diff --git a/gemini.md b/gemini.md
index 6ffbdef..a5cd4a0 100644
--- a/gemini.md
+++ b/gemini.md
@@ -112,6 +112,7 @@ esp32c3-wiji/
 ├── src/
 │   ├── Config.h                  # Pins, Constants, UUIDs
 │   ├── BleManager.cpp            # BLE setup, callbacks, notifications
+│   ├── CommandParser.cpp         # Parses BLE string commands
 │   ├── MotorController.cpp       # AccelStepper wrap, homing state, idle timeout
 │   ├── StatusLed.cpp             # Onboard LED feedback logic
 │   └── main.cpp                  # Main app glue, command router
diff --git a/src/CommandParser.cpp b/src/CommandParser.cpp
new file mode 100644
index 0000000..103bfb5
--- /dev/null
+++ b/src/CommandParser.cpp
@@ -0,0 +1,76 @@
+#include "CommandParser.h"
+
+CommandParser::CommandParser(MotorController& motorCtrl, BleManager& bleMgr)
+    : motorController(motorCtrl), bleManager(bleMgr) {}
+
+void CommandParser::parse(const String& cmd) {
+    // S1+<n> or S1-<n> (Relative)
+    if (cmd.startsWith("S1") && cmd.length() > 2) {
+        long steps = cmd.substring(2).toInt();
+        motorController.moveRelative1(steps);
+        return;
+    }
+    // S2+<n> or S2-<n> (Relative)
+    if (cmd.startsWith("S2") && cmd.length() > 2) {
+        long steps = cmd.substring(2).toInt();
+        motorController.moveRelative2(steps);
+        return;
+    }
+    // X:<n1>,<n2> (Absolute combined)
+    if (cmd.startsWith("X:")) {
+        int commaIdx = cmd.indexOf(',');
+        if (commaIdx != -1) {
+            long target1 = cmd.substring(2, commaIdx).toInt();
+            long target2 = cmd.substring(commaIdx + 1).toInt();
+            motorController.moveAbsolute(target1, target2);
+        }
+        return;
+    }
+    // SPD:<n>
+    if (cmd.startsWith("SPD:")) {
+        float spd = cmd.substring(4).toFloat();
+        motorController.setMaxSpeed(spd);
+        return;
+    }
+    // ACC:<n>
+    if (cmd.startsWith("ACC:")) {
+        float acc = cmd.substring(4).toFloat();
+        motorController.setAcceleration(acc);
+        return;
+    }
+    // HOME1
+    if (cmd == "HOME1") {
+        motorController.home1();
+        bleManager.notifyPosition(motorController.getPositionString());
+        return;
+    }
+    // HOME2
+    if (cmd == "HOME2") {
+        motorController.home2();
+        bleManager.notifyPosition(motorController.getPositionString());
+        return;
+    }
+    // HOMEALL
+    if (cmd == "HOMEALL") {
+        motorController.homeAll();
+        bleManager.notifyPosition(motorController.getPositionString());
+        return;
+    }
+    // ZEROALL
+    if (cmd == "ZEROALL") {
+        motorController.zeroAll();
+        bleManager.notifyPosition(motorController.getPositionString());
+        return;
+    }
+    // DISABLE
+    if (cmd == "DISABLE") {
+        motorController.disableMotors();
+        return;
+    }
+    // POS – explicit position request
+    if (cmd == "POS") {
+        bleManager.notifyPosition(motorController.getPositionString());
+        return;
+    }
+    Serial.printf("[CMD] Unknown command: '%s'\n", cmd.c_str());
+}
diff --git a/src/CommandParser.h b/src/CommandParser.h
new file mode 100644
index 0000000..3c1081e
--- /dev/null
+++ b/src/CommandParser.h
@@ -0,0 +1,14 @@
+#pragma once
+#include <Arduino.h>
+#include "MotorController.h"
+#include "BleManager.h"
+
+class CommandParser {
+public:
+    CommandParser(MotorController& motorCtrl, BleManager& bleMgr);
+    void parse(const String& cmd);
+
+private:
+    MotorController& motorController;
+    BleManager& bleManager;
+};
diff --git a/src/main.cpp b/src/main.cpp
index b1fec92..26eb2d1 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -10,83 +10,17 @@
 #include "BleManager.h"
 #include "MotorController.h"
 #include "StatusLed.h"
+#include "CommandParser.h"
 
