diff --git a/.gitignore b/.gitignore
index d18e22c..8198ebd 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 # IDE Files
+*.code-workspace
 .vscode
 .idea
 
diff --git a/arc/Cargo.toml b/arc/Cargo.toml
index 86c6c72..21b3eb7 100644
--- a/arc/Cargo.toml
+++ b/arc/Cargo.toml
@@ -9,3 +9,7 @@ license.workspace = true
 
 [lib]
 path = "lib.rs"
+
+[[bin]]
+name = "arc"
+path = "bin/main.rs"
diff --git a/arc/__init__.py b/arc/__init__.py
new file mode 100644
index 0000000..22be8cc
--- /dev/null
+++ b/arc/__init__.py
@@ -0,0 +1,32 @@
+from typing import Callable
+
+class Gamepad(object):
+    _id: str
+    def __repr__(self) -> str:
+        return f"<Gamepad {self._id}>"
+
+class Op(object):
+    gamepad: Gamepad
+    name: str
+    def __init__(self, name: str) -> None:
+        self.name = name
+    def __repr__(self) -> str:
+        return f"<Op {self.name}>"
+
+def _stub_op(op: Op) -> None: print("!!!OP IS NOT DEFINED!!!")
+
+_op: Callable[[Op], bool | int | str | None] | None = _stub_op
+
+OK = True
+def OP(func: Callable[[Op], bool | int | str | None]) -> None: 
+    _op = func
+
+def run_op() -> None:
+    op = Op("auto")
+    result = _op(op)
+    if result == OK: return
+    if result is None: return
+    
+    print(f"Program exited unsucessfully: {result}!")
+
+run_op()
diff --git a/arc/__init__.pyi b/arc/__init__.pyi
index de28fc9..2f0ccc9 100644
--- a/arc/__init__.pyi
+++ b/arc/__init__.pyi
@@ -1,6 +1,15 @@
 from typing import Callable
 
-type RunResult = bool
+type RunResult = bool | int | str | None
+class Gamepad(object):
+    pass
+    
+class Op(object):
+    gamepad: Gamepad
+    name: str
+    def __init__(self, name: str) -> None: ...
+    def __repr__(self) -> str: ...
 OK: RunResult = True
-FAIL: RunResult = False
-def MAIN(func: Callable[[], RunResult]) -> None: ...
+def OP(func: Callable[[Op], RunResult]) -> None: """
+Run the given function as the main function of the program.
+"""
diff --git a/arc/bin/main.rs b/arc/bin/main.rs
new file mode 100644
index 0000000..e2e3117
--- /dev/null
+++ b/arc/bin/main.rs
@@ -0,0 +1,3 @@
+fn main() {
+    println!("ARC");
+}
\ No newline at end of file
diff --git a/examples/auto.py b/examples/auto.py
index 3cb10a0..e39f399 100644
--- a/examples/auto.py
+++ b/examples/auto.py
@@ -1,7 +1,8 @@
 from arc import *
 
-def main() -> RunResult:
-    print("Hello, world!")
+def auto(op: Op) -> RunResult:
+    op.gamepad
+
     return OK
 
-MAIN(main)
+OP(auto)
diff --git a/libs/robot/Cargo.toml b/libs/robot/Cargo.toml
index 182d0ce..867eff3 100644
--- a/libs/robot/Cargo.toml
+++ b/libs/robot/Cargo.toml
@@ -9,3 +9,11 @@ license.workspace = true
 
 [lib]
 path = "lib.rs"
+
+[[bin]]
+name = "arcrobot"
+path = "bin/main.rs"
+
+[dependencies.hardware]
+package = "arc-robot-hardware"
+path = "./hardware"
diff --git a/libs/robot/bin/main.rs b/libs/robot/bin/main.rs
new file mode 100644
index 0000000..24514bf
--- /dev/null
+++ b/libs/robot/bin/main.rs
@@ -0,0 +1,3 @@
+fn main() {
+    println!("ARC Robot");
+}
\ No newline at end of file
diff --git a/libs/robot/hardware/Cargo.toml b/libs/robot/hardware/Cargo.toml
new file mode 100644
index 0000000..4973e80
--- /dev/null
+++ b/libs/robot/hardware/Cargo.toml
@@ -0,0 +1,11 @@
+[package]
+name = "arc-robot-hardware"
+description = "ARC Robot hardware"
+repository.workspace = true
+version.workspace = true
+edition.workspace = true
+authors.workspace = true
+license.workspace = true
+
+[lib]
+path = "lib.rs"
diff --git a/libs/robot/hardware/lib.rs b/libs/robot/hardware/lib.rs
new file mode 100644
index 0000000..e69de29
diff --git a/libs/scripts/__init__.py b/libs/scripts/__init__.py
index d500221..19d75e8 100644
--- a/libs/scripts/__init__.py
+++ b/libs/scripts/__init__.py
@@ -1,16 +1,18 @@
 from libs.scripts.build import build
 from libs.scripts.clean import clean
 from libs.scripts.doc import doc
-from libs.scripts.test import test
 from libs.scripts.fmt import fmt
+from libs.scripts.run import run
+from libs.scripts.test import test
 
