     {
         // Converts a char string to a long
         int v = atoi(arg1);
-        robot_setMotorSpeed(0x01, v);
+        robot_setMotorSpeed(1, v);
+    }
+}
+
+void api_v2()
+{
+    char *arg1 = serialCommand.next();
+
+    // No arguments -> show usage
+    if (arg1 == NULL)
+    {
+        Serial.println("#v2 [Steps / second]");
+        return;
+    }
+
+    // there are arguments (number of steps)
+    if (arg1 != NULL)
+    {
+        // Converts a char string to a long
+        int v = atoi(arg1);
+        robot_setMotorSpeed(2, v);
+    }
+}
+
+void api_v3()
+{
+    char *arg1 = serialCommand.next();
+
+    // No arguments -> show usage
+    if (arg1 == NULL)
+    {
+        Serial.println("#v3 [Steps / second]");
+        return;
+    }
+
+    // there are arguments (number of steps)
+    if (arg1 != NULL)
+    {
+        // Converts a char string to a long
+        int v = atoi(arg1);
+        robot_setMotorSpeed(3, v);
+    }
+}
+
+void api_v4()
+{
+    char *arg1 = serialCommand.next();
+
+    // No arguments -> show usage
+    if (arg1 == NULL)
+    {
+        Serial.println("#v4 [Steps / second]");
+        return;
+    }
+
+    // there are arguments (number of steps)
+    if (arg1 != NULL)
+    {
+        // Converts a char string to a long
+        int v = atoi(arg1);
+        robot_setMotorSpeed(4, v);
     }
 }
 
 void api_stop()
 {
-    robot_quickStop(0x01);
+    for (int i = 1; i < 5; i++)
+    {
+        robot_quickStop(i);
+    }
 }
 
 void api_start()
 {
-    robot_initNode(0x01);
+    for (int i = 1; i < 5; i++)
+    {
+        robot_initNode(i);
+    }
 }


void api_v()
{
    char *arg1 = serialCommand.next();

    // No arguments -> show usage
    if (arg1 == NULL)
    {
        Serial.println("# V [Steps / second]");
        return;
    }


void api_init()
{
    serialCommand.addCommand("v", api_v);
    serialCommand.addCommand("v1", api_v1);
    serialCommand.addCommand("v2", api_v2);
    serialCommand.addCommand("v3", api_v3);
    serialCommand.addCommand("v4", api_v4);
    serialCommand.addCommand("stop", api_stop);
    serialCommand.addCommand("start", api_start);
    serialCommand.setDefaultHandler(api_unknown);
