diff --git a/Core/Inc/roboteam_embedded_messages b/Core/Inc/roboteam_embedded_messages
index 27e6961..22d83f1 160000
--- a/Core/Inc/roboteam_embedded_messages
+++ b/Core/Inc/roboteam_embedded_messages
@@ -1 +1 @@
-Subproject commit 27e696188df37742fb24f938496d09348fa77423
+Subproject commit 22d83f18589acb8e8966bf73774004750b392fa4
diff --git a/Core/Src/Util/logging.c b/Core/Src/Util/logging.c
index 5ab5ee5..e24fab3 100644
--- a/Core/Src/Util/logging.c
+++ b/Core/Src/Util/logging.c
@@ -72,7 +72,7 @@ void LOG(char *message){
     MessageContainer* message_container = &message_buffer[index_write];
     uint8_t* payload = message_container->payload;
 
-    REM_Log_set_header     ((REM_LogPayload*) payload, REM_PACKET_TYPE_REM_LOG);
+    REM_Log_set_packetType     ((REM_LogPayload*) payload, REM_PACKET_TYPE_REM_LOG);
     REM_Log_set_remVersion ((REM_LogPayload*) payload, REM_LOCAL_VERSION);
     REM_Log_set_payloadSize((REM_LogPayload*) payload, REM_PACKET_SIZE_REM_LOG + message_length);
     // REM_Log_set_fromBS     ((REM_LogPayload*) payload, 1);
diff --git a/Core/Src/robot.c b/Core/Src/robot.c
index f1ce070..88e16f7 100644
--- a/Core/Src/robot.c
+++ b/Core/Src/robot.c
@@ -156,8 +156,8 @@ void Wireless_Readpacket_Cplt(void){
 	encodeREM_RobotFeedback( (REM_RobotFeedbackPayload*) (txPacket.message + txPacket.payloadLength), &robotFeedback);
 	txPacket.payloadLength += REM_PACKET_SIZE_REM_ROBOT_FEEDBACK;
 
-	encodeREM_RobotStateInfo( (REM_RobotStateInfoPayload*) (txPacket.message + txPacket.payloadLength), &robotStateInfo);
-	txPacket.payloadLength += REM_PACKET_SIZE_REM_ROBOT_STATE_INFO;
+	// encodeREM_RobotStateInfo( (REM_RobotStateInfoPayload*) (txPacket.message + txPacket.payloadLength), &robotStateInfo);
+	// txPacket.payloadLength += REM_PACKET_SIZE_REM_ROBOT_STATE_INFO;
 
 	if(flag_send_PID_gains){
 		encodeREM_RobotPIDGains( (REM_RobotPIDGainsPayload*) (txPacket.message + txPacket.payloadLength), &robotPIDGains);
@@ -188,14 +188,14 @@ void Wireless_RXDone(SX1280_Packet_Status *status){
 Wireless_IRQcallbacks SX_IRQcallbacks = { .rxdone = &Wireless_RXDone, .default_callback = &Wireless_Default };
 
 void executeCommands(REM_RobotCommand* robotCommand){
-	stateControl_useAbsoluteAngle(robotCommand->useAbsoluteAngle);
+	stateControl_useAbsoluteAngle(robotCommand->useYaw);
 	float stateReference[4];
 	stateReference[vel_x] = (robotCommand->rho) * sinf(robotCommand->theta);
 	stateReference[vel_y] = (robotCommand->rho) * cosf(robotCommand->theta);
 	stateReference[vel_w] = robotCommand->angularVelocity;
-	stateReference[yaw] = robotCommand->angle;
+	stateReference[yaw] = robotCommand->yaw;
 	stateControl_SetRef(stateReference);
-	dribbler_SetSpeed(robotCommand->dribbler);
+	dribbler_SetSpeed(robotCommand->dribblerOn ? 1.0f : 0.0f);
 	shoot_SetPower(robotCommand->kickChipPower);
 
