diff --git a/README.md b/README.md
index 100bd14..e597ed4 100644
--- a/README.md
+++ b/README.md
@@ -22,6 +22,10 @@ The Sonar Array will be composed of the following:
 - Software Driver running on a Board to use the Sonar Sensors, along with a ROS Node that can communicate with the Board that publishes this data over ROS.
 - Visualization tools used to see the Sonar Array in action
 
+![](doc/Media/bench1_8April2025.jpg)
+![](doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.png)
+![](doc/Media/rviz.png)
+
 ## Project Plan
 | Status | Epic |
 | --- | --- |
diff --git a/boards/SonarArrayBoard/SonarArrayBoard.spin2 b/boards/SonarArrayBoard/SonarArrayBoard.spin2
index 3690bd8..263c45c 100644
--- a/boards/SonarArrayBoard/SonarArrayBoard.spin2
+++ b/boards/SonarArrayBoard/SonarArrayBoard.spin2
@@ -10,7 +10,7 @@ CON { timing }
   _clkfreq = 160_000_000                                                  'Standard clock frequency = 160 MHz
   m_clkfreq = _clkfreq/1000
   FAST_LOOP_MSEC = 10 ' 100 Hz
-  MEDIUM_LOOP_MSEC = 20 ' 50 Hz
+  MEDIUM_LOOP_MSEC = 100 ' 50 Hz
   SLOW_LOOP_MSEC = 200 ' 5 Hz
   VERYSLOW_LOOP_MSEC = 1000 ' 1 Hz
 
@@ -19,7 +19,7 @@ CON { IO-Comms }
   RX_DEBUG     = 63
   TX_DEBUG     = 62
   RX_COMM      = 0
-  TX_COMM      = 1
+  TX_COMM      = 2
 
 CON { Comms Constants }
 
@@ -27,10 +27,40 @@ CON { Comms Constants }
   BAUDRATE_COMM  = 115_200
 
 CON { Sonar Constants }
+'' Bank 1
+  PIN_SONAR0 = 63 '' DOESNT WORK, SEE BUG #1558
+  PIN_SONAR1 = 62
+  PIN_SONAR2 = 61
+  PIN_SONAR3 = 60
+  PIN_SONAR4 = 59
+  PIN_SONAR5 = 58
+  PIN_SONAR6 = 57
+  PIN_SONAR7 = 56
+'' Bank 2
+{
+  PIN_SONAR0 = 55
+  PIN_SONAR1 = 54
+  PIN_SONAR2 = 53
+  PIN_SONAR3 = 52
+  PIN_SONAR4 = 51
+  PIN_SONAR5 = 50
+  PIN_SONAR6 = 49
+  PIN_SONAR7 = 48
+}
+'' Bank 3
+{
+  PIN_SONAR0 = 47
   PIN_SONAR1 = 46
+  PIN_SONAR2 = 45
+  PIN_SONAR3 = 44
+  PIN_SONAR4 = 43
+  PIN_SONAR5 = 42
+  PIN_SONAR6 = 41
+  PIN_SONAR7 = 40
+}
 
 CON { Other App Constants }
-  MAX_NUMBER_SONARS = 20
+  MAX_NUMBER_SONARS = 1
 
 VAR { timing }
   long fast_loop_counter
@@ -44,7 +74,15 @@ VAR { Messaging }
 
 VAR { Sensor Variables }
   word fakedistance_cm
+
+  word distance0_mm
   word distance1_mm
+  word distance2_mm
+  word distance3_mm
+  word distance4_mm
+  word distance5_mm
+  word distance6_mm
+  word distance7_mm
 
 
 
@@ -95,7 +133,7 @@ PUB run_medium_loop()
 
 
 PUB run_slow_loop()
-   send_debug()
+  'send_debug()
   slow_loop_counter++
 
 PUB run_veryslow_loop()
@@ -112,14 +150,21 @@ PUB init_variables()
 
 PUB setup_comms()
 
