diff --git a/server/states/BaseState.js b/server/states/BaseState.js
new file mode 100644
index 0000000..a603208
--- /dev/null
+++ b/server/states/BaseState.js
@@ -0,0 +1,356 @@
+/**
+ * BaseState - Abstract base class for turtle state machine
+ * 
+ * Uses async generator pattern inspired by runi95/turtle-control-panel.
+ * Each state implements *act() which yields control back periodically,
+ * allowing the state machine to be cooperative and interruptible.
+ */
+export class BaseState {
+  /**
+   * @param {import('../Turtle.js').Turtle} turtle - The turtle instance
+   * @param {Object} data - State-specific data for initialization/recovery
+   */
+  constructor(turtle, data = {}) {
+    this.turtle = turtle;
+    this.data = data;
+    this.cancelled = false;
+    this.startedAt = Date.now();
+  }
+
+  /**
+   * The name of this state (used for logging and UI)
+   */
+  get name() {
+    return 'base';
+  }
+
+  /**
+   * Get a human-readable description of what the state is doing
+   */
+  get description() {
+    return 'Idle';
+  }
+
+  /**
+   * The async generator that drives the state's behavior.
+   * Subclasses MUST override this method.
+   * 
+   * Yield to give up control temporarily (cooperative multitasking).
+   * Return to signal that the state is complete.
+   * Throw to signal an error.
+   * 
+   * @yields {void}
+   */
+  async *act() {
+    // Base state does nothing - just idles
+    while (!this.cancelled) {
+      yield;
+      await this._sleep(1000);
+    }
+  }
+
+  /**
+   * Cancel this state. The act() generator should check this.cancelled
+   * and clean up gracefully.
+   */
+  cancel() {
+    this.cancelled = true;
+  }
+
+  /**
+   * Get recovery data for persisting state across reconnections
+   */
+  getRecoveryData() {
+    return {
+      stateName: this.name,
+      data: this.data,
+      startedAt: this.startedAt,
+    };
+  }
+
+  // ========== Helper Methods for Subclasses ==========
+
+  /**
+   * Execute a Lua command on the turtle and wait for the result
+   */
+  async exec(luaCode) {
+    return this.turtle.exec(luaCode);
+  }
+
+  /**
+   * Move the turtle forward, digging if necessary
+   */
+  async moveForward(dig = true) {
+    if (dig) {
+      const result = await this.exec('turtle.dig(); return turtle.forward()');
+      if (result) this.turtle.updatePositionForward();
+      return result;
+    }
+    const result = await this.exec('return turtle.forward()');
+    if (result) this.turtle.updatePositionForward();
+    return result;
+  }
+
+  /**
+   * Move the turtle up, digging if necessary
+   */
+  async moveUp(dig = true) {
+    if (dig) {
+      const result = await this.exec('turtle.digUp(); return turtle.up()');
+      if (result) this.turtle.updatePositionUp();
+      return result;
+    }
+    const result = await this.exec('return turtle.up()');
+    if (result) this.turtle.updatePositionUp();
+    return result;
+  }
+
+  /**
+   * Move the turtle down, digging if necessary
+   */
+  async moveDown(dig = true) {
+    if (dig) {
+      const result = await this.exec('turtle.digDown(); return turtle.down()');
+      if (result) this.turtle.updatePositionDown();
+      return result;
+    }
+    const result = await this.exec('return turtle.down()');
+    if (result) this.turtle.updatePositionDown();
+    return result;
+  }
+
+  /**
+   * Turn the turtle to face a specific direction
+   * @param {number} targetFacing - 0=North, 1=East, 2=South, 3=West
+   */
+  async turnToFace(targetFacing) {
+    const currentFacing = this.turtle.facing;
+    if (currentFacing === targetFacing) return true;
+
+    const diff = (targetFacing - currentFacing + 4) % 4;
+    
+    if (diff === 1) {
+      await this.exec('return turtle.turnRight()');
+      this.turtle.facing = targetFacing;
+    } else if (diff === 2) {
+      await this.exec('turtle.turnRight(); return turtle.turnRight()');
+      this.turtle.facing = targetFacing;
+    } else if (diff === 3) {
+      await this.exec('return turtle.turnLeft()');
+      this.turtle.facing = targetFacing;
+    }
+    
+    return true;
+  }
+
+  /**
+   * Move to an adjacent point (one of the 6 neighbors)
+   * Handles turning and digging automatically
+   */
+  async moveToAdjacent(targetPoint) {
+    const pos = this.turtle.position;
+    if (!pos) return false;
+
+    const dx = targetPoint.x - pos.x;
+    const dy = targetPoint.y - pos.y;
+    const dz = targetPoint.z - pos.z;
+
+    if (dy === 1) return this.moveUp();
+    if (dy === -1) return this.moveDown();
+
+    // Horizontal movement - determine facing
+    let targetFacing;
+    if (dx === 1) targetFacing = 1;       // East
+    else if (dx === -1) targetFacing = 3;  // West
+    else if (dz === 1) targetFacing = 2;   // South
+    else if (dz === -1) targetFacing = 0;  // North
+    else return false; // Not adjacent
+
+    await this.turnToFace(targetFacing);
+    return this.moveForward();
+  }
+
+  /**
+   * Navigate to a target point using the D* Lite pathfinder
+   * This is a generator that yields after each step
+   */
+  async *navigateTo(targetPoint, options = {}) {