 	if (robotCommand->doKick) {
@@ -208,10 +208,10 @@ void executeCommands(REM_RobotCommand* robotCommand){
 			shoot_Shoot(shoot_Chip);
 		}
 	}
-	else if (robotCommand->kickAtAngle) {
+	else if (robotCommand->kickAtYaw) {
 		float localState[4] = {0.0f};
 		stateEstimation_GetState(localState);
-		if (fabs(localState[yaw] - robotCommand->angle) < 0.025) {
+		if (fabs(localState[yaw] - robotCommand->yaw) < 0.025) {
 			if (ballPosition.canKickBall || robotCommand->doForce) {
 				shoot_Shoot(shoot_Kick);
 			}
@@ -224,7 +224,7 @@ void resetRobotCommand(REM_RobotCommand* robotCommand){
 }
 
 void initPacketHeader(REM_Packet* packet, uint8_t robot_id, uint8_t channel, uint8_t packet_type){
-	packet->header = packet_type;
+	packet->packetType = packet_type;
 	packet->toPC = true;
 	packet->fromColor = channel;
 	packet->remVersion = REM_LOCAL_VERSION;
@@ -247,7 +247,7 @@ bool updateTestCommand(REM_RobotCommand* rc, uint32_t time){
 	// First, empty the entire RobotCommand
 	resetRobotCommand(rc);
 	// Set the basic required stuff
-	rc->header = REM_PACKET_TYPE_REM_ROBOT_COMMAND;
+	rc->packetType = REM_PACKET_TYPE_REM_ROBOT_COMMAND;
 	rc->remVersion = REM_LOCAL_VERSION;
 	rc->toRobotId = ROBOT_ID;
 
@@ -266,7 +266,7 @@ bool updateTestCommand(REM_RobotCommand* rc, uint32_t time){
 	// Rotate around, slowly
 	rc->angularVelocity = 6 * sin(period_fraction * 2 * M_PI);
 	// Turn on dribbler
-	rc->dribbler = period_fraction;
+	rc->dribblerOn = true;
 	// Kick a little every block
 	if(0.95 < period_fraction){
 		rc->doKick = true;
@@ -856,8 +856,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 		// return;
 
 		// State estimation		
-		stateInfo.visionAvailable = activeRobotCommand.useCameraAngle;
-		stateInfo.visionYaw = activeRobotCommand.cameraAngle; // TODO check if this is scaled properly with the new REM messages
+		stateInfo.visionAvailable = activeRobotCommand.useCameraYaw;
+		stateInfo.visionYaw = activeRobotCommand.cameraYaw; // TODO check if this is scaled properly with the new REM messages
 		
 		wheels_GetMeasuredSpeeds(stateInfo.wheelSpeeds);
 		stateInfo.xsensAcc[vel_x] = MTi->acc[vel_x];
@@ -910,17 +910,14 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 			// robotFeedback.batteryLevel = (batCounter > 1000);
 			robotFeedback.ballSensorWorking = ballSensor_isInitialized();
 			robotFeedback.ballSensorSeesBall = ballPosition.canKickBall;
-			robotFeedback.ballPos = ballSensor_isInitialized() ? (-.5 + ballPosition.x / 700.) : 0;
 
 			float localState[4] = {0.0f};
 			stateEstimation_GetState(localState);
 			float vu = localState[vel_u];
 			float vv = localState[vel_v];
 			robotFeedback.rho = sqrt(vu*vu + vv*vv);
-			robotFeedback.angle = localState[yaw];
+			robotFeedback.yaw = localState[yaw];
 			robotFeedback.theta = atan2(vu, vv);
-			robotFeedback.wheelBraking = wheels_GetWheelsBraking(); // TODO Locked feedback has to be changed to brake feedback in PC code
-			robotFeedback.rssi = last_valid_RSSI; // Should be divided by two to get dBm but RSSI is 8 bits so just send all 8 bits back
 			robotFeedback.dribblerSeesBall = dribbler_GetHasBall();
 		}