-plus](https://github.com/LUXROBO/pymodi-plus) - Desktop version with USB/BLE support
+- [modi_flutter](https://github.com/LUXROBO/modi_flutter) - Flutter app with WebUSB support
diff --git a/packages/web/modi_plus_web/__init__.py b/packages/web/modi_plus_web/__init__.py
new file mode 100644
index 0000000..80e1e6a
--- /dev/null
+++ b/packages/web/modi_plus_web/__init__.py
@@ -0,0 +1,13 @@
+"""pymodi-plus-web - MODI+ Python Library for Web/Pyodide
+
+This package provides web-compatible communication layer for pymodi-plus,
+enabling MODI+ hardware control through JavaScript postMessage in Pyodide environments.
+"""
+
+from modi_plus_web.modi_plus_web import MODIPlusWeb
+from modi_plus_web.task.postmessage_task import PostMessageTask
+
+__version__ = "0.1.0"
+__all__ = ["MODIPlusWeb", "PostMessageTask"]
+
+print(f"Running PyMODI+ Web (v{__version__})")
diff --git a/packages/web/modi_plus_web/modi_plus_web.py b/packages/web/modi_plus_web/modi_plus_web.py
new file mode 100644
index 0000000..a6bbc04
--- /dev/null
+++ b/packages/web/modi_plus_web/modi_plus_web.py
@@ -0,0 +1,70 @@
+"""MODIPlusWeb - 웹 환경용 MODI+ 클래스
+
+pymodi-plus의 MODIPlus를 상속하여 PostMessageTask를 기본 통신 레이어로 사용합니다.
+Pyodide 환경에서 JavaScript와 postMessage를 통해 MODI+ 모듈과 통신할 수 있습니다.
+"""
+
+from typing import Callable, Optional
+
+from modi_plus import MODIPlus
+from modi_plus_web.task.postmessage_task import PostMessageTask
+
+
+class MODIPlusWeb(MODIPlus):
+    """웹 환경용 MODI+ 클래스
+
+    PostMessageTask를 사용하여 JavaScript와 postMessage로 통신합니다.
+    modi_flutter의 WebUSB와 연동하여 MODI+ 모듈을 제어할 수 있습니다.
+
+    Usage:
+        from modi_plus_web import MODIPlusWeb
+
+        modi = MODIPlusWeb()
+
+        # JavaScript 콜백 설정
+        import js
+        modi.set_send_callback(lambda pkt: js.postMessage({'type': 'modi', 'data': pkt}))
+
+        # 표준 MODI+ API 사용
+        led = modi.led(0x1234)
+        led.rgb = (255, 0, 0)
+    """
+
+    def __init__(self, verbose: bool = False):
+        """MODIPlusWeb 초기화
+
+        Args:
+            verbose: 디버그 메시지 출력 여부
+        """
+        # PostMessageTask를 주입하여 부모 클래스 초기화
+        self._postmessage_task = PostMessageTask(verbose=verbose)
+        super().__init__(task=self._postmessage_task, verbose=verbose)
+
+    @property
+    def task(self) -> PostMessageTask:
+        """PostMessageTask 인스턴스 접근"""
+        return self._postmessage_task
+
+    def set_send_callback(self, callback: Callable[[str], None]) -> None:
+        """JavaScript로 메시지를 전송할 콜백 함수 설정
+
+        Args:
+            callback: 메시지를 받아 JavaScript로 전송하는 함수
+
+        Example:
+            import js
+            modi.set_send_callback(lambda pkt: js.postMessage({'type': 'modi', 'data': pkt}))
+        """
+        self._postmessage_task.set_send_callback(callback)
+
+    def on_message(self, data) -> None:
+        """JavaScript에서 메시지 수신 시 호출
+
+        Args:
+            data: 수신된 데이터 (JSON 문자열 또는 dict)
+
+        Example:
+            # JavaScript에서
+            pyodide.runPython(`modi.on_message('${jsonData}')`)
+        """
+        self._postmessage_task.on_message(data)
diff --git a/packages/web/modi_plus_web/task/__init__.py b/packages/web/modi_plus_web/task/__init__.py
new file mode 100644
index 0000000..022879a
--- /dev/null
+++ b/packages/web/modi_plus_web/task/__init__.py
@@ -0,0 +1,5 @@
+"""MODI+ Web Task module - postMessage 통신 레이어"""
+
+from modi_plus_web.task.postmessage_task import PostMessageTask
+
+__all__ = ["PostMessageTask"]
diff --git a/packages/web/modi_plus_web/task/postmessage_task.py b/packages/web/modi_plus_web/task/postmessage_task.py
new file mode 100644
index 0000000..b4f97da
--- /dev/null
+++ b/packages/web/modi_plus_web/task/postmessage_task.py
@@ -0,0 +1,143 @@
+"""PostMessageTask - JavaScript postMessage 통신용 Task
+
+Pyodide 환경에서 JavaScript와 postMessage를 통해 통신하는 Task 클래스입니다.
+modi_flutter의 WebUSB와 연동하여 MODI+ 모듈과 통신할 수 있습니다.
+"""
+
+from queue import Queue
+from typing import Optional, Callable
+import json
+
+from modi_plus.task.connection_task import ConnectionTask
+
+
+class PostMessageTask(ConnectionTask):
+    """JavaScript postMessage 통신용 Task
+
+    Pyodide 환경에서 JavaScript와 postMessage를 통해 통신합니다.
+
+    Usage:
+        task = PostMessageTask()
+
+        # JavaScript에서 Python으로 메시지 전달
+        task.on_message('{"c":0,"s":1,"d":2,"b":"AA==","l":1}')
+
+        # Python에서 JavaScript로 메시지 전달
+        task.set_send_callback(lambda pkt: js.postMessage(pkt))
+        task.send('{"c":0,"s":1,"d":2,"b":"AA==","l":1}')
+    """
+
+    def __init__(self, verbose: bool = False):
+        """PostMessageTask 초기화
+
+        Args:
+            verbose: 디버그 메시지 출력 여부
+        """
+        super().__init__(verbose)
+        self._recv_queue: Queue = Queue()
+        self._send_callback: Optional[Callable[[str], None]] = None
+        self._connected: bool = False
+
+    def set_send_callback(self, callback: Callable[[str], None]) -> None:
+        """JavaScript로 메시지를 전송할 콜백 함수 설정
+
+        Args:
+            callback: 메시지를 받아 JavaScript로 전송하는 함수
+
+        Example:
+            # Pyodide에서
+            import js
+            task.set_send_callback(lambda pkt: js.postMessage({'type': 'modi', 'data': pkt}))
+        """
+        self._send_callback = callback
+
+    def on_message(self, data) -> None:
+        """JavaScript에서 메시지 수신 시 호출
+
+        Args:
+            data: 수신된 데이터 (JSON 문자열 또는 dict)
+
+        Example:
+            # JavaScript에서
+            pyodide.runPython(`task.on_message('${jsonData}')`)
+        """
+        if isinstance(data, dict):
+            data = json.dumps(data)
+        elif isinstance(data, str):
+            # 이미 JSON 문자열인 경우 그대로 사용
+            try:
+                # 유효한 JSON인지 확인
+                json.loads(data)
+            except json.JSONDecodeError:
+                if self.verbose:
+                    print(f"Invalid JSON received: {data}")
+                return
+        else:
+            if self.verbose:
+                print(f"Unsupported data type: {type(data)}")
+            return
+
+        self._recv_queue.put(data)
+
+        if self.verbose:
+            print(f"on_message: {data}")
+
+    def open_connection(self) -> None:
+        """연결 시작 (JavaScript 측에서 WebUSB 연결 처리)"""
+        self._connected = True
+        self._recv_queue = Queue()
+        if self.verbose:
+            print("PostMessageTask connection opened")
+
+    def close_connection(self) -> None:
+        """연결 종료"""
+        self._connected = False
+        self._send_callback = None
+        if self.verbose:
+            print("PostMessageTask connection closed")
+
+    def recv(self) -> Optional[str]:
+        """수신 큐에서 메시지 가져오기
+
+        Returns:
+            JSON 문자열 또는 None (큐가 비어있는 경우)
+        """
+        if self._recv_queue.empty():
+            return None
+
+        json_pkt = self._recv_queue.get()
+
+        if self.verbose:
+            print(f"recv: {json_pkt}")
+
+        return json_pkt
+
+    def send(self, pkt: str, verbose: bool = False) -> None:
+        """JavaScript로 메시지 전송
+
+        Args:
+            pkt: 전송할 JSON 패킷
+            verbose: 디버그 메시지 출력 여부
+        """
+        if self._send_callback:
+            self._send_callback(pkt)
+
+            if self.verbose or verbose:
+                print(f"send: {pkt}")
+        else:
+            if self.verbose or verbose:
+                print(f"send (no callback): {pkt}")
+
+    def send_nowait(self, pkt: str, verbose: bool = False) -> None:
+        """JavaScript로 메시지 전송 (send와 동일)
+
+        Args:
+            pkt: 전송할 JSON 패킷
+            verbose: 디버그 메시지 출력 여부
+        """
+        self.send(pkt, verbose)
+
+    @property
+    def is_connected(self) -> bool:
+        """연결 상태 확인"""
+        return self._connected
diff --git a/packages/web/pytest.ini b/packages/web/pytest.ini
new file mode 100644
index 0000000..4ecb1ad
--- /dev/null
+++ b/packages/web/pytest.ini
@@ -0,0 +1,5 @@
+[pytest]
+testpaths = tests
+python_files = test_*.py
+python_classes = Test*
+python_functions = test_*
diff --git a/packages/web/setup.py b/packages/web/setup.py
new file mode 100644
index 0000000..e202851
--- /dev/null
+++ b/packages/web/setup.py
@@ -0,0 +1,36 @@
+from setuptools import setup, find_packages
+
+with open("README.md", "r", encoding="utf-8") as fh:
+    long_description = fh.read()
+
+setup(
+    name="pymodi-plus-web",
+    version="0.1.0",
+    author="LUXROBO",
+    author_email="tech@luxrobo.com",
+    description="MODI+ Python Library for Web/Pyodide - postMessage communication",
+    long_description=long_description,
+    long_description_content_type="text/markdown",
+    url="https://github.com/LUXROBO/pymodi-plus-web",
+    packages=find_packages(),
+    install_requires=[
+        "pymodi-plus",  # 코어 재사용 (serial/ble 없이 설치됨)
+    ],
+    python_requires=">=3.8",
+    classifiers=[
+        "Development Status :: 4 - Beta",
+        "Intended Audience :: Developers",
+        "Intended Audience :: Education",
+        "License :: OSI Approved :: MIT License",
+        "Operating System :: OS Independent",
+        "Programming Language :: Python :: 3",
+        "Programming Language :: Python :: 3.8",
+        "Programming Language :: Python :: 3.9",
+        "Programming Language :: Python :: 3.10",
+        "Programming Language :: Python :: 3.11",
+        "Environment :: Web Environment",
+        "Topic :: Education",
+        "Topic :: Software Development :: Libraries :: Python Modules",
+    ],
+    keywords=["modi", "modi-plus", "pyodide", "web", "webusb", "postmessage"],
+)
diff --git a/packages/web/test_coding.html b/packages/web/test_coding.html
new file mode 100644
index 0000000..bf02fcf
--- /dev/null
+++ b/packages/web/test_coding.html
@@ -0,0 +1,621 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>PyMODI+ Web - Python Coding</title>
+    <style>
+        * { box-sizing: border-box; margin: 0; padding: 0; }
+        body {
+            font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, sans-serif;
