diff --git a/Code/STM32/Core/Src/Components/Robot.cpp b/Code/STM32/Core/Src/Components/Robot.cpp
index d4b7a1b..8830761 100644
--- a/Code/STM32/Core/Src/Components/Robot.cpp
+++ b/Code/STM32/Core/Src/Components/Robot.cpp
@@ -37,13 +37,21 @@ void Robot::controlCallback(){
 	//float desiredSpeed0 = strtof((const char*)rxBuffer, NULL);
 	float desiredSpeed0;
 	float desiredSpeed1;
-	sscanf((char*)rxBuffer, "%f,%f", &desiredSpeed0, &desiredSpeed1);	// Desired speed in mm/s
+	uint32_t slipping;
+	sscanf((char*)rxBuffer, "%f,%f,%08X", &desiredSpeed0, &desiredSpeed1, &slipping);	// Desired speed in mm/s
 	float convertedSpeed0 = desiredSpeed0*CONVERSION;	// Converted speed in rev/tick
 	float convertedSpeed1 = desiredSpeed1*CONVERSION;
 #ifdef CONTROL_DISABLED
 	motor0.setPower(desiredSpeed0);
 	motor1.setPower(desiredSpeed1);
 #else
+	if(slipping){
+		motor0.setEnabled(false);
+		motor1.setEnabled(false);
+	}else{
+		motor0.setEnabled(true);
+		motor1.setEnabled(true);
+	}
 	motor0.pid(convertedSpeed0);
 	motor1.pid(convertedSpeed1);
 #endif