diff --git a/include/chassis.h b/include/chassis.h
index ca790d8..cd7687d 100644
--- a/include/chassis.h
+++ b/include/chassis.h
@@ -8,7 +8,7 @@
 static const uint8_t CHASSIS_HOST = 3;
 static const uint8_t CHASSIS_INDEX = 6;
 
-static const uint8_t SET_WHEEL_SPEED_CMDID = 0x20;
+static const uint16_t SET_WHEEL_SPEED_CMD = 0x203F;
 
 void
 set_wheel_speed (
@@ -18,7 +18,7 @@ set_wheel_speed (
 		int16_t w3,
 		int16_t w4 );
 
-static const uint8_t CHASSIS_SPEED_MODE_CMDID = 0x21;
+static const uint16_t CHASSIS_SPEED_MODE_CMD = 0x213F;
 
 void
 chassis_speed_mode (
diff --git a/include/message.h b/include/message.h
index 09d5c6e..615dfae 100644
--- a/include/message.h
+++ b/include/message.h
@@ -40,8 +40,13 @@ struct PACKED Header {
     };
 
     // Each command has a cmdset and cmdid that together make a cmd key
-    uint8_t cmdset;
-    uint8_t cmdid;
+    union {
+        uint16_t cmd;
+        struct {
+            uint8_t cmdset;
+            uint8_t cmdid;
+        };
+    };
 
 };
 
diff --git a/include/sdk.h b/include/sdk.h
index 4991037..d7db7f0 100644
--- a/include/sdk.h
+++ b/include/sdk.h
@@ -8,7 +8,7 @@
 static const uint8_t SDK_HOST = 9;
 static const uint8_t SDK_INDEX = 0;
 
-static const uint8_t SET_SDK_CONNECTION_CMDID = 0xD4;
+static const uint16_t SET_SDK_CONNECTION_CMD = 0xD43F;
 
 enum CONNECTION {
     CONNECTION_WIFI_AP = 0,
@@ -23,18 +23,18 @@ set_sdk_connection(
 		uint32_t ip_address,
 		uint16_t port );
 
-static const uint8_t SDK_HEARTBEAT_CMDID = 0xD5;
+static const uint16_t SDK_HEARTBEAT_CMD = 0xD53F;
 
 void
 sdk_heartbeat(
 		Client session );
 
-static const uint8_t SET_SDK_MODE_CMDID = 0xd1;
+static const uint16_t SET_SDK_MODE_CMD = 0xD13F;
 
 void
 set_sdk_mode(Client session, bool enable);
 
-static const uint8_t SET_SYSTEM_LED_CMDID = 0x33;
+static const uint16_t SET_SYSTEM_LED_CMD = 0x333F;
 
 enum LEDCOMP {
     LEDCOMP_BOTTOM_BACK = 0x1,
@@ -67,7 +67,7 @@ void set_system_led (
 		uint16_t t1,
 		uint16_t t2 );
 
-static const uint8_t SET_ROBOT_MODE_CMDID = 0x46;
+static const uint16_t SET_ROBOT_MODE_CMD = 0x463F;
 
 enum MOVEMENTMODE {
     MOVEMENTMODE_FREE,
@@ -80,15 +80,13 @@ set_robot_mode (
 		Client session,
 		enum MOVEMENTMODE mode );
 
-// cmdset 0x48
-static const uint8_t SUBNODE_RESET_CMDID = 0x02;
+static const uint16_t SUBNODE_RESET_CMD = 0x0248;
 
 void
 subnode_reset (
 		Client session );
 
-// cmdset 0x48
-static const uint8_t SUBSCRIBE_ADD_NODE_CMDID = 0x01;
+static const uint16_t SUBSCRIBE_ADD_NODE_CMD = 0x0148;
 
 void
 subscribe_add_node (