diff --git a/Pipfile b/Pipfile
index 672692fe40b8f0..b8545b1a2190ad 100644
--- a/Pipfile
+++ b/Pipfile
@@ -40,6 +40,7 @@ subprocess32 = "*"
 tenacity = "*"
 mpld3 = "*"
 carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
+ft4222 = "*"
 
 [packages]
 atomicwrites = "*"
diff --git a/Pipfile.lock b/Pipfile.lock
index ee0fbc7e843bfe..cc347a60f45c67 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "7af354a7ae976b12da1b5f15f0cebdc77595199c11b0bfeb8be9c2827f335c48"
+            "sha256": "d2629168f477b3a14f68f26e3b63ea9797b20599c066b2aa23a027bcee2ca40a"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -146,7 +146,7 @@
                 "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
                 "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
             ],
-            "markers": "python_version >= '3.5'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==2.0.12"
         },
         "click": {
@@ -347,7 +347,7 @@
                 "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                 "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
             ],
-            "markers": "python_version >= '3.5'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==3.3"
         },
         "importlib-metadata": {
@@ -1246,7 +1246,7 @@
                 "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708",
                 "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"
             ],
-            "markers": "python_version >= '3.7'",
+            "markers": "python_version < '3.10'",
             "version": "==4.2.0"
         },
         "urllib3": {
@@ -1443,11 +1443,11 @@
         },
         "babel": {
             "hashes": [
-                "sha256:3f349e85ad3154559ac4930c3918247d319f21910d5ce4b25d439ed8693b98d2",
-                "sha256:98aeaca086133efb3e1e2aad0396987490c8425929ddbcfe0550184fdc54cd13"
+                "sha256:7aed055f0c04c9e7f51a2f75261e41e1c804efa724cb65b60a970dd4448d469d",
+                "sha256:81a3beca4d0cd40a9cfb9e2adb2cf39261c2f959b92e7a74750befe5d79afd7b"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2.10.1"
+            "version": "==2.10.2"
         },
         "bcrypt": {
             "hashes": [
@@ -1565,7 +1565,7 @@
                 "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
                 "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
             ],
-            "markers": "python_version >= '3.5'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==2.0.12"
         },
         "control": {
@@ -1748,6 +1748,33 @@
             "markers": "python_version >= '3.7'",
             "version": "==4.33.3"
         },
+        "ft4222": {
+            "hashes": [
+                "sha256:1489b08e4042cb2b24894495c1c8514fa115122e9f8a739f665f0e4d8c53d3f4",
+                "sha256:1c71913f9fb862634fb77eb6efeea38b2b839e09f739aee5864b9549bcf1c4a9",
+                "sha256:1f9be0961bd7f3e0c1729c9692f602244e93898610611602ce1fa16059ac5bfa",
+                "sha256:208cde748fc2bf4a753e217ee2844e75d7d1b6d370a8937a2055f9de8906f933",
+                "sha256:372be3d7d04c0f6dfa62ff66b3d4be5c39d57c258ab562d9eb0d7cdd3a90ed0f",
