diff --git a/Core/Src/commSTM.cpp b/Core/Src/commSTM.cpp
index 1bc4a09..e5e2e66 100644
--- a/Core/Src/commSTM.cpp
+++ b/Core/Src/commSTM.cpp
@@ -91,7 +91,7 @@ void USB_Comm_Process(void) {
             float p, i, d, v_min, v_max;
             if (Comm_GetPID(pid, p, i, d, v_min, v_max)) {
                 char response[64];
-                snprintf(response, sizeof(response), "SET;PID;%.4f;%.4f;%.4f;%.4f,%.4f\n", p, i, d, v_min, v_max);
+                snprintf(response, sizeof(response), "SET;PID;%.4f;%.4f;%.4f;%.4f;%.4f\n", p, i, d, v_min, v_max);
                 USB_Comm_Send(response);
             }
             else {
@@ -133,14 +133,14 @@ void USB_Comm_Process(void) {
             }
 
             char response[128];
-            snprintf(response, sizeof(response), "SET;WAYPOINT;%d,%d,%.4f,%.4f,%.4f,%d\n", id, type, x, y, theta, active);
+            snprintf(response, sizeof(response), "SET;WAYPOINT;%d;%d;%.4f;%.4f;%.4f;%d\n", id, type, x, y, theta, active);
             USB_Comm_Send(response);
         }
         else if (strcmp(token, "MOTOR") == 0) {
         	float l, r;
         	Comm_GetPWM(l, r);
             char response[64];
-            snprintf(response, sizeof(response), "SET;MOTOR;%.2f,%.2f\n", l, r);
+            snprintf(response, sizeof(response), "SET;MOTOR;%.2f;%.2f\n", l, r);
             USB_Comm_Send(response);
         }
         else if (strcmp(token, "ACTION") == 0) {
diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp
index f1d4504..11a0abc 100644
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -151,7 +151,7 @@ void DiffBot::update(float dt) {
     		motor.stop(true);
 
     		char log[32];
-    		sprintf(log, "SET;WAYPOINT;%d\n", index);
+    		sprintf(log, "SET;WAYPOINT;REACH;%d\n", index);
     		CDC_Transmit_FS((uint8_t*)log, strlen(log));
 
     		resetPID();
@@ -165,7 +165,7 @@ void DiffBot::update(float dt) {
     	if (std::fabs(dx) < precisePos && std::fabs(dy) < precisePos) {
 
     		char log[32];
-    		sprintf(log, "SET;WAYPOINT;%d\n", index);
+    		sprintf(log, "SET;WAYPOINT;REACH;%d\n", index);
     		CDC_Transmit_FS((uint8_t*)log, strlen(log));
 
     		targets[index].active = false;