diff --git a/components/actor/pololu1376.py b/components/actor/pololu1376.py
index 7ffe092..86e94f2 100644
--- a/components/actor/pololu1376.py
+++ b/components/actor/pololu1376.py
@@ -5,8 +5,8 @@ import enum
 
 class Varid(enum.Enum):
 	STATUS = 0,
-	STATUS_ERROR_OCCURED = 1,
-	STATUS_SERIAL_ERROR_OCCURED = 2,
+	STATUS_ERRORS_OCCURED = 1,
+	STATUS_SERIAL_ERRORS_OCCURED = 2,
 	STATUS_LIMIT_STATUS = 3,
 	STATUS_RESET_FLAGS = 127,
 	RC_RC1_UNLIMITED_RAW_VALUE = 4,
@@ -25,20 +25,29 @@ class Varid(enum.Enum):
 	DIAGNOSTIC_SPEED = 21,
 	DIAGNOSTIC_BRAKE_AMOUNT = 22,
 	DIAGNOSTIC_INPUT_VOLTAGE = 23,
-	DIAGNOSTIC_TEMPERATURE = 24,
+	DIAGNOSTIC_TEMPERATURE_A = 24,
+	DIAGNOSTIC_TEMPERATURE_B = 25,
 	DIAGNOSTIC_RC_PERIOD = 26,
 	DIAGNOSTIC_BAUDRATE_REGISTER = 27,
-	DIAGNOSTIC_SYSTEM_TIME_LOW = 28,
-	DIAGNOSTIC_SYSTEM_TIME_HIGH = 29,
+	DIAGNOSTIC_UP_TIME_LOW = 28,
+	DIAGNOSTIC_UP_TIME_HIGH = 29,
 	MOTOR_MAX_SPEED_FORWARD = 30,
 	MOTOR_MAX_ACCEL_FORWARD = 31,
 	MOTOR_MAX_DECEL_FORWARD = 32,
 	MOTOR_BREAK_DURATION_FORWARD = 33,
+	MOTOR_STARTING_SPEED_FORWARD = 34,
 	MOTOR_MAX_SPEED_REVERSE = 36,
 	MOTOR_MAX_ACCEL_REVERSE = 37,
 	MOTOR_MAX_DECEL_REVERSE = 38,
-	MOTOR_BREAK_DURATION_REVERSE = 39
-	
+	MOTOR_BREAK_DURATION_REVERSE = 39,
+	MOTOR_STARTING_SPEED_REVERSE = 40,
+	MOTOR_CURRENT_LIMIT = 41,
+	MOTOR_CURRENT_RAW = 42,
+	MOTOR_CURRENT_MA = 43,
+	MOTOR_CURRENT_LIMIT_CONSECUTIVE_COUNT = 44,
+	MOTOR_CURRENT_LIMIT_OCCURRENCE_COUNT = 45
+
+
 class Pololu1376:
 	def __init__(self, serial_port):
 		self.ser = serial_port
@@ -99,19 +108,20 @@ class Pololu1376:
 	def get_variable(self, var):
 		return self.cmd("D" + str(var))
 
-
-def print_vars(drv):
-	print ("-------------------------------------------")
-	print ("STATUS                   : {:04X}".format(int(drv.get_variable(Varid.STATUS.value[0]))))
-	print ("STATUS_ERROR_OCCURED     : {:04X}".format(int(drv.get_variable(Varid.STATUS_SERIAL_ERROR_OCCURED.value[0]))))
-	print ("STATUS_LIMIT_STATUS      : {:04X}".format(int(drv.get_variable(Varid.STATUS_LIMIT_STATUS.value[0]))))
-	print ("RC_RC1_SCALED_VALUE      : {:04X}".format(int(drv.get_variable(Varid.RC_RC1_SCALED_VALUE.value[0]))))
-	print ("RC_RC2_SCALED_VALUE      : {:04X}".format(int(drv.get_variable(Varid.RC_RC2_SCALED_VALUE.value[0]))))
-	print ("ANALOG_AN1_SCALED_VALUE  : {:04X}".format(int(drv.get_variable(Varid.ANALOG_AN1_SCALED_VALUE.value[0]))))
-	print ("ANALOG_AN2_SCALED_VALUE  : {:04X}".format(int(drv.get_variable(Varid.ANALOG_AN2_SCALED_VALUE.value[0]))))
-	print ("DIAGNOSTIC_TARGET_SPEED  : {:04X}".format(int(drv.get_variable(Varid.DIAGNOSTIC_TARGET_SPEED.value[0]))))
-	print ("DIAGNOSTIC_SPEED         : {:04X}".format(int(drv.get_variable(Varid.DIAGNOSTIC_SPEED.value[0]))))
-	print ("DIAGNOSTIC_TEMPERATURE   : {:04X}".format(int(drv.get_variable(Varid.DIAGNOSTIC_TEMPERATURE.value[0]))))
+	def print_vars(self):
+		print ("-------------------------------------------")
+		print ("STATUS                   : {:04X}".format(int(self.get_variable(Varid.STATUS.value[0]))))
+		print ("STATUS_ERROR_OCCURED     : {:04X}".format(int(self.get_variable(Varid.STATUS_SERIAL_ERRORS_OCCURED.value[0]))))
+		print ("STATUS_LIMIT_STATUS      : {:04X}".format(int(self.get_variable(Varid.STATUS_LIMIT_STATUS.value[0]))))
+		print ("RC_RC1_SCALED_VALUE      : {:04X}".format(int(self.get_variable(Varid.RC_RC1_SCALED_VALUE.value[0]))))
+		print ("RC_RC2_SCALED_VALUE      : {:04X}".format(int(self.get_variable(Varid.RC_RC2_SCALED_VALUE.value[0]))))
+		print ("ANALOG_AN1_SCALED_VALUE  : {:04X}".format(int(self.get_variable(Varid.ANALOG_AN1_SCALED_VALUE.value[0]))))
+		print ("ANALOG_AN2_SCALED_VALUE  : {:04X}".format(int(self.get_variable(Varid.ANALOG_AN2_SCALED_VALUE.value[0]))))
+		print ("DIAGNOSTIC_TARGET_SPEED  : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_TARGET_SPEED.value[0]))))
+		print ("DIAGNOSTIC_SPEED         : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_SPEED.value[0]))))
+		print ("DIAGNOSTIC_TEMPERATURE_A : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_TEMPERATURE_A.value[0]))))
+		print ("DIAGNOSTIC_TEMPERATURE_B : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_TEMPERATURE_B.value[0]))))
+		print ("MOTOR_CURRENT_MA         : {:04X}".format(int(self.get_variable(Varid.MOTOR_CURRENT_MA.value[0]))))
 
 
 if __name__ == '__main__':
@@ -125,7 +135,7 @@ if __name__ == '__main__':
 		print("Speed = {}".format(speed))
 		drv.motor_forward(speed)
 		for n in range (0, 10, 1):
-			print_vars(drv)
+			drv.print_vars()
 			time.sleep(0.5)
 		drv.motor_brake(10)
 		time.sleep(1)
diff --git a/components/actor/stirrerpololu1376.py b/components/actor/stirrerpololu1376.py
index 747914b..e1b2f52 100644
--- a/components/actor/stirrerpololu1376.py
+++ b/components/actor/stirrerpololu1376.py
@@ -41,7 +41,8 @@ class StirrerPololu1376(AStirrer):
 		print("Set speed to {} %".format(speed))
 
 	def _on_process(self):
-		print("STATUS = OK!")
+		print("STATUS :")
+		self.drv.print_vars()
 
 
 if __name__ == '__main__':