diff --git a/Arduino/ODriveArduino/ODriveArduino.cpp b/Arduino/ODriveArduino/ODriveArduino.cpp
index 00fce19a..3f4eab5a 100644
--- a/Arduino/ODriveArduino/ODriveArduino.cpp
+++ b/Arduino/ODriveArduino/ODriveArduino.cpp
@@ -50,6 +50,11 @@ float ODriveArduino::readFloat() {
     return readString().toFloat();
 }
 
+float ODriveArduino::GetVelocity(int motor_number){
+	serial_<< "r axis" << motor_number << ".encoder.vel_estimate\n";
+	return ODriveArduino::readFloat();
+}
+
 int32_t ODriveArduino::readInt() {
     return readString().toInt();
 }
diff --git a/Arduino/ODriveArduino/ODriveArduino.h b/Arduino/ODriveArduino/ODriveArduino.h
index 86b3aaf1..8e39b244 100644
--- a/Arduino/ODriveArduino/ODriveArduino.h
+++ b/Arduino/ODriveArduino/ODriveArduino.h
@@ -28,6 +28,8 @@ public:
     void SetVelocity(int motor_number, float velocity, float current_feedforward);
     void SetCurrent(int motor_number, float current);
     void TrapezoidalMove(int motor_number, float position);
+    // Getters
+    float GetVelocity(int motor_number);
     // General params
     float readFloat();
     int32_t readInt();