diff --git a/components/actor/Pololu1376.py b/components/actor/Pololu1376.py
index fe13ac3..da391f4 100644
--- a/components/actor/Pololu1376.py
+++ b/components/actor/Pololu1376.py
@@ -1,7 +1,43 @@
 import time
 import serial
+import enum
 
-
+class Varid(enum.Enum):
+	STATUS = 0,
+	STATUS_ERROR_OCCURED = 1,
+	STATUS_SERIAL_ERROR_OCCURED = 2,
+	STATUS_LIMIT_STATUS = 3,
+	STATUS_RESET_FLAGS = 127,
+	RC_RC1_UNLIMITED_RAW_VALUE = 4,
+	RC_RC1_RAW_VALUE = 5,
+	RC_RC1_SCALED_VALUE = 6,
+	RC_RC2_UNLIMITED_RAW_VALUE = 8,
+	RC_RC2_RAW_VALUE = 9,
+	RC_RC2_SCALED_VALUE = 10,
+	ANALOG_AN1_UNLIMITED_RAW_VALUE = 12,
+	ANALOG_AN1_RAW_VALUE = 13,
+	ANALOG_AN1_SCALED_VALUE = 14,
+	ANALOG_AN2_UNLIMITED_RAW_VALUE = 16,
+	ANALOG_AN2_RAW_VALUE = 17,
+	ANALOG_AN2_SCALED_VALUE = 18,
+	DIAGNOSTIC_TARGET_SPEED = 20,
+	DIAGNOSTIC_SPEED = 21,
+	DIAGNOSTIC_BRAKE_AMOUNT = 22,
+	DIAGNOSTIC_INPUT_VOLTAGE = 23,
+	DIAGNOSTIC_TEMPERATURE = 24,
+	DIAGNOSTIC_RC_PERIOD = 26,
+	DIAGNOSTIC_BAUDRATE_REGISTER = 27,
+	DIAGNOSTIC_SYSTEM_TIME_LOW = 28,
+	DIAGNOSTIC_SYSTEM_TIME_HIGH = 29,
+	MOTOR_MAX_SPEED_FORWARD = 30,
+	MOTOR_MAX_ACCEL_FORWARD = 31,
+	MOTOR_MAX_DECEL_FORWARD = 32,
+	MOTOR_BREAK_DURATION_FORWARD = 33,
+	MOTOR_MAX_SPEED_REVERSE = 36,
+	MOTOR_MAX_ACCEL_REVERSE = 37,
+	MOTOR_MAX_DECEL_REVERSE = 38,
+	MOTOR_BREAK_DURATION_REVERSE = 39
+	
 class Pololu1376:
 	def __init__(self, serial_port):
 		self.ser = serial_port
@@ -12,6 +48,8 @@ class Pololu1376:
 			self.ser.close()
 			self.ser.open()
 
+		self.motor_stop()
+
 		print("F/W-Version:", self.get_firmware_version())
 
 	def send(self, data):
@@ -39,14 +77,14 @@ class Pololu1376:
 	def go(self):
 		return self.cmd("GO")
 
-	def motor_forward(self):
-		return self.cmd("F")
+	def motor_forward(self, speed_percent):
+		return self.cmd("F" + str(int(speed_percent)) + "%")
 
-	def motor_reverse(self):
-		return self.cmd("R")
+	def motor_reverse(self, speed_percent):
+		return self.cmd("R" + str(int(speed_percent)) + "%")
 
-	def motor_brake(self):
-		return self.cmd("B")
+	def motor_brake(self, brake_amount_percent):
+		return self.cmd("B" + str(int(brake_amount_percent)) + "%")
 
 	def motor_stop(self):
 		return self.cmd("X")
@@ -58,13 +96,36 @@ class Pololu1376:
 		return self.cmd("V")
 
 	def get_variable(self, var):
-		return self.cmd("L" + str(var))
+		return self.cmd("D" + str(var))
 
 
+def print_vars(drv):
+	print ("STATUS                   :", drv.get_variable(Varid.STATUS.value))
+	print ("STATUS_ERROR_OCCURED     :", drv.get_variable(Varid.STATUS_ERROR_OCCURED.value))
+	print ("STATUS_LIMIT_STATUS      :", drv.get_variable(Varid.STATUS_LIMIT_STATUS.value))
+	print ("RC_RC1_SCALED_VALUE      :", drv.get_variable(Varid.RC_RC1_SCALED_VALUE.value))
+	print ("RC_RC2_SCALED_VALUE      :", drv.get_variable(Varid.RC_RC2_SCALED_VALUE.value))
+	print ("ANALOG_AN1_SCALED_VALUE  :", drv.get_variable(Varid.ANALOG_AN1_SCALED_VALUE.value))
+	print ("ANALOG_AN2_SCALED_VALUE  :", drv.get_variable(Varid.ANALOG_AN2_SCALED_VALUE.value))
+	print ("DIAGNOSTIC_TARGET_SPEED  :", drv.get_variable(Varid.DIAGNOSTIC_TARGET_SPEED.value))
+	print ("DIAGNOSTIC_SPEED         :", drv.get_variable(Varid.DIAGNOSTIC_SPEED.value))
+	print ("DIAGNOSTIC_TEMPERATURE   :", drv.get_variable(Varid.DIAGNOSTIC_TEMPERATURE.value))
+
 if __name__ == '__main__':
 	ser = serial.Serial("/dev/ttyACM0", 115200)
 
-	s = Pololu1376(serial_port=ser)
-
+	drv = Pololu1376(serial_port=ser)
+	drv.go()
+	time.sleep(1)
+	
+	for speed in range(60, 100, 10):
+		print("Speed = {}".format(speed))
+		drv.motor_forward(speed)
+		for n in range (0, 10, 1):
+			print_vars(drv)
+			time.sleep(0.5)
+		drv.motor_brake(50)
+		time.sleep(1)
+		
 	print("End of program")