         case 8:
           cmd.lid_brake = (value == "1" ? HIGH : LOW);
           break;
+        case 9:
+          keepAlive = value.toInt();
+          break;
         default:
           break;
       }

  boolean lid_brake;

};

Status stat = { 0, 0, 0 };
Command cmd = { 0, true, 0, true, 0, true, LOW };

//struct Joint {
//  String name;


// Send command to the motors
void do_command() {
  if (keepAlive == 42) {
    analogWrite(motorPinSpeed1, cmd.pitch_pwm);
    digitalWrite(motorPinDir1, cmd.pitch_direction);
    analogWrite(motorPinSpeed2, cmd.yaw_pwm);
    digitalWrite(motorPinDir2, cmd.yaw_direction);
    analogWrite(motorPinSpeed3, cmd.lid_pwm);
    digitalWrite(motorPinDir3, cmd.lid_direction);
    keepAlive = 0;
  }

  // Brakes
  digitalWrite(rlyPin2, cmd.yaw_brake);
