diff --git a/controller/controller.ino b/controller/controller.ino
index 3ff3bae..2c5e814 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -129,10 +129,10 @@ typedef struct{
    uint16_t start;
    int16_t  cmd1;
    int16_t  cmd2;
-   int16_t  speedR;
    int16_t  speedL;
-   int16_t  speedR_meas;
+   int16_t  speedR;
    int16_t  speedL_meas;
+   int16_t  speedR_meas;
    int16_t  batVoltage;
    int16_t  boardTemp;
    int16_t  curL_DC;
diff --git a/hoverboard-firmware-hack-foc-serial-esc b/hoverboard-firmware-hack-foc-serial-esc
index b1e6d9e..fc5f5a2 160000
--- a/hoverboard-firmware-hack-foc-serial-esc
+++ b/hoverboard-firmware-hack-foc-serial-esc
@@ -1 +1 @@
-Subproject commit b1e6d9e995273a3c0e4baca66a10b09b8e64843d
+Subproject commit fc5f5a26ca648aa30aec3fc4904a3a7560c11baa