diff --git a/SwiftyCar/Package.swift b/SwiftyCar/Package.swift
index 04a2964..41d8751 100644
--- a/SwiftyCar/Package.swift
+++ b/SwiftyCar/Package.swift
@@ -11,7 +11,7 @@ let package = Package(
     dependencies: [
         // Dependencies declare other packages that this package depends on.
         // .package(url: /* package url */, from: "1.0.0"),
-        .package(url: "https://github.com/grpc/grpc-swift.git", from: "1.0.0-alpha.12"),
+        .package(url: "https://github.com/grpc/grpc-swift.git", from: "1.0.0-alpha.19"),
         .package(url: "https://github.com/uraimo/SwiftyGPIO.git", from: "1.0.0"),
         .package(url: "https://vato.ddns.net/gitlab/vato007/swiftrplidar.git", .branch("master")),
         .package(url: "https://vato.ddns.net/gitlab/vato007/SwiftSerial.git", .branch("dtr_support")),
diff --git a/SwiftyCar/Sources/SwiftyCar/Vehicle.swift b/SwiftyCar/Sources/SwiftyCar/Vehicle.swift
index ab617c1..8ba4cfe 100644
--- a/SwiftyCar/Sources/SwiftyCar/Vehicle.swift
+++ b/SwiftyCar/Sources/SwiftyCar/Vehicle.swift
@@ -35,11 +35,11 @@ public class IntelligentPiCar : RPiVehicle2D {
      */
     func move2D(magnitude: Float, angle: Float) {
         if let throttleFunc = self.throttleFunc {
-            self.pwmThrottle.value = throttleFunc(magnitude)
+//            self.pwmThrottle.value = throttleFunc(magnitude)
         }
         
         if let steeringFunc = steeringFunc {
-            self.pwmSteering.value = steeringFunc(angle)
+//            self.pwmSteering.value = steeringFunc(angle)
         }
     }
     
diff --git a/SwiftyCar/Sources/SwiftyCar/VehicleFactory.swift b/SwiftyCar/Sources/SwiftyCar/VehicleFactory.swift
index 0015d41..79a8e85 100644
--- a/SwiftyCar/Sources/SwiftyCar/VehicleFactory.swift
+++ b/SwiftyCar/Sources/SwiftyCar/VehicleFactory.swift
@@ -7,7 +7,7 @@
 
 import Foundation
 import SwiftyGPIO
-
+import Swift2dCar
 
 func getVehicle2D() throws -> Vehicle2D {
     if let value = ProcessInfo.processInfo.environment["CAR_VEHICLE"] {
@@ -17,7 +17,7 @@ func getVehicle2D() throws -> Vehicle2D {
             let pwms = SwiftyGPIO.hardwarePWMs(for:.RaspberryPi3)!
             
             // Read the feature database.
-            return try RPiVehicle2D(withThrottlePin: Servo(forPin: (pwms[0]?[.P18])!)!, withSteeringPin:Servo(forPin: (pwms[1]?[.P19])!)!)
+            return try RPiVehicle2D(withThrottlePin: PWMHardwareServo(forPin: (pwms[0]?[.P18])!)!, withSteeringPin:PWMHardwareServo(forPin: (pwms[1]?[.P19])!)!)
         default:
             return MockVehicle()
         }
diff --git a/protobuf/grpc_plugins/protoc-gen-grpc-swift-osx-x86_64 b/protobuf/grpc_plugins/protoc-gen-grpc-swift-osx-x86_64
index 620e612..954d56c 100755
Binary files a/protobuf/grpc_plugins/protoc-gen-grpc-swift-osx-x86_64 and b/protobuf/grpc_plugins/protoc-gen-grpc-swift-osx-x86_64 differ
diff --git a/protobuf/grpc_plugins/protoc-gen-swift-osx-x86_64 b/protobuf/grpc_plugins/protoc-gen-swift-osx-x86_64
index 4da327b..1433cab 100755
Binary files a/protobuf/grpc_plugins/protoc-gen-swift-osx-x86_64 and b/protobuf/grpc_plugins/protoc-gen-swift-osx-x86_64 differ