diff --git a/src/devices/robot/controller/abstractcontroller.h b/src/devices/robot/controller/abstractcontroller.h
index 5c671fdf..56037883 100644
--- a/src/devices/robot/controller/abstractcontroller.h
+++ b/src/devices/robot/controller/abstractcontroller.h
@@ -29,7 +29,7 @@ namespace cmvr::device
 
         virtual void stop() = 0;
 
-    private:
+    protected:
         ControllerState state_;
     };
 }
diff --git a/src/devices/robot/controller/cartesiancontroller.cpp b/src/devices/robot/controller/cartesiancontroller.cpp
index 918cdd83..aa53c7c5 100644
--- a/src/devices/robot/controller/cartesiancontroller.cpp
+++ b/src/devices/robot/controller/cartesiancontroller.cpp
@@ -14,7 +14,8 @@ CartesianController::CartesianController(const XmlNode& cfg):AbstractController(
 
 void CartesianController::call(std::string json)
 {
-
+    if (state_ != ControllerState_Idle)
+        return;
 }
 void CartesianController::stop()
 {
diff --git a/src/devices/robot/controller/cartesiancontroller.h b/src/devices/robot/controller/cartesiancontroller.h
index 26560c9e..328f8ab2 100644
--- a/src/devices/robot/controller/cartesiancontroller.h
+++ b/src/devices/robot/controller/cartesiancontroller.h
@@ -12,8 +12,8 @@ namespace  cmvr::device
     {
     public:
         explicit CartesianController(const XmlNode& cfg);
-        virtual void call(std::string json) override;
-        virtual void stop() override;
+        void call(std::string json) override;
+        void stop() override;
     private:
     };
 }
diff --git a/src/devices/robot/controller/jointpositioncontroller.cpp b/src/devices/robot/controller/jointpositioncontroller.cpp
index 8b5dd998..45947f3f 100644
--- a/src/devices/robot/controller/jointpositioncontroller.cpp
+++ b/src/devices/robot/controller/jointpositioncontroller.cpp
@@ -13,7 +13,8 @@ JointPositionController::JointPositionController(const XmlNode& cfg):AbstractCon
 
 void JointPositionController::call(std::string json)
 {
-
+    if (state_ != ControllerState_Idle)
+        return;
 }
 void JointPositionController::stop()
 {
diff --git a/src/devices/robot/controller/jointpositioncontroller.h b/src/devices/robot/controller/jointpositioncontroller.h
index 979826ac..8a2c28c0 100644
--- a/src/devices/robot/controller/jointpositioncontroller.h
+++ b/src/devices/robot/controller/jointpositioncontroller.h
@@ -12,8 +12,8 @@ namespace cmvr::device
     {
     public:
         explicit JointPositionController(const XmlNode& cfg);
-        virtual void call(std::string json) override;
-        virtual void stop() override;
+        void call(std::string json) override;
+        void stop() override;
     private:
     };
 }