diff --git a/micropython_firmware/main.py b/micropython_firmware/main.py
index 5d395dc..9790ee5 100644
--- a/micropython_firmware/main.py
+++ b/micropython_firmware/main.py
@@ -36,6 +36,8 @@ class Robot:
         self.poller = uselect.poll()
         self.poller_timeout = 2 # timeout in ms
 
+        self.control_queue = []
+
 
     def remote_control(self):
         while True:
@@ -63,8 +65,6 @@ class Robot:
             duration_current = 0 
             t_current = utime.ticks_ms()
             duration_next = None
-            u1_next = None
-            u2_next = None
             stopped = True
             timeouts = 0 
             while listening:
@@ -73,13 +73,42 @@ class Robot:
                  if remaining >= 0:
                      timeouts = 0
                      print("start of loop\n I have {} ms until next control needs to be applied".format(remaining))
-                 elif timeouts < 10:
-                     print("start of loop\n I have {} ms until next control needs to be applied, timeouts = {}".format(remaining, timeouts))
-                     timeouts = timeouts + 1 
+                 else:
+                     # current control timed out -> applying next control
+                     if len(self.control_queue) > 0:
+                         print("previous control applied for {} ms too long".format(elapsed - t_current - duration_current))
+                         u_next = self.control_queue.pop(0)
+                         #print("duration of previous control = {}".format((elapsed - t_current)/1000.0))
+                         #print("applying new control (duration, u1, u2) = ({}, {}, {})".format(duration_next, u1_next, u2_next))
+                         # if so, apply it
+                         self.m1.speed(u_next[0])
+                         self.m2.speed(u_next[1])
+
+                         t_current = utime.ticks_ms()
+                         duration_current = duration_next
+
+                         stopped = False
+                     elif not stopped: 
+                         print("previous control applied for {} ms too long".format(elapsed - t_current - duration_current))
+                         #print("duration of previous control = {}".format((elapsed - t_current)/1000.0))
+                         # no new control available -> shutdown
+                         print("no new control available -> stopping")
+
+                         self.m1.speed(0)
+                         self.m2.speed(0)
+                         
+                         t_current = utime.ticks_ms()
+                         duration_current = 0 # as soon as new control will become available we directly want to apply it immediately
+
+                         stopped = True
+
+                 #elif timeouts < 10:
+                 #    print("start of loop\n I have {} ms until next control needs to be applied, timeouts = {}".format(remaining, timeouts))
+                 #    timeouts = timeouts + 1 
                  
                  trecv_start = utime.ticks_ms()
 
-                 # expected data: '(t, u1, u2)'\n"
+                 # expected data: '(t, u1_0, u2_0, u1_1, u2_1, ...)'\n"
                  # where ui = control for motor i
                  # ui \in [-1.0, 1.0]
                  #print("poller waiting..")
@@ -95,15 +124,19 @@ class Robot:
                          #print("l = {}".format(l))
                          duration_next = int(float(l[0])*1000)
                          #print("duration = {}".format(duration_next))
-                         u1_next = int(float(l[1])*100)
-                         #print("u1 = {}".format(u1_next))
-                         u2_next = int(float(l[2])*100)
-                         #print("u2 = {}".format(u2_next))
+                         self.control_queue = []
+                         print("putting data into queue")
+                         for i in range((len(l)-1)/2):
+                             u1_next = int(float(l[2*i+1])*100)
+                             print("u1 = {}".format(u1_next))
+                             u2_next = int(float(l[2*i+2])*100)
+                             print("u2 = {}".format(u2_next))
+                             self.control_queue.append((u1_next, u2_next))
                      except ValueError:
                          print("ValueError: Data has wrong format.")
                          print("Data received: {}".format(data_str))
                          print("Shutting down ...")
-                         u1_next = u2_next = 0
+                         self.control_queue = []
                          duration_current = 0
                          listening = False
                          comm_socket.close()
@@ -115,7 +148,7 @@ class Robot:
                          print("IndexError: Data has wrong format.")
                          print("Data received: {}".format(data_str))
                          print("Shutting down ...")
-                         u1_next = u2_next = 0
+                         self.control_queue = []
                          duration_current = 0
                          listening = False
                          comm_socket.close()
@@ -127,7 +160,7 @@ class Robot:
                          print("Some other error occured")
                          print("Exception: {}".format(e))
                          print("Shutting down ...")
-                         u1_next = u2_next = 0
+                         self.control_queue = []
                          duration_current = 0
                          listening = False
                          comm_socket.close()
@@ -137,38 +170,6 @@ class Robot:
                          print("disconnected!")
                      trecv_end = utime.ticks_ms()
                      print("communication (incl. polling) took {} ms".format(trecv_end - trecv_start))
-                 elapsed = utime.ticks_ms() 
-                 if elapsed - t_current >= duration_current: # check if duration of current control has timed out 
-                     if u1_next is not None: # check if new control is available
-                         print("previous control applied for {} ms too long".format(elapsed - t_current - duration_current))
-                         #print("duration of previous control = {}".format((elapsed - t_current)/1000.0))
-                         #print("applying new control (duration, u1, u2) = ({}, {}, {})".format(duration_next, u1_next, u2_next))
-                         # if so, apply it
-                         self.m1.speed(u1_next)
-                         self.m2.speed(u2_next)
-
-                         t_current = utime.ticks_ms()
-                         duration_current = duration_next
-
-                         # reset next control
-                         u1_next = None
-                         u2_next = None
-                         duration_next = None
-
-                         stopped = False
-                     elif not stopped: 
-                         #print("previous control applied for {} ms too long".format(elapsed - t_current - duration_current))
-                         #print("duration of previous control = {}".format((elapsed - t_current)/1000.0))
-                         # no new control available -> shutdown
-                         #print("no new control available -> stopping")
-
-                         #self.m1.speed(0)
-                         #self.m2.speed(0)
-                         
-                         t_current = utime.ticks_ms()
-                         duration_current = 0 # as soon as new control will become available we directly want to apply it immediately
-
-                         stopped = True
 
 wall_e = Robot()
 wall_e.remote_control()