diff --git a/mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py b/mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py
index f2c5b6f..e4d3dda 100644
--- a/mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py
+++ b/mini_bdx_runtime/mini_bdx_runtime/xbox_controller.py
@@ -24,8 +24,8 @@ class XBoxController:
         self.head_control_mode = self.standing
 
         self.last_commands = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-        self.last_left_trigger = 0
-        self.last_right_trigger = 0
+        self.last_left_trigger = 0.0
+        self.last_right_trigger = 0.0
         pygame.init()
         self.p1 = pygame.joystick.Joystick(0)
         self.p1.init()
@@ -45,72 +45,72 @@ class XBoxController:
         last_commands = self.last_commands
         left_trigger = self.last_left_trigger
         right_trigger = self.last_right_trigger
-        for event in pygame.event.get():
-            l_x = -1 * self.p1.get_axis(0)
-            l_y = -1 * self.p1.get_axis(1)
-            r_x = -1 * self.p1.get_axis(2)
-            r_y = -1 * self.p1.get_axis(3)
 
-            right_trigger = (self.p1.get_axis(4) + 1) / 2
-            left_trigger = (self.p1.get_axis(5) + 1) / 2
-            if left_trigger < 0.1:
-                left_trigger = 0
-            if right_trigger < 0.1:
-                right_trigger = 0
-            # print(f"Right trigger: {right_trigger}"
-            #       f"Left trigger: {left_trigger}")
+        l_x = -1 * self.p1.get_axis(0)
+        l_y = -1 * self.p1.get_axis(1)
+        r_x = -1 * self.p1.get_axis(2)
+        r_y = -1 * self.p1.get_axis(3)
 
-            if not self.head_control_mode:
-                lin_vel_y = l_x
-                lin_vel_x = l_y
-                ang_vel = r_x
-                if lin_vel_x >= 0:
-                    lin_vel_x *= np.abs(X_RANGE[1])
-                else:
-                    lin_vel_x *= np.abs(X_RANGE[0])
+        right_trigger = np.around((self.p1.get_axis(4) + 1) / 2, 3)
+        left_trigger = np.around((self.p1.get_axis(5) + 1) / 2, 3)
 
-                if lin_vel_y >= 0:
-                    lin_vel_y *= np.abs(Y_RANGE[1])
-                else:
-                    lin_vel_y *= np.abs(Y_RANGE[0])
+        if left_trigger < 0.1:
+            left_trigger = 0
+        if right_trigger < 0.1:
+            right_trigger = 0
 
-                if ang_vel >= 0:
-                    ang_vel *= np.abs(YAW_RANGE[1])
-                else:
-                    ang_vel *= np.abs(YAW_RANGE[0])
-
-                last_commands[0] = lin_vel_x
-                last_commands[1] = lin_vel_y
-                last_commands[2] = ang_vel
+        if not self.head_control_mode:
+            lin_vel_y = l_x
+            lin_vel_x = l_y
+            ang_vel = r_x
+            if lin_vel_x >= 0:
+                lin_vel_x *= np.abs(X_RANGE[1])
             else:
-                last_commands[0] = 0.0
-                last_commands[1] = 0.0
-                last_commands[2] = 0.0
-                last_commands[3] = 0.0 # neck pitch 0 for now
+                lin_vel_x *= np.abs(X_RANGE[0])
 
-                head_yaw = l_x
-                head_pitch = l_y
-                head_roll = r_x
+            if lin_vel_y >= 0:
+                lin_vel_y *= np.abs(Y_RANGE[1])
+            else:
+                lin_vel_y *= np.abs(Y_RANGE[0])
 
-                if head_yaw >= 0:
-                    head_yaw *= np.abs(HEAD_YAW_RANGE[0])
-                else:
-                    head_yaw *= np.abs(HEAD_YAW_RANGE[1])
+            if ang_vel >= 0:
+                ang_vel *= np.abs(YAW_RANGE[1])
+            else:
+                ang_vel *= np.abs(YAW_RANGE[0])
 
-                if head_pitch >= 0:
-                    head_pitch *= np.abs(HEAD_PITCH_RANGE[0])
-                else:
-                    head_pitch *= np.abs(HEAD_PITCH_RANGE[1])
+            last_commands[0] = lin_vel_x
+            last_commands[1] = lin_vel_y
+            last_commands[2] = ang_vel
+        else:
+            last_commands[0] = 0.0
+            last_commands[1] = 0.0
+            last_commands[2] = 0.0
+            last_commands[3] = 0.0 # neck pitch 0 for now
 
-                if head_roll >= 0:
-                    head_roll *= np.abs(HEAD_ROLL_RANGE[0])
-                else:
-                    head_roll *= np.abs(HEAD_ROLL_RANGE[1])
+            head_yaw = l_x
+            head_pitch = l_y
+            head_roll = r_x
 
-                last_commands[4] = head_pitch
-                last_commands[5] = head_yaw
-                last_commands[6] = head_roll
+            if head_yaw >= 0:
+                head_yaw *= np.abs(HEAD_YAW_RANGE[0])
+            else:
+                head_yaw *= np.abs(HEAD_YAW_RANGE[1])
 
+            if head_pitch >= 0:
+                head_pitch *= np.abs(HEAD_PITCH_RANGE[0])
+            else:
+                head_pitch *= np.abs(HEAD_PITCH_RANGE[1])
+
+            if head_roll >= 0:
+                head_roll *= np.abs(HEAD_ROLL_RANGE[0])
+            else:
+                head_roll *= np.abs(HEAD_ROLL_RANGE[1])
+
+            last_commands[4] = head_pitch
+            last_commands[5] = head_yaw
+            last_commands[6] = head_roll
+
+        for event in pygame.event.get():
             if self.p1.get_button(0):  # A button
                 A_pressed = True
 
@@ -145,5 +145,5 @@ if __name__ == "__main__":
     controller = XBoxController(20)
 
     while True:
-        controller.get_last_command()
+        print(controller.get_last_command())
         time.sleep(0.05)
diff --git a/scripts/antennas_controller_test.py b/scripts/antennas_controller_test.py
new file mode 100644
index 0000000..75c7a52
--- /dev/null
+++ b/scripts/antennas_controller_test.py
@@ -0,0 +1,19 @@
+from mini_bdx_runtime.xbox_controller import XBoxController
+from mini_bdx_runtime.antennas import Antennas
+import time
+
+controller = XBoxController(60)
+
+antennas = Antennas()
+
+
+while True:
+    _, _, _, left_trigger, right_trigger = (
+        controller.get_last_command()
+    )
+
+    antennas.set_position_left(right_trigger)
+    antennas.set_position_right(left_trigger)
+
+    # print(left_trigger, right_trigger)
+    time.sleep(1/50)