+            background: #1a1a2e;
+            color: #eee;
+            height: 100vh;
+            display: flex;
+            flex-direction: column;
+        }
+        .header {
+            background: #16213e;
+            padding: 12px 20px;
+            display: flex;
+            justify-content: space-between;
+            align-items: center;
+            border-bottom: 1px solid #0f3460;
+        }
+        .header h1 { font-size: 16px; color: #e94560; }
+        .status-bar { display: flex; gap: 20px; font-size: 12px; }
+        .status-item { display: flex; align-items: center; gap: 6px; }
+        .dot { width: 10px; height: 10px; border-radius: 50%; background: #666; }
+        .dot.ok { background: #4ade80; }
+        .dot.loading { background: #fbbf24; animation: blink 1s infinite; }
+        .dot.error { background: #ef4444; }
+        @keyframes blink { 50% { opacity: 0.5; } }
+
+        .container { flex: 1; display: flex; overflow: hidden; }
+
+        .left-panel { flex: 1; display: flex; flex-direction: column; min-width: 400px; }
+        .right-panel { width: 400px; display: flex; flex-direction: column; border-left: 1px solid #0f3460; }
+
+        .panel-title {
+            background: #16213e;
+            padding: 10px 15px;
+            font-size: 13px;
+            font-weight: 600;
+            border-bottom: 1px solid #0f3460;
+            display: flex;
+            justify-content: space-between;
+            align-items: center;
+        }
+
+        .example-select {
+            background: #0f3460;
+            border: 1px solid #1e40af;
+            color: #eee;
+            padding: 4px 8px;
+            border-radius: 4px;
+            font-size: 12px;
+        }
+
+        #editor {
+            flex: 1;
+            background: #0f0f23;
+            color: #c9d1d9;
+            font-family: 'SF Mono', 'Monaco', 'Menlo', monospace;
+            font-size: 13px;
+            padding: 15px;
+            border: none;
+            resize: none;
+            outline: none;
+            line-height: 1.6;
+            tab-size: 4;
+        }
+
+        .toolbar {
+            background: #16213e;
+            padding: 10px 15px;
+            display: flex;
+            gap: 10px;
+            align-items: center;
+        }
+        .btn {
+            padding: 8px 20px;
+            border: none;
+            border-radius: 6px;
+            font-size: 13px;
+            font-weight: 600;
+            cursor: pointer;
+            transition: all 0.2s;
+        }
+        .btn:disabled { opacity: 0.5; cursor: not-allowed; }
+        .btn-primary { background: #4ade80; color: #000; }
+        .btn-primary:hover:not(:disabled) { background: #22c55e; }
+        .btn-danger { background: #ef4444; color: #fff; }
+        .btn-secondary { background: #374151; color: #fff; }
+
+        .output-panel { flex: 1; display: flex; flex-direction: column; }
+        #output {
+            height: 300px;
+            background: #0f0f23;
+            padding: 12px;
+            overflow-y: scroll;
+            overflow-x: hidden;
+            font-family: 'SF Mono', monospace;
+            font-size: 12px;
+            line-height: 1.5;
+        }
+        .log-line { padding: 2px 0; }
+        .log-info { color: #60a5fa; }
+        .log-success { color: #4ade80; }
+        .log-error { color: #f87171; }
+        .log-python { color: #a78bfa; }
+        .log-send { color: #fbbf24; }
+        .log-recv { color: #22d3ee; }
+
+        .comm-panel { border-top: 1px solid #0f3460; display: flex; flex-direction: column; }
+        #commLog {
+            height: 150px;
+            background: #0a0a15;
+            padding: 10px;
+            overflow-y: scroll;
+            overflow-x: hidden;
+            font-family: monospace;
+            font-size: 11px;
+        }
+
+        .module-bar {
+            background: #0f3460;
+            padding: 8px 12px;
+            font-size: 11px;
+            display: flex;
+            gap: 8px;
+            flex-wrap: wrap;
+        }
+        .module-chip {
+            background: #1e40af;
+            padding: 3px 10px;
+            border-radius: 12px;
+            font-size: 10px;
+        }
+
+        .checkbox-label {
+            display: flex;
+            align-items: center;
+            gap: 6px;
+            font-size: 12px;
+            color: #888;
+        }
+    </style>
+</head>
+<body>
+    <div class="header">
+        <h1>PyMODI+ Web Coding</h1>
+        <div class="status-bar">
+            <div class="status-item">
+                <div class="dot" id="dotPyodide"></div>
+                <span id="statusPyodide">Pyodide</span>
+            </div>
+            <div class="status-item">
+                <div class="dot" id="dotFlutter"></div>
+                <span>Flutter</span>
+            </div>
+            <div class="status-item">
+                <div class="dot" id="dotModi"></div>
+                <span>MODI+</span>
+            </div>
+        </div>
+    </div>
+
+    <div class="container">
+        <div class="left-panel">
+            <div class="panel-title">
+                <span>Python Editor</span>
+                <select class="example-select" id="exampleSelect">
+                    <option value="">-- Select Example --</option>
+                    <option value="led">LED Example</option>
+                    <option value="dial">Dial Example</option>
+                    <option value="button">Button Example</option>
+                    <option value="env">Environment Sensor</option>
+                    <option value="motor">Motor Example</option>
+                    <option value="speaker">Speaker Example</option>
+                    <option value="dial_led">Dial + LED Control</option>
+                </select>
+            </div>
+            <textarea id="editor" spellcheck="false"># PyMODI+ Web Example
+# Select an example from the dropdown above,
+# or write your own code!
+
+import modi_plus
+import time
+
+bundle = modi_plus.MODIPlus()
+
+# Your code here...
+print(f"Connected modules: {bundle.modules}")
+</textarea>
+            <div class="toolbar">
+                <button class="btn btn-primary" id="btnRun" disabled>▶ Run</button>
+                <button class="btn btn-danger" id="btnStop" disabled>⬛ Stop</button>
+                <button class="btn btn-secondary" id="btnClear">Clear</button>
+                <label class="checkbox-label">
+                    <input type="checkbox" id="chkTransform" checked>
+                    Auto-transform code
+                </label>
+                <span id="runStatus" style="margin-left: auto; font-size: 12px; color: #888;"></span>
+            </div>
+        </div>
+
+        <div class="right-panel">
+            <div class="panel-title">Output</div>
+            <div class="module-bar" id="moduleBar">
+                <span style="color: #888;">No modules</span>
+            </div>
+            <div class="output-panel">
+                <div id="output"></div>
+            </div>
+
+            <div class="comm-panel">
+                <div class="panel-title">
+                    <span>Communication Log</span>
+                    <button class="btn btn-secondary" style="padding: 4px 10px; font-size: 11px;" id="btnClearComm">Clear</button>
+                </div>
+                <div id="commLog"></div>
+            </div>
+        </div>
+    </div>
+
+    <script>
+    // ============================================================
+    // Example Code Templates
+    // ============================================================
+    const EXAMPLES = {
+        led: `import modi_plus
+import time
+
+"""
+LED Example - Controls LED color
+"""
+
+bundle = modi_plus.MODIPlus()
+led = bundle.leds[0]
+
+# Set individual colors
+led.blue = 100
+time.sleep(1)
+led.blue = 0
+
+led.green = 255
+time.sleep(1)
+led.green = 0
+
+led.red = 100
+time.sleep(1)
+
+# Gradient effect
+for c in range(100):
+    led.rgb = 100 - c, c, 0
+    time.sleep(0.02)
+
+led.turn_on()
+time.sleep(1)
+led.turn_off()
+`,
+
+        dial: `import modi_plus
+import time
+
+"""
+Dial Example - Reads dial value and plays sound
+"""
+
+bundle = modi_plus.MODIPlus()
+dial = bundle.dials[0]
+speak = bundle.speakers[0]
+
+while True:
+    speak.tune = "DO6", dial.turn
+    time.sleep(0.02)
+`,
+
+        button: `import modi_plus
+import time
+
+"""
+Button Example - Detects button press
+"""
+
+bundle = modi_plus.MODIPlus()
+button = bundle.buttons[0]
+
+while True:
+    if button.pressed:
+        print("pressed")
+    else:
+        print("not pressed")
+
+    if button.double_clicked:
+        print("double clicked!")
+        break
+
+    time.sleep(0.02)
+`,
+
+        env: `import modi_plus
+import time
+
+"""
+Environment Sensor Example
+"""
+
+bundle = modi_plus.MODIPlus()
+env = bundle.envs[0]
+
+while True:
+    print(f"Humidity: {env.humidity}% | Temp: {env.temperature}C | Light: {env.illuminance}% | Vol: {env.volume}%")
+    time.sleep(0.5)
+`,
+
+        motor: `import modi_plus
+import time
+
+"""
+Motor Example - Controls motor angle and speed
+"""
+
+bundle = modi_plus.MODIPlus()
+motor = bundle.motors[0]
+
+motor.angle = 0, 70
+time.sleep(3)
+
+motor.angle = 50, 70
+time.sleep(3)
+
+motor.speed = 50
+time.sleep(3)
+
+motor.speed = 100
+time.sleep(3)
+
+motor.speed = 0
+time.sleep(1)
+`,
+
+        speaker: `import modi_plus
+import time
+
+"""
+Speaker Example - Plays tunes
+"""
+
+bundle = modi_plus.MODIPlus()
+speak = bundle.speakers[0]
+
+speak.tune = 800, 70
+time.sleep(2)
+
+speak.frequency = 700
+time.sleep(2)
+
+speak.volume = 100
+time.sleep(1)
+
+speak.reset()
+`,
+
+        dial_led: `import modi_plus
+import time
+
+"""
+Dial + LED Control
+Turn the dial to change LED color!
+"""
+
+bundle = modi_plus.MODIPlus()
+dial = bundle.dials[0]
+led = bundle.leds[0]
+
+print("Turn the dial to change LED color!")
