diff --git a/02_Arduino/controller_stm_PotiTest_NewFoc/controller_stm_PotiTest_NewFoc.ino b/02_Arduino/controller_stm_PotiTest_NewFoc/controller_stm_PotiTest_NewFoc.ino
index ae269bf..2744fad 100644
--- a/02_Arduino/controller_stm_PotiTest_NewFoc/controller_stm_PotiTest_NewFoc.ino
+++ b/02_Arduino/controller_stm_PotiTest_NewFoc/controller_stm_PotiTest_NewFoc.ino
@@ -46,6 +46,8 @@
 
 long last_send = 0;
 
+long last_validReceive=0;
+
 
 // Global variables
 uint8_t idx = 0;                        // Index for new data pointer
@@ -72,6 +74,8 @@ typedef struct{
    int16_t  speedL_meas;
    int16_t  batVoltage;
    int16_t  boardTemp;
+   int16_t  curL_DC;
+   int16_t  curR_DC;
    int16_t  checksum;
 } SerialFeedback;
 SerialFeedback Feedback;
@@ -138,13 +142,15 @@ void ReceiveSerial1()
   if (idx == sizeof(SerialFeedback)) {    
     uint16_t checksum;
     checksum = (uint16_t)(NewFeedback.start ^ NewFeedback.cmd1 ^ NewFeedback.cmd2 ^ NewFeedback.speedR ^ NewFeedback.speedL
-          ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp);
+          ^ NewFeedback.speedR_meas ^ NewFeedback.speedL_meas ^ NewFeedback.batVoltage ^ NewFeedback.boardTemp ^ NewFeedback.curL_DC ^ NewFeedback.curR_DC);
   
     // Check validity of the new data
     if (NewFeedback.start == START_FRAME && checksum == NewFeedback.checksum) {
       // Copy the new data
       memcpy(&Feedback, &NewFeedback, sizeof(SerialFeedback));
       
+      Serial.print(millis()-last_validReceive); Serial.print("ms ");
+      
       // Print data to built-in Serial
       Serial.print("1: ");   Serial.print(Feedback.cmd1);
       Serial.print(" 2: ");  Serial.print(Feedback.cmd2);
@@ -153,7 +159,11 @@ void ReceiveSerial1()
       Serial.print(" 5: ");  Serial.print(Feedback.speedR_meas);
       Serial.print(" 6: ");  Serial.print(Feedback.speedL_meas);
       Serial.print(" 7: ");  Serial.print(Feedback.batVoltage);
-      Serial.print(" 8: ");  Serial.println(Feedback.boardTemp);
+      Serial.print(" 8: ");  Serial.print(Feedback.boardTemp);
+      Serial.print(" 9: ");  Serial.print(Feedback.curL_DC);
+      Serial.print(" 10: ");  Serial.println(Feedback.curR_DC);
+
+      last_validReceive=millis();
     } else {
       Serial.println("Non-valid data skipped");
     }
@@ -175,7 +185,7 @@ void loop() {
   if (millis() - last_send > SENDPERIOD) {
     
     
-    int16_t speedvalue=constrain(analogRead(PIN_POTI)*1.0/MAXADCVALUE*1500, 0, 1500);
+    int16_t speedvalue=constrain(analogRead(PIN_POTI)*1.0/MAXADCVALUE*1000, 0, 1000);
 
     SendSerial1(speedvalue,speedvalue);
     Serial.print("millis="); Serial.print(millis()); Serial.print(", steer=0"); Serial.print(", speed="); Serial.println(speedvalue);
diff --git a/Src/main.c b/Src/main.c
index 2855ea5..b714bf2 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -91,6 +91,8 @@ typedef struct{
   int16_t   speedL_meas;
   int16_t   batVoltage;
   int16_t   boardTemp;
+  int16_t   curL_DC;
+  int16_t   curR_DC;
   uint16_t  checksum;
 } SerialFeedback;
 static SerialFeedback Feedback;
@@ -129,6 +131,9 @@ extern uint8_t enable;                  // global variable for motor enable
 extern volatile uint32_t timeout;       // global variable for timeout
 extern int16_t batVoltage;              // global variable for battery voltage
 
+extern int16_t curL_DC;                 // global variable for left motor current. to get current in Ampere divide by A2BIT_CONV
+extern int16_t curR_DC;                 // global variable for right motor current
+
 static uint32_t inactivity_timeout_counter;
 
 extern uint8_t nunchuck_data[6];
@@ -463,8 +468,10 @@ int main(void) {
         Feedback.speedL_meas	  = (int16_t)rtY_Right.n_mot;
         Feedback.batVoltage	    = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
         Feedback.boardTemp	    = (int16_t)board_temp_deg_c;
+        Feedback.curL_DC        = (int16_t)curL_DC*10/A2BIT_CONV*100; //in milli Amperes, 100mA resolution
+        Feedback.curR_DC        = (int16_t)curR_DC*10/A2BIT_CONV*100;
         Feedback.checksum       = (uint16_t)(Feedback.start ^ Feedback.cmd1 ^ Feedback.cmd2 ^ Feedback.speedR ^ Feedback.speedL
-                                  ^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp);
+                                  ^ Feedback.speedR_meas ^ Feedback.speedL_meas ^ Feedback.batVoltage ^ Feedback.boardTemp ^ Feedback.curL_DC ^Feedback.curR_DC);
 
         UART_DMA_CHANNEL->CCR  &= ~DMA_CCR_EN;
         UART_DMA_CHANNEL->CNDTR = sizeof(Feedback);