diff --git a/robot_controller.py b/robot_controller.py
index 79819ef..9f5dbee 100644
--- a/robot_controller.py
+++ b/robot_controller.py
@@ -25,8 +25,11 @@ class RobotController(object):
 
     ''' CONTROL '''
 
+    # speeds in [-1, 1] extra stuff will be cut
     def send_twist_cmd(self, v, w):
-        raise NotImplemented("")
+        v = min(max(-1, v), 1)
+        w = min(max(-1, w), 1)
+        return v, w
 
     def send_fire_ext_burst_cmd(self):
         if self._fire_ext_capacity > 0:
@@ -34,8 +37,11 @@ class RobotController(object):
             return True
         return False
 
+    # poses in [-1, 1] extra stuff will be cut
     def send_fire_ext_pose_cmd(self, horisontal_pose, vertical_pose):
-        raise NotImplemented("")
+        horisontal_pose = min(max(-1, horisontal_pose), 1)
+        vertical_pose = min(max(-1, vertical_pose), 1)
+        return horisontal_pose, vertical_pose
 
     def send_pick_asset_cmd(self):
         raise NotImplemented("")