diff --git a/micropython_firmware/main.py b/micropython_firmware/main.py
index 42e51eb..6a72408 100644
--- a/micropython_firmware/main.py
+++ b/micropython_firmware/main.py
@@ -1,4 +1,5 @@
 import machine
+import sys
 from machine import I2C, Pin
 
 import d1motor
@@ -13,14 +14,19 @@ class Robot:
         d1 = Pin(5)
         d2 = Pin(4)
         i2c = I2C(scl=d1, sda=d2)
-        i2c_addr = i2c.scan()[0]
-        print("i2c scan = {}".format(i2c_addr))
-        print("setting up motors ...")
-        self.m1 = d1motor.Motor(0, i2c, address=i2c_addr)
-        self.m2 = d1motor.Motor(1, i2c, address=i2c_addr)
-        self.m1.speed(0)
-        self.m2.speed(0)
-        print("motor setup complete!")
+        i2c_scan = i2c.scan()
+        if len(i2c_scan) > 0:
+            i2c_addr = i2c_scan[0]
+            print("i2c scan = {}".format(i2c_addr))
+            print("setting up motors ...")
+            self.m1 = d1motor.Motor(0, i2c, address=i2c_addr)
+            self.m2 = d1motor.Motor(1, i2c, address=i2c_addr)
+            self.m1.speed(0)
+            self.m2.speed(0)
+            print("motor setup complete!")
+        else:
+            print("error: no i2c interfaces found!")
+            sys.exit(1) 
 
         ip = my_ip[0]
         # setup socket for remote control