diff --git a/server/server.js b/server/server.js
index e01e84a..90cbe67 100644
--- a/server/server.js
+++ b/server/server.js
@@ -249,20 +249,14 @@ wss.on('connection', (ws) => {
         const turtle = turtles.get(turtleID);
         
         if (turtle) {
-          // Check for state change commands
+          // All commands are state changes — server controls all turtle movement
           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)})` : '');
+            console.log(`⚠️ Unrecognized command from web client: ${data.command} — use state machine or server-side action routes`);
           }
         } else {
           console.log(`❌ Turtle ${turtleID} not found`);
@@ -524,22 +518,17 @@ app.post('/api/turtle/:id/command', (req, res) => {
     const turtle = turtles.get(turtleID);
 
     if (turtle) {
-      // Check for state change commands
+      // All commands are state changes — server controls all turtle movement
       if (command === 'set_state' || command === 'setState') {
         const stateName = param?.state || param;
         const stateData = param?.data || {};
         turtle.setState(stateName, stateData);
         console.log(`📤 State set for turtle ${turtleID}: ${stateName}`);
+        res.json({ success: true });
       } else {
-        // Legacy command - queue for webbridge
-        turtle.pendingLegacyCommands.push({
-          command,
-          param,
-          timestamp: Date.now()
-        });
-        console.log(`📤 Command queued for turtle ${turtleID}:`, command);
+        console.log(`⚠️ Legacy command rejected for turtle ${turtleID}: ${command} — use state machine or server-side action routes`);
+        res.status(400).json({ error: 'Legacy commands are no longer supported. Use state machine or action routes.' });
       }
-      res.json({ success: true });
     } else {
       res.status(404).json({ error: 'Turtle not found' });
     }