diff --git a/CMakeLists.txt b/CMakeLists.txt
index d327f62..72573fb 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,7 +77,7 @@ add_library(${PROJECT_NAME}
     src/async_port/async_can.cpp
     ########################
     ## public interface to access robot
-    src/mobile_base/scout_robot.cpp
+    src/mobile_robot/scout_robot.cpp
     ########################
     ## protocol v2 support
     # parser
diff --git a/demo/scout_demo/scout_robot_demo.cpp b/demo/scout_demo/scout_robot_demo.cpp
index 0218ecf..ed4bbf2 100644
--- a/demo/scout_demo/scout_robot_demo.cpp
+++ b/demo/scout_demo/scout_robot_demo.cpp
@@ -7,72 +7,90 @@
  * Copyright (c) 2021 Weston Robot Pte. Ltd.
  */
 
+#include <unistd.h>
+
+#include <memory>
 #include <iostream>
 
-#include "ugv_sdk/mobile_base/scout_robot.hpp"
+#include "ugv_sdk/mobile_robot/scout_robot.hpp"
 
 using namespace westonrobot;
 
 int main(int argc, char **argv) {
+  std::string protocol_version;
   std::string device_name;
 
-  if (argc == 2) {
-    device_name = {argv[1]};
-    std::cout << "Specified CAN: " << device_name << std::endl;
+  if (argc == 3) {
+    protocol_version = {argv[1]};
+    device_name = {argv[2]};
+    std::cout << "Use protocol " << protocol_version << " on interface "
+              << device_name << std::endl;
   } else {
-    std::cout << "Usage: app_scout_demo <interface>" << std::endl
-              << "Example 1: ./app_scout_demo can0" << std::endl;
+    std::cout << "Usage: app_scout_demo <protocol-version> <interface>"
+              << std::endl
+              << "Example 1: ./app_scout_demo v1 can0" << std::endl;
     return -1;
   }
 
-  ScoutRobot scout(ProtocolType::AGX_V2);
-  //   scout.Connect(device_name);
+  std::unique_ptr<ScoutRobot> scout;
+  if (protocol_version == "v1") {
+    scout = std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolType::AGX_V1));
+  } else if (protocol_version == "v2") {
+    scout = std::unique_ptr<ScoutRobot>(new ScoutRobot(ProtocolType::AGX_V2));
+  } else {
+    std::cout << "Error: invalid protocol version string" << std::endl;
+    return -1;
+  }
 
-  //   scout.EnableCommandedMode();
+  if (scout == nullptr)
+    std::cout << "Failed to create robot object" << std::endl;
 
-  //   //   // light control
-  //   std::cout << "Light: const off" << std::endl;
-  //   scout.SetLightCommand({CONST_OFF, 0, CONST_OFF, 0});
-  //   sleep(3);
-  //   std::cout << "Light: const on" << std::endl;
-  //   scout.SetLightCommand({CONST_ON, 0, CONST_ON, 0});
-  //   sleep(3);
-  //   std::cout << "Light: breath" << std::endl;
-  //   scout.SetLightCommand({BREATH, 0, BREATH, 0});
-  //   sleep(3);
-  //   std::cout << "Light: custom 90-80" << std::endl;
-  //   scout.SetLightCommand({CUSTOM, 90, CUSTOM, 80});
-  //   sleep(3);
-  //   std::cout << "Light: diabled cmd control" << std::endl;
-  //   scout.DisableLightControl();
+  scout->Connect(device_name);
+  scout->EnableCommandedMode();
 
-  //   int count = 0;
-  //   while (true) {
-  //     // motion control
-  //     if (count < 100) {
-  //       std::cout << "Motor: 0.2, 0" << std::endl;
-  //       scout.SetMotionCommand(0.2, 0.0);
-  //     }
+  // light control
+  std::cout << "Light: const off" << std::endl;
+  scout->SetLightCommand(CONST_OFF, 0, CONST_OFF, 0);
+  sleep(3);
+  std::cout << "Light: const on" << std::endl;
+  scout->SetLightCommand(CONST_ON, 0, CONST_ON, 0);
+  sleep(3);
+  std::cout << "Light: breath" << std::endl;
+  scout->SetLightCommand(BREATH, 0, BREATH, 0);
+  sleep(3);
+  std::cout << "Light: custom 90-80" << std::endl;
+  scout->SetLightCommand(CUSTOM, 90, CUSTOM, 80);
+  sleep(3);
+  std::cout << "Light: diabled cmd control" << std::endl;
+  scout->DisableLightControl();
 
-  //     // get robot state
-  //     auto state = scout.GetScoutState();
-  //     std::cout << "-------------------------------" << std::endl;
-  //     std::cout << "count: " << count << std::endl;
-  //     std::cout << "control mode: "
-  //               << static_cast<int>(state.system_state.control_mode)
-  //               << " , vehicle state: "
-  //               << static_cast<int>(state.system_state.vehicle_state)
-  //               << std::endl;
-  //     std::cout << "battery voltage: " << state.system_state.battery_voltage
-  //               << std::endl;
-  //     std::cout << "velocity (linear, angular): "
-  //               << state.motion_state.linear_velocity << ", "
-  //               << state.motion_state.angular_velocity << std::endl;
-  //     std::cout << "-------------------------------" << std::endl;
+  int count = 0;
+  while (true) {
+    // motion control
+    if (count < 100) {
+      std::cout << "Motor: 0.2, 0" << std::endl;
+      scout->SetMotionCommand(0.2, 0.0);
+    }
 
-  //     usleep(20000);
-  //     ++count;
-  //   }
+    // get robot state
+    auto state = scout->GetRobotState();
+    std::cout << "-------------------------------" << std::endl;
+    std::cout << "count: " << count << std::endl;
+    std::cout << "control mode: "
+              << static_cast<int>(state.system_state.control_mode)
+              << " , vehicle state: "
+              << static_cast<int>(state.system_state.vehicle_state)
+              << std::endl;
+    std::cout << "battery voltage: " << state.system_state.battery_voltage
+              << std::endl;
+    std::cout << "velocity (linear, angular): "
+              << state.motion_state.linear_velocity << ", "
+              << state.motion_state.angular_velocity << std::endl;
+    std::cout << "-------------------------------" << std::endl;
+
+    usleep(20000);
+    ++count;
+  }
 
   return 0;
 }
\ No newline at end of file
diff --git a/include/ugv_sdk/mobile_base/scout_robot.hpp b/include/ugv_sdk/mobile_robot/scout_robot.hpp
similarity index 100%
rename from include/ugv_sdk/mobile_base/scout_robot.hpp
rename to include/ugv_sdk/mobile_robot/scout_robot.hpp
diff --git a/src/mobile_base/scout_robot.cpp b/src/mobile_robot/scout_robot.cpp
similarity index 96%
rename from src/mobile_base/scout_robot.cpp
rename to src/mobile_robot/scout_robot.cpp
index ef42ea3..9207eb4 100644
--- a/src/mobile_base/scout_robot.cpp
+++ b/src/mobile_robot/scout_robot.cpp
@@ -7,7 +7,7 @@
  * Copyright (c) 2021 Weston Robot Pte. Ltd.
  */
 
-#include "ugv_sdk/mobile_base/scout_robot.hpp"
+#include "ugv_sdk/mobile_robot/scout_robot.hpp"
 #include "ugv_sdk/details/robot_base/scout_base.hpp"
 
 namespace westonrobot {