diff --git a/esp-home-rewrite.yaml b/esp-home-rewrite.yaml
index dadd8a7..9ea7f14 100644
--- a/esp-home-rewrite.yaml
+++ b/esp-home-rewrite.yaml
@@ -20,6 +20,8 @@ substitutions:
   gauge0_max_steps: "4000"
   gauge0_unit: W
   gauge0_step: "1.0"
+  gauge0_speed_step: "100"
+  gauge0_accel_step: "100"
   gauge0_default_speed: "5000"
   gauge0_default_accel: "6000"
 
@@ -30,6 +32,8 @@ substitutions:
   gauge1_max_steps: "4000"
   gauge1_unit: W
   gauge1_step: "1.0"
+  gauge1_speed_step: "100"
+  gauge1_accel_step: "100"
   gauge1_default_speed: "5000"
   gauge1_default_accel: "6000"
 
@@ -134,6 +138,42 @@ sensor:
     accuracy_decimals: 1
     update_interval: 5s
 
+  - platform: template
+    name: "${gauge0_entity_name} Speed"
+    lambda: |-
+      return id(gauge0_speed_value);
+    unit_of_measurement: "steps/s"
+    accuracy_decimals: 0
+    update_interval: 5s
+    entity_category: config
+
+  - platform: template
+    name: "${gauge0_entity_name} Acceleration"
+    lambda: |-
+      return id(gauge0_accel_value);
+    unit_of_measurement: "steps/s^2"
+    accuracy_decimals: 0
+    update_interval: 5s
+    entity_category: config
+
+  - platform: template
+    name: "${gauge1_entity_name} Speed"
+    lambda: |-
+      return id(gauge1_speed_value);
+    unit_of_measurement: "steps/s"
+    accuracy_decimals: 0
+    update_interval: 5s
+    entity_category: config
+
+  - platform: template
+    name: "${gauge1_entity_name} Acceleration"
+    lambda: |-
+      return id(gauge1_accel_value);
+    unit_of_measurement: "steps/s^2"
+    accuracy_decimals: 0
+    update_interval: 5s
+    entity_category: config
+
 text_sensor:
   - platform: wifi_info
     ip_address:
@@ -202,11 +242,228 @@ number:
           snprintf(cmd, sizeof(cmd), "SET 1 %d\n", steps);
           id(arduino_uart).write_str(cmd);
 
