diff --git a/Control/data/index.html b/Control/data/index.html
index 73775ff..aa07511 100644
--- a/Control/data/index.html
+++ b/Control/data/index.html
@@ -145,7 +145,7 @@
                             <td style="text-align: center;" colspan="6"><strong>Set Translation to: </strong><strong id="SetTrans" style="font-size: 18px;">180</strong><strong>mm</strong></td>
                         </tr>
                         <tr>
-                            <td colspan="6"><input type ="range" min="-200" max="100" value="0" class="slider" id="TranSlider"></td>
+                            <td colspan="6"><input type ="range" min="-200" max="200" value="0" class="slider" id="TranSlider"></td>
                         </tr>
                         <tr>
                             <td style="text-align: center;" colspan="6"><strong>Set Speed to: </strong><strong id="SetSpd" style="font-size: 18px;">50</strong><strong>%</strong></td>
@@ -260,7 +260,7 @@
         batteryVoltage = data.bV;
         batteryCycles = data.bC;
         totalTripDistance = data.tD;
-        currentHeading = data.cH;
+        currentHeading = data.cH + 180;
         current_pos = data.pos;
         current_x = current_pos[0];
         current_y = current_pos[1];
@@ -294,7 +294,7 @@
     }
 
     function send_data() {
-        var raw_data = '{"Cid":' + command_id + ',"mode":' + mode + ',"rH":' + reqHeading + ',"rD":' + reqDistance + ',"rS":' + reqSpeed + ',"rC":' + reqCharge + ',"pSt":' + pstop_time + ',"col":' + hunt_colour + '}';
+        var raw_data = '{"Cid":' + command_id + ',"mode":' + mode + ',"rH":' + reqHeading + ',"rD":' + reqDistance + ',"rS":' + reqSpeed + ',"rC":' + reqCharge + ',"pSt":' + pstop_time + ',"col":"' + hunt_colour + '"}';
         connection.send(raw_data);
         console.log(raw_data);
     }
@@ -313,10 +313,12 @@
             bufferOutput = "charge " + reqCharge + "%";
         }else if(cmdMode == 3){
             bufferOutput = "wait " + pstop_time + "s";
+        }else if(cmdMode == 4){
+            bufferOutput = "colour " + hunt_colour;
         }else if(cmdMode == -1){
             bufferOutput = "telemetry reset";
         }
-        if((mode == 1) || (mode == -1) || (mode == 2) || (mode == 3)){
+        if((mode == 1) || (mode == -1) || (mode == 2) || (mode == 3) || (mode == 4)){
             document.getElementById("command_buffer").innerHTML += '[' + command_id + '] ' + bufferOutput + "<br>";
             document.getElementById("commandInput").value = ""
         }else if(mode == 0){
diff --git a/Control/include/instruction.h b/Control/include/instruction.h
index dc110bb..d319cdd 100644
--- a/Control/include/instruction.h
+++ b/Control/include/instruction.h
@@ -1,5 +1,6 @@
 #ifndef INSTRUCTION_H
 #define INSTRUCTION_H
+#include <string>
 
 typedef enum {
     INSTR_RESET = -1,
@@ -19,7 +20,7 @@ typedef struct instruction
     float speed;
     int charge;
     int time;
-    int colour;
+    String colour;
 } RoverInstruction;
 
 #endif
diff --git a/Control/src/main.cpp b/Control/src/main.cpp
index 658cc1c..3022e8a 100644
--- a/Control/src/main.cpp
+++ b/Control/src/main.cpp
@@ -73,7 +73,7 @@ int bb_left, bb_right, bb_top, bb_bottom;
 int bb_centre_x, bb_centre_y;
 float chargeGoal;
 int waitGoal;
-Colour_t colour;
+String colour;
 #pragma endregion
 
 void setup()
@@ -204,7 +204,7 @@ void loop()
 			case INSTR_COLOUR:
 			{
 				Status = CS_IDLE;
-				colour = (Colour_t)instr->colour;
+				colour = instr->colour;
 			}
 			break;
 			default:
@@ -362,7 +362,8 @@ void webSocketEvent(uint8_t num, WStype_t type, uint8_t *payload, size_t length)
 			Serial.println("Change colour tracking command received");
 			instr.id = rdoc["Cid"];
 			instr.instr = INSTR_COLOUR;
-			instr.colour = rdoc["col"];
+			String temp = rdoc["col"];
+			instr.colour = temp;
 			// Ignore rdoc["rH"], rdoc["rD"], rdoc["rS"], rdoc["rC"]
 
 			queueInstruction(instr); // Put charge command in InstrQueue
diff --git a/Drive/src/main.cpp b/Drive/src/main.cpp
index e346166..dda6f59 100644
--- a/Drive/src/main.cpp
+++ b/Drive/src/main.cpp
@@ -460,6 +460,10 @@ void loop()
         digitalWrite(pwmr, LOW);
         digitalWrite(pwml, LOW);
         commandCompletionStatus = 3;
+      }else if (rdoc.containsKey("rstD") && rdoc["rstD"] == 1){
+        goal_x = 0;
+        goal_y = 0;
+        distTravelled_mm = 0;
       }
     }
   }
@@ -474,7 +478,7 @@ void loop()
     //Serial.println("status0");
   }
   if (commandCompletionStatus == 1)
-  { Serial.println("status1");
+  { //Serial.println("status1");
     //newCommand
     //set goals
     goal_x += distance * sin(requiredHeading);
@@ -567,7 +571,7 @@ void loop()
     commandComplete = true;
     current_x = goal_x;
     current_y = goal_y;
-    distTravelled_mm += distance;
+    distTravelled_mm += abs(distance);
 
     //compile energy use
     unsigned long currentMillis_Energy = millis();
@@ -595,6 +599,7 @@ void loop()
     tdoc["mm"] = distTravelled_mm;
     tdoc["pos"][0] = current_x;
     tdoc["pos"][1] = current_y;
+    tdoc["bV"] = vb;
     serializeJson(tdoc, Serial1); // Build JSON and send on UART1
     serializeJson(tdoc, Serial); // Build JSON and send on UART1
     commandCompletionStatus = 0;
@@ -604,7 +609,7 @@ void loop()
   //find motor voltage
   //int motorVSensor = analogRead(A5);
   //float motorVoltage = motorVSensor * (5.0 / 1023.0);
-  float motorVoltage = 5;
+  float motorVoltage = vb;
 
   //find average power
 
@@ -749,10 +754,11 @@ void sampling(){
   // The analogRead process gives a value between 0 and 1023
   // representing a voltage between 0 and the analogue reference which is 4.096V
 
-  vb = sensorValue0 * (4.096 / 1023.0);   // Convert the Vb sensor reading to volts
+  vb = sensorValue0 * (4.94 / 1023.0);   // Convert the Vb sensor reading to volts
   vref = sensorValue2 * (4.096 / 1023.0); // Convert the Vref sensor reading to volts
   vpd = sensorValue3 * (4.096 / 1023.0);  // Convert the Vpd sensor reading to volts
 
+
   // The inductor current is in mA from the sensor so we need to convert to amps.
   // We want to treat it as an input current in the Boost, so its also inverted
   // For open loop control the duty cycle reference is calculated from the sensor