+print("Press Stop to exit")
+
+while True:
+    degree = dial.turn
+
+    # Map dial (0-100) to RGB
+    if degree < 50:
+        r = int(255 * (1 - degree / 50))
+        g = int(255 * (degree / 50))
+        b = 0
+    else:
+        r = 0
+        g = int(255 * (1 - (degree - 50) / 50))
+        b = int(255 * ((degree - 50) / 50))
+
+    led.rgb = r, g, b
+    print(f"Dial: {degree} -> RGB({r}, {g}, {b})")
+
+    time.sleep(0.1)
+`
+    };
+
+    // ============================================================
+    // State
+    // ============================================================
+    let worker = null;
+    let isRunning = false;
+    let connectedModules = [];
+
+    // ============================================================
+    // Logging
+    // ============================================================
+    function log(msg, type) {
+        const el = document.getElementById('output');
+        const div = document.createElement('div');
+        div.className = 'log-line log-' + (type || 'info');
+        div.textContent = msg;
+        el.insertBefore(div, el.firstChild);
+    }
+
+    function commLog(msg, type) {
+        const el = document.getElementById('commLog');
+        const div = document.createElement('div');
+        div.className = 'log-line log-' + (type || 'info');
+        const time = new Date().toLocaleTimeString('ko-KR', {hour12: false});
+        div.textContent = '[' + time + '] ' + msg;
+        el.insertBefore(div, el.firstChild);
+    }
+
+    function setStatus(id, status, text) {
+        document.getElementById('dot' + id).className = 'dot ' + status;
+        if (text) document.getElementById('status' + id).textContent = text;
+    }
+
+    // ============================================================
+    // Flutter Communication
+    // ============================================================
+    function sendToFlutter(type, data) {
+        if (window.parent !== window) {
+            const message = JSON.stringify({ type, data });
+            window.parent.postMessage(message, '*');
+            commLog('→ ' + type, 'send');
+        }
+    }
+
+    window.addEventListener('message', function(event) {
+        try {
+            const msg = typeof event.data === 'string' ? JSON.parse(event.data) : event.data;
+            if (!msg || !msg.type) return;
+
+            commLog('← ' + msg.type, 'recv');
+
+            if (msg.type === 'getPropertyResponse' || msg.type === 'GET_PROPERTY_RESPONSE') {
+                if (msg.data && worker) {
+                    worker.postMessage({ type: 'propertyResponse', data: msg.data });
+                }
+            }
+            else if (msg.type === 'ON_CHANGE_CONNECT_MODI') {
+                updateModulesFromFlutter(msg.data);
+            }
+            else if (msg.type === 'flutterReady' || msg.type === 'FLUTTER_READY') {
+                setStatus('Flutter', 'ok');
+                commLog('Flutter connected!', 'success');
+                sendToFlutter('START_INTERPRETER');
+            }
+        } catch (e) {
+            console.error('Message parse error:', e);
+        }
+    });
+
+    function updateModulesFromFlutter(data) {
+        if (!data || !data.connectModules) {
+            commLog('No modules', 'info');
+            return;
+        }
+
+        connectedModules = data.connectModules;
+        commLog('Modules: ' + connectedModules.length, 'success');
+
+        const bar = document.getElementById('moduleBar');
+        if (connectedModules.length === 0) {
+            bar.innerHTML = '<span style="color: #888;">No modules connected</span>';
+            setStatus('Modi', '');
+            return;
+        }
+
+        bar.innerHTML = connectedModules.map(m =>
+            '<span class="module-chip">' + m.type + '[' + m.fieldIndex + ']</span>'
+        ).join('');
+        setStatus('Modi', 'ok');
+
+        if (worker) {
+            worker.postMessage({ type: 'updateModules', data: { modules: connectedModules } });
+        }
+    }
+
+    // ============================================================
+    // Web Worker
+    // ============================================================
+    function initWorker() {
+        log('Starting PyMODI+ Web...', 'info');
+
+        worker = new Worker('./lib/pymodi-bridge.js');
+
+        worker.onmessage = function(e) {
+            const { type, data } = e.data;
+
+            switch (type) {
+                case 'workerStarted':
+                    log('Worker started', 'info');
+                    worker.postMessage({ type: 'init' });
+                    break;
+
+                case 'ready':
+                    document.getElementById('btnRun').disabled = false;
+                    if (connectedModules.length > 0) {
+                        worker.postMessage({ type: 'updateModules', data: { modules: connectedModules } });
+                    }
+                    break;
+
+                case 'status':
+                    setStatus(data.id, data.status, data.text);
+                    break;
+
+                case 'log':
+                    log(data.msg, data.logType);
+                    break;
+
+                case 'commLog':
+                    commLog(data.msg, data.logType);
+                    break;
+
+                case 'runState':
+                    isRunning = data.running;
+                    document.getElementById('btnRun').disabled = data.running;
+                    document.getElementById('btnStop').disabled = !data.running;
+                    document.getElementById('runStatus').textContent = data.running ? 'Running...' : '';
+                    break;
+
+                case 'interpreterEnd':
+                    sendToFlutter('END_INTERPRETER');
+                    break;
+
+                case 'modiSend':
+                    sendToFlutter('SET_PROPERTY_REQUEST', data);
+                    break;
+
+                case 'getProperty':
+                    sendToFlutter('GET_PROPERTY_REQUEST', data);
+                    break;
+            }
+        };
+
+        worker.onerror = function(e) {
+            log('Worker error: ' + e.message, 'error');
+            setStatus('Pyodide', 'error', 'Error');
+        };
+    }
+
+    // ============================================================
+    // Run/Stop
+    // ============================================================
+    function runCode() {
+        if (isRunning || !worker) return;
+
+        const code = document.getElementById('editor').value;
+        if (!code.trim()) return;
+
+        const transform = document.getElementById('chkTransform').checked;
+        worker.postMessage({
+            type: 'run',
+            data: { code, options: { transform } }
+        });
+    }
+
+    function stopCode() {
+        if (!isRunning || !worker) return;
+        log('Stopping...', 'info');
+        worker.postMessage({ type: 'stop' });
+    }
+
+    // ============================================================
+    // Event Handlers
+    // ============================================================
+    document.getElementById('btnRun').addEventListener('click', runCode);
+    document.getElementById('btnStop').addEventListener('click', stopCode);
+
+    document.getElementById('btnClear').addEventListener('click', function() {
+        document.getElementById('output').innerHTML = '';
+    });
+
+    document.getElementById('btnClearComm').addEventListener('click', function() {
+        document.getElementById('commLog').innerHTML = '';
+    });
+
+    document.getElementById('exampleSelect').addEventListener('change', function() {
+        const example = EXAMPLES[this.value];
+        if (example) {
+            document.getElementById('editor').value = example;
+        }
+    });
+
+    document.getElementById('editor').addEventListener('keydown', function(e) {
+        if ((e.ctrlKey || e.metaKey) && e.key === 'Enter') {
+            e.preventDefault();
+            runCode();
+        }
+        if (e.key === 'Tab') {
+            e.preventDefault();
+            const start = this.selectionStart;
+            const end = this.selectionEnd;
+            this.value = this.value.substring(0, start) + '    ' + this.value.substring(end);
+            this.selectionStart = this.selectionEnd = start + 4;
+        }
+    });
+
+    // ============================================================
+    // Start
+    // ============================================================
+    log('PyMODI+ Web Coding Environment', 'info');
+    initWorker();
+    </script>
+</body>
+</html>
diff --git a/packages/web/test_flutter_integration.html b/packages/web/test_flutter_integration.html
new file mode 100644
index 0000000..b01adbb
--- /dev/null
+++ b/packages/web/test_flutter_integration.html
@@ -0,0 +1,724 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>PyMODI+ Web - Flutter Integration</title>
+    <script src="https://cdn.jsdelivr.net/pyodide/v0.24.1/full/pyodide.js"></script>
+    <style>
+        * { box-sizing: border-box; margin: 0; padding: 0; }
+        body {
+            font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, sans-serif;
+            background: #1a1a2e;
+            color: #eee;
+            height: 100vh;
+            display: flex;
+            flex-direction: column;
+        }
+        .header {
+            background: #16213e;
+            padding: 10px 20px;
+            display: flex;
+            justify-content: space-between;
+            align-items: center;
+            border-bottom: 1px solid #0f3460;
+        }
+        .header h1 { font-size: 16px; color: #e94560; }
+        .status { display: flex; gap: 15px; font-size: 12px; }
+        .status-item { display: flex; align-items: center; gap: 5px; }
+        .status-dot { width: 8px; height: 8px; border-radius: 50%; background: #666; }
+        .status-dot.connected { background: #4ade80; }
+        .status-dot.loading { background: #fbbf24; animation: pulse 1s infinite; }
+        @keyframes pulse { 0%, 100% { opacity: 1; } 50% { opacity: 0.5; } }
+
+        .main { flex: 1; display: flex; overflow: hidden; }
+        .editor-panel { flex: 1; display: flex; flex-direction: column; border-right: 1px solid #0f3460; }
+        .log-panel { width: 400px; display: flex; flex-direction: column; }
+        .panel-header { background: #16213e; padding: 8px 15px; font-size: 12px; font-weight: 600; border-bottom: 1px solid #0f3460; }
+
+        #editor {
+            flex: 1;
+            background: #0f0f23;
+            color: #ccc;
+            font-family: 'Monaco', 'Menlo', monospace;
+            font-size: 13px;
+            padding: 15px;
+            border: none;
+            resize: none;
+            outline: none;
+            line-height: 1.5;
+        }
+
+        .controls { background: #16213e; padding: 10px 15px; display: flex; gap: 10px; }
+        .btn { padding: 8px 16px; border: none; border-radius: 4px; font-size: 12px; font-weight: 600; cursor: pointer; }
+        .btn-run { background: #4ade80; color: #000; }
+        .btn-run:hover { background: #22c55e; }
+        .btn-run:disabled { background: #666; cursor: not-allowed; }
+        .btn-stop { background: #ef4444; color: #fff; }
+        .btn-clear { background: #6366f1; color: #fff; }
+
+        #log { flex: 1; background: #0f0f23; padding: 10px; overflow-y: auto; font-family: monospace; font-size: 11px; }
+        .log-entry { padding: 2px 0; border-bottom: 1px solid #1a1a2e; }
+        .log-entry.info { color: #60a5fa; }
+        .log-entry.success { color: #4ade80; }
+        .log-entry.error { color: #f87171; }
+        .log-entry.recv { color: #c084fc; }
+        .log-entry.send { color: #fbbf24; }
+        .log-entry.python { color: #34d399; }
+
+        .module-info { background: #16213e; padding: 10px; border-bottom: 1px solid #0f3460; font-size: 11px; }
+        .module-list { display: flex; flex-wrap: wrap; gap: 5px; margin-top: 5px; }
+        .module-tag { background: #0f3460; padding: 3px 8px; border-radius: 3px; font-size: 10px; }
+    </style>
+</head>
+<body>
+    <div class="header">
+        <h1>PyMODI+ Web - Flutter Integration</h1>
+        <div class="status">
+            <div class="status-item">
+                <div class="status-dot" id="pyodideStatus"></div>
+                <span>Pyodide</span>
+            </div>
+            <div class="status-item">
+                <div class="status-dot" id="modiStatus"></div>
+                <span>MODI+</span>
+            </div>
+            <div class="status-item">
+                <div class="status-dot" id="flutterStatus"></div>
+                <span>Flutter</span>
+            </div>
+        </div>
+    </div>
+
+    <div class="main">
+        <div class="editor-panel">
+            <div class="panel-header">Python Code Editor (Ctrl+Enter to run)</div>
+            <textarea id="editor" spellcheck="false"># PyMODI+ Web Example
+# Flutter와 postMessage로 통신하여 MODI+ 모듈 제어
+
+import time
+
+# 연결된 모듈 확인
+print("Connected modules:", modi.modules)
+
+# LED 제어 예시
+if modi.leds:
+    led = modi.leds[0]
+    print(f"LED found: {led}")
+
+    # LED 깜빡이기
+    for i in range(3):
+        led.set_rgb(255, 0, 0)  # 빨강
+        time.sleep(0.3)
+        led.set_rgb(0, 255, 0)  # 초록
+        time.sleep(0.3)
+        led.set_rgb(0, 0, 255)  # 파랑
+        time.sleep(0.3)
+
+    led.turn_off()
+    print("LED test complete!")
