diff --git a/firmware/src/Makefile b/firmware/src/Makefile
index 3568e08..efe71f4 100644
--- a/firmware/src/Makefile
+++ b/firmware/src/Makefile
@@ -1,7 +1,7 @@
 # Try "make help" first
 #
 MODEL="metabot2"
-VERSION="1.0"
+VERSION="2.0"
 
 .DEFAULT_GOAL := sketch
 
diff --git a/firmware/src/motion.cpp b/firmware/src/motion.cpp
index 7b117c4..d27bcc0 100644
--- a/firmware/src/motion.cpp
+++ b/firmware/src/motion.cpp
@@ -54,28 +54,28 @@ float motion_get_motor(int idx)
 #define AMPLITUDE 30
 
 // Speed factor
-TERMINAL_PARAMETER_FLOAT(freq, "Time factor gain", 2.0);
+TERMINAL_PARAMETER_FLOAT(freq, "Time factor gain", INIT_FREQ);
 
 // Legs bacakward mode
-TERMINAL_PARAMETER_BOOL(backLegs, "Legs backwards", false);
+TERMINAL_PARAMETER_BOOL(backLegs, "Legs backwards", INIT_BACKLEGS);
 
 // Amplitude & altitude of the robot
-TERMINAL_PARAMETER_FLOAT(alt, "Height of the steps", 15.0);
+TERMINAL_PARAMETER_FLOAT(alt, "Height of the steps", INIT_ALT);
 
 // Static position
-TERMINAL_PARAMETER_FLOAT(r, "Robot size", 153.0);
-TERMINAL_PARAMETER_FLOAT(h, "Robot height", -55.0);
+TERMINAL_PARAMETER_FLOAT(r, "Robot size", INIT_R);
+TERMINAL_PARