diff --git a/src/modelec/src/arm_controller.cpp b/src/modelec/src/arm_controller.cpp
index 8ebabcc..1151259 100644
--- a/src/modelec/src/arm_controller.cpp
+++ b/src/modelec/src/arm_controller.cpp
@@ -32,11 +32,9 @@ namespace Modelec {
 
         subscription_ = this->create_subscription<modelec_interface::msg::ServoMode>(
             "arm_control", 10, [this](const modelec_interface::msg::ServoMode::SharedPtr msg) {
-                RCLCPP_INFO(this->get_logger(), "Received message");
                 if (msg->is_arm) {
                     ControlArm(msg);
                 } else if (pince_pins.find(msg->pin) != pince_pins.end()) {
-                    RCLCPP_INFO(this->get_logger(), "Control pince");
                     ControlPince(msg);
                 }
             });
@@ -52,6 +50,7 @@ namespace Modelec {
         message.pin = pince.pin;
         message.angle = pince.angles[msg->mode];
         publisher_->publish(message);
+        pince_pins[msg->pin].mode = msg->mode;
     }
 
     void ArmController::ControlArm(const Mode::SharedPtr msg) {