diff --git a/Src/freertos.c b/Src/freertos.c
index 41094c23..630b5a2c 100644
--- a/Src/freertos.c
+++ b/Src/freertos.c
@@ -189,10 +189,10 @@ void usb_cmd_thread(void const * argument) {
         // Record into parse buffer when actively reading
         if (read_active) {
           parse_buffer[parse_buffer_idx++] = c;
-          if (c == '\r' || c == '\n') {
+          if (c == '\r' || c == '\n' || c == "!") {
             // End of command string: exchange end char with terminating null
             parse_buffer[parse_buffer_idx-1] = '\0';
-            osDelay(1);
+            motor_parse_cmd(parse_buffer, parse_buffer_idx);
             // Reset receieve state machine
             reset_read_state = true;
             break;