diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
index a8e7201..4c144d6 100644
--- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
@@ -316,6 +316,7 @@ int runCommand() {
     lastMotorCommand = millis();
     if (arg1 == 0 && arg2 == 0) {
       setMotorSpeeds(0, 0);
+      resetPID();
       moving = 0;
     }
     else moving = 1;
diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h
index 678800c..5f2f8c4 100644
--- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/diff_controller.h
@@ -100,7 +100,7 @@ void doPID(SetPointInfo * p) {
   /*
   * allow turning changes, see http://brettbeauregard.com/blog/2011/04/improving-the-beginner%E2%80%99s-pid-tuning-changes/
   */
-    p->ITerm += Ki * Perror;
+  p->ITerm += Ki * Perror;
 
   p->output = output;
   p->PrevInput = input;