 def run_cmd(cmd: str, cwd: str, args: list[str]) -> str | int | None:
     if cmd == "help" or cmd == "--help" or cmd == "-h": return hlp()
     if cmd == "build": return build(cwd, args)
     if cmd == "clean": return clean(cwd, args)
     if cmd == "doc": return doc(cwd, args)
-    if cmd == "test": return test(cwd, args)
     if cmd == "fmt": return fmt(cwd, args)
+    if cmd == "run": return run(cwd, args)
+    if cmd == "test": return test(cwd, args)
 
     return f"Unknown command: {cmd}"
 
@@ -18,9 +20,23 @@ def hlp() -> str | int | None:
     print("""\033[35mUsage: \033[36m./epearl \033[32m<command> \033[96m[args]\033[0m
 \033[35mCommands:
     \033[32mbuild   \033[0mBuild the project
+        \033[96m--release\033[0m Build in release mode
+    \033[32mrun    \033[0mRun an OpMode
+        \033[32m<file>  \033[0mThe file to run
+    \033[32mtest    \033[0mRun the tests
+        \033[96m--tarpaulin\033[0m Run the tests with tarpaulin
+        \033[96m--llvm     \033[0m Run the tests with llvm coverage
+        \033[96m--all      \033[0m Run the tests with both tarpaulin and llvm coverage
     \033[32mclean   \033[0mClean the project
+        \033[96m--deep   \033[0mRemoves all generated files and folders
     \033[32mdoc     \033[0mGenerate the documentation
-    \033[32mtest    \033[0mRun the tests
-    \033[32mfmt     \033[0mFormat the code
-    \033[32mhelp    \033[0mDisplay this message""")
+        \033[96m--open   \033[0mOpen the documentation in the browser
+    \033[32mfmt     \033[0mFix formatting issues in the code
+        \033[96m--check  \033[0mCheck if the code is formatted correctly
+    \033[32mhelp    \033[0mDisplay this message
+\033[35mExamples:
+    \033[0mRun the example OpMode: \033[36m./epearl \033[32mrun \033[32m./examples/auto.py
+    \033[0mBuild the project: \033[36m./epearl \033[32mbuild \033[96m--release
+    \033[0mRun the tests: \033[36m./epearl \033[32mtest \033[96m--all
+\033[0m""")
     return
\ No newline at end of file
diff --git a/libs/scripts/run.py b/libs/scripts/run.py
new file mode 100644
index 0000000..c63b746
--- /dev/null
+++ b/libs/scripts/run.py
@@ -0,0 +1,12 @@
+def run(cd: str, args: list[str]) -> str | int | None:
+    import subprocess
+
+    binary = "arc"
+    if len(args) > 0:
+        if '--bin=' in args[0]:
+            binary = args[0].split('=')[1]
+            args = args[1:]
+
+    cmd = ["cargo", "run", "--bin", binary]
+    res = subprocess.run(cmd, cwd=cd)
+    if res.returncode != 0: return res.returncode
diff --git a/libs/scripts/test.py b/libs/scripts/test.py
index c42fba9..8f006fc 100644
--- a/libs/scripts/test.py
+++ b/libs/scripts/test.py
@@ -1,12 +1,16 @@
 def test(cd: str, args: list[str]) -> str | int | None:
     if len(args) == 0: return "No test type specified"
-    if 'tarpaulin' == args[0]:
+
+    if '--release' in args:
+        return "Release mode is not supported for tests"
+    
+    if '--tarpaulin' in args:
         args.pop(0)
         return tarpaulin_test(cd, args)
-    elif 'llvm' == args[0]:
+    elif '--llvm' in args:
         args.pop(0)
         return llvm_test(cd, args)
-    elif 'all' == args[0]:
+    elif '--all' in args:
         args.pop(0)
         tarpaulin_test_res = tarpaulin_test(cd, args)
         if tarpaulin_test_res != None: return tarpaulin_test_res
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..f11280c
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,5 @@
+[project]
+name = "arc"
+version = "0.0.1-dev"
+description = "Advanced Robot Controller"
+requires-python = ">=3.11"