-    comm_debug.start(RX_DEBUG, TX_DEBUG, %0000, BAUDRATE_DEBUG)
+    'comm_debug.start(RX_DEBUG, TX_DEBUG, %0000, BAUDRATE_DEBUG)
     comm_board.start(RX_COMM, TX_COMM, %0000, BAUDRATE_COMM)
 PUB send_sonar_packet()
 
   comm_board.str(string("$AA"))
   comm_board.fxdec(sequence_number,4)
-  comm_board.fxdec(1,2) ' Only 1 Sonar supported currently
+  comm_board.fxdec(MAX_NUMBER_SONARS,2)
+  'comm_board.fxdec(distance0_mm,4)
   comm_board.fxdec(distance1_mm,4)
+  'comm_board.fxdec(distance2_mm,4)
+ 'comm_board.fxdec(distance3_mm,4)
+  'comm_board.fxdec(distance4_mm,4)
+ 'comm_board.fxdec(distance5_mm,4)
+  'comm_board.fxdec(distance6_mm,4)
+  'comm_board.fxdec(distance7_mm,4)
   comm_board.str(string(10,13))
   if sequence_number >= 9999
     sequence_number := 0
@@ -147,6 +192,7 @@ PUB send_dummy_sonar_packet()
     fakedistance_cm++
 
 PUB send_debug()
+  comm_debug.fxdec(distance1_mm,4)
   comm_debug.str(string("Fast:"))
   comm_debug.dec(fast_loop_counter)
   comm_debug.str(string(" Med: "))
@@ -158,4 +204,11 @@ PUB send_debug()
   comm_debug.str(string(10,13))
 
 PUB read_sonars()
-   distance1_mm := ping.millimeters(PIN_SONAR1)
\ No newline at end of file
+   'distance0_mm := ping.millimeters(PIN_SONAR0)
+   distance1_mm := ping.millimeters(PIN_SONAR1)
+   'distance2_mm := ping.millimeters(PIN_SONAR2)
+  ' distance3_mm := ping.millimeters(PIN_SONAR3)
+   'distance4_mm := ping.millimeters(PIN_SONAR4)
+   'distance5_mm := ping.millimeters(PIN_SONAR5)
+  ' distance6_mm := ping.millimeters(PIN_SONAR6)
+   'distance7_mm := ping.millimeters(PIN_SONAR7)
\ No newline at end of file
diff --git a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.kicad_pcb b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.kicad_pcb
index 424d47e..1a47233 100644
--- a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.kicad_pcb
+++ b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.kicad_pcb
@@ -2,7 +2,7 @@
 
   (general
     (thickness 1.6)
-    (drawings 22)
+    (drawings 57)
     (tracks 254)
     (zones 0)
     (modules 38)
@@ -12,8 +12,8 @@
   (page A4)
   (title_block
     (title "Prop 2 Sonar Connect Board")
-    (date 2025-03-25)
-    (rev Rev0)
+    (date 2025-04-08)
+    (rev Rev1)
     (company "FAST Robotics")
   )
 
@@ -683,7 +683,7 @@
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       (effects (font (size 1 1) (thickness 0.15)))
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-    (fp_text value "Comm Port" (at 2.286 3.81 270 unlocked) (layer F.SilkS)
+    (fp_text value "Comm Port" (at 0.254 -2.032 unlocked) (layer F.SilkS)
       (effects (font (size 1 1) (thickness 0.15)))
     )
     (fp_text user %R (at 0 3.81 90) (layer F.Fab)
@@ -1985,13 +1985,118 @@
     )
   )
 
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+  (gr_text "Propeller 2 Edge Breakout\nSonar Connect\nDPG 2025\nRev1" (at 94.7674 71.9074) (layer F.SilkS)
     (effects (font (size 1.5 1.5) (thickness 0.3)) (justify left))
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diff --git a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.kicad_pcb-bak b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.kicad_pcb-bak
index 4264337..3e033b7 100644
--- a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.kicad_pcb-bak
+++ b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.kicad_pcb-bak
@@ -2,7 +2,7 @@
 
