diff --git a/web/js/sections/board-control.js b/web/js/sections/board-control.js
index 7c12057..40df49e 100644
--- a/web/js/sections/board-control.js
+++ b/web/js/sections/board-control.js
@@ -13,6 +13,7 @@ let bounds = { xMin: -150, xMax: 150, yMin: -30, yMax: 145 };
 let currentBg = localStorage.getItem('wiji_bg') || 'default';
 let steps1 = 0;
 let steps2 = 0;
+let isManualPickMode = false;
 
 function syncStateFromStorage() {
   isHomed = localStorage.getItem('wiji_homed') === 'true';
@@ -86,7 +87,12 @@ function buildHTML() {
       <div class="board-grid">
         <!-- ── Map Area ─────────────────────────────────────── -->
         <div class="card" style="display:flex; flex-direction:column; padding: 12px; position:relative;">
-          <div class="card-header"><span class="card-title">Interactive Map</span></div>
+          <div class="card-header" style="display:flex; justify-content:space-between; align-items:center;">
+            <span class="card-title">Interactive Map</span>
+            <button id="btn-manual-pick" class="btn btn-secondary" style="padding: 4px 8px; font-size: 0.8rem; display:flex; align-items:center; gap:4px; border-radius: var(--radius-sm);">
+              <span style="font-size: 1.1rem;">⌖</span> Manual Pick
+            </button>
+          </div>
           
           <div style="flex:1; display:flex; align-items:flex-start; justify-content:center; overflow:hidden;">
             <div id="map-container" style="position: relative; width: 100%; max-width: 800px; background: #111; border-radius: 8px; box-shadow: 0 4px 20px rgba(0,0,0,0.5);">
@@ -430,6 +436,59 @@ export default {
       }
     });
 
+    // ── Manual Pick Mode ──────────────────────────────────────
+    const btnManualPick = document.getElementById('btn-manual-pick');
+    const mapContainer = document.getElementById('map-container');
+    
+    if (btnManualPick && mapContainer) {
+      btnManualPick.addEventListener('click', () => {
+        isManualPickMode = !isManualPickMode;
+        if (isManualPickMode) {
+          btnManualPick.classList.add('btn-success');
+          btnManualPick.classList.remove('btn-secondary');
+          mapContainer.style.cursor = 'crosshair';
+        } else {
+          btnManualPick.classList.remove('btn-success');
+          btnManualPick.classList.add('btn-secondary');
+          mapContainer.style.cursor = 'default';
+        }
+      });
+
+      mapContainer.addEventListener('click', (e) => {
+        if (!isManualPickMode) return;
+        // Ignore clicks on existing markers
+        if (e.target.classList.contains('spot-marker')) return;
+
+        const rect = mapContainer.getBoundingClientRect();
+        const xClick = e.clientX - rect.left;
+        const yClick = e.clientY - rect.top;
+
+        const w = bounds.xMax - bounds.xMin;
+        const h = bounds.yMax - bounds.yMin;
+
+        const x = bounds.xMin + (xClick / rect.width) * w;
+        const y = bounds.yMax - (yClick / rect.height) * h;
+
+        const check = IK.checkWorkspace(x, y);
+        if (!check.valid) {
+          UI.log(check.reason, 'warning');
+          return;
+        }
+
+        // Execute move
+        if (listEl) listEl.value = ''; // Deselect predefined spots
+        goBtn.disabled = true;
+        
+        executeMove({ id: 'manual', label: `Manual [${x.toFixed(1)}, ${y.toFixed(1)}]`, x, y });
+
+        // Turn off mode automatically (one-shot)
+        isManualPickMode = false;
+        btnManualPick.classList.remove('btn-success');
+        btnManualPick.classList.add('btn-secondary');
+        mapContainer.style.cursor = 'default';
+      });
+    }
+
     // ── Sync Steps from BLE ───────────────────────────────────
     const onBLEStatus = (e) => {
       const msg = e.detail;