diff --git a/server/server.js b/server/server.js
index 89361df..632123e 100644
--- a/server/server.js
+++ b/server/server.js
@@ -220,7 +220,7 @@ wss.on('connection', (ws) => {
   
   ws.send(JSON.stringify({
     type: 'initial_state',
-    turtles: Array.from(turtleData.values()),
+    turtles: Array.from(turtles.values()).map(t => t.toJSON()),
     blocks: blocks
   }));
 
@@ -231,21 +231,28 @@ wss.on('connection', (ws) => {
 
       // Handle commands from web client
       if (data.type === 'command') {
-        // Store command for turtle to poll
         const turtleID = data.turtleID;
-        if (turtleData.has(turtleID)) {
-          const turtle = turtleData.get(turtleID);
-          turtle.pendingCommands = turtle.pendingCommands || [];
-          turtle.pendingCommands.push({
-            command: data.command,
-            param: data.param,
-            timestamp: Date.now()
-          });
-          console.log(`✅ Command queued for turtle ${turtleID}: ${data.command}`, data.param ? `(param: ${data.param})` : '');
-          console.log(`   Pending commands: ${turtle.pendingCommands.length}`);
+        const turtle = turtles.get(turtleID);
+        
+        if (turtle) {
+          // Check for state change commands
+          if (data.command === 'set_state' || data.command === 'setState') {
+            const stateName = data.param?.state || data.param;
+            const stateData = data.param?.data || {};
+            turtle.setState(stateName, stateData);
+            console.log(`✅ State set for turtle ${turtleID}: ${stateName}`);
+          } else {
+            // Legacy command - queue for webbridge polling
+            turtle.pendingLegacyCommands.push({
+              command: data.command,
+              param: data.param,
+              timestamp: Date.now()
+            });
+            console.log(`✅ Command queued for turtle ${turtleID}: ${data.command}`, data.param ? `(param: ${JSON.stringify(data.param)})` : '');
+          }
         } else {
-          console.log(`❌ Turtle ${turtleID} not found in turtleData`);
-          console.log(`   Available turtles:`, Array.from(turtleData.keys()));
+          console.log(`❌ Turtle ${turtleID} not found`);
+          console.log(`   Available turtles:`, Array.from(turtles.keys()));
         }
       }
     } catch (error) {
@@ -271,25 +278,22 @@ app.post('/api/turtle/update', (req, res) => {
 
     console.log(`🐢 Status update from Turtle ${turtleID}`);
 
-    // Update turtle data
-    if (!turtleData.has(turtleID)) {
-      console.log(`✨ New turtle registered: ${turtleID}`);
-    }
-
-    // Merge with existing data, keeping server's home position if it exists
-    const existingData = turtleData.get(turtleID) || {};
-    const serverHome = turtleHomes.get(turtleID);
+    // Get or create Turtle instance
+    const turtle = getOrCreateTurtle(turtleID);
     
-    turtleData.set(turtleID, {
-      ...existingData,
-      ...turtleUpdate,
-      homePosition: serverHome || turtleUpdate.homePosition, // Server's home takes precedence
-      lastUpdate: Date.now()
-    });
+    // Update turtle from status data
+    turtle.updateFromStatus(turtleUpdate);
+
+    // Server's home takes precedence
+    const serverHome = turtleHomes.get(turtleID);
+    if (serverHome) {
+      turtle.homePosition = serverHome;
+    }
     
     // If turtle reports a home but server doesn't have one, store it
     if (turtleUpdate.homePosition && !serverHome) {
       turtleHomes.set(turtleID, turtleUpdate.homePosition);
+      turtle.homePosition = turtleUpdate.homePosition;
       console.log(`  📍 Stored home position for turtle ${turtleID}:`, turtleUpdate.homePosition);
     }
     
@@ -306,7 +310,7 @@ app.post('/api/turtle/update', (req, res) => {
     // Broadcast to web clients
     broadcastToClients({
       type: 'turtle_update',
-      turtle: turtleData.get(turtleID)
+      turtle: turtle.toJSON()
     });
 
     // Send back server-authoritative data