diff --git a/Arduino/ODriveArduino/ODriveArduino.cpp b/Arduino/ODriveArduino/ODriveArduino.cpp
index 6e4a2748..64af8b2f 100644
--- a/Arduino/ODriveArduino/ODriveArduino.cpp
+++ b/Arduino/ODriveArduino/ODriveArduino.cpp
@@ -38,6 +38,10 @@ void ODriveArduino::SetVelocity(int motor_number, float velocity, float current_
     serial_ << "v " << motor_number  << " " << velocity << " " << current_feedforward << "\n";
 }
 
+void ODriveArduino::SetCurrent(int motor_number, float current) {
+    serial_ << "c" << motor_number << " " << current << "\n";
+}
+
 float ODriveArduino::readFloat() {
     return readString().toFloat();
 }
diff --git a/Arduino/ODriveArduino/ODriveArduino.h b/Arduino/ODriveArduino/ODriveArduino.h
index 524f5a59..1ebe1e33 100644
--- a/Arduino/ODriveArduino/ODriveArduino.h
+++ b/Arduino/ODriveArduino/ODriveArduino.h
@@ -26,6 +26,7 @@ public:
     void SetPosition(int motor_number, float position, float velocity_feedforward, float current_feedforward);
     void SetVelocity(int motor_number, float velocity);
     void SetVelocity(int motor_number, float velocity, float current_feedforward);
+    void SetCurrent(int motor_number, float current);
 
     // General params
     float readFloat();