diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
index dd9a8f8..77322d2 100644
--- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
@@ -197,6 +197,7 @@ int runCommand() {
     break;
    case RESET_ENCODERS:
     resetEncoders();
+    resetPID();
     Serial.println("OK");
     break;
   case MOTOR_SPEEDS: