diff --git a/interface/src/main.rs b/interface/src/main.rs
index 10037f6..5b0fe62 100644
--- a/interface/src/main.rs
+++ b/interface/src/main.rs
@@ -2,14 +2,14 @@ use std::time::Duration;
 
 use anyhow::Context;
 use common::Command;
-use gilrs::{Axis, Gilrs};
+use gilrs::{Axis, Event, Gilrs};
 use tokio::{io::{AsyncWriteExt, BufWriter}, net::TcpStream, time::sleep};
 
 #[tokio::main]
 async fn main() -> anyhow::Result<()> {
     println!("Hello, world!");
 
-    let gamepads = Gilrs::new().unwrap();
+    let mut gamepads = Gilrs::new().unwrap();
     let (_, gamepad) = gamepads.gamepads().nth(0).context("no gamepads")?;
     let ly = gamepad.axis_code(Axis::LeftStickY).context("no left joystick")?;
     let rx = gamepad.axis_code(Axis::RightStickX).context("no right joystick")?;
@@ -22,11 +22,27 @@ async fn main() -> anyhow::Result<()> {
 
     let mut robot_controller = BufWriter::new(robot_controller);
 
-    loop {
-        let values = gamepad.state();
+    let mut active_gamepad = None;
 
-        let ly = values.axis_data(ly).context("no left")?.value();
-        let rx = values.axis_data(rx).context("no left")?.value();
+    sleep(Duration::from_secs(5)).await; // bad
+    loop {
+        while let Some(Event { id,..}) = gamepads.next_event() {
+            active_gamepad = Some(id);
+        }
+
+        let Some(gamepad) = active_gamepad else {
+            continue;
+        };
+
+        let gamepad = gamepads.gamepad(gamepad);
+
+
+
+        let values = gamepad.state();
+        dbg!(values);
+
+        let ly= values.axis_data(ly).map(|d| d.value()).unwrap_or(0.0);
+        let rx= values.axis_data(rx).map(|d| d.value()).unwrap_or(0.0);
 
         let cmd = Command::Twist(ly, rx);
 
@@ -36,7 +52,6 @@ async fn main() -> anyhow::Result<()> {
         robot_controller.write_all(&encoded).await?;
 
         robot_controller.flush().await?;
-
         sleep(Duration::from_micros(3500)).await;
     }
 }