diff --git a/esp32/include/msgs/mode_msg.hpp b/esp32/include/msgs/mode_msg.hpp
index 4e93ad4..1b2125c 100644
--- a/esp32/include/msgs/mode_msg.hpp
+++ b/esp32/include/msgs/mode_msg.hpp
@@ -1,7 +1,7 @@
 #pragma once
 #include <ArduinoJson.h>
 
-enum class MotionState { ON, OFF };
+enum class MotionState { DEACTIVATED, IDLE, CALIBRATION, REST, STAND, CRAWL, WALK };
 
 struct ModeMsg {
     MotionState mode;
diff --git a/esp32/include/msgs/servo_msg.hpp b/esp32/include/msgs/servo_msg.hpp
new file mode 100644
index 0000000..5a3e8df
--- /dev/null
+++ b/esp32/include/msgs/servo_msg.hpp
@@ -0,0 +1,22 @@
+#pragma once
+#include <ArduinoJson.h>
+
+#ifndef NUM_SERVOS
+#define NUM_SERVOS 12
+#endif
+
+struct ServoMsg {
+    float angles[NUM_SERVOS];
+    friend void toJson(JsonVariant v, ServoMsg const &a) {
+        JsonArray arr = v.to<JsonArray>();
+        for (int i = 0; i < NUM_SERVOS; i++) {
+            arr.add(a.angles[i]);
+        }
+    }
+    void fromJson(JsonVariantConst o) {
+        JsonArrayConst arr = o.as<JsonArrayConst>();
+        for (int i = 0; i < NUM_SERVOS; i++) {
+            angles[i] = arr[i].as<float>();
+        }
+    }
+};
\ No newline at end of file