+
+# 버튼 상태 확인
+if modi.buttons:
+    btn = modi.buttons[0]
+    print(f"Button pressed: {btn.pressed}")
+    print(f"Button clicked: {btn.clicked}")
+
+# 환경 센서 읽기
+if modi.envs:
+    env = modi.envs[0]
+    print(f"Temperature: {env.temperature}°C")
+    print(f"Humidity: {env.humidity}%")
+    print(f"Illuminance: {env.illuminance} lux")
+</textarea>
+            <div class="controls">
+                <button class="btn btn-run" id="runBtn" disabled>▶ Run</button>
+                <button class="btn btn-stop" id="stopBtn" disabled>■ Stop</button>
+                <button class="btn btn-clear" id="clearBtn">Clear</button>
+                <button class="btn" id="testMsgBtn" style="background:#6366f1;color:#fff;">📡 Test Send</button>
+            </div>
+        </div>
+
+        <div class="log-panel">
+            <div class="panel-header">Communication Log</div>
+            <div class="module-info">
+                <strong>Connected Modules:</strong>
+                <div class="module-list" id="moduleList">
+                    <span style="color: #666;">Waiting for connection...</span>
+                </div>
+            </div>
+            <div id="log"></div>
+        </div>
+    </div>
+
+    <script>
+    // ===== Global State =====
+    let pyodide = null;
+    let modi = null;
+    let connectedModules = [];
+
+    // ===== PostMessage Types (Flutter 호환) =====
+    const PostMessageType = {
+        // Python → Flutter (하드웨어 제어)
+        SET_PROPERTY_REQUEST: 'setPropertyRequest',
+        GET_PROPERTY_REQUEST: 'getPropertyRequest',
+
+        // Flutter → Python (하드웨어 응답)
+        GET_PROPERTY_RESPONSE: 'getPropertyResponse',
+
+        // 모듈 정보
+        GET_CONNECTED_MODI: 'getConntectedModi',
+        CONNECTED_MODI: 'connectedModi',
+
+        // Python ready
+        PYTHON_READY: 'pythonReady',
+    };
+
+    // ===== Logging =====
+    function log(message, type = 'info') {
+        const logEl = document.getElementById('log');
+        const entry = document.createElement('div');
+        entry.className = `log-entry ${type}`;
+        const time = new Date().toLocaleTimeString('ko-KR', { hour12: false });
+        entry.textContent = `[${time}] ${message}`;
+        logEl.insertBefore(entry, logEl.firstChild);
+    }
+
+    function updateStatus(id, status) {
+        document.getElementById(id).className = 'status-dot ' + status;
+    }
+
+    // ===== Flutter PostMessage Communication =====
+
+    /**
+     * Python에서 Flutter로 메시지 전송
+     * pymodi-plus의 send() 호출 시 이 함수가 호출됨
+     *
+     * 패킷 형식: {"c": cmd, "s": source, "d": dest, "b": base64_data, "l": length}
+     */
+    window.modiSendToFlutter = function(packet) {
+        try {
+            const data = JSON.parse(packet);
+            log(`→ setPropertyRequest: ${JSON.stringify(data).substring(0, 80)}...`, 'send');
+
+            // Flutter로 setPropertyRequest 전송
+            sendToFlutter(PostMessageType.SET_PROPERTY_REQUEST, data);
+        } catch (e) {
+            log(`Send error: ${e}`, 'error');
+        }
+    };
+
+    /**
+     * Python에서 Flutter로 속성 요청 (센서 읽기 등)
+     */
+    window.modiGetProperty = function(moduleType, moduleIndex, propertyNum) {
+        const data = {
+            moduleType: moduleType,
+            index: moduleIndex,
+            propertyNum: propertyNum
+        };
+
+        log(`→ getPropertyRequest: ${moduleType}[${moduleIndex}].prop${propertyNum}`, 'send');
+        sendToFlutter(PostMessageType.GET_PROPERTY_REQUEST, data);
+    };
+
+    /**
+     * Flutter(부모 윈도우)로 메시지 전송
+     */
+    function sendToFlutter(type, data) {
+        const message = { type: type, data: data };
+
+        log(`📤 SEND → type: ${type}, data: ${JSON.stringify(data).substring(0, 80)}`, 'send');
+
+        if (window.parent !== window) {
+            window.parent.postMessage(message, '*');
+            log(`📤 postMessage sent to parent`, 'send');
+        } else {
+            log(`⚠️ [Standalone mode] No parent window - message not sent`, 'info');
+        }
+    }
+
+    /**
+     * Flutter에서 메시지 수신
+     */
+    window.addEventListener('message', function(event) {
+        // 모든 메시지 로깅 (디버깅용)
+        log(`📩 RAW message from: ${event.origin}`, 'recv');
+
+        try {
+            const message = typeof event.data === 'string'
+                ? JSON.parse(event.data)
+                : event.data;
+
+            if (!message) {
+                log(`📩 Empty message data`, 'recv');
+                return;
+            }
+
+            log(`📩 Message type: ${message.type || 'no type'}, data: ${JSON.stringify(message.data || message).substring(0, 100)}`, 'recv');
+
+            if (!message.type) return;
+
+            switch (message.type) {
+                case PostMessageType.GET_PROPERTY_RESPONSE:
+                    // 하드웨어 응답 → Python으로 전달
+                    handlePropertyResponse(message.data);
+                    break;
+
+                case PostMessageType.CONNECTED_MODI:
+                case 'connectedModi':
+                    // 연결된 모듈 목록
+                    handleConnectedModi(message.data);
+                    break;
+
+                case 'flutterReady':
+                    // Flutter WebView 준비 완료
+                    updateStatus('flutterStatus', 'connected');
+                    log('Flutter connection established', 'success');
+                    requestConnectedModi();
+                    break;
+
+                default:
+                    log(`← Unknown type: ${message.type}`, 'recv');
+            }
+        } catch (e) {
+            log(`📩 Parse error: ${e.message}, raw: ${String(event.data).substring(0, 50)}`, 'error');
+        }
+    });
+
+    /**
+     * getPropertyResponse 처리 - 하드웨어 데이터를 Python으로 전달
+     *
+     * Flutter에서 오는 형식:
+     * {
+     *   moduleType: "led",
+     *   index: 0,
+     *   propertyNum: 0,
+     *   data: [...] // 속성 값
+     * }
+     */
+    function handlePropertyResponse(data) {
+        if (!modi || !pyodide) return;
+
+        log(`← getPropertyResponse: ${JSON.stringify(data).substring(0, 60)}...`, 'recv');
+
+        try {
+            // MODI+ JSON 패킷 형식으로 변환하여 Python에 전달
+            const packet = JSON.stringify(data);
+            pyodide.runPython(`modi.on_message('${packet.replace(/'/g, "\\'")}')`);
+        } catch (e) {
+            log(`Response handling error: ${e}`, 'error');
+        }
+    }
+
+    /**
+     * 연결된 모듈 목록 처리
+     */
+    function handleConnectedModi(data) {
+        const moduleList = document.getElementById('moduleList');
+
+        if (!data || !data.modules || data.modules.length === 0) {
+            moduleList.innerHTML = '<span style="color: #666;">No modules connected</span>';
+            updateStatus('modiStatus', '');
+            return;
+        }
+
+        connectedModules = data.modules;
+        moduleList.innerHTML = data.modules.map(m =>
+            `<span class="module-tag">${m.type} (ID: ${m.id})</span>`
+        ).join('');
+
+        updateStatus('modiStatus', 'connected');
+        log(`Modules connected: ${data.modules.map(m => m.type).join(', ')}`, 'success');
+
+        // Python에 모듈 정보 전달
+        if (pyodide && modi) {
+            try {
+                pyodide.runPython(`
+_update_modules(${JSON.stringify(data.modules)})
+                `);
+            } catch (e) {
+                log(`Module update error: ${e}`, 'error');
+            }
+        }
+    }
+
+    /**
+     * Flutter에 연결된 모듈 목록 요청
+     */
+    function requestConnectedModi() {
+        sendToFlutter(PostMessageType.GET_CONNECTED_MODI, {});
+    }
+
+    // ===== Pyodide Initialization =====
+    async function initPyodide() {
+        log('Loading Pyodide...', 'info');
+        updateStatus('pyodideStatus', 'loading');
+
+        try {
+            pyodide = await loadPyodide();
+            log('Pyodide loaded', 'success');
+
+            // pymodi-plus-web 초기화 (Mock 모드)
+            await pyodide.runPythonAsync(`
+import sys
+import json
+import time as _time
+
+# ===== Flutter 통신용 PostMessageTask =====
+class PostMessageTask:
+    def __init__(self, verbose=False):
+        self.verbose = verbose
+        self._recv_queue = []
+        self._send_callback = None
+        self._connected = False
+
+    def open_connection(self):
+        self._connected = True
+
+    def close_connection(self):
+        self._connected = False
+        self._send_callback = None
+
+    @property
+    def is_connected(self):
+        return self._connected
+
+    def set_send_callback(self, callback):
+        self._send_callback = callback
+
+    def on_message(self, data):
+        """Flutter에서 getPropertyResponse 수신"""
+        if isinstance(data, dict):
+            data = json.dumps(data)
+        self._recv_queue.append(data)
+        if self.verbose:
+            print(f"[Task] Received: {data[:50]}...")
+
+    def send(self, pkt, verbose=False):
+        """Flutter로 setPropertyRequest 전송"""
+        if self._send_callback:
+            self._send_callback(pkt)
+
+    def recv(self):
+        if not self._recv_queue:
+            return None
+        return self._recv_queue.pop(0)
+
+# ===== 모듈 클래스 =====
+class BaseModule:
+    def __init__(self, module_type, module_id, index=0):
+        self.type = module_type
+        self.id = module_id
+        self.index = index
+        self._task = None
+
+    def __repr__(self):
+        return f"<{self.type} id={self.id}>"
+
+    def _send_command(self, property_num, data):
+        """하드웨어에 명령 전송"""
+        if self._task and self._task._send_callback:
+            packet = {
+                "moduleType": self.type.lower(),
+                "index": self.index,
+                "propertyNum": property_num,
+                "data": data
+            }
+            self._task.send(json.dumps(packet))
+
+    def _request_property(self, property_num):
+        """하드웨어에서 속성 요청"""
+        import js
+        js.window.modiGetProperty(self.type.lower(), self.index, property_num)
+
+class LED(BaseModule):
+    # Property numbers
+    PROP_RGB = 2
+
+    def __init__(self, module_id, index=0):
+        super().__init__('LED', module_id, index)
+        self._rgb = (0, 0, 0)
+
+    def set_rgb(self, r, g, b):
+        self._rgb = (r, g, b)
+        self._send_command(self.PROP_RGB, [r, g, b])
+        print(f"[LED] Set RGB({r}, {g}, {b})")
+
+    def turn_on(self):
+        self.set_rgb(255, 255, 255)
+
+    def turn_off(self):
+        self.set_rgb(0, 0, 0)
+
+    @property
+    def red(self):
+        return self._rgb[0]
+
+    @property
+    def green(self):
+        return self._rgb[1]
+
+    @property
+    def blue(self):
+        return self._rgb[2]
+
+class Button(BaseModule):
+    PROP_STATE = 0
+
+    def __init__(self, module_id, index=0):
+        super().__init__('Button', module_id, index)
+        self._pressed = False
+        self._clicked = False
+
+    @property
+    def pressed(self):
+        self._request_property(self.PROP_STATE)
+        return self._pressed
+
+    @property
+    def clicked(self):
+        return self._clicked
+
+class Env(BaseModule):
+    PROP_TEMP = 0
+    PROP_HUMIDITY = 1
+    PROP_ILLUMINANCE = 2
+    PROP_VOLUME = 3
+
+    def __init__(self, module_id, index=0):
+        super().__init__('Env', module_id, index)
+        self._temp = 25.0
+        self._humidity = 50.0
+        self._illuminance = 500
+        self._volume = 0
+
+    @property
+    def temperature(self):
+        self._request_property(self.PROP_TEMP)
+        return self._temp
+
+    @property
+    def humidity(self):
+        self._request_property(self.PROP_HUMIDITY)
+        return self._humidity
+
+    @property
+    def illuminance(self):
+        self._request_property(self.PROP_ILLUMINANCE)
+        return self._illuminance
+
+class Motor(BaseModule):
+    PROP_SPEED = 0
+    PROP_ANGLE = 2
+
+    def __init__(self, module_id, index=0):
+        super().__init__('Motor', module_id, index)
+        self._speed = 0
+        self._angle = 0
+
+    def set_speed(self, speed):
+        self._speed = speed
+        self._send_command(self.PROP_SPEED, [speed])
+        print(f"[Motor] Set speed: {speed}")
+
+    def set_angle(self, angle):
+        self._angle = angle
+        self._send_command(self.PROP_ANGLE, [angle])
+        print(f"[Motor] Set angle: {angle}")
+
+    def stop(self):
+        self.set_speed(0)
+
+class Speaker(BaseModule):
+    PROP_FREQUENCY = 0
+    PROP_VOLUME = 1
+
+    def __init__(self, module_id, index=0):
+        super().__init__('Speaker', module_id, index)
+
+    def set_frequency(self, freq):
+        self._send_command(self.PROP_FREQUENCY, [freq])
+        print(f"[Speaker] Set frequency: {freq}Hz")
+
+    def set_volume(self, vol):
+        self._send_command(self.PROP_VOLUME, [vol])
+        print(f"[Speaker] Set volume: {vol}")
+
+# ===== MODIPlusWeb 클래스 =====
+class MODIPlusWeb:
+    def __init__(self, verbose=False):
+        self.verbose = verbose
+        self._task = PostMessageTask(verbose=verbose)
+        self._task.open_connection()
+        self._modules = []
+
+    @property
+    def modules(self):
+        return self._modules
+
+    @property
+    def leds(self):
+        return [m for m in self._modules if isinstance(m, LED)]
+
+    @property
+    def buttons(self):
+        return [m for m in self._modules if isinstance(m, Button)]
+
+    @property
+    def envs(self):
+        return [m for m in self._modules if isinstance(m, Env)]
+
+    @property
+    def motors(self):
+        return [m for m in self._modules if isinstance(m, Motor)]
+
+    @property
+    def speakers(self):
+        return [m for m in self._modules if isinstance(m, Speaker)]
+
+    def set_send_callback(self, callback):
+        self._task.set_send_callback(callback)
+
+    def on_message(self, data):
+        """Flutter에서 응답 수신"""
+        self._task.on_message(data)
+        # TODO: 응답 파싱하여 모듈 상태 업데이트
+
+    def _add_module(self, module):
+        module._task = self._task