+    const { Point, DStarLite } = await import('../pathfinding/index.js');
+    
+    const start = Point.from(this.turtle.position);
+    const goal = Point.from(targetPoint);
+    
+    if (!start || !goal) {
+      console.error('Cannot navigate: missing position');
+      return false;
+    }
+
+    if (start.equals(goal)) return true;
+
+    const pathfinder = new DStarLite(start, goal, this.turtle.server.worldBlocks, {
+      canMine: options.canMine !== false,
+      maxSteps: options.maxSteps || 50000,
+    });
+
+    let currentPos = start;
+    let attempts = 0;
+    const maxAttempts = options.maxAttempts || 5000;
+
+    while (!currentPos.equals(goal) && attempts < maxAttempts && !this.cancelled) {
+      attempts++;
+
+      const nextStep = pathfinder.getNextStep();
+      if (!nextStep) {
+        console.log(`[${this.turtle.id}] No path to ${goal} from ${currentPos}`);
+        return false;
+      }
+
+      // Scan surroundings before moving
+      const scanResult = await this.exec(`
+        local results = {}
+        local hasBlock, data
+        hasBlock, data = turtle.inspect()
+        if hasBlock then results.forward = data end
+        hasBlock, data = turtle.inspectUp()
+        if hasBlock then results.up = data end
+        hasBlock, data = turtle.inspectDown()
+        if hasBlock then results.down = data end
+        return results
+      `);
+
+      // Update pathfinder with discovered blocks
+      if (scanResult && typeof scanResult === 'object') {
+        this.turtle.processScanResults(scanResult);
+        // Update pathfinder with new information
+        for (const [dir, blockData] of Object.entries(scanResult)) {
+          const blockPos = this.turtle.getBlockPositionInDirection(dir);
+          if (blockPos) {
+            pathfinder.updateBlock(Point.from(blockPos), blockData);
+          }
+        }
+      }
+
+      // Try to move to the next step
+      const success = await this.moveToAdjacent(nextStep);
+      
+      if (success) {
+        currentPos = Point.from(this.turtle.position);
+        pathfinder.updateStart(currentPos);
+      } else {
+        // Movement failed - update the blocked node and replan
+        pathfinder.updateBlock(nextStep, { name: 'minecraft:bedrock' }); // Treat as blocked
+        if (!pathfinder.replan()) {
+          console.log(`[${this.turtle.id}] Replanning failed - no path exists`);
+          return false;
+        }
+      }
+
+      yield; // Cooperative yield
+    }
+
+    return currentPos.equals(goal);
+  }
+
+  /**
+   * Scan all 6 directions around the turtle
+   */
+  async scanSurroundings() {
+    const result = await this.exec(`
+      local results = {}
+      local facing = _G._turtleFacing or 0
+      
+      -- Scan up/down
+      local hasBlock, data
+      hasBlock, data = turtle.inspectUp()
+      if hasBlock then results.up = {name=data.name, metadata=data.metadata or 0} end
+      hasBlock, data = turtle.inspectDown()
+      if hasBlock then results.down = {name=data.name, metadata=data.metadata or 0} end
+      
+      -- Scan all 4 horizontal directions
+      for i = 0, 3 do
+        hasBlock, data = turtle.inspect()
+        if hasBlock then
+          local dir = (facing + i) % 4
+          results["h" .. dir] = {name=data.name, metadata=data.metadata or 0}
+        end
+        if i < 3 then turtle.turnRight(); facing = (facing + 1) % 4 end
+      end
+      -- Turn back to original facing
+      turtle.turnRight()
+      facing = (facing + 1) % 4
+      _G._turtleFacing = facing
+      
+      return results
+    `);
+
+    if (result) {
+      this.turtle.processScanResults(result);
+    }
+    return result;
+  }
+
+  /**
+   * Check fuel level
+   */
+  async checkFuel() {
+    const fuel = await this.exec('return turtle.getFuelLevel()');
+    if (fuel !== null) this.turtle.fuel = fuel;
+    return fuel;
+  }
+
+  /**
+   * Get inventory contents
+   */
+  async getInventory() {
+    const inv = await this.exec(`
+      local items = {}
+      for slot = 1, 16 do
+        local item = turtle.getItemDetail(slot)
+        if item then
+          items[slot] = {name=item.name, count=item.count, damage=item.damage}
+        end
+      end
+      return items
+    `);
+    if (inv) this.turtle.inventory = inv;
+    return inv;
+  }
+
+  /**
+   * Check if inventory is full
+   */
+  async isInventoryFull() {
+    const result = await this.exec(`
+      for slot = 1, 16 do
+        if turtle.getItemCount(slot) == 0 then return false end
+      end
+      return true
+    `);
+    return result === true;
+  }
+
+  /**
+   * Try to refuel from inventory
+   */
+  async tryRefuel() {
+    return this.exec(`
+      for slot = 1, 16 do
+        turtle.select(slot)
+        if turtle.refuel(0) then
+          turtle.refuel(1)
+          turtle.select(1)
+          return true
+        end
+      end
+      turtle.select(1)
+      return false
+    `);
+  }
+
+  /**
+   * Sleep for a duration (non-blocking)
+   */
+  _sleep(ms) {
+    return new Promise(resolve => setTimeout(resolve, ms));
+  }
+}