   (general
     (thickness 1.6)
-    (drawings 22)
+    (drawings 57)
     (tracks 254)
     (zones 0)
     (modules 38)
@@ -91,11 +91,11 @@
       (plotinvisibletext false)
       (padsonsilk false)
       (subtractmaskfromsilk false)
-      (outputformat 4)
+      (outputformat 1)
       (mirror false)
       (drillshape 0)
       (scaleselection 1)
-      (outputdirectory "pcb/"))
+      (outputdirectory "pcb/gerber/"))
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   (net 0 "")
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@@ -1985,13 +1985,118 @@
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diff --git a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.png b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.png
index 89c6d4c..990ca38 100644
Binary files a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.png and b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.png differ
diff --git a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.pro b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.pro
index 9fa84de..900cba9 100644
--- a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.pro
+++ b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.pro
@@ -1,4 +1,4 @@
-update=Tue Mar 25 03:28:06 2025
+update=Tue 08 Apr 2025 08:36:45 PM CDT
 version=1
 last_client=kicad
 [general]
diff --git a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.sch b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.sch
index 90a734a..ae26a4f 100644
--- a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.sch
+++ b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.sch
@@ -5,8 +5,8 @@ $Descr A4 11693 8268
 encoding utf-8
 Sheet 1 1
 Title "Prop 2 Sonar Connect Board"
-Date "2025-03-25"
-Rev "Rev0"
+Date "2025-04-08"
+Rev "Rev1"
 Comp "FAST Robotics"
 Comment1 ""
 Comment2 ""
diff --git a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.sch-bak b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.sch-bak
index da9f457..90a734a 100644
--- a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.sch-bak
+++ b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoard.sch-bak
@@ -5,8 +5,8 @@ $Descr A4 11693 8268
 encoding utf-8
 Sheet 1 1
 Title "Prop 2 Sonar Connect Board"
-Date "2025-03-21"
-Rev ""
+Date "2025-03-25"
+Rev "Rev0"
 Comp "FAST Robotics"
 Comment1 ""
 Comment2 ""
diff --git a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoardPCB.pdf b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoardPCB.pdf
index 47b65e4..94ba6f0 100644
Binary files a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoardPCB.pdf and b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoardPCB.pdf differ
diff --git a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoardSchematic.pdf b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoardSchematic.pdf
index ae7691b..850e838 100644
Binary files a/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoardSchematic.pdf and b/doc/Boards/ConnectBoard/elec/ConnectBoard/ConnectBoardSchematic.pdf differ
diff --git a/doc/Media/bench1_8April2025.jpg b/doc/Media/bench1_8April2025.jpg
new file mode 100644
index 0000000..1f35e47
Binary files /dev/null and b/doc/Media/bench1_8April2025.jpg differ
diff --git a/doc/Media/bench2_8April2025.jpg b/doc/Media/bench2_8April2025.jpg
new file mode 100644
index 0000000..d20762f
Binary files /dev/null and b/doc/Media/bench2_8April2025.jpg differ
diff --git a/doc/Media/rviz.png b/doc/Media/rviz.png
new file mode 100644
index 0000000..326fede
Binary files /dev/null and b/doc/Media/rviz.png differ
diff --git a/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/SonarArrayNodeDriver.cpp b/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/SonarArrayNodeDriver.cpp
index a7d1d87..0d5a646 100644
--- a/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/SonarArrayNodeDriver.cpp
+++ b/nodes/SonarArrayDriverNode/driver/SonarArrayNodeDriver/src/SonarArrayNodeDriver.cpp
@@ -49,7 +49,7 @@ eros::eros_diagnostic::Diagnostic SonarArrayNodeDriver::update(double current_ti
                     diag.type = eros::eros_diagnostic::DiagnosticType::SOFTWARE;
                     diag.level = eros::Level::Type::WARN;
                     diag.message = eros::eros_diagnostic::Message::DROPPING_PACKETS;
-                    diag.description = "Unexpectd Number of Sonars!  " +
+                    diag.description = "Unexpected Number of Sonars!  " +
                                        std::to_string(packet.sonar_count) +
                                        " != " + std::to_string(sonars.size());
                 }
diff --git a/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp
index 0b9d716..0750cd1 100644
--- a/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp
+++ b/nodes/SonarArrayDriverNode/node/SonarArrayDriverNode.cpp
@@ -191,7 +191,7 @@ eros::eros_diagnostic::Diagnostic SonarArrayDriverNode::finish_initialization()
     return diag;
 }
 bool SonarArrayDriverNode::run_loop1() {
-    process->update(0.02, ros::Time::now().toSec());
+    process->update(0.1, ros::Time::now().toSec());
     auto sonar_data = process->get_sonar_data();
     for (auto sonar : sonar_data) { sonardata_pub.publish(sonar); }
     return true;