diff --git a/crawler_software/arduino/crawler_slave/crawler_slave.ino b/crawler_software/arduino/crawler_slave/crawler_slave.ino
index 201cd47..dcfca5c 100644
--- a/crawler_software/arduino/crawler_slave/crawler_slave.ino
+++ b/crawler_software/arduino/crawler_slave/crawler_slave.ino
@@ -11,7 +11,11 @@
 Servo windowWiperServo;
 
 // This is a variable capable of storing up to 4 items
-char instruction[4] = "";
+char instruction[32] = "";
+
+// Values for the id, and raw value of an instruction
+char * id;
+char * raw_value;
 
 void setup() {
   // Attach the wiper servo to pin 9
@@ -21,12 +25,12 @@ void setup() {
   Serial.begin(9600);
 
   // This is the address the pi will speak to us at
-  Wire.begin(0x8);
+  Wire.begin(0x4);
   
   // Call receiveEvent when data received                
   Wire.onReceive(receiveEvent);
 
-  Serial.print("Finished Setup.");  
+  Serial.println("Finished Setup.");  
 }
 
 // Just loop to keep the running code alive, and wait for events to happen.
@@ -36,10 +40,27 @@ void loop() {
 
 // This method runs when we receive a message
 void receiveEvent(int n) {
-  for (int i = 0; i < n; i++) //n is equal to the number of data bytes received
-  {
+
+  for (int i = 0; i < n; i++) {
     instruction[i] = Wire.read();
+    instruction[i + 1] = '\0'; //add null after ea. char
+  }
+
+  //RPi first byte is cmd byte so shift everything to the left 1 pos so temp contains our string
+  for (int i = 0; i < n; ++i)
+    instruction[i] = instruction[i + 1];
+
+  id = strtok (instruction, "-");
+  raw_value = strtok (NULL, "-");
+
+  int value = atoi(raw_value);
+
+  Serial.println(id);
+  Serial.println(value);
+
+  // Switch statements dont work on char *
+  if (strcmp(id,"WIPE") == 0) // if id, and WIPE cancel out
+  {
+    windowWiperServo.write(value);
   }
-  
-  Serial.print(instruction);
 }