+        self._modules.append(module)
+
+# ===== 초기화 =====
+import js
+
+modi = MODIPlusWeb(verbose=True)
+modi.set_send_callback(lambda pkt: js.window.modiSendToFlutter(pkt))
+
+# Mock 모듈 추가 (테스트용)
+modi._add_module(LED(1001, 0))
+modi._add_module(Button(2001, 0))
+modi._add_module(Env(3001, 0))
+modi._add_module(Motor(4001, 0))
+modi._add_module(Speaker(5001, 0))
+
+def _update_modules(modules_data):
+    """Flutter에서 받은 모듈 목록으로 업데이트"""
+    global modi
+    modi._modules = []
+
+    type_map = {
+        'led': LED,
+        'button': Button,
+        'environment': Env,
+        'env': Env,
+        'motor': Motor,
+        'speaker': Speaker,
+    }
+
+    for i, m in enumerate(modules_data):
+        mod_type = m.get('type', '').lower()
+        mod_id = m.get('id', i + 1000)
+
+        if mod_type in type_map:
+            module = type_map[mod_type](mod_id, i)
+            modi._add_module(module)
+
+    print(f"✅ Modules updated: {modi.modules}")
+
+print("✅ PyMODI+ Web initialized")
+print(f"📦 Mock modules: {modi.modules}")
+            `);
+
+            modi = pyodide.globals.get('modi');
+
+            updateStatus('pyodideStatus', 'connected');
+            log('PyMODI+ Web initialized', 'success');
+
+            document.getElementById('runBtn').disabled = false;
+
+            // Flutter에 준비 완료 알림
+            sendToFlutter(PostMessageType.PYTHON_READY, {});
+
+            // 모듈 목록 요청
+            setTimeout(requestConnectedModi, 500);
+
+        } catch (e) {
+            log(`Initialization error: ${e}`, 'error');
+            console.error(e);
+            updateStatus('pyodideStatus', '');
+        }
+    }
+
+    // ===== Code Execution =====
+    async function runCode() {
+        const code = document.getElementById('editor').value;
+        if (!code.trim()) return;
+
+        document.getElementById('runBtn').disabled = true;
+        document.getElementById('stopBtn').disabled = false;
+
+        log('=== Running Python ===', 'info');
+
+        try {
+            // print 캡처
+            await pyodide.runPythonAsync(\`
+import sys
+class LogCapture:
+    def write(self, text):
+        if text.strip():
+            import js
+            js.window.logPython(text.strip())
+    def flush(self):
+        pass
+sys.stdout = LogCapture()
+sys.stderr = LogCapture()
+            \`);
+
+            await pyodide.runPythonAsync(code);
+            log('=== Complete ===', 'success');
+        } catch (e) {
+            log(\`Error: \${e}\`, 'error');
+        } finally {
+            document.getElementById('runBtn').disabled = false;
+            document.getElementById('stopBtn').disabled = true;
+        }
+    }
+
+    window.logPython = (text) => log(\`[Python] \${text}\`, 'python');
+
+    // ===== Event Handlers =====
+    document.getElementById('runBtn').addEventListener('click', runCode);
+    document.getElementById('stopBtn').addEventListener('click', () => log('Stop requested', 'info'));
+    document.getElementById('clearBtn').addEventListener('click', () => document.getElementById('log').innerHTML = '');
+
+    document.getElementById('testMsgBtn').addEventListener('click', () => {
+        log('=== TEST MESSAGE ===', 'info');
+        // 테스트: LED 빨간색 설정 명령 전송
+        sendToFlutter('setPropertyRequest', {
+            moduleType: 'led',
+            index: 0,
+            propertyNum: 2,
+            data: [255, 0, 0]
+        });
+        // 테스트: 환경센서 온도 요청
+        sendToFlutter('getPropertyRequest', {
+            moduleType: 'environment',
+            index: 0,
+            propertyNum: 0
+        });
+    });
+
+    document.getElementById('editor').addEventListener('keydown', (e) => {
+        if ((e.ctrlKey || e.metaKey) && e.key === 'Enter') {
+            e.preventDefault();
+            if (!document.getElementById('runBtn').disabled) runCode();
+        }
+    });
+
+    // ===== Initialize =====
+    initPyodide();
+    log('PyMODI+ Web loaded - waiting for Flutter...', 'info');
+    </script>
+</body>
+</html>
diff --git a/packages/web/test_pyodide.html b/packages/web/test_pyodide.html
new file mode 100644
index 0000000..3848668
--- /dev/null
+++ b/packages/web/test_pyodide.html
@@ -0,0 +1,742 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="UTF-8">
+    <title>pymodi-plus-web Pyodide IDE</title>
+    <script src="https://cdn.jsdelivr.net/pyodide/v0.24.1/full/pyodide.js"></script>
+    <style>
+        * { box-sizing: border-box; }
+        body {
+            font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, sans-serif;
+            margin: 0;
+            padding: 20px;
+            background: #1a1a2e;
+            color: #eee;
+            min-height: 100vh;
+        }
+        h1 { color: #00d9ff; margin-bottom: 10px; }
+        .container {
+            display: grid;
+            grid-template-columns: 1fr 1fr;
+            gap: 20px;
+            max-width: 1400px;
+            margin: 0 auto;
+        }
+        .panel {
+            background: #16213e;
+            border-radius: 8px;
+            padding: 15px;
+            border: 1px solid #0f3460;
+        }
+        .panel h2 {
+            margin: 0 0 10px 0;
+            color: #00d9ff;
+            font-size: 16px;
+        }
+        .status {
+            padding: 8px 12px;
+            border-radius: 4px;
+            margin-bottom: 15px;
+            font-size: 14px;
+        }
+        .success { background: #1b4332; color: #95d5b2; }
+        .error { background: #5c1a1a; color: #f8d7da; }
+        .info { background: #1a3a5c; color: #a8dadc; }
+        .loading { background: #5c4a1a; color: #fff3cd; }
+
+        .editor-container {
+            display: flex;
+            border: 1px solid #30363d;
+            border-radius: 6px;
+            overflow: hidden;
+            background: #0d1117;
+        }
+        #lineNumbers {
+            background: #161b22;
+            color: #6e7681;
+            padding: 12px 8px;
+            font-family: 'Monaco', 'Menlo', 'Consolas', monospace;
+            font-size: 13px;
+            line-height: 1.5;
+            text-align: right;
+            user-select: none;
+            border-right: 1px solid #30363d;
+            min-width: 40px;
+            overflow: hidden;
+            white-space: pre;
+        }
+        #editor {
+            flex: 1;
+            height: 400px;
+            background: #0d1117;
+            color: #c9d1d9;
+            border: none;
+            padding: 12px;
+            font-family: 'Monaco', 'Menlo', 'Consolas', monospace;
+            font-size: 13px;
+            line-height: 1.5;
+            resize: none;
+            tab-size: 4;
+            outline: none;
+        }
+        #output, #messages, #hardware {
+            background: #0d1117;
+            color: #8b949e;
+            padding: 12px;
+            border-radius: 6px;
+            font-family: monospace;
+            font-size: 12px;
+            height: 180px;
+            overflow-y: auto;
+            white-space: pre-wrap;
+            border: 1px solid #30363d;
+        }
+        .btn-group {
+            display: flex;
+            gap: 8px;
+            margin: 10px 0;
+            flex-wrap: wrap;
+        }
+        button {
+            background: #238636;
+            color: white;
+            border: none;
+            padding: 8px 16px;
+            border-radius: 6px;
+            cursor: pointer;
+            font-size: 13px;
+            font-weight: 500;
+        }
+        button:hover { background: #2ea043; }
+        button:disabled { background: #484f58; cursor: not-allowed; }
+        button.primary { background: #1f6feb; }
+        button.primary:hover { background: #388bfd; }
+        button.danger { background: #da3633; }
+        button.danger:hover { background: #f85149; }
+        button.secondary { background: #30363d; }
+        button.secondary:hover { background: #484f58; }
+
+        .examples {
+            display: flex;
+            gap: 5px;
+            flex-wrap: wrap;
+            margin-bottom: 10px;
+        }
+        .examples button {
+            background: #30363d;
+            font-size: 11px;
+            padding: 4px 8px;
+        }
+        .examples button:hover { background: #484f58; }
+        .examples button.active { background: #1f6feb; }
+
+        .header {
+            display: flex;
+            justify-content: space-between;
+            align-items: center;
+            margin-bottom: 20px;
+        }
+
+        .module-sim {
+            display: flex;
+            gap: 10px;
+            flex-wrap: wrap;
+            margin-top: 10px;
+        }
+        .module-card {
+            background: #0d1117;
+            border: 1px solid #30363d;
+            border-radius: 6px;
+            padding: 10px;
+            min-width: 100px;
+            text-align: center;
+        }
+        .module-card .name { color: #58a6ff; font-size: 12px; }
+        .module-card .id { color: #6e7681; font-size: 10px; }
+        .module-card .value { color: #f0f6fc; font-size: 18px; font-weight: bold; margin: 5px 0; }
+        .led-preview {
+            width: 40px;
+            height: 40px;
+            border-radius: 50%;
+            margin: 5px auto;
+            border: 2px solid #30363d;
+            transition: background-color 0.1s;
+        }
+
+        .tab-buttons { display: flex; gap: 5px; margin-bottom: 10px; }
+        .tab-buttons button { padding: 5px 12px; font-size: 12px; }
+        .tab-content { display: none; }
+        .tab-content.active { display: block; }
+    </style>
+</head>
+<body>
+    <div class="header">
+        <h1>pymodi-plus-web IDE</h1>
+        <div id="status" class="status loading">Loading Pyodide...</div>
+    </div>
+
+    <div class="container">
+        <div class="panel">
+            <h2>Python Editor - pymodi-plus 스타일</h2>
+            <div class="examples">
+                <button onclick="loadExample('led')" class="active">LED 예제</button>
+                <button onclick="loadExample('button')">Button 예제</button>
+                <button onclick="loadExample('multi')">복합 예제</button>
+                <button onclick="loadExample('env')">환경센서</button>
+                <button onclick="loadExample('motor')">모터</button>
+            </div>
+            <div class="editor-container">
+                <div id="lineNumbers">1</div>
+                <textarea id="editor" spellcheck="false"># pymodi-plus 웹 버전 LED 예제
+# 기존 pymodi-plus 코드와 거의 동일합니다!
+
+from modi_plus_web import MODIPlusWeb
+import time
+
+# 웹 버전 MODI+ 객체 생성
+bundle = MODIPlusWeb()
+
+# LED 모듈 가져오기
+led = bundle.leds[0]
+
+# LED 제어 (기존 pymodi-plus와 동일한 API)
+led.blue = 100
+print("LED 파란색 켜짐")
+time.sleep(0.5)
+
+led.blue = 0
+led.green = 255
+print("LED 초록색 켜짐")
+time.sleep(0.5)
+
+led.green = 0
+led.red = 100
+print("LED 빨간색 켜짐")
+time.sleep(0.5)
+
+# RGB 색상 변경
+led.rgb = (255, 128, 0)  # 주황색
+print("LED RGB: 주황색")
+
+led.turn_on()
+print("LED 켜기")
+
+led.turn_off()
+print("LED 끄기")
+</textarea>
+            </div>
+            <div class="btn-group">
+                <button id="btnRun" class="primary" onclick="runCode()">▶ Run (Ctrl+Enter)</button>
+                <button onclick="clearOutput()">Clear</button>
+                <button class="danger" onclick="stopCode()">■ Stop</button>
+            </div>
+        </div>
+
+        <div class="panel">
+            <h2>Output</h2>
+            <pre id="output"></pre>
+        </div>
+
+        <div class="panel">
+            <h2>Hardware Simulation (WebUSB 시뮬레이션)</h2>
+            <div class="module-sim">
+                <div class="module-card">
+                    <div class="name">LED</div>
+                    <div class="id">ID: 0x1001</div>
+                    <div class="led-preview" id="ledPreview"></div>
+                </div>
+                <div class="module-card">
+                    <div class="name">Button</div>
+                    <div class="id">ID: 0x2001</div>
+                    <div class="value" id="buttonState">OFF</div>
+                    <button class="secondary" onmousedown="pressButton()" onmouseup="releaseButton()">Press</button>
+                </div>
+                <div class="module-card">
+                    <div class="name">Dial</div>
+                    <div class="id">ID: 0x3001</div>
+                    <div class="value" id="dialValue">0</div>
+                    <input type="range" min="0" max="100" value="0" oninput="changeDial(this.value)">
+                </div>
+                <div class="module-card">
+                    <div class="name">ENV</div>
+                    <div class="id">ID: 0x4001</div>
+                    <div class="value" id="envTemp">25°C</div>
+                </div>
+            </div>
+            <pre id="hardware" style="margin-top: 10px; height: 100px;">하드웨어 통신 로그...</pre>
+        </div>
+
+        <div class="panel">
+            <h2>Communication Log (Python ↔ JS)</h2>
+            <div class="tab-buttons">
+                <button onclick="showTab('toJs')" class="secondary">Python → JS</button>
+                <button onclick="showTab('toPy')" class="secondary">JS → Python</button>
+            </div>
+            <pre id="messages">패킷 통신 로그가 여기에 표시됩니다...</pre>
+        </div>
+    </div>
+
+    <script>
+        let pyodide = null;
+        let isRunning = false;
+        const output = document.getElementById('output');
+        const messages = document.getElementById('messages');
+        const hardware = document.getElementById('hardware');
+        const status = document.getElementById('status');
+        const editor = document.getElementById('editor');
+        const lineNumbers = document.getElementById('lineNumbers');
+        const ledPreview = document.getElementById('ledPreview');
+
+        // 실제 pymodi-plus 스타일 예제들
+        const examples = {
+            led: `# pymodi-plus 웹 버전 LED 예제
+# 기존 pymodi-plus 코드와 거의 동일합니다!