 BleManager bleManager;
 MotorController motorController;
 StatusLed statusLed;
+CommandParser commandParser(motorController, bleManager);
 
 unsigned long lastNotify = 0;
 
 void onCommandReceived(const String &cmd) {
-  // S1+<n> or S1-<n> (Relative)
-  if (cmd.startsWith("S1") && cmd.length() > 2) {
-    long steps = cmd.substring(2).toInt();
-    motorController.moveRelative1(steps);
-    return;
-  }
-  // S2+<n> or S2-<n> (Relative)
-  if (cmd.startsWith("S2") && cmd.length() > 2) {
-    long steps = cmd.substring(2).toInt();
-    motorController.moveRelative2(steps);
-    return;
-  }
-  // X:<n1>,<n2> (Absolute combined)
-  if (cmd.startsWith("X:")) {
-    int commaIdx = cmd.indexOf(',');
-    if (commaIdx != -1) {
-      long target1 = cmd.substring(2, commaIdx).toInt();
-      long target2 = cmd.substring(commaIdx + 1).toInt();
-      motorController.moveAbsolute(target1, target2);
-    }
-    return;
-  }
-  // SPD:<n>
-  if (cmd.startsWith("SPD:")) {
-    float spd = cmd.substring(4).toFloat();
-    motorController.setMaxSpeed(spd);
-    return;
-  }
-  // ACC:<n>
-  if (cmd.startsWith("ACC:")) {
-    float acc = cmd.substring(4).toFloat();
-    motorController.setAcceleration(acc);
-    return;
-  }
-  // HOME1
-  if (cmd == "HOME1") {
-    motorController.home1();
-    bleManager.notifyPosition(motorController.getPositionString());
-    return;
-  }
-  // HOME2
-  if (cmd == "HOME2") {
-    motorController.home2();
-    bleManager.notifyPosition(motorController.getPositionString());
-    return;
-  }
-  // HOMEALL
-  if (cmd == "HOMEALL") {
-    motorController.homeAll();
-    bleManager.notifyPosition(motorController.getPositionString());
-    return;
-  }
-  // ZEROALL
-  if (cmd == "ZEROALL") {
-    motorController.zeroAll();
-    bleManager.notifyPosition(motorController.getPositionString());
-    return;
-  }
-  // DISABLE
-  if (cmd == "DISABLE") {
-    motorController.disableMotors();
-    return;
-  }
-  // POS – explicit position request
-  if (cmd == "POS") {
-    bleManager.notifyPosition(motorController.getPositionString());
-    return;
-  }
-  Serial.printf("[CMD] Unknown command: '%s'\n", cmd.c_str());
+    commandParser.parse(cmd);
 }
 
 void onIdleTimeout() {
@@ -94,35 +28,35 @@ void onIdleTimeout() {
 }
 
 void setup() {
-  Serial.setTxTimeoutMs(0);
-  Serial.begin(115200);
-  delay(1000); // Wait for USB CDC to enumerate
-  Serial.println("\n[BOOT] WijiBoard Stepper Controller");
+    Serial.setTxTimeoutMs(0);
+    Serial.begin(115200);
+    delay(1000); // Wait for USB CDC to enumerate
+    Serial.println("\n[BOOT] WijiBoard Stepper Controller");
 
-  statusLed.init();
-  motorController.init();
-  motorController.setOnTimeoutCallback(onIdleTimeout);
-  bleManager.init(onCommandReceived);
+    statusLed.init();
+    motorController.init();
+    motorController.setOnTimeoutCallback(onIdleTimeout);
+    bleManager.init(onCommandReceived);
 }
 
 void loop() {
-  static bool wasMoving = false;
-  
-  motorController.update();
-  bool isMoving = motorController.isMoving();
-  statusLed.update(bleManager.isConnected(), isMoving);
+    static bool wasMoving = false;
+    
+    motorController.update();
+    bool isMoving = motorController.isMoving();
+    statusLed.update(bleManager.isConnected(), isMoving);
 
-  if (bleManager.isConnected()) {
-    unsigned long now = millis();
-    // Notify periodically while moving, or once when stopping
-    if (isMoving && (now - lastNotify >= NOTIFY_INTERVAL_MS)) {
-      lastNotify = now;
-      bleManager.notifyPosition(motorController.getPositionString());
-    } else if (wasMoving && !isMoving) {
-      // Just stopped moving
-      bleManager.notifyPosition(motorController.getPositionString());
+    if (bleManager.isConnected()) {
+        unsigned long now = millis();
+        // Notify periodically while moving, or once when stopping
+        if (isMoving && (now - lastNotify >= NOTIFY_INTERVAL_MS)) {
+            lastNotify = now;
+            bleManager.notifyPosition(motorController.getPositionString());
+        } else if (wasMoving && !isMoving) {
+            // Just stopped moving
+            bleManager.notifyPosition(motorController.getPositionString());
+        }
     }
-  }
-  
-  wasMoving = isMoving;
+    
+    wasMoving = isMoving;
 }