diff --git a/remote_control/keyboard_controller.py b/remote_control/keyboard_controller.py
index f327042..ae9f730 100644
--- a/remote_control/keyboard_controller.py
+++ b/remote_control/keyboard_controller.py
@@ -1,20 +1,29 @@
 import socket
 import pygame
+from argparse import ArgumentParser
+
+parser = ArgumentParser()
+parser.add_argument('ip', metavar='ip', type=str, help='ip address of the controlled robot')
+args = parser.parse_args()
+
+ip = args.ip
 
 pygame.init()
 pygame.display.set_mode((640, 480))
 
 rc_socket = socket.socket()
 try:
+
+    rc_socket.connect((ip, 1234)) # connect to robot
     #rc_socket.connect(('192.168.4.1', 1234)) # connect to robot
     #rc_socket.connect(('192.168.1.101', 1234)) # connect to robot
     #rc_socket.connect(('192.168.1.102', 1234)) # connect to robot
-    rc_socket.connect(('192.168.1.103', 1234)) # connect to robot
+    #rc_socket.connect(('192.168.1.103', 1234)) # connect to robot
 except socket.error:
     print("could not connect to socket")
 
-
-while True:
+running = True
+while running:
     u1 = 0
     u2 = 0
     vmax = 1.0
@@ -37,7 +46,14 @@ while True:
                 u1 = -vmax 
                 u2 = -vmax 
                 print("backward: ({},{})".format(u1, u2))
+            elif event.key == pygame.K_ESCAPE:
+                print("quit")
+		running = False
+                u1 = 0.0
+                u2 = 0.0
             rc_socket.send('({},{})\n'.format(u1, u2))
         elif event.type == pygame.KEYUP:
             print("key released, resetting: ({},{})".format(u1, u2))
             rc_socket.send('({},{})\n'.format(u1, u2))
+
+