diff --git a/robot_v2_esp32c6/robot_v2_esp32c6.ino b/robot_v2_esp32c6/robot_v2_esp32c6.ino
new file mode 100644
index 0000000..fa29d07
--- /dev/null
+++ b/robot_v2_esp32c6/robot_v2_esp32c6.ino
@@ -0,0 +1,314 @@
+\
+/****************************************************
+ * ROBOT V2
+ * ESP32-C6 + NEO-M8N + MPU6050 + MMC5883MA + BMP180
+ * Sender data til Home Assistant via REST
+ ****************************************************/
+
+#include <WiFi.h>
+#include <HTTPClient.h>
+#include <Wire.h>
+#include <TinyGPSPlus.h>
+#include <Adafruit_BMP085.h>
+#include <MPU6050_tockn.h>
+#include <math.h>
+
+// ---------------- WIFI / HA ----------------
+const char* WIFI_SSID     = "DIT_WIFI";
+const char* WIFI_PASSWORD = "DIT_PASS";
+
+const char* HA_HOST       = "192.168.2.10";
+const uint16_t HA_PORT    = 8123;
+const char* HA_TOKEN      = "DIN_LONG_LIVED_ACCESS_TOKEN";
+
+// ---------------- PINS ----------------
+const int I2C_SDA_PIN = 6;
+const int I2C_SCL_PIN = 7;
+
+const int GPS_RX_PIN = 17; // ESP RX <- GPS TX
+const int GPS_TX_PIN = 16; // ESP TX -> GPS RX
+
+// ---------------- GPS ----------------
+HardwareSerial GPSserial(1);
+TinyGPSPlus gps;
+
+// ---------------- BMP180 ----------------
+Adafruit_BMP085 bmp;
+
+// ---------------- MPU6050 ----------------
+MPU6050 mpu6050(Wire);
+
+// ---------------- MMC5883MA ----------------
+const uint8_t MMC5883_ADDR = 0x30;
+
+// MMC5883MA registers
+const uint8_t MMC_REG_XOUT_L   = 0x00;
+const uint8_t MMC_REG_STATUS   = 0x07;
+const uint8_t MMC_REG_CTRL_0   = 0x08;
+const uint8_t MMC_REG_CTRL_1   = 0x09;
+
+// ---------------- Logic ----------------
+bool isMoving = false;
+bool gpsFix = false;
+
+double acceptedLat = 0.0;
+double acceptedLon = 0.0;
+double acceptedSpeedKmh = 0.0;
+double acceptedHdop = 99.9;
+int acceptedSats = 0;
+float headingDeg = 0.0;
+unsigned long lastAcceptedFixMs = 0;
+
+unsigned long lastImuMs = 0;
+unsigned long lastGpsLogicMs = 0;
+unsigned long lastPushMs = 0;
+
+const float MOTION_THRESHOLD = 0.08f;
+const unsigned long STILL_HOLD_MS = 3000;
+unsigned long lastMotionDetectedMs = 0;
+
+// ---------------- Utils ----------------
+String haBaseUrl() {
+  return "http://" + String(HA_HOST) + ":" + String(HA_PORT);
+}
+
+void wifiConnect() {
+  WiFi.mode(WIFI_STA);
+  WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
+
+  unsigned long startMs = millis();
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+    if (millis() - startMs > 30000) {
+      ESP.restart();
+    }
+  }
+}
+
+bool postState(const String& entityId, const String& state, const String& unit = "", const String& devClass = "", const String& stateClass = "") {
+  WiFiClient client;
+  HTTPClient http;
+  String url = haBaseUrl() + "/api/states/" + entityId;
+
+  if (!http.begin(client, url)) return false;
+
+  http.addHeader("Authorization", "Bearer " + String(HA_TOKEN));
+  http.addHeader("Content-Type", "application/json");
+
