diff --git a/pus_tc/reaction_wheels.py b/pus_tc/reaction_wheels.py
index 24d764e..b407976 100644
--- a/pus_tc/reaction_wheels.py
+++ b/pus_tc/reaction_wheels.py
@@ -5,6 +5,7 @@
 @author J. Meier
 @date   25.03.2021
 """
+import struct
 from tmtccmd.config.definitions import QueueCommands
 
 from tmtccmd.pus_tc.packer import TcQueueT
@@ -21,6 +22,7 @@ class RwCommandIds:
     RESET_MCU = bytearray([0x0, 0x0, 0x0, 0x01])
     # Reads status information from reaction wheel into dataset with id 4
     GET_RW_STATUS = bytearray([0x0, 0x0, 0x0, 0x04])
+    INIT_RW_CONTROLLER = bytearray([0x0, 0x0, 0x0, 0x05])
     SET_SPEED = bytearray([0x0, 0x0, 0x0, 0x06])
     # Reads temperature from reaction wheel into dataset with id 8
     GET_TEMPERATURE = bytearray([0x0, 0x0, 0x0, 0x08])
@@ -43,10 +45,15 @@ def pack_single_rw_test_into(object_id: bytearray, tc_queue: TcQueueT, op_code:
 
     if op_code == "0" or op_code == "1":
         tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Set speed"))
-        command = pack_set_speed_command(object_id, 10000, 1000)
+        command = pack_set_speed_command(object_id, -2000, 100)
         command = PusTelecommand(service=8, subservice=128, ssc=40, app_data=command)
         tc_queue.appendleft(command.pack_command_tuple())
 
+        tc_queue.appendleft((QueueCommands.PRINT, "Reaction Wheel: Init reaction wheel controller"))
+        command = object_id + RwCommandIds.INIT_RW_CONTROLLER
+        command = PusTelecommand(service=8, subservice=128, ssc=41, app_data=command)
+        tc_queue.appendleft(command.pack_command_tuple())
+
     return tc_queue
 
 
@@ -60,6 +67,6 @@ def pack_set_speed_command(object_id: bytearray, speed: int, ramp_time: int) ->
     command_id = RwCommandIds.SET_SPEED
     command = bytearray()
     command = object_id + command_id
-    command = command + speed.to_bytes(length=4, byteorder='big')
+    command = command + struct.pack('!i', speed)
     command = command + ramp_time.to_bytes(length=2, byteorder='big')
     return command