diff --git a/controller/fw/embed/src/main.cpp b/controller/fw/embed/src/main.cpp
index 0a7074b..c7902d7 100644
--- a/controller/fw/embed/src/main.cpp
+++ b/controller/fw/embed/src/main.cpp
@@ -223,6 +223,17 @@ void listen_can(){
       }
     break;
 
+    case MOTOR_ENABLED:
+      if(CAN_inMsg.buf[1] == 1){
+        motor.enable();
+        motor_control_inputs.motor_enabled = 1;
+      }
+      else{
+        motor.disable();
+        motor_control_inputs.motor_enabled = 0;
+      }
+
+
     default:
       break;
     }