+  String json = "{\"state\":\"" + state + "\",\"attributes\":{";
+  bool first = true;
+
+  if (unit.length()) {
+    json += "\"unit_of_measurement\":\"" + unit + "\"";
+    first = false;
+  }
+  if (devClass.length()) {
+    if (!first) json += ",";
+    json += "\"device_class\":\"" + devClass + "\"";
+    first = false;
+  }
+  if (stateClass.length()) {
+    if (!first) json += ",";
+    json += "\"state_class\":\"" + stateClass + "\"";
+    first = false;
+  }
+  if (!first) json += ",";
+  json += "\"friendly_name\":\"" + entityId + "\"";
+  json += "}}";
+
+  int code = http.POST(json);
+  http.end();
+  return (code >= 200 && code < 300);
+}
+
+// ---------------- MMC5883MA helpers ----------------
+void mmcWrite8(uint8_t reg, uint8_t val) {
+  Wire.beginTransmission(MMC5883_ADDR);
+  Wire.write(reg);
+  Wire.write(val);
+  Wire.endTransmission();
+}
+
+uint8_t mmcRead8(uint8_t reg) {
+  Wire.beginTransmission(MMC5883_ADDR);
+  Wire.write(reg);
+  Wire.endTransmission(false);
+  Wire.requestFrom((int)MMC5883_ADDR, 1);
+  if (!Wire.available()) return 0;
+  return Wire.read();
+}
+
+void mmcReadXYZ(uint16_t &x, uint16_t &y, uint16_t &z) {
+  // Start measurement
+  mmcWrite8(MMC_REG_CTRL_0, 0x01); // TM_M
+  delay(10);
+
+  // Wait until measurement done
+  unsigned long start = millis();
+  while (!(mmcRead8(MMC_REG_STATUS) & 0x01)) {
+    if (millis() - start > 20) break;
+    delay(1);
+  }
+
+  Wire.beginTransmission(MMC5883_ADDR);
+  Wire.write(MMC_REG_XOUT_L);
+  Wire.endTransmission(false);
+  Wire.requestFrom((int)MMC5883_ADDR, 6);
+
+  if (Wire.available() >= 6) {
+    uint8_t xl = Wire.read();
+    uint8_t xh = Wire.read();
+    uint8_t yl = Wire.read();
+    uint8_t yh = Wire.read();
+    uint8_t zl = Wire.read();
+    uint8_t zh = Wire.read();
+
+    x = ((uint16_t)xh << 8) | xl;
+    y = ((uint16_t)yh << 8) | yl;
+    z = ((uint16_t)zh << 8) | zl;
+  } else {
+    x = y = z = 0;
+  }
+}
+
+void mmcInit() {
+  // Optional SET/RESET cycle
+  mmcWrite8(MMC_REG_CTRL_0, 0x08); // SET
+  delay(2);
+  mmcWrite8(MMC_REG_CTRL_0, 0x10); // RESET
+  delay(2);
+
+  // BW = 00 default 16-bit
+  mmcWrite8(MMC_REG_CTRL_1, 0x00);
+}
+
+// Raw unsigned output is centered around 32768 counts
+float mmcReadHeading() {
+  uint16_t rx, ry, rz;
+  mmcReadXYZ(rx, ry, rz);
+
+  float x = (float)rx - 32768.0f;
+  float y = (float)ry - 32768.0f;
+
+  float heading = atan2f(y, x) * 180.0f / PI;
+  if (heading < 0) heading += 360.0f;
+  return heading;
+}
+
+// ---------------- Motion detect ----------------
+void updateMotion() {
+  mpu6050.update();
+
+  float ax = mpu6050.getAccX();
+  float ay = mpu6050.getAccY();
+  float az = mpu6050.getAccZ();
+
+  float magnitude = sqrtf(ax * ax + ay * ay + az * az);
+  float deviation = fabsf(magnitude - 1.0f);
+
+  if (deviation > MOTION_THRESHOLD) {
+    lastMotionDetectedMs = millis();
+    isMoving = true;
+  } else {
+    if (millis() - lastMotionDetectedMs > STILL_HOLD_MS) {
