diff --git a/interface/Cargo.lock b/interface/Cargo.lock
index 4580add..e803c90 100644
--- a/interface/Cargo.lock
+++ b/interface/Cargo.lock
@@ -393,6 +393,7 @@ dependencies = [
  "anyhow",
  "common",
  "cpal",
+ "heapless",
  "pitch-detection",
  "postcard",
  "rust-music-theory",
diff --git a/interface/Cargo.toml b/interface/Cargo.toml
index ad5f72e..ea88d89 100644
--- a/interface/Cargo.toml
+++ b/interface/Cargo.toml
@@ -12,3 +12,4 @@ rust-music-theory = {git = "https://github.com/the-drunk-coder/rust-music-theory
 serde = "1.0.217"
 tokio = { version = "1.43.0", features = ["full"] }
 common = {path = "../common"}
+heapless = "0.7.0"
diff --git a/interface/src/main.rs b/interface/src/main.rs
index 0886e66..05ec97f 100644
--- a/interface/src/main.rs
+++ b/interface/src/main.rs
@@ -2,11 +2,11 @@
 use std::{thread::sleep, time::Duration};
 
 use anyhow::{Context, Ok, Result};
-use common::TelemetryPacket;
+use common::{ControlPacket, TelemetryPacket};
 use cpal::traits::{DeviceTrait, HostTrait, StreamTrait};
 use pitch_detection::{detector::{mcleod::McLeodDetector, PitchDetector}, utils};
 use rust_music_theory::note::{Note, NoteLetter, Pitch, Tuning};
-use tokio::{io::{AsyncReadExt, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, sync::mpsc};
+use tokio::{io::{AsyncReadExt, AsyncWriteExt, BufWriter, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, sync::mpsc};
 
 fn main() -> Result<()> {
     // assumes pulseaudio system with f32 samples and 2204 sample packets
@@ -75,8 +75,11 @@ async fn telemetry_handler(mut telem: OwnedReadHalf) -> Result<()> {
     }
 }
 
-async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32>>, f32)>, control: OwnedWriteHalf) -> Result<()> {
+async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32>>, f32)>, controller: OwnedWriteHalf) -> Result<()> {
+    let mut controller = BufWriter::new(controller);
     loop {
+        let mut control = ControlPacket::Stop;
+
         let (note,vol) = notes.recv().await.context("channel closed")?;
         if let Some(note) = note {
             //dbg!(note.frequency);
@@ -86,31 +89,43 @@ async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32
             match note.pitch {
                 Pitch { letter: NoteLetter::A, accidental: 0}  => {
                     println!("forward");
+                    control = ControlPacket::Twist(1.0, 0.0);
                 }
                 Pitch { letter: NoteLetter::A, accidental: 1}  => {
                     println!("backward");
+                    control = ControlPacket::Twist(-1.0, 0.0);
                 }
                 Pitch { letter: NoteLetter::C, accidental: 0}  => {
                     println!("right");
+                    control = ControlPacket::Twist(0.0, 1.0);
                 }
                 Pitch { letter: NoteLetter::C, accidental: 1}  => {
                     println!("left");
+                    control = ControlPacket::Twist(0.0, -1.0);
                 }
                 Pitch { letter: NoteLetter::G, accidental: 0}  => {
                     println!("fire");
+                    control = ControlPacket::Fire;
                 }
                 Pitch { letter: NoteLetter::E, accidental: 0}  => {
                     println!("fire");
+                    control = ControlPacket::Fire;
                 }
-                pitch => {
+                _pitch => {
                     if vol > 3000. {
                         println!("fire");
+                        control = ControlPacket::FireOverride(1.0);
                     } else {
                         //dbg!(pitch);
                     }
                 }
-            
             }
+
+
+            let control: heapless::Vec<u8, 2048> = postcard::to_vec(&control)?;
+            controller.write_u32(control.len() as u32).await?;
+            controller.write_all(&control).await?;
+            controller.flush().await?;
         }
     }
 }