diff --git a/src/assets/translations/en.json b/src/assets/translations/en.json
index 82a721e..c19a294 100644
--- a/src/assets/translations/en.json
+++ b/src/assets/translations/en.json
@@ -122,5 +122,6 @@
 	"EXPLANATION": "Explanation",
 	"EXPLAIN_BLOCK": "Explain Block ✨",
 	"META_ATTRIBUTION": "Built with Meta Llama 3",
-	"AI_RATE_LIMITED": "The explanation robot is a little too busy right now, please try again later."
+	"AI_RATE_LIMITED": "The explanation robot is a little too busy right now, please try again later.",
+	"CHOOSING_ROBOT": "Choose your board"
 }
diff --git a/src/assets/translations/nl.json b/src/assets/translations/nl.json
index f1928c4..e69154b 100644
--- a/src/assets/translations/nl.json
+++ b/src/assets/translations/nl.json
@@ -122,5 +122,6 @@
 	"EXPLANATION": "Uitleg",
 	"EXPLAIN_BLOCK": "Leg blok uit ✨",
 	"META_ATTRIBUTION": "Gemaakt met Meta Llama 3",
-	"AI_RATE_LIMITED": "De uitleg robot is op dit moment erg druk, probeer het later nog eens."
+	"AI_RATE_LIMITED": "De uitleg robot is op dit moment erg druk, probeer het later nog eens.",
+	"CHOOSING_ROBOT": "Kies je arduino"
 }
diff --git a/src/lib/components/core/header/Header.svelte b/src/lib/components/core/header/Header.svelte
index d6c177b..7211590 100644
--- a/src/lib/components/core/header/Header.svelte
+++ b/src/lib/components/core/header/Header.svelte
@@ -9,7 +9,7 @@ import Select from "$components/ui/Select.svelte";
 import { loadWorkspaceFromString } from "$domain/blockly/blockly";
 import { FileHandle } from "$domain/handles";
 import { robots } from "$domain/robots";
-import { Screen, Theme, screen, selected, theme } from "$state/app.svelte";
+import { Screen, Theme, screen, theme } from "$state/app.svelte";
 import {
 	audio,
 	canRedo,
@@ -85,7 +85,6 @@ async function connect() {
 async function newProject() {
 	popups.clear();
 	willRestore.set(false);
-	selected.set(null);
 	screen.set(Screen.START);
 }
 
diff --git a/src/lib/components/core/popups/popups/PythonUploader.svelte b/src/lib/components/core/popups/popups/PythonUploader.svelte
index a01df96..9a1f608 100644
--- a/src/lib/components/core/popups/popups/PythonUploader.svelte
+++ b/src/lib/components/core/popups/popups/PythonUploader.svelte
@@ -1,8 +1,10 @@
 <script lang="ts">
 import { _ } from "svelte-i18n";
 
+import RobotSelector from "$components/start/RobotSelector.svelte";
 import Button from "$components/ui/Button.svelte";
 import ProgressBar from "$components/ui/ProgressBar.svelte";
+import { type RobotDevice, robots } from "$domain/robots";
 import { type PopupState, popups } from "$state/popup.svelte";
 import { usbRequest } from "$state/upload.svelte";
 import {
@@ -13,7 +15,7 @@ import {
 	robot,
 } from "$state/workspace.svelte";
 import { getContext, onMount } from "svelte";
-import type { Writable } from "svelte/store";
+import { type Writable, get } from "svelte/store";
 import type MicroPythonIO from "../../../../micropython";
 
 interface Props {
@@ -25,6 +27,7 @@ let progress = $state(0);
 let currentState = $state("CONNECTING");
 let error = $state<string | null>(null);
 let done = $state(false);
+let robotRequest = $state<(robot: RobotDevice) => void>();
 
 class UploadError extends Error {
 	constructor(
@@ -49,32 +52,43 @@ async function upload(res: Record<string, string>) {
 onMount(async () => {
 	try {
 		const installed = await io.enterREPLMode();
-		progress += 100 / 5;
+		progress += 100 / 6;
+
+		currentState = "CHOOSING_ROBOT";
+		if (!installed) {
+			const newRobot = await new Promise<RobotDevice>(
+				(resolve) => (robotRequest = resolve),
+			);
+			robot.set(newRobot);
+		}
+		robotRequest = undefined;
+		progress += 100 / 6;
 
 		currentState = "DOWNLOADING_FIRMWARE";
 		let firmware: Record<string, string>;
-		if (!installed) firmware = await io.getFirmware();
-		progress += 100 / 5;
+		if (!installed) firmware = await io.getFirmware(get(robot));
+		progress += 100 / 6;
 
 		currentState = "UPLOADING_FIRMWARE";
 		if (!installed) await upload(firmware);
-		progress += 100 / 5;
+		progress += 100 / 6;
 
