diff --git a/client/src/store/turtleStore.js b/client/src/store/turtleStore.js
index 8940bbe..88c1214 100644
--- a/client/src/store/turtleStore.js
+++ b/client/src/store/turtleStore.js
@@ -172,7 +172,7 @@ export const useTurtleStore = create((set, get) => ({
   sendCommand: async (turtleId, command, param = null) => {
     const { ws } = get();
     
-    console.log(`🎮 Sending command to turtle ${turtleId}: ${command}`, param ? `(param: ${param})` : '');
+    console.log(`🎮 Sending command to turtle ${turtleId}: ${command}`, param ? `(param: ${JSON.stringify(param)})` : '');
     
     if (ws && ws.readyState === WebSocket.OPEN) {
       ws.send(JSON.stringify({
@@ -198,6 +198,49 @@ export const useTurtleStore = create((set, get) => ({
     }
   },
 
+  // Set turtle state machine state via REST API
+  setTurtleState: async (turtleId, stateName, stateData = {}) => {
+    console.log(`🔄 Setting state for turtle ${turtleId}: ${stateName}`, stateData);
+    try {
+      const response = await fetch(`${API_URL}/turtle/${turtleId}/state`, {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ state: stateName, data: stateData })
+      });
+      const result = await response.json();
+      console.log('  ✅ State set:', result);
+      return result;
+    } catch (error) {
+      console.error('  ❌ Error setting state:', error);
+      // Fallback: send via WebSocket as a command
+      const { ws } = get();
+      if (ws && ws.readyState === WebSocket.OPEN) {
+        ws.send(JSON.stringify({
+          type: 'command',
+          turtleID: turtleId,
+          command: 'set_state',
+          param: { state: stateName, data: stateData }
+        }));
+      }
+    }
+  },
+
+  // Execute arbitrary Lua code on a turtle
+  execOnTurtle: async (turtleId, code) => {
+    console.log(`💻 Exec on turtle ${turtleId}:`, code);
+    try {
+      const response = await fetch(`${API_URL}/turtle/${turtleId}/exec`, {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ code })
+      });
+      return await response.json();
+    } catch (error) {
+      console.error('  ❌ Error executing:', error);
+      return { success: false, error: error.message };
+    }
+  },
+
   // Helper getters
   getTurtleArray: () => {
     return Object.values(get().turtles);