diff --git a/car_fmw/src/echo.kt b/car_fmw/src/echo.kt
index 7cea2dacc45..da8ba527f7e 100644
--- a/car_fmw/src/echo.kt
+++ b/car_fmw/src/echo.kt
@@ -40,17 +40,3 @@ fun writeRoute(route: RouteRequest) {
     sendByteArray(buffer)
 }
 
-fun go(request: RouteRequest) {
-    val times = request.distances
-    var j = 0
-
-    while (j < times.size) {
-        val time = times[j]
-
-        engine_forward()
-        wait(time)
-        engine_stop()
-        j++
-    }
-
-}
diff --git a/car_fmw/src/rcControl.kt b/car_fmw/src/rcControl.kt
index 8e9cc326606..f6cc3669aa9 100644
--- a/car_fmw/src/rcControl.kt
+++ b/car_fmw/src/rcControl.kt
@@ -1,3 +1,30 @@
 
-fun rcControl() {
+enum class RouteType(val id: Int) {
+    FORWARD(0),
+    BACKWARD(1),
+    LEFT(2),
+    RIGHT(3);
+}
+
+fun go(request: RouteRequest) {
+    val times = request.distances
+    val actions = request.angles
+    var j = 0
+
+    while (j < times.size) {
+        val time = times[j]
+        val action = actions[j]
+
+        when (action) {
+            RouteType.FORWARD.id -> engine_forward()
+            RouteType.BACKWARD.id -> engine_backward()
+            RouteType.LEFT.id -> engine_turn_left()
+            RouteType.RIGHT.id -> engine_turn_right()
+        }
+
+        wait(time)
+        engine_stop()
+        j++
+    }
+
 }
\ No newline at end of file