diff --git a/src/examples/model_car_actuators_test.cpp b/src/examples/model_car_actuators_test.cpp
index af9854bf1a5dee51271bfbe3e2f2decb0211be48..91450794f5f37a12a16f8a9d29bac7e36b2c0f7f 100644
--- a/src/examples/model_car_actuators_test.cpp
+++ b/src/examples/model_car_actuators_test.cpp
@@ -15,16 +15,24 @@ int main(int argc, char *argv[])
       act_driver = new CModelCarActuators(name);
       act_driver->open();
 
-      act_driver->disable_ultrasounds();
+      if(argc!=3)
+      {
+        std::cout << "Insufficient arguments. Usage:" << std::endl;
+        std::cout << "  model_car_actuators_test speed steering angle" << std::endl;
+        std::cout << "    speed: a value between -100 and 100 corresponding to the minimum and maximum speeds" << std::endl;
+        std::cout << "    steering: a value between -100 and 100 corresponding to the minimum and maximum steering angles" << std::endl;
+        return 0;
+      }
+      else
+      {
+        vx=std::stod(argv[1]);
+        steer=std::stod(argv[2]);
+      }
 
-      std::cout << "model_car_actuators_test::main: about to test speed, in 3..." << std::endl;
-      sleep(1);
-      std::cout << "model_car_actuators_test::main: about to test speed, 2..." << std::endl;
-      sleep(1);
-      std::cout << "model_car_actuators_test::main: about to test speed, 1..." << std::endl;
-      sleep(1);
+      act_driver->disable_ultrasounds();
 
-      std::cout << "model_car_actuators_test::main: sending speed 10" << std::endl;
+      std::cout << "model_car_actuators_test::main: sending speed " << vx << " and steering " << steer << std::endl;
+/*
       for(unsigned int i=0;i<100;i++)
       {
         usleep(100000);
@@ -34,6 +42,13 @@ int main(int argc, char *argv[])
         act_driver->send_command(vx,steer); 
       }
       act_driver->send_command(0.0,0.0); 
+*/
+      while(1)
+      {
+        usleep(100000);
+        act_driver->send_command(vx,steer); 
+      }
+      act_driver->send_command(0.0,0.0); 
  
       act_driver->close();
       delete act_driver;