+                "sha256:3ebf9380315c6af8f9f3bc5c5c7a5ae06498349c14a7b2e65d5067b20462d21b",
+                "sha256:422740efac86f3fdd971bb9a94d9974e56cfe062284a2be1a85db96dd0e77e5e",
+                "sha256:4414ef82a6321c5205ab0e3dab2bf072f14b4dd3262e5f392560adf107210d41",
+                "sha256:459894dcca7db71a0d58e6f3abb4c9dd67654c92ad9d934f1e32dc08bed87645",
+                "sha256:4b7e4c8b5e4a8fe769127d3db99b7b410468ffe2718a07f7b317e7dc1ad9ca4f",
+                "sha256:68e6b357ea2287fe0e8dac287efbac2f0ce9632d65e828d422d3a0604555c174",
+                "sha256:800a26a4a8fc854f41e4de41e45b6deafdeb78ae5eff48818f710bb2d94a8c11",
+                "sha256:8790e96b4c3f8d1fb768f689f1c437a59b20889e4726ed7457ff3d188f0a3274",
+                "sha256:9369b55393b2e1f58f8b8516bcf9cd6fd34c05e77377c4cc48be39a49cad7be5",
+                "sha256:a6236f05b8948cd9c113c7159e3fdde202a0f73dce6440da078fd2fc9e411123",
+                "sha256:b7f58cd16213a5c92503c530b301f071d67283c80c1e8cb43d6f3ec5c186df35",
+                "sha256:cc368b06b92529a11add37d14196d2e2aaae19c6ffc51b9457513a0d05ceae1a",
+                "sha256:d479c037b417ff289727112f1d4725563b78448d3765f457c8bf6884e4d83abd",
+                "sha256:dce00d513be811f738954c5593c52b533a02331e8a26983280dea3f4d864962f",
+                "sha256:eadcbc1dd20ed6d7d07dc53354ea137bcea30fb0889d74bedcd189cdb4f61c84",
+                "sha256:ec984bd7e9300e5f2e50823dcd5874d54aa3e7503e69afe7eb3b4cea77071084"
+            ],
+            "index": "pypi",
+            "version": "==1.4.1"
+        },
         "hexdump": {
             "hashes": [
                 "sha256:d781a43b0c16ace3f9366aade73e8ad3a7bd5137d58f0b45ab2d3f54876f20db"
@@ -1778,7 +1805,7 @@
                 "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                 "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
             ],
-            "markers": "python_version >= '3.5'",
+            "markers": "python_full_version >= '3.5.0'",
             "version": "==3.3"
         },
         "imagesize": {
@@ -1822,52 +1849,52 @@
         },
         "kiwisolver": {
             "hashes": [
-                "sha256:0b7f50a1a25361da3440f07c58cd1d79957c2244209e4f166990e770256b6b0b",
-                "sha256:0c380bb5ae20d829c1a5473cfcae64267b73aaa4060adc091f6df1743784aae0",
-                "sha256:0d98dca86f77b851350c250f0149aa5852b36572514d20feeadd3c6b1efe38d0",
-                "sha256:0e45e780a74416ef2f173189ef4387e44b5494f45e290bcb1f03735faa6779bf",
-                "sha256:0e8afdf533b613122e4bbaf3c1e42c2a5e9e2d1dd3a0a017749a7658757cb377",
-                "sha256:1008346a7741620ab9cc6c96e8ad9b46f7a74ce839dbb8805ddf6b119d5fc6c2",
-                "sha256:1d1078ba770d6165abed3d9a1be1f9e79b61515de1dd00d942fa53bba79f01ae",
-                "sha256:1dcade8f6fe12a2bb4efe2cbe22116556e3b6899728d3b2a0d3b367db323eacc",
-                "sha256:240009fdf4fa87844f805e23f48995537a8cb8f8c361e35fda6b5ac97fcb906f",
-                "sha256:240c2d51d098395c012ddbcb9bd7b3ba5de412a1d11840698859f51d0e643c4f",
-                "sha256:262c248c60f22c2b547683ad521e8a3db5909c71f679b93876921549107a0c24",
