diff --git a/README.md b/README.md
index f3aa0c5..3f15cf0 100644
--- a/README.md
+++ b/README.md
@@ -1,53 +1,76 @@
-| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-H21 | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 | Linux |
-| ----------------- | ----- | -------- | -------- | -------- | -------- | --------- | -------- | --------- | -------- | -------- | -------- | -------- | ----- |
+# linefollower_eye
 
-# Hello World Example
+ESP32-S3 camera board that finds a coloured blob and reports its position over I2C. Meant to sit on a robot as the “eye”, with something like a Pico as the master.
 
-Starts a FreeRTOS task to print "Hello World".
+## What it does
 
-(See the README.md file in the upper level 'examples' directory for more information about examples.)
+The ESP runs HSV blob detection on the camera. A MicroPython master can turn the camera on, set colour, and poll for a target. Optionally it can join Wi‑Fi so you can open a browser page to tune the colour live.
 
-## How to use example
+Target position from `read_target()` is relative to the image centre (320x240). Positive x is right, positive y is up. No target returns `None`.
 
-Follow detailed instructions provided specifically for this example.
+## Hardware
 
-Select the instructions depending on Espressif chip installed on your development board:
+ESP pins for the I2C slave:
 
-- [ESP32 Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/stable/get-started/index.html)
-- [ESP32-S2 Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/latest/esp32s2/get-started/index.html)
+- SDA: GPIO19
+- SCL: GPIO20
+- Address: 0x42
 
+Example Pico wiring:
 
-## Example folder contents
+- GP0 (SDA) -> ESP GPIO19
+- GP1 (SCL) -> ESP GPIO20
+- GND shared
+- Use external pull-ups on SDA/SCL (about 2k2–4k7 to 3V3)
 
-The project **hello_world** contains one source file in C language [hello_world_main.c](main/hello_world_main.c). The file is located in folder [main](main).
+Camera and Wi‑Fi stay off until the master enables them.
 
-ESP-IDF projects are built using CMake. The project build configuration is contained in `CMakeLists.txt` files that provide set of directives and instructions describing the project's source files and targets (executable, library, or both).
+## Firmware
 
-Below is short explanation of remaining files in the project folder.
+ESP-IDF project for ESP32-S3. Build and flash as usual:
 
 ```
-├── CMakeLists.txt
-├── pytest_hello_world.py      Python script used for automated testing
-├── main
-│   ├── CMakeLists.txt
-│   └── hello_world_main.c
-└── README.md                  This is the file you are currently reading
+idf.py build
+idf.py -p PORT flash monitor
 ```
 
-For more information on structure and contents of ESP-IDF projects, please refer to Section [Build System](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/build-system.html) of the ESP-IDF Programming Guide.
+## MicroPython master
 
-## Troubleshooting
+Files live in `mp_i2c_master/`. Copy `vision.py` (and `main.py` if you want the demo) onto the board.
 
-* Program upload failure
+```python
+from vision import Vision
+import time
 
-    * Hardware connection is not correct: run `idf.py -p PORT monitor`, and reboot your board to see if there are any output logs.
-    * The baud rate for downloading is too high: lower your baud rate in the `menuconfig` menu, and try again.
+eye = Vision(sda=0, scl=1)
+eye.start()
 
-## Technical support and feedback
+# Optional: browser UI for tuning colour
+# eye.set_wifi("YourSSID", "YourPassword")
+# print(eye.wifi_ip())
 
-Please use the following feedback channels:
+while True:
+    t = eye.read_target()
+    if t is None:
+        print("no target")
+    else:
+        x, y = t
+        print(x, y)
+    time.sleep(0.1)
+```
 
-* For technical queries, go to the [esp32.com](https://esp32.com/) forum
-* For a feature request or bug report, create a [GitHub issue](https://github.com/espressif/esp-idf/issues)
+Useful calls:
 
-We will get back to you as soon as possible.
+- `eye.start()` — camera on and local detection
+- `eye.set_hsv(h, s, v)` / `eye.set_tolerance(...)` — colour (or tune in the browser)
+- `eye.set_wifi(ssid, password)` / `eye.wifi_off()` / `eye.wifi_ip()`
+- `eye.read_target()` — `(x, y)` or `None`
+
+## Web UI
+
+After Wi‑Fi is up, open the ESP’s IP in a browser. You get the live image, colour picker / eyedropper, mask options, and timing. Colour changes there are what the I2C master reads next.
+
+## Other folders
+
+- `pc_vision/` — older desktop viewer; the on-device web UI replaces it for tuning
+- `main/` — ESP firmware
diff --git a/pc_vision/README.md b/pc_vision/README.md
index 4d3675f..c9a492d 100644
--- a/pc_vision/README.md
+++ b/pc_vision/README.md
@@ -1,9 +1,9 @@
-# PC vision (legacy desktop UI)
+# PC vision
 
-The primary camera + vision tuner now runs **on the ESP** when Wi‑Fi is on:
+Optional desktop client. Prefer the ESP web UI after `eye.set_wifi(ssid, password)`.
 
-1. Enable camera from the I2C master (`eye.start()`), then Wi‑Fi:
-   `eye.set_wifi("YourSSID", "YourPassword")`.
-2. Open the ESP’s IP in a browser → video, eyedropper, HSV/tolerance, mask, drive pad.
+If you still want this app:
 
-This folder’s `viewer.py` is an optional desktop client that talks to the same HTTP/WS APIs.
+```
+python viewer.py --ip <ESP_IP>
+```