diff --git a/control-board/src/bin/hwtest-drib/main.rs b/control-board/src/bin/hwtest-drib/main.rs
index d1b7643d..7e1282fc 100644
--- a/control-board/src/bin/hwtest-drib/main.rs
+++ b/control-board/src/bin/hwtest-drib/main.rs
@@ -3,7 +3,7 @@
 
 use ateam_common_packets::{bindings::BasicControl, bindings::KickRequest, radio::DataPacket};
 use embassy_executor::InterruptExecutor;
-use embassy_stm32::{interrupt, pac::Interrupt};
+use embassy_stm32::{gpio::{Input, Pull}, interrupt, pac::Interrupt};
 use embassy_sync::pubsub::PubSubChannel;
 
 use defmt_rtt as _;
@@ -74,6 +74,11 @@ async fn main(main_spawner: embassy_executor::Spawner) {
     //  start tasks  //
     ///////////////////
 
+    // let pg10_read = Input::new(p.PG10, Pull::Up);
+    // let pg11_read = Input::new(p.PG11, Pull::Up);
+    // let pd0_read = Input::new(p.PD0, Pull::Up);
+    // let pd1_read = Input::new(p.PD1, Pull::Up);
+
     create_io_task!(main_spawner, robot_state, p);
 
     create_kicker_task!(
@@ -86,7 +91,34 @@ async fn main(main_spawner: embassy_executor::Spawner) {
     );
 
     loop {
-        Timer::after_millis(100).await;
+        Timer::after_millis(10).await;
+
+        if robot_state.hw_init_state_valid() {
+            break;
+        }
+
+        defmt::info!("waiting for hw init state to be valid");
+    }
+
+    loop {
+        Timer::after_millis(10).await;
+
+        if robot_state.get_hw_robot_id() == 0 {
+            break;
+        }
+
+        defmt::info!("wait for user to select robot id 0");
+    }
+
+    loop {
+        Timer::after_millis(10).await;
+
+        let mut motor_speed_ind = robot_state.get_hw_robot_id();
+        if motor_speed_ind > 8 {
+            motor_speed_ind = 16 - motor_speed_ind;
+        }
+
+        let drib_speed = motor_speed_ind as f32 * 75.0;
 
         test_command_publisher
             .publish(DataPacket::BasicControl(BasicControl {
@@ -96,7 +128,7 @@ async fn main(main_spawner: embassy_executor::Spawner) {
                 vel_y_linear: 0.0,
                 vel_z_angular: 0.0,
                 kick_vel: 0.0,
-                dribbler_speed: 50.0,
+                dribbler_speed: drib_speed,
                 kick_request: KickRequest::KR_DISABLE,
             }))
             .await;
diff --git a/control-board/src/drivers/kicker.rs b/control-board/src/drivers/kicker.rs
index 96387329..0a8c3f08 100644
--- a/control-board/src/drivers/kicker.rs
+++ b/control-board/src/drivers/kicker.rs
@@ -9,7 +9,7 @@ use embassy_stm32::{
 };
 use embassy_time::{with_timeout, Duration, Timer};
 
-use ateam_common_packets::bindings::{KickerControl, KickerTelemetry};
+use ateam_common_packets::bindings::{KickRequest::KR_DISABLE, KickerControl, KickerTelemetry};
 
 use crate::{image_hash, DEBUG_KICKER_UART_QUEUES};
 
@@ -49,11 +49,14 @@ impl<
         >,
         firmware_image: &'a [u8],
     ) -> Kicker<'a, LEN_RX, LEN_TX, DEPTH_RX, DEPTH_TX> {
+        let mut command_state: KickerControl = Default::default();
+        command_state.kick_request = KR_DISABLE;
+
         Self {
             stm32_uart_interface: stm32_interface,
             firmware_image,
 
-            command_state: Default::default(),
+            command_state: command_state,
             telemetry_state: Default::default(),
 
             telemetry_enabled: false,