-                "sha256:2e6cda72db409eefad6b021e8a4f964965a629f577812afc7860c69df7bdb84a",
-                "sha256:3c032c41ae4c3a321b43a3650e6ecc7406b99ff3e5279f24c9b310f41bc98479",
-                "sha256:42f6ef9b640deb6f7d438e0a371aedd8bef6ddfde30683491b2e6f568b4e884e",
-                "sha256:484f2a5f0307bc944bc79db235f41048bae4106ffa764168a068d88b644b305d",
-                "sha256:69b2d6c12f2ad5f55104a36a356192cfb680c049fe5e7c1f6620fc37f119cdc2",
-                "sha256:6e395ece147f0692ca7cdb05a028d31b83b72c369f7b4a2c1798f4b96af1e3d8",
-                "sha256:6ece2e12e4b57bc5646b354f436416cd2a6f090c1dadcd92b0ca4542190d7190",
-                "sha256:71469b5845b9876b8d3d252e201bef6f47bf7456804d2fbe9a1d6e19e78a1e65",
-                "sha256:7f606d91b8a8816be476513a77fd30abe66227039bd6f8b406c348cb0247dcc9",
-                "sha256:7f88c4b8e449908eeddb3bbd4242bd4dc2c7a15a7aa44bb33df893203f02dc2d",
-                "sha256:81237957b15469ea9151ec8ca08ce05656090ffabc476a752ef5ad7e2644c526",
-                "sha256:89b57c2984f4464840e4b768affeff6b6809c6150d1166938ade3e22fbe22db8",
-                "sha256:8a830a03970c462d1a2311c90e05679da56d3bd8e78a4ba9985cb78ef7836c9f",
-                "sha256:8ae5a071185f1a93777c79a9a1e67ac46544d4607f18d07131eece08d415083a",
-                "sha256:8b6086aa6936865962b2cee0e7aaecf01ab6778ce099288354a7229b4d9f1408",
-                "sha256:8ec2e55bf31b43aabe32089125dca3b46fdfe9f50afbf0756ae11e14c97b80ca",
-                "sha256:8ff3033e43e7ca1389ee59fb7ecb8303abb8713c008a1da49b00869e92e3dd7c",
-                "sha256:91eb4916271655dfe3a952249cb37a5c00b6ba68b4417ee15af9ba549b5ba61d",
-                "sha256:9d2bb56309fb75a811d81ed55fbe2208aa77a3a09ff5f546ca95e7bb5fac6eff",
-                "sha256:a4e8f072db1d6fb7a7cc05a6dbef8442c93001f4bb604f1081d8c2db3ca97159",
-                "sha256:b1605c7c38cc6a85212dfd6a641f3905a33412e49f7c003f35f9ac6d71f67720",
-                "sha256:b3e251e5c38ac623c5d786adb21477f018712f8c6fa54781bd38aa1c60b60fc2",
-                "sha256:b978afdb913ca953cf128d57181da2e8798e8b6153be866ae2a9c446c6162f40",
-                "sha256:be9a650890fb60393e60aacb65878c4a38bb334720aa5ecb1c13d0dac54dd73b",
-                "sha256:c222f91a45da9e01a9bc4f760727ae49050f8e8345c4ff6525495f7a164c8973",
-                "sha256:c839bf28e45d7ddad4ae8f986928dbf5a6d42ff79760d54ec8ada8fb263e097c",
-                "sha256:cbb5eb4a2ea1ffec26268d49766cafa8f957fe5c1b41ad00733763fae77f9436",
-                "sha256:e348f1904a4fab4153407f7ccc27e43b2a139752e8acf12e6640ba683093dd96",
-                "sha256:e677cc3626287f343de751e11b1e8a5b915a6ac897e8aecdbc996cd34de753a0",
-                "sha256:f74f2a13af201559e3d32b9ddfc303c94ae63d63d7f4326d06ce6fe67e7a8255",
-                "sha256:fa4d97d7d2b2c082e67907c0b8d9f31b85aa5d3ba0d33096b7116f03f8061261",
-                "sha256:ffbdb9a96c536f0405895b5e21ee39ec579cb0ed97bdbd169ae2b55f41d73219"
+                "sha256:007799c7fa934646318fc128b033bb6e6baabe7fbad521bfb2279aac26225cd7",
+                "sha256:130c6c35eded399d3967cf8a542c20b671f5ba85bd6f210f8b939f868360e9eb",
+                "sha256:1858ad3cb686eccc7c6b7c5eac846a1cfd45aacb5811b2cf575e80b208f5622a",
