diff --git a/esp32/include/peripherals/servo_controller.h b/esp32/include/peripherals/servo_controller.h
index 388e436..1adb683 100644
--- a/esp32/include/peripherals/servo_controller.h
+++ b/esp32/include/peripherals/servo_controller.h
@@ -20,9 +20,6 @@
 #define FACTORY_SERVO_OSCILLATOR_FREQUENCY 27000000
 #endif
 
-#define EVENT_SERVO_CONFIGURATION_SETTINGS "servoPWM"
-#define EVENT_SERVO_STATE "servoState"
-
 enum class SERVO_CONTROL_STATE { DEACTIVATED, PWM, ANGLE };
 
 class ServoController : public StatefulService<ServoSettings> {
@@ -32,16 +29,9 @@ class ServoController : public StatefulService<ServoSettings> {
           _persistence(ServoSettings::read, ServoSettings::update, this, SERVO_SETTINGS_FILE) {}
 
     void begin() {
-        // socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
-        //                [&](JsonVariant &root, int originId) { servoEvent(root, originId); });
-        // socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) { stateUpdate(root, originId); });
         _persistence.readFromFS();
 
         initializePCA();
-        // socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) {
-        //     is_active = root["active"] | false;
-        //     is_active ? activate() : deactivate();
-        // });
     }
 
     void pcaWrite(int index, int value) {
diff --git a/esp32/src/main.cpp b/esp32/src/main.cpp
index 7c7f78e..acf8130 100644
--- a/esp32/src/main.cpp
+++ b/esp32/src/main.cpp
@@ -76,6 +76,8 @@ void setupServer() {
 #define MODE_EVENT "mode"
 #define WALK_GAIT_EVENT "walk_gait"
 #define EVENT_I2C_SCAN "i2cScan"
+#define EVENT_SERVO_CONFIGURATION_SETTINGS "servoPWM"
+#define EVENT_SERVO_STATE "servoState"
 
 void setupEventSocket() {
     // Motion events
@@ -96,6 +98,17 @@ void setupEventSocket() {
         peripherals.getI2CResult(results);
         socket.emit(EVENT_I2C_SCAN, results);
     });
+
+    // Servo controller events
+    socket.onEvent(EVENT_SERVO_CONFIGURATION_SETTINGS,
+                   [&](JsonVariant &root, int originId) { servoController.servoEvent(root, originId); });
+    socket.onEvent(EVENT_SERVO_STATE,
+                   [&](JsonVariant &root, int originId) { servoController.stateUpdate(root, originId); });
+
+    socket.onEvent(EVENT_SERVO_STATE, [&](JsonVariant &root, int originId) {
+        const bool is_active = root["active"] | false;
+        is_active ? servoController.activate() : servoController.deactivate();
+    });
 }
 
 void IRAM_ATTR SpotControlLoopEntry(void *) {