+  - platform: template
+    id: gauge0_speed_number
+    name: "${gauge0_entity_name} Speed"
+    entity_category: config
+    unit_of_measurement: "steps/s"
+    min_value: 1
+    max_value: 20000
+    step: ${gauge0_speed_step}
+    mode: box
+    optimistic: true
+    restore_value: false
+    initial_value: ${gauge0_default_speed}
+    set_action:
+      - lambda: |-
+          const int clamped = std::max(1, static_cast<int>(lroundf(x)));
+          id(gauge0_speed_value) = clamped;
+          char cmd[24];
+          snprintf(cmd, sizeof(cmd), "SPEED 0 %d\n", clamped);
+          id(arduino_uart).write_str(cmd);
+
+  - platform: template
+    id: gauge0_accel_number
+    name: "${gauge0_entity_name} Acceleration"
+    entity_category: config
+    unit_of_measurement: "steps/s^2"
+    min_value: 1
+    max_value: 50000
+    step: ${gauge0_accel_step}
+    mode: box
+    optimistic: true
+    restore_value: false
+    initial_value: ${gauge0_default_accel}
+    set_action:
+      - lambda: |-
+          const int clamped = std::max(1, static_cast<int>(lroundf(x)));
+          id(gauge0_accel_value) = clamped;
+          char cmd[24];
+          snprintf(cmd, sizeof(cmd), "ACCEL 0 %d\n", clamped);
+          id(arduino_uart).write_str(cmd);
+
+  - platform: template
+    id: gauge1_speed_number
+    name: "${gauge1_entity_name} Speed"
+    entity_category: config
+    unit_of_measurement: "steps/s"
+    min_value: 1
+    max_value: 20000
+    step: ${gauge1_speed_step}
+    mode: box
+    optimistic: true
+    restore_value: false
+    initial_value: ${gauge1_default_speed}
+    set_action:
+      - lambda: |-
+          const int clamped = std::max(1, static_cast<int>(lroundf(x)));
+          id(gauge1_speed_value) = clamped;
+          char cmd[24];
+          snprintf(cmd, sizeof(cmd), "SPEED 1 %d\n", clamped);
+          id(arduino_uart).write_str(cmd);
+
+  - platform: template
+    id: gauge1_accel_number
+    name: "${gauge1_entity_name} Acceleration"
+    entity_category: config
+    unit_of_measurement: "steps/s^2"
+    min_value: 1
+    max_value: 50000
+    step: ${gauge1_accel_step}
+    mode: box
+    optimistic: true
+    restore_value: false
+    initial_value: ${gauge1_default_accel}
+    set_action:
+      - lambda: |-
+          const int clamped = std::max(1, static_cast<int>(lroundf(x)));
+          id(gauge1_accel_value) = clamped;
+          char cmd[24];
+          snprintf(cmd, sizeof(cmd), "ACCEL 1 %d\n", clamped);
+          id(arduino_uart).write_str(cmd);
+
+# ---------------------------------------------------------------------------
+# VFD controls
+# ---------------------------------------------------------------------------
+
+text:
+  - platform: template
+    id: vfd_display
+    name: VFD Display
+    mode: text
+    optimistic: true
+    restore_value: false
+    min_length: 0
+    max_length: 4
+    initial_value: ""
+    set_action:
+      - lambda: |-
+          std::string sanitized;
+          sanitized.reserve(4);
+          for (char c : x) {
+            const char uc = static_cast<char>(toupper(static_cast<unsigned char>(c)));
+            if ((uc >= '0' && uc <= '9') || (uc >= 'A' && uc <= 'F') || uc == '-') {
+              sanitized.push_back(uc);
+              if (sanitized.size() >= 4) {
+                break;
+              }
+            }
+          }
+
+          id(vfd_text_value) = sanitized;
+
+          std::string cmd = "VFD";
+          std::string suffix;
+          if (id(vfd_decimal_point_on)) {
+            suffix += ".";
+          }
+          if (id(vfd_alarm_on)) {
+            suffix += "!";
+          }
+
+          if (!sanitized.empty()) {
+            cmd += " " + sanitized + suffix;
+          } else if (!suffix.empty()) {
+            cmd += " 0" + suffix;
+          }
+          cmd += "\n";
+          id(arduino_uart).write_str(cmd);
+
+switch:
+  - platform: template
+    id: vfd_decimal_point
+    name: VFD Decimal Point
+    optimistic: true
+    restore_mode: ALWAYS_OFF
+    lambda: |-
+      return id(vfd_decimal_point_on);
+    turn_on_action:
+      - lambda: |-
+          id(vfd_decimal_point_on) = true;
+          std::string cmd = "VFD";
+          std::string suffix = ".";
+          if (id(vfd_alarm_on)) {
+            suffix += "!";
+          }
+          if (!id(vfd_text_value).empty()) {
+            cmd += " " + id(vfd_text_value) + suffix;
+          } else {
+            cmd += " 0" + suffix;
+          }
+          cmd += "\n";
+          id(arduino_uart).write_str(cmd);
+    turn_off_action:
+      - lambda: |-
+          id(vfd_decimal_point_on) = false;
+          std::string cmd = "VFD";
+          std::string suffix;
+          if (id(vfd_alarm_on)) {
+            suffix += "!";
+          }
+          if (!id(vfd_text_value).empty()) {
+            cmd += " " + id(vfd_text_value) + suffix;
+          } else if (!suffix.empty()) {
+            cmd += " 0" + suffix;
+          }
+          cmd += "\n";
+          id(arduino_uart).write_str(cmd);
+
+  - platform: template
+    id: vfd_alarm
+    name: VFD Alarm
+    optimistic: true
+    restore_mode: ALWAYS_OFF
+    lambda: |-
+      return id(vfd_alarm_on);
+    turn_on_action:
+      - lambda: |-
+          id(vfd_alarm_on) = true;
+          std::string cmd = "VFD";
+          std::string suffix;
+          if (id(vfd_decimal_point_on)) {
+            suffix += ".";
+          }
+          suffix += "!";
+          if (!id(vfd_text_value).empty()) {
+            cmd += " " + id(vfd_text_value) + suffix;
+          } else {
+            cmd += " 0" + suffix;
+          }
+          cmd += "\n";
+          id(arduino_uart).write_str(cmd);
+    turn_off_action:
+      - lambda: |-
+          id(vfd_alarm_on) = false;
+          std::string cmd = "VFD";
+          std::string suffix;
+          if (id(vfd_decimal_point_on)) {
+            suffix += ".";
+          }
+          if (!id(vfd_text_value).empty()) {
+            cmd += " " + id(vfd_text_value) + suffix;
+          } else if (!suffix.empty()) {
+            cmd += " 0" + suffix;
+          }
+          cmd += "\n";
+          id(arduino_uart).write_str(cmd);
+
 # ---------------------------------------------------------------------------
 # Gauge light state cache
 # ---------------------------------------------------------------------------
 
 globals:
+  - id: vfd_text_value
+    type: std::string
+    restore_value: no
+    initial_value: '""'
+  - id: vfd_decimal_point_on
+    type: bool
+    restore_value: no
+    initial_value: "false"
+  - id: vfd_alarm_on
+    type: bool
+    restore_value: no
+    initial_value: "false"
   - id: gauge0_target_value
     type: float
     restore_value: no
@@ -215,6 +472,22 @@ globals:
     type: float
     restore_value: no
     initial_value: ${gauge1_min}
+  - id: gauge0_speed_value
+    type: float
+    restore_value: no
+    initial_value: ${gauge0_default_speed}
+  - id: gauge0_accel_value
+    type: float
+    restore_value: no
+    initial_value: ${gauge0_default_accel}
+  - id: gauge1_speed_value
+    type: float
+    restore_value: no
+    initial_value: ${gauge1_default_speed}
+  - id: gauge1_accel_value
+    type: float
+    restore_value: no
+    initial_value: ${gauge1_default_accel}
   - id: gauge0_bl_r
     type: int
     restore_value: no