+                "sha256:1ae7aa0784aeadfbd693c27993727792fbe1455b84d49970bad5886b42976b18",
+                "sha256:1d2c744aeedce22c122bb42d176b4aa6d063202a05a4abdacb3e413c214b3694",
+                "sha256:21a3a98f0a21fc602663ca9bce2b12a4114891bdeba2dea1e9ad84db59892fca",
+                "sha256:22ccba48abae827a0f952a78a7b1a7ff01866131e5bbe1f826ce9bda406bf051",
+                "sha256:26b5a70bdab09e6a2f40babc4f8f992e3771751e144bda1938084c70d3001c09",
+                "sha256:2d76780d9c65c7529cedd49fa4802d713e60798d8dc3b0d5b12a0a8f38cca51c",
+                "sha256:325fa1b15098e44fe4590a6c5c09a212ca10c6ebb5d96f7447d675f6c8340e4e",
+                "sha256:3a297d77b3d6979693f5948df02b89431ae3645ec95865e351fb45578031bdae",
+                "sha256:3b1dcbc49923ac3c973184a82832e1f018dec643b1e054867d04a3a22255ec6a",
+                "sha256:40240da438c0ebfe2aa76dd04b844effac6679423df61adbe3437d32f23468d9",
+                "sha256:46c6e5018ba31d5ee7582f323d8661498a154dea1117486a571db4c244531f24",
+                "sha256:46fb56fde006b7ef5f8eaa3698299b0ea47444238b869ff3ced1426aa9fedcb5",
+                "sha256:4dc350cb65fe4e3f737d50f0465fa6ea0dcae0e5722b7edf5d5b0a0e3cd2c3c7",
+                "sha256:51078855a16b7a4984ed2067b54e35803d18bca9861cb60c60f6234b50869a56",
+                "sha256:547111ef7cf13d73546c2de97ce434935626c897bdec96a578ca100b5fcd694b",
+                "sha256:5fb73cc8a34baba1dfa546ae83b9c248ef6150c238b06fc53d2773685b67ec67",
+                "sha256:654280c5f41831ddcc5a331c0e3ce2e480bbc3d7c93c18ecf6236313aae2d61a",
+                "sha256:6b3136eecf7e1b4a4d23e4b19d6c4e7a8e0b42d55f30444e3c529700cdacaa0d",
+                "sha256:7118ca592d25b2957ff7b662bc0fe4f4c2b5d5b27814b9b1bc9f2fb249a970e7",
+                "sha256:71af5b43e4fa286a35110fc5bb740fdeae2b36ca79fbcf0a54237485baeee8be",
+                "sha256:747190fcdadc377263223f8f72b038381b3b549a8a3df5baf4d067da4749b046",
+                "sha256:8395064d63b26947fa2c9faeea9c3eee35e52148c5339c37987e1d96fbf009b3",
+                "sha256:84f85adfebd7d3c3db649efdf73659e1677a2cf3fa6e2556a3f373578af14bf7",
+                "sha256:86bcf0009f2012847a688f2f4f9b16203ca4c835979a02549aa0595d9f457cc8",
+                "sha256:ab8a15c2750ae8d53e31f77a94f846d0a00772240f1c12817411fa2344351f86",
+                "sha256:af24b21c2283ca69c416a8a42cde9764dc36c63d3389645d28c69b0e93db3cd7",
+                "sha256:afe173ac2646c2636305ab820cc0380b22a00a7bca4290452e7166b4f4fa49d0",
+                "sha256:b9eb88593159a53a5ee0b0159daee531ff7dd9c87fa78f5d807ca059c7eb1b2b",
+                "sha256:c16635f8dddbeb1b827977d0b00d07b644b040aeb9ff8607a9fc0997afa3e567",
+                "sha256:ca3eefb02ef17257fae8b8555c85e7c1efdfd777f671384b0e4ef27409b02720",
+                "sha256:caa59e2cae0e23b1e225447d7a9ddb0f982f42a6a22d497a484dfe62a06f7c0e",
+                "sha256:cb55258931448d61e2d50187de4ee66fc9d9f34908b524949b8b2b93d0c57136",
+                "sha256:d248c46c0aa406695bda2abf99632db991f8b3a6d46018721a2892312a99f069",
+                "sha256:d2578e5149ff49878934debfacf5c743fab49eca5ecdb983d0b218e1e554c498",