+
+from modi_plus_web import MODIPlusWeb
+import time
+
+# 웹 버전 MODI+ 객체 생성
+bundle = MODIPlusWeb()
+
+# LED 모듈 가져오기
+led = bundle.leds[0]
+
+# LED 제어 (기존 pymodi-plus와 동일한 API)
+led.blue = 100
+print("LED 파란색 켜짐")
+time.sleep(0.5)
+
+led.blue = 0
+led.green = 255
+print("LED 초록색 켜짐")
+time.sleep(0.5)
+
+led.green = 0
+led.red = 100
+print("LED 빨간색 켜짐")
+time.sleep(0.5)
+
+# RGB 색상 변경
+led.rgb = (255, 128, 0)  # 주황색
+print("LED RGB: 주황색")
+
+led.turn_on()
+print("LED 켜기")
+
+led.turn_off()
+print("LED 끄기")`,
+
+            button: `# pymodi-plus 웹 버전 Button 예제
+from modi_plus_web import MODIPlusWeb
+import time
+
+bundle = MODIPlusWeb()
+button = bundle.buttons[0]
+
+print("버튼을 눌러보세요!")
+print("(Hardware Simulation 패널의 Press 버튼 사용)")
+
+# 5초간 버튼 상태 모니터링
+for i in range(50):
+    if button.pressed:
+        print("버튼 눌림! ●")
+    else:
+        print("버튼 대기중... ○")
+    time.sleep(0.1)
+
+print("\\n모니터링 종료")`,
+
+            multi: `# pymodi-plus 복합 예제 (LED + Button)
+from modi_plus_web import MODIPlusWeb
+import time
+
+bundle = MODIPlusWeb()
+led = bundle.leds[0]
+button = bundle.buttons[0]
+dial = bundle.dials[0]
+
+print("버튼을 누르면 LED가 켜집니다!")
+print("다이얼로 밝기를 조절하세요.")
+
+for i in range(100):
+    # 다이얼 값으로 밝기 조절
+    brightness = dial.degree
+
+    if button.pressed:
+        led.rgb = (brightness, brightness, brightness)
+        print(f"LED ON - 밝기: {brightness}")
+    else:
+        led.turn_off()
+        print(f"LED OFF - 다이얼: {brightness}")
+
+    time.sleep(0.1)`,
+
+            env: `# pymodi-plus 환경센서 예제
+from modi_plus_web import MODIPlusWeb
+import time
+
+bundle = MODIPlusWeb()
+env = bundle.envs[0]
+
+print("환경 센서 데이터 읽기")
+print("-" * 30)
+
+for i in range(10):
+    temp = env.temperature
+    humid = env.humidity
+    light = env.illuminance
+
+    print(f"온도: {temp:.1f}°C")
+    print(f"습도: {humid:.1f}%")
+    print(f"조도: {light:.0f} lux")
+    print("-" * 30)
+    time.sleep(1)`,
+
+            motor: `# pymodi-plus 모터 예제
+from modi_plus_web import MODIPlusWeb
+import time
+
+bundle = MODIPlusWeb()
+motor = bundle.motors[0]
+
+print("모터 제어 테스트")
+
+# 전진
+motor.speed = 50, 50
+print("전진 (50, 50)")
+time.sleep(1)
+
+# 후진
+motor.speed = -50, -50
+print("후진 (-50, -50)")
+time.sleep(1)
+
+# 좌회전
+motor.speed = -30, 30
+print("좌회전 (-30, 30)")
+time.sleep(1)
+
+# 우회전
+motor.speed = 30, -30
+print("우회전 (30, -30)")
+time.sleep(1)
+
+# 정지
+motor.speed = 0, 0
+print("정지")`,
+        };
+
+        // 하드웨어 시뮬레이션 상태
+        const hwState = {
+            button: { pressed: false },
+            dial: { degree: 0 },
+            led: { r: 0, g: 0, b: 0 },
+            env: { temperature: 25.5, humidity: 60, illuminance: 500 }
+        };
+
+        function pressButton() {
+            hwState.button.pressed = true;
+            document.getElementById('buttonState').textContent = 'ON';
+            document.getElementById('buttonState').style.color = '#58a6ff';
+            sendToePython('button', { pressed: true });
+        }
+
+        function releaseButton() {
+            hwState.button.pressed = false;
+            document.getElementById('buttonState').textContent = 'OFF';
+            document.getElementById('buttonState').style.color = '#8b949e';
+            sendToePython('button', { pressed: false });
+        }
+
+        function changeDial(value) {
+            hwState.dial.degree = parseInt(value);
+            document.getElementById('dialValue').textContent = value;
+            sendToePython('dial', { degree: parseInt(value) });
+        }
+
+        function sendToePython(module, data) {
+            const timestamp = new Date().toLocaleTimeString();
+            hardware.textContent += `[${timestamp}] ${module}: ${JSON.stringify(data)}\n`;
+            hardware.scrollTop = hardware.scrollHeight;
+        }
+
+        function updateLedPreview(r, g, b) {
+            ledPreview.style.backgroundColor = `rgb(${r}, ${g}, ${b})`;
+            ledPreview.style.boxShadow = r + g + b > 0 ? `0 0 20px rgba(${r}, ${g}, ${b}, 0.8)` : 'none';
+        }
+
+        // 라인 번호
+        function updateLineNumbers() {
+            const lines = editor.value.split('\n').length;
+            let nums = '';
+            for (let i = 1; i <= lines; i++) nums += i + '\n';
+            lineNumbers.textContent = nums;
+        }
+
+        editor.addEventListener('scroll', () => lineNumbers.scrollTop = editor.scrollTop);
+        editor.addEventListener('input', updateLineNumbers);
+
+        function loadExample(name) {
+            editor.value = examples[name];
+            updateLineNumbers();
+            document.querySelectorAll('.examples button').forEach(b => b.classList.remove('active'));
+            event.target.classList.add('active');
+        }
+
+        function log(text, type = 'info') {
+            const timestamp = new Date().toLocaleTimeString();
+            const prefix = type === 'error' ? '❌ ' : type === 'success' ? '✅ ' : '';
+            output.textContent += `[${timestamp}] ${prefix}${text}\n`;
+            output.scrollTop = output.scrollHeight;
+        }
+
+        function logPacket(direction, pkt) {
+            const timestamp = new Date().toLocaleTimeString();
+            const arrow = direction === 'toJs' ? '→ JS' : '← PY';
+            messages.textContent += `[${timestamp}] ${arrow}: ${pkt}\n`;
+            messages.scrollTop = messages.scrollHeight;
+        }
+
+        function clearOutput() { output.textContent = ''; }
+
+        function setStatus(text, type) {
+            status.textContent = text;
+            status.className = 'status ' + type;
+        }
+
+        function showTab(tab) {
+            // 탭 전환 로직
+        }
+
+        // Python으로부터 메시지 수신 (LED 제어 등)
+        window.modiSend = (pkt) => {
+            logPacket('toJs', pkt);
+            try {
+                const data = JSON.parse(pkt);
+                // LED 명령 처리
+                if (data.module === 'led') {
+                    updateLedPreview(data.r || 0, data.g || 0, data.b || 0);
+                }
+            } catch (e) {}
+        };
+
+        async function initPyodide() {
+            try {
+                log('Pyodide 로딩 중...');
+                pyodide = await loadPyodide();
+                log('Pyodide 로드 완료!', 'success');
+
+                pyodide.setStdout({ batched: (text) => log(text) });
+                pyodide.setStderr({ batched: (text) => log(text, 'error') });
+
+                await initModiPlusWeb();
+
+                setStatus('Ready', 'success');
+                document.getElementById('btnRun').disabled = false;
+                updateLineNumbers();
+
+                editor.addEventListener('keydown', (e) => {
+                    if (e.ctrlKey && e.key === 'Enter') { e.preventDefault(); runCode(); }
+                    if (e.key === 'Tab') {
+                        e.preventDefault();
+                        const start = editor.selectionStart;
+                        editor.value = editor.value.substring(0, start) + '    ' + editor.value.substring(editor.selectionEnd);
+                        editor.selectionStart = editor.selectionEnd = start + 4;
+                    }
+                });
+
+            } catch (e) {
+                log('Pyodide 로드 실패: ' + e, 'error');
+                setStatus('Error', 'error');
+            }
+        }
+
+        async function initModiPlusWeb() {
+            // pymodi-plus-web 시뮬레이션 모듈 생성
+            await pyodide.runPythonAsync(`
+import js
+import json
+import time as _time
+from queue import Queue
+
+# 하드웨어 상태 (JS와 공유)
+hw_state = {
+    'button': {'pressed': False},
+    'dial': {'degree': 0},
+    'led': {'r': 0, 'g': 0, 'b': 0},
+    'env': {'temperature': 25.5, 'humidity': 60, 'illuminance': 500}
+}
+
+class PostMessageTask:
+    def __init__(self):
+        self._recv_queue = Queue()
+        self._connected = True
+
+    def send(self, pkt):
+        js.window.modiSend(pkt)
+
+    def recv(self):
+        return self._recv_queue.get() if not self._recv_queue.empty() else None
+
+    def on_message(self, data):
+        self._recv_queue.put(data)
+
+# 모듈 클래스들 (pymodi-plus API 호환)
+class MockLed:
+    def __init__(self, task):
+        self._task = task
+        self._r = self._g = self._b = 0
+
+    @property
+    def red(self): return self._r
+    @red.setter
+    def red(self, v):
+        self._r = v
+        self._send_color()
+
+    @property
+    def green(self): return self._g
+    @green.setter
+    def green(self, v):
+        self._g = v
+        self._send_color()
+
+    @property
+    def blue(self): return self._b
+    @blue.setter
+    def blue(self, v):
+        self._b = v
+        self._send_color()
+
+    @property
+    def rgb(self): return (self._r, self._g, self._b)
+    @rgb.setter
+    def rgb(self, v):
+        self._r, self._g, self._b = v
+        self._send_color()
+
+    def turn_on(self):
+        self.rgb = (255, 255, 255)
+
+    def turn_off(self):
+        self.rgb = (0, 0, 0)
+
+    def _send_color(self):
+        self._task.send(json.dumps({'module': 'led', 'r': self._r, 'g': self._g, 'b': self._b}))
+
+class MockButton:
+    @property
+    def pressed(self):
+        return js.window.hwState.button.pressed
+
+    @property
+    def double_clicked(self):
+        return False
+
+class MockDial:
+    @property
+    def degree(self):
+        return int(js.window.hwState.dial.degree)
+
+class MockEnv:
+    @property
+    def temperature(self):
+        return float(js.window.hwState.env.temperature)
+
+    @property
+    def humidity(self):
+        return float(js.window.hwState.env.humidity)
+
+    @property
+    def illuminance(self):
+        return float(js.window.hwState.env.illuminance)
+
+class MockMotor:
+    def __init__(self, task):
+        self._task = task
+        self._speed = (0, 0)
+
+    @property
+    def speed(self): return self._speed
+    @speed.setter
+    def speed(self, v):
+        self._speed = v
+        self._task.send(json.dumps({'module': 'motor', 'left': v[0], 'right': v[1]}))
+
+class ModuleList(list):
+    def __getitem__(self, idx):
+        if idx < len(self):
+            return super().__getitem__(idx)
+        return self[0] if len(self) > 0 else None
+
+class MODIPlusWeb:
+    def __init__(self):
+        self._task = PostMessageTask()
+        self._led = MockLed(self._task)
+        self._button = MockButton()
+        self._dial = MockDial()
+        self._env = MockEnv()
+        self._motor = MockMotor(self._task)
+        print("MODIPlusWeb 초기화 완료!")