 		currentState = "CONNECTING";
 		if (!installed) await io.enterREPLMode();
-		progress += 100 / 5;
+		progress += 100 / 6;
 
 		currentState = "INSTALLING_LIBRARIES";
 		await io.packageManager.flashLibrary(
 			"github:leaphy-robotics/leaphy-micropython/package.json",
 		);
-		progress += 100 / 5;
+		progress += 100 / 6;
 
 		popups.close($popupState.id);
 	} catch (e) {
 		done = true;
-		currentState = "UPLOAD_FAILED";
+		currentState = e?.name || "UPDATE_FAILED";
 		error = e.description;
+		throw e;
 	}
 });
 
@@ -95,7 +109,7 @@ async function connectUSB() {
 	);
 }
 </script>
-    
+
     <div class="content" class:error={!!error}>
         {#if $usbRequest}
             <h2 class="state">{$_("RECONNECT")}</h2>
@@ -103,7 +117,7 @@ async function connectUSB() {
             <Button name={"Reconnect"} mode={"primary"} onclick={connectUSB} />
         {:else}
             <h2 class="state">{$_(currentState)}</h2>
-    
+
             {#if error}
                 <code class="error-result">{error}</code>
             {/if}
@@ -115,15 +129,19 @@ async function connectUSB() {
                 />
             {:else}
                 <ProgressBar {progress} />
+
+				{#if robotRequest}
+					<RobotSelector onselect="{robotRequest}" robots={[[robots.l_nano_rp2040, robots.l_nano_esp32]]} secondary="{false}" compact />
+				{/if}
             {/if}
         {/if}
     </div>
-    
+
     <style>
         h2 {
             margin: 0;
         }
-    
+
         .content {
             display: flex;
             flex-direction: column;
@@ -136,11 +154,11 @@ async function connectUSB() {
             min-height: 200px;
             max-height: 80vh;
         }
-    
+
         .state {
             font-weight: bold;
         }
-    
+
         .error h2 {
             color: red;
         }
@@ -151,4 +169,3 @@ async function connectUSB() {
             color: red;
         }
     </style>
-    
\ No newline at end of file
diff --git a/src/lib/components/start/RobotSelector.svelte b/src/lib/components/start/RobotSelector.svelte
index cd989c1..52bf4db 100644
--- a/src/lib/components/start/RobotSelector.svelte
+++ b/src/lib/components/start/RobotSelector.svelte
@@ -1,46 +1,31 @@
 <script lang="ts">
-import { type Robot, robots as allRobots } from "$domain/robots";
-import { Screen, screen, selected } from "$state/app.svelte";
-import { restore } from "$state/blockly.svelte";
-import { Mode, code, mode, robot, saveState } from "$state/workspace.svelte";
+import type { Robot, RobotListing } from "$domain/robots";
 
 interface Props {
 	robots: Robot[][];
 	secondary: boolean;
+	onselect: (robot: Robot) => void;
+	selected?: RobotListing;
+	compact?: boolean;
 }
 
-const { robots, secondary }: Props = $props();
-
-function select(type: Robot) {
-	window._paq.push(["trackEvent", "SelectRobot", type.name]);
-
-	if ("variants" in type) return selected.set(type);
-	if ("mode" in type) {
-		code.set(localStorage.getItem(`session_${type.id}`) || type.defaultProgram);
-		robot.set(allRobots[type.defaultRobot]);
-		mode.set(type.mode);
-		screen.set(Screen.WORKSPACE);
-		saveState.set(true);
-		return;
-	}
-
-	if (localStorage.getItem(`session_blocks_${type.id}`)) {
-		restore.set(JSON.parse(localStorage.getItem(`session_blocks_${type.id}`)));
-	}
-	robot.set(type);
-	mode.set(Mode.BLOCKS);
-	screen.set(Screen.WORKSPACE);
-}
+const {
+	robots,
+	secondary,
+	onselect,
+	selected,
+	compact = false,
+}: Props = $props();
 </script>
 
-<div class="selector" class:secondary>
+<div class="selector" class:secondary class:compact>
 	{#each robots as row}
 		<div class="row">
 			{#each row as robot}
 				<button
 					class="robot"
-					onclick={() => select(robot)}
-					class:selected={$selected?.id === robot.id}
+					onclick={() => onselect(robot)}
+					class:selected={selected?.id === robot.id}
 				>
                     <span class="icon">
                         <img class="image" src={robot.icon} alt={robot.name}/>
@@ -63,6 +48,10 @@ function select(type: Robot) {
 		gap: 3vh;
 	}
 