+                "sha256:dd22085446f3eca990d12a0878eeb5199dc9553b2e71716bfe7bed9915a472ab",
+                "sha256:e7cf940af5fee00a92e281eb157abe8770227a5255207818ea9a34e54a29f5b2",
+                "sha256:f70f3d028794e31cf9d1a822914efc935aadb2438ec4e8d4871d95eb1ce032d6",
+                "sha256:fd2842a0faed9ab9aba0922c951906132d9384be89690570f0ed18cd4f20e658",
+                "sha256:fd628e63ffdba0112e3ddf1b1e9f3db29dd8262345138e08f4938acbc6d0805a",
+                "sha256:ffd7cf165ff71afb202b3f36daafbf298932bee325aac9f58e1c9cd55838bef0"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==1.4.2"
+            "version": "==1.4.3"
         },
         "lru-dict": {
             "hashes": [
@@ -2572,7 +2599,7 @@
                 "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708",
                 "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"
             ],
-            "markers": "python_version >= '3.7'",
+            "markers": "python_version < '3.10'",
             "version": "==4.2.0"
         },
         "urllib3": {
diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py
old mode 100755
new mode 100644
index cd64d3a1fb13ae..42438cb209d581
--- a/tools/zookeeper/__init__.py
+++ b/tools/zookeeper/__init__.py
@@ -1,9 +1,6 @@
 #!/usr/bin/env python3
-
-# Python library to control Zookeeper
-
-import ft4222  # pylint: disable=import-error
-import ft4222.I2CMaster  # pylint: disable=import-error
+import ft4222
+import ft4222.I2CMaster
 
 DEBUG = False
 
diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py
index f2796bad3172a0..d3bdd6679f3975 100755
--- a/tools/zookeeper/power_monitor.py
+++ b/tools/zookeeper/power_monitor.py
@@ -1,30 +1,30 @@
-#!/usr/bin/env python
-
+#!/usr/bin/env python3
 import sys
 import time
-from tools.zookeeper import Zookeeper
 
-# Usage: check_consumption.py <averaging_time_sec> <max_average_power_W>
-# Exit code: 0 -> passed
-#	           1 -> failed
+from common.realtime import Ratekeeper
+from common.filter_simple import FirstOrderFilter
+from tools.zookeeper import Zookeeper
 
 if __name__ == "__main__":
   z = Zookeeper()
+  z.set_device_power(True)
+  z.set_device_ignition(False)
 
   duration = None
   if len(sys.argv) > 1:
     duration = int(sys.argv[1])
 
+  rate = 123
+  rk = Ratekeeper(rate, print_delay_threshold=None)
+  fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False)
+
   try:
     start_time = time.monotonic()
-    measurements = []
     while duration is None or time.monotonic() - start_time < duration:
-      p = z.read_power()
-      print(round(p, 3), "W")
-      measurements.append(p)
-      time.sleep(0.25)
+      fltr.update(z.read_power())
+      if rk.frame % rate == 0:
+        print(f"{fltr.x:.2f} W")
+      rk.keep_time()
   except KeyboardInterrupt:
     pass
-  finally:
-    average_power = sum(measurements)/len(measurements)
-    print(f"Average power: {round(average_power, 4)}W")
diff --git a/tools/zookeeper/requirements.txt b/tools/zookeeper/requirements.txt
deleted file mode 100644
index 6f70576caf0c36..00000000000000
--- a/tools/zookeeper/requirements.txt
+++ /dev/null
@@ -1 +0,0 @@
-ft4222==1.2.1
\ No newline at end of file