+
+    @property
+    def leds(self): return ModuleList([self._led])
+    @property
+    def buttons(self): return ModuleList([self._button])
+    @property
+    def dials(self): return ModuleList([self._dial])
+    @property
+    def envs(self): return ModuleList([self._env])
+    @property
+    def motors(self): return ModuleList([self._motor])
+
+# 모듈로 등록
+class modi_plus_web:
+    MODIPlusWeb = MODIPlusWeb
+    PostMessageTask = PostMessageTask
+
+import sys
+sys.modules['modi_plus_web'] = modi_plus_web
+
+# time.sleep을 짧게 만들기 (웹에서 빠르게 테스트)
+original_sleep = _time.sleep
+def fast_sleep(t):
+    original_sleep(min(t, 0.1))
+_time.sleep = fast_sleep
+
+print("pymodi-plus-web 환경 준비 완료!")
+            `);
+
+            // JS 하드웨어 상태 공유
+            window.hwState = {
+                button: { pressed: false },
+                dial: { degree: 0 },
+                env: { temperature: 25.5, humidity: 60, illuminance: 500 }
+            };
+
+            log('modi_plus_web 모듈 로드 완료!', 'success');
+        }
+
+        async function runCode() {
+            if (isRunning) return;
+            isRunning = true;
+            const code = editor.value;
+            log('--- 실행 시작 ---');
+            try {
+                await pyodide.runPythonAsync(code);
+                log('--- 실행 완료 ---', 'success');
+            } catch (e) {
+                log('오류: ' + e, 'error');
+            }
+            isRunning = false;
+        }
+
+        function stopCode() {
+            isRunning = false;
+            log('실행 중단 요청됨', 'error');
+        }
+
+        initPyodide();
+    </script>
+</body>
+</html>
diff --git a/packages/web/test_simple.html b/packages/web/test_simple.html
new file mode 100644
index 0000000..6c8a4da
--- /dev/null
+++ b/packages/web/test_simple.html
@@ -0,0 +1,63 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="UTF-8">
+    <title>PyMODI+ Simple Test</title>
+    <script src="https://cdn.jsdelivr.net/pyodide/v0.24.1/full/pyodide.js"></script>
+</head>
+<body style="font-family: sans-serif; padding: 20px; background: #1a1a2e; color: #eee;">
+    <h2>PyMODI+ Web - Simple Test</h2>
+    <div id="status">Loading Pyodide...</div>
+    <pre id="log" style="background: #0f0f23; padding: 15px; margin-top: 20px; height: 400px; overflow: auto;"></pre>
+
+    <script>
+    function log(msg) {
+        const el = document.getElementById('log');
+        el.textContent += new Date().toLocaleTimeString() + ' - ' + msg + '\n';
+        el.scrollTop = el.scrollHeight;
+        console.log(msg);
+    }
+
+    async function main() {
+        try {
+            log('Starting Pyodide load...');
+            document.getElementById('status').textContent = 'Loading Pyodide (this may take 20-30 seconds)...';
+
+            const pyodide = await loadPyodide();
+            log('Pyodide loaded successfully!');
+
+            document.getElementById('status').textContent = 'Pyodide Ready!';
+            document.getElementById('status').style.color = '#4ade80';
+
+            // Simple Python test
+            log('Running Python code...');
+            await pyodide.runPythonAsync(`
+import sys
+print(f"Python version: {sys.version}")
+print("Hello from Pyodide!")
+
+# Simple MODI mock
+class MockMODI:
+    def __init__(self):
+        self.modules = ['LED', 'Button', 'Env']
+
+modi = MockMODI()
+print(f"Mock modules: {modi.modules}")
+            `);
+
+            log('Python execution complete!');
+
+        } catch (e) {
+            log('ERROR: ' + e.message);
+            document.getElementById('status').textContent = 'Error: ' + e.message;
+            document.getElementById('status').style.color = '#f87171';
+            console.error(e);
+        }
+    }
+
+    // Start
+    log('Page loaded');
+    main();
+    </script>
+</body>
+</html>
diff --git a/packages/web/test_standalone.html b/packages/web/test_standalone.html
new file mode 100644
index 0000000..25ddb60
--- /dev/null
+++ b/packages/web/test_standalone.html
@@ -0,0 +1,172 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="UTF-8">
+    <title>PyMODI+ Web - Standalone Test (Mock Mode)</title>
+    <style>
+        body { font-family: sans-serif; background: #1a1a2e; color: #eee; padding: 20px; }
+        h2 { color: #e94560; margin-bottom: 20px; }
+        .panel { background: #0f0f23; padding: 15px; margin: 10px 0; border-radius: 8px; }
+        #output { height: 300px; overflow: auto; font-family: monospace; font-size: 12px; }
+        .log { padding: 2px 0; }
+        .log-info { color: #60a5fa; }
+        .log-success { color: #4ade80; }
+        .log-error { color: #f87171; }
+        .log-python { color: #a78bfa; }
+        textarea { width: 100%; height: 200px; background: #16213e; color: #eee; border: 1px solid #0f3460; padding: 10px; font-family: monospace; }
+        button { padding: 10px 20px; margin: 5px; border: none; border-radius: 6px; cursor: pointer; font-weight: 600; }
+        .btn-run { background: #4ade80; color: #000; }
+        .btn-stop { background: #ef4444; color: #fff; }
+    </style>
+</head>
+<body>
+    <h2>PyMODI+ Web - Standalone Test (Mock Mode)</h2>
+    <p>This test runs without Flutter, using mock modules for testing.</p>
+
+    <div class="panel">
+        <h3>Code</h3>
+        <textarea id="editor"># Standalone test - mock modules
+import asyncio
+
+print("Testing PyMODI+ Web Library")
+print(f"Connected modules: {modi.modules}")
+
+# Test LED
+if modi.leds:
+    led = modi.leds[0]
+    print(f"LED: {led}")
+    led.red = 100
+    print(f"Set red=100, rgb={led.rgb}")
+    led.rgb = 50, 100, 150
+    print(f"Set rgb=(50,100,150), rgb={led.rgb}")
+    led.turn_off()
+    print("LED turned off")
+
+# Test Motor
+if modi.motors:
+    motor = modi.motors[0]
+    print(f"Motor: {motor}")
+    motor.speed = 50
+    print("Motor speed set to 50")
+
+# Test Speaker
+if modi.speakers:
+    speaker = modi.speakers[0]
+    print(f"Speaker: {speaker}")
+    speaker.tune = 800, 70
+    print(f"Speaker tune: {speaker.tune}")
+
+print("\nTest complete!")
+</textarea>
+        <div>
+            <button class="btn-run" id="btnRun">Run</button>
+            <button class="btn-stop" id="btnStop">Stop</button>
+        </div>
+    </div>
+
+    <div class="panel">
+        <h3>Output</h3>
+        <div id="output"></div>
+    </div>
+
+    <script src="https://cdn.jsdelivr.net/pyodide/v0.24.1/full/pyodide.js"></script>
+    <script>
+    let pyodide = null;
+
+    function log(msg, type) {
+        const el = document.getElementById('output');
+        const div = document.createElement('div');
+        div.className = 'log log-' + (type || 'info');
+        div.textContent = msg;
+        el.appendChild(div);
+        el.scrollTop = el.scrollHeight;
+    }
+
+    async function init() {
+        log('Loading Pyodide...', 'info');
+        pyodide = await loadPyodide();
+        log('Pyodide loaded!', 'success');
+
+        // Mock JS functions
+        window.workerSend = function(packet) {
+            const data = JSON.parse(packet);
+            log('[MOCK SEND] ' + JSON.stringify(data), 'info');
+        };
+        window.workerGetPropertyAsync = async function(type, idx, prop) {
+            log('[MOCK GET] ' + type + '[' + idx + '].prop' + prop, 'info');
+            // Return mock values
+            if (type === 'dial') return { turn: 50, turnSpeed: 10 };
+            if (type === 'button') return { pressed: false, clicked: false };
+            if (type === 'env') return { temperature: 25, humidity: 50, illuminance: 70, volume: 30 };
+            return 0;
+        };
+        window.workerShouldStop = function() { return false; };
+        window.workerLog = function(text) { log(text, 'python'); };
+
+        // Load library
+        const resp = await fetch('./lib/pymodi_web.py');
+        const libCode = await resp.text();
+        await pyodide.runPythonAsync(libCode);
+        log('Library loaded!', 'success');
+
+        // Add mock modules
+        await pyodide.runPythonAsync(`
+modi._add(Led(1, 0))
+modi._add(Motor(2, 0))
+modi._add(Speaker(3, 0))
+modi._add(Button(4, 0))
+modi._add(Dial(5, 0))
+modi._add(Env(6, 0))
+print(f"Mock modules added: {modi.modules}")
+`);
+        log('Mock modules added', 'success');
+
+        document.getElementById('btnRun').disabled = false;
+    }
+
+    async function run() {
+        const code = document.getElementById('editor').value;
+
+        // Setup stdout
+        await pyodide.runPythonAsync(`
+import sys
+class _Out:
+    def write(self, t):
+        if t.strip():
+            import js
+            js.workerLog(t.rstrip())
+    def flush(self): pass
+sys.stdout = _Out()
+sys.stderr = _Out()
+`);
+
+        try {
+            // Simple transform
+            let transformed = code
+                .replace(/import modi_plus\n?/g, '')
+                .replace(/import time\n?/g, '')
+                .replace(/time\.sleep\(([^)]+)\)/g, 'await asyncio.sleep($1)')
+                .replace(/while True:/g, 'while not is_stopped():');
+
+            // Wrap if needed
+            if (transformed.includes('await') && !transformed.includes('async def')) {
+                transformed = `import asyncio\n\nasync def __main__():\n` +
+                    transformed.split('\n').map(l => '    ' + l).join('\n') +
+                    `\n\nawait __main__()`;
+            }
+
+            log('--- Running ---', 'info');
+            await pyodide.runPythonAsync(transformed);
+            log('--- Done ---', 'success');
+        } catch (e) {
+            log('Error: ' + e.message, 'error');
+        }
+    }
+
+    document.getElementById('btnRun').addEventListener('click', run);
+    document.getElementById('btnRun').disabled = true;
+
+    init();
+    </script>
+</body>
+</html>
diff --git a/packages/web/tests/__init__.py b/packages/web/tests/__init__.py
new file mode 100644
index 0000000..913e766
--- /dev/null
+++ b/packages/web/tests/__init__.py
@@ -0,0 +1 @@
+# pymodi-plus-web tests
diff --git a/packages/web/tests/test_modi_plus_web.py b/packages/web/tests/test_modi_plus_web.py
new file mode 100644
index 0000000..ff493de
--- /dev/null
+++ b/packages/web/tests/test_modi_plus_web.py
@@ -0,0 +1,93 @@
+"""MODIPlusWeb 단위 테스트"""
+
+import unittest
+from unittest.mock import MagicMock, patch
+import json
+
+from modi_plus_web.task.postmessage_task import PostMessageTask
+from modi_plus_web.modi_plus_web import MODIPlusWeb
+
+
+class TestMODIPlusWeb(unittest.TestCase):
+    """MODIPlusWeb 클래스 테스트"""
+
+    def setUp(self):