+	.selector.compact {
+		width: unset;
+	}
+
 	.secondary {
 		background: var(--background);
 	}
diff --git a/src/lib/components/start/Start.svelte b/src/lib/components/start/Start.svelte
index ffee38b..f419a94 100644
--- a/src/lib/components/start/Start.svelte
+++ b/src/lib/components/start/Start.svelte
@@ -1,18 +1,47 @@
 <script lang="ts">
 import RobotSelector from "$components/start/RobotSelector.svelte";
-import { robotListing } from "$domain/robots";
-import { selected } from "$state/app.svelte";
+import {
+	type Robot,
+	type RobotListing,
+	robots as allRobots,
+	robotListing,
+} from "$domain/robots";
+import { Screen, screen } from "$state/app.svelte";
+import { restore } from "$state/blockly.svelte";
+import { Mode, code, mode, robot, saveState } from "$state/workspace.svelte";
 import { flip } from "svelte/animate";
 import { cubicOut } from "svelte/easing";
 import { fly } from "svelte/transition";
 
+let selected = $state<RobotListing>();
 const selectors = $derived(
-	$selected ? [robotListing, $selected.variants] : [robotListing],
+	selected ? [robotListing, selected.variants] : [robotListing],
 );
 const animationOptions = {
 	easing: cubicOut,
 	duration: 300,
 };
+
+function onselect(type: Robot) {
+	window._paq.push(["trackEvent", "SelectRobot", type.name]);
+
+	if ("variants" in type) return (selected = type);
+	if ("mode" in type) {
+		code.set(localStorage.getItem(`session_${type.id}`) || type.defaultProgram);
+		robot.set(allRobots[type.defaultRobot]);
+		mode.set(type.mode);
+		screen.set(Screen.WORKSPACE);
+		saveState.set(true);
+		return;
+	}
+
+	if (localStorage.getItem(`session_blocks_${type.id}`)) {
+		restore.set(JSON.parse(localStorage.getItem(`session_blocks_${type.id}`)));
+	}
+	robot.set(type);
+	mode.set(Mode.BLOCKS);
+	screen.set(Screen.WORKSPACE);
+}
 </script>
 
 <div class="start">
@@ -21,7 +50,7 @@ const animationOptions = {
             in:fly={{ x: "100%", ...animationOptions }}
             animate:flip={animationOptions}
         >
-            <RobotSelector {robots} secondary={i > 0} />
+            <RobotSelector {onselect} {robots} {selected} secondary={i > 0} />
         </div>
     {/each}
 </div>
diff --git a/src/lib/micropython/index.ts b/src/lib/micropython/index.ts
index def8972..2253736 100644
--- a/src/lib/micropython/index.ts
+++ b/src/lib/micropython/index.ts
@@ -1,9 +1,11 @@
 import PythonUploader from "$components/core/popups/popups/PythonUploader.svelte";
 import Uploader from "$components/core/popups/popups/Uploader.svelte";
+import type { RobotDevice } from "$domain/robots";
 import { popups } from "$state/popup.svelte";
 import { port } from "$state/workspace.svelte";
 import base64 from "base64-js";
 import { get } from "svelte/store";
+import { delay } from "../programmers/utils";
 import { Commands } from "./commands";
 import { FileSystem } from "./filesystem";
 import { PackageManager } from "./packagagemanager";
@@ -73,10 +75,15 @@ export default class MicroPythonIO {
 		});
 	}
 
-	async getFirmware() {
-		const res = await fetch(
-			"https://raw.githubusercontent.com/leaphy-robotics/leaphy-firmware/main/micropython/firmware.uf2",
-		);
+	async getFirmware(robot: RobotDevice) {
+		const firmwareSources = {
+			l_nano_esp32:
+				"https://raw.githubusercontent.com/leaphy-robotics/leaphy-firmware/main/micropython/esp32.bin",
+			l_nano_rp2040:
+				"https://raw.githubusercontent.com/leaphy-robotics/leaphy-firmware/main/micropython/firmware.uf2",
+		};
+
+		const res = await fetch(firmwareSources[robot.id]);
 		const content = await res.arrayBuffer();
 
 		return {
@@ -126,6 +133,7 @@ export default class MicroPythonIO {
 			const data = encoder.encode(`${code}\x04`);
 			for (let offset = 0; offset < data.length; offset += 256) {
 				await this.writer.write(data.slice(offset, offset + 256));
+				await delay(5);
 			}
 
 			let content = "";
diff --git a/src/lib/state/app.svelte.ts b/src/lib/state/app.svelte.ts
index 7da860a..670218a 100644
--- a/src/lib/state/app.svelte.ts
+++ b/src/lib/state/app.svelte.ts
@@ -66,5 +66,4 @@ function createLibraryState() {
 }
 
 export const screen = writable<ComponentType>(Screen.START);
-export const selected = writable<RobotListing | null>(null);
 export const libraries = createLibraryState();