diff --git a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
index 5de3726..9eb8e21 100644
--- a/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
+++ b/ros_arduino_firmware/src/libraries/ROSArduinoBridge/ROSArduinoBridge.ino
@@ -208,6 +208,7 @@ int runCommand() {
     lastMotorCommand = millis();
     if (arg1 == 0 && arg2 == 0) {
       setMotorSpeeds(0, 0);
+      resetPID();
       moving = 0;
     }
     else moving = 1;