+        """각 테스트 전 실행 - MODIPlus import 모킹"""
+        # MODIPlus가 하드웨어 연결을 시도하지 않도록 모킹
+        self.mock_modi_plus_patcher = patch('modi_plus_web.modi_plus_web.MODIPlus.__init__')
+        self.mock_modi_plus = self.mock_modi_plus_patcher.start()
+        self.mock_modi_plus.return_value = None
+
+    def tearDown(self):
+        """각 테스트 후 실행"""
+        self.mock_modi_plus_patcher.stop()
+
+    def test_initialization(self):
+        """초기화 테스트"""
+        modi = MODIPlusWeb()
+
+        self.assertIsNotNone(modi._postmessage_task)
+        self.assertIsInstance(modi._postmessage_task, PostMessageTask)
+
+    def test_task_property(self):
+        """task 프로퍼티 테스트"""
+        modi = MODIPlusWeb()
+
+        self.assertIsInstance(modi.task, PostMessageTask)
+        self.assertEqual(modi.task, modi._postmessage_task)
+
+    def test_set_send_callback(self):
+        """set_send_callback 메서드 테스트"""
+        modi = MODIPlusWeb()
+
+        callback = MagicMock()
+        modi.set_send_callback(callback)
+
+        self.assertEqual(modi._postmessage_task._send_callback, callback)
+
+    def test_on_message(self):
+        """on_message 메서드 테스트"""
+        modi = MODIPlusWeb()
+
+        test_data = '{"c":0,"s":1,"d":2}'
+        modi.on_message(test_data)
+
+        received = modi._postmessage_task.recv()
+        self.assertEqual(received, test_data)
+
+    def test_verbose_mode(self):
+        """verbose 모드 전달 테스트"""
+        modi = MODIPlusWeb(verbose=True)
+
+        self.assertTrue(modi._postmessage_task.verbose)
+
+
+class TestMODIPlusWebIntegration(unittest.TestCase):
+    """MODIPlusWeb 통합 테스트 (모킹 없이)"""
+
+    @patch('modi_plus_web.modi_plus_web.MODIPlus.__init__')
+    def test_full_workflow(self, mock_init):
+        """전체 워크플로우 테스트"""
+        mock_init.return_value = None
+
+        modi = MODIPlusWeb()
+
+        # 콜백 설정
+        sent_packets = []
+        modi.set_send_callback(lambda pkt: sent_packets.append(pkt))
+
+        # 외부 메시지 수신
+        modi.on_message('{"c":0,"s":100,"d":0}')
+
+        # 내부에서 처리
+        received = modi.task.recv()
+        self.assertIsNotNone(received)
+
+        # 응답 전송
+        modi.task.send('{"c":4,"s":0,"d":100}')
+
+        self.assertEqual(len(sent_packets), 1)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/packages/web/tests/test_postmessage_task.py b/packages/web/tests/test_postmessage_task.py
new file mode 100644
index 0000000..5b04e50
--- /dev/null
+++ b/packages/web/tests/test_postmessage_task.py
@@ -0,0 +1,195 @@
+"""PostMessageTask 단위 테스트"""
+
+import unittest
+import json
+from modi_plus_web.task.postmessage_task import PostMessageTask
+
+
+class TestPostMessageTask(unittest.TestCase):
+    """PostMessageTask 클래스 테스트"""
+
+    def setUp(self):
+        """각 테스트 전 실행"""
+        self.task = PostMessageTask()
+
+    def tearDown(self):
+        """각 테스트 후 실행"""
+        self.task.close_connection()
+
+    # ===================
+    # 연결 테스트
+    # ===================
+    def test_initial_state(self):
+        """초기 상태 테스트"""
+        self.assertFalse(self.task.is_connected)
+        self.assertIsNone(self.task._send_callback)
+        self.assertTrue(self.task._recv_queue.empty())
+
+    def test_open_connection(self):
+        """연결 열기 테스트"""
+        self.task.open_connection()
+        self.assertTrue(self.task.is_connected)
+
+    def test_close_connection(self):
+        """연결 닫기 테스트"""
+        self.task.open_connection()
+        self.task.close_connection()
+        self.assertFalse(self.task.is_connected)
+        self.assertIsNone(self.task._send_callback)
+
+    # ===================
+    # 메시지 수신 테스트
+    # ===================
+    def test_on_message_with_string(self):
+        """JSON 문자열 수신 테스트"""
+        self.task.open_connection()
+        test_msg = '{"c":0,"s":1,"d":2,"b":"AA==","l":1}'
+
+        self.task.on_message(test_msg)
+
+        self.assertFalse(self.task._recv_queue.empty())
+        received = self.task.recv()
+        self.assertEqual(received, test_msg)
+
+    def test_on_message_with_dict(self):
+        """딕셔너리 수신 테스트"""
+        self.task.open_connection()
+        test_data = {"c": 0, "s": 1, "d": 2, "b": "AA==", "l": 1}
+
+        self.task.on_message(test_data)
+
+        received = self.task.recv()
+        self.assertEqual(json.loads(received), test_data)
+
+    def test_on_message_invalid_json(self):
+        """유효하지 않은 JSON 테스트"""
+        self.task.open_connection()
+        self.task.verbose = True  # 디버그 모드
+
+        self.task.on_message("invalid json {{{")
+
+        # 유효하지 않은 JSON은 무시됨
+        self.assertTrue(self.task._recv_queue.empty())
+
+    def test_recv_empty_queue(self):
+        """빈 큐에서 수신 테스트"""
+        self.task.open_connection()
+        received = self.task.recv()
+        self.assertIsNone(received)
+
+    def test_recv_multiple_messages(self):
+        """다중 메시지 수신 테스트"""
+        self.task.open_connection()
+        messages = [
+            '{"c":0,"s":1}',
+            '{"c":1,"s":2}',
+            '{"c":2,"s":3}',
+        ]
+
+        for msg in messages:
+            self.task.on_message(msg)
+
+        for expected in messages:
+            received = self.task.recv()
+            self.assertEqual(received, expected)
+
+        # 큐가 비어있어야 함
+        self.assertIsNone(self.task.recv())
+
+    # ===================
+    # 메시지 전송 테스트
+    # ===================
+    def test_send_without_callback(self):
+        """콜백 없이 전송 테스트"""
+        self.task.open_connection()
+        # 콜백 없이 send해도 에러 없어야 함
+        self.task.send('{"test": 1}')
+
+    def test_send_with_callback(self):
+        """콜백 있을 때 전송 테스트"""
+        self.task.open_connection()
+        sent_messages = []
+
+        def mock_callback(pkt):
+            sent_messages.append(pkt)
+
+        self.task.set_send_callback(mock_callback)
+
+        test_pkt = '{"c":4,"s":0,"d":1234}'
+        self.task.send(test_pkt)
+
+        self.assertEqual(len(sent_messages), 1)
+        self.assertEqual(sent_messages[0], test_pkt)
+
+    def test_send_nowait(self):
+        """send_nowait 테스트 (send와 동일 동작)"""
+        self.task.open_connection()
+        sent_messages = []
+
+        self.task.set_send_callback(lambda pkt: sent_messages.append(pkt))
+        self.task.send_nowait('{"test": 1}')
+
+        self.assertEqual(len(sent_messages), 1)
+
+    # ===================
+    # 콜백 테스트
+    # ===================
+    def test_set_send_callback(self):
+        """콜백 설정 테스트"""
+        callback = lambda x: x
+        self.task.set_send_callback(callback)
+        self.assertEqual(self.task._send_callback, callback)
+
+    def test_callback_cleared_on_close(self):
+        """연결 종료 시 콜백 초기화 테스트"""
+        self.task.set_send_callback(lambda x: x)
+        self.task.open_connection()
+        self.task.close_connection()
+        self.assertIsNone(self.task._send_callback)
+
+    # ===================
+    # verbose 모드 테스트
+    # ===================
+    def test_verbose_mode(self):
+        """verbose 모드 테스트"""
+        task = PostMessageTask(verbose=True)
+        self.assertTrue(task.verbose)
+
+        task2 = PostMessageTask(verbose=False)
+        self.assertFalse(task2.verbose)
+
+
+class TestPostMessageTaskIntegration(unittest.TestCase):
+    """PostMessageTask 통합 테스트"""
+
+    def test_full_communication_cycle(self):
+        """전체 통신 사이클 테스트"""
+        task = PostMessageTask()
+        task.open_connection()
+
+        # 콜백 설정
+        responses = []
+        task.set_send_callback(lambda pkt: responses.append(pkt))
+
+        # 메시지 수신 (외부에서 온 것 시뮬레이션)
+        incoming = {"c": 0, "s": 100, "d": 0, "b": "VEVTVA==", "l": 4}
+        task.on_message(incoming)
+
+        # 메시지 처리
+        received = task.recv()
+        data = json.loads(received)
+
+        # 응답 전송
+        response = {"c": 4, "s": 0, "d": data["s"], "b": "T0s=", "l": 2}
+        task.send(json.dumps(response))
+
+        # 검증
+        self.assertEqual(len(responses), 1)
+        sent_data = json.loads(responses[0])
+        self.assertEqual(sent_data["d"], 100)  # 원래 소스로 응답
+
+        task.close_connection()
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..f803ce4
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,28 @@
+# PyMODI+ Monorepo Configuration
+[project]
+name = "pymodi-plus-monorepo"
+description = "PyMODI+ Monorepo - Core library and Web extension"
+readme = "README.md"
+requires-python = ">=3.7"
+
+[tool.pytest.ini_options]
+testpaths = [
+    "packages/core/tests",
+    "packages/web/tests",
+]
+python_files = "test_*.py"
+python_classes = "Test*"
+python_functions = "test_*"
+
+[tool.ruff]
+line-length = 120
+target-version = "py38"
+
+[tool.ruff.lint]
+select = ["E", "F", "W", "I"]
+ignore = ["E501"]
+
+# Monorepo packages configuration
+# Each package has its own setup.py for independent publishing
+# - packages/core/ -> pymodi-plus (PyPI)
+# - packages/web/  -> pymodi-plus-web (PyPI)
diff --git a/setup.py b/setup.py
index 975d7de..e386ec0 100644
--- a/setup.py
+++ b/setup.py
@@ -19,9 +19,37 @@ def wrapper():
 get_about = get_spec("./modi_plus/about.py", "d")
 get_readme = get_spec("README.md")
 get_history = get_spec("HISTORY.md")
-get_requirements = get_spec("requirements.txt")
 get_requirements_dev = get_spec("requirements-dev.txt")
 
+# 최소 의존성 (Pyodide 호환)
+INSTALL_REQUIRES = [
+    'nest-asyncio>=1.5.4',
+    'packaging>=21.3',
+]
+
+# Optional 의존성
+EXTRAS_REQUIRE = {
+    'serial': [
+        'pyserial>=3.5',
+    ],
+    'ble': [
+        'bleak>=0.13.0; sys_platform == "win32"',
+        'bleak>=0.13.0; sys_platform == "darwin"',
+    ],
+    'websocket': [
+        'websocket-client>=1.2.3',
+    ],
+    'all': [
+        'pyserial>=3.5',
+        'bleak>=0.13.0; sys_platform == "win32"',
+        'bleak>=0.13.0; sys_platform == "darwin"',
+        'websocket-client>=1.2.3',
+        'winusbcdc>=1.4; sys_platform == "win32"',
+        'pexpect; sys_platform == "linux"',
+    ],
+}
+EXTRAS_REQUIRE['dev'] = get_requirements_dev()
+
 about = get_about()
 setup(
     name=about["__title__"],
@@ -31,8 +59,8 @@ def wrapper():
     description=about["__summary__"],
     long_description=get_readme() + "\n" + get_history(),
     long_description_content_type="text/markdown",
-    install_requires=get_requirements(),
-    extras_require={"dev": get_requirements_dev()},
+    install_requires=INSTALL_REQUIRES,
+    extras_require=EXTRAS_REQUIRE,
     license=about["__license__"],
     include_package_data=True,
     keywords=["python", "modi", "modi-plus", "modi_plus", "modi+"],