+      isMoving = false;
+    }
+  }
+}
+
+// ---------------- GPS logic ----------------
+void processGPS() {
+  while (GPSserial.available()) {
+    gps.encode(GPSserial.read());
+  }
+
+  if (millis() - lastGpsLogicMs < 1000) return;
+  lastGpsLogicMs = millis();
+
+  bool validLocation = gps.location.isValid();
+  int sats = gps.satellites.isValid() ? gps.satellites.value() : 0;
+  double hdop = gps.hdop.isValid() ? gps.hdop.hdop() : 99.9;
+
+  gpsFix = validLocation && sats >= 4 && hdop <= 5.0;
+
+  if (isMoving && gpsFix) {
+    acceptedLat = gps.location.lat();
+    acceptedLon = gps.location.lng();
+    acceptedSpeedKmh = gps.speed.isValid() ? gps.speed.kmph() : 0.0;
+    acceptedHdop = hdop;
+    acceptedSats = sats;
+    lastAcceptedFixMs = millis();
+  }
+
+  if (lastAcceptedFixMs == 0 && gpsFix) {
+    acceptedLat = gps.location.lat();
+    acceptedLon = gps.location.lng();
+    acceptedSpeedKmh = gps.speed.isValid() ? gps.speed.kmph() : 0.0;
+    acceptedHdop = hdop;
+    acceptedSats = sats;
+    lastAcceptedFixMs = millis();
+  }
+
+  if (isMoving) {
+    headingDeg = mmcReadHeading();
+  }
+}
+
+// ---------------- Push to HA ----------------
+void pushToHA() {
+  unsigned long ageSec = (lastAcceptedFixMs == 0) ? 999999 : ((millis() - lastAcceptedFixMs) / 1000);
+
+  float tempC = bmp.readTemperature();
+  float pressureHpa = bmp.readPressure() / 100.0f;
+
+  postState("sensor.robot_gps_fix_raw", gpsFix ? "on" : "off");
+  postState("sensor.robot_motion_raw", isMoving ? "on" : "off");
+
+  postState("sensor.robot_gps_latitude", String(acceptedLat, 6));
+  postState("sensor.robot_gps_longitude", String(acceptedLon, 6));
+  postState("sensor.robot_gps_satellites", String(acceptedSats));
+  postState("sensor.robot_gps_hdop", String(acceptedHdop, 1));
+  postState("sensor.robot_gps_speed_kmh", String(acceptedSpeedKmh, 1), "km/h", "speed", "measurement");
+  postState("sensor.robot_heading_deg", String(headingDeg, 1), "°");
+  postState("sensor.robot_last_position_age", String(ageSec), "s", "duration", "measurement");
+  postState("sensor.robot_temperature", String(tempC, 1), "°C", "temperature", "measurement");
+  postState("sensor.robot_pressure", String(pressureHpa, 1), "hPa", "atmospheric_pressure", "measurement");
+}
+
+void setup() {
+  Wire.begin(I2C_SDA_PIN, I2C_SCL_PIN);
+  Wire.setClock(400000);
+
+  wifiConnect();
+
+  GPSserial.begin(9600, SERIAL_8N1, GPS_RX_PIN, GPS_TX_PIN);
+
+  if (!bmp.begin()) {
+    // BMP180 ikke fundet - fortsæt alligevel
+  }
+
+  mpu6050.begin();
+  mpu6050.calcGyroOffsets(true);
+
+  mmcInit();
+
+  lastMotionDetectedMs = millis();
+}
+
+void loop() {
+  if (WiFi.status() != WL_CONNECTED) {
+    wifiConnect();
+  }
+
+  if (millis() - lastImuMs >= 50) {
+    lastImuMs = millis();
+    updateMotion();
+  }
+
+  processGPS();
+
+  if (millis() - lastPushMs >= 5000) {
+    lastPushMs = millis();
+    pushToHA();
+  }
+}