diff --git a/motor-control/firmware/.vscode/tasks.json b/motor-control/firmware/.vscode/tasks.json
index 2622e00..47585f2 100644
--- a/motor-control/firmware/.vscode/tasks.json
+++ b/motor-control/firmware/.vscode/tasks.json
@@ -102,6 +102,64 @@
                 "cwd": "${workspaceRoot}"
             },
             "problemMatcher": []
-        }
+        },
+
+        {
+            "type": "shell",
+            "label": "Pico Remote: Launch OpenOCD",
+            "command": [
+                "scripts/remote/run_openocd.exp",
+                "gobot-rpi",
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
+            },
+            "isBackground": true
+        },
+        {
+            "type": "shell",
+            "label": "Pico Remote: flash main",
+            "command": [
+                "scripts/remote/flash.sh",
+                "${workspaceRoot}/build/bin/main.elf",
+                "gobot-rpi",
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": "test",
+            "dependsOn": [
+                "CMake: build main"
+            ],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
+            }
+        },
+        {
+            "type": "shell",
+            "label": "Pico Remote: Reset Device",
+            "command": [
+                "scripts/remote/reset.exp",
+                "gobot-rpi"
+            ],
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "isBackground": true,
+            "problemMatcher": []
+        },
     ]
 }
\ No newline at end of file
diff --git a/motor-control/firmware/lib/picotool b/motor-control/firmware/lib/picotool
new file mode 160000
index 0000000..bf33c6d
--- /dev/null
+++ b/motor-control/firmware/lib/picotool
@@ -0,0 +1 @@
+Subproject commit bf33c6ddd756c3961c7a13b000859b71e825ee74
diff --git a/motor-control/firmware/scripts/remote/run_openocd.exp b/motor-control/firmware/scripts/remote/run_openocd.exp
old mode 100644
new mode 100755
index 10b1ab5..a700b55
--- a/motor-control/firmware/scripts/remote/run_openocd.exp
+++ b/motor-control/firmware/scripts/remote/run_openocd.exp
@@ -4,17 +4,18 @@ set timeout 30
 
 spawn ssh [lindex $argv 0]
 
-expect "# "
-send "cd ~/gobot/"
-expect "# "
+expect "$ "
+send "cd ~/gobot/\n"
+expect "$ "
 
-send "git fetch"
-expect "# "
+send "git fetch\n"
+expect "$ "
 
-send "git checkout motor-ctrl-firmware"
-expect "# "
+send "git checkout motor-ctrl-firmware\n"
+expect "$ "
 
-send "cd motor-control/firmware/scripts/remote"
-expect "# "
+send "cd motor-control/firmware/scripts/remote\n"
+expect "$ "
 
-send "./run_openocd.sh"
+send "./run_openocd.sh\n"
+expect eof
diff --git a/motor-control/firmware/scripts/remote/run_openocd.sh b/motor-control/firmware/scripts/remote/run_openocd.sh
old mode 100644
new mode 100755
index a4e88dd..e8f523d
--- a/motor-control/firmware/scripts/remote/run_openocd.sh
+++ b/motor-control/firmware/scripts/remote/run_openocd.sh
@@ -1,3 +1,3 @@
 #!/usr/bin/bash
 
-src/openocd -f interface/cmsis-dap.cfg -c "bindto 0.0.0.0" -c "adapter speed 5000" -f target/rp2040.cfg -s tcl
\ No newline at end of file
+openocd -f interface/cmsis-dap.cfg -c "bindto 0.0.0.0" -c "adapter speed 5000" -f target/rp2040.cfg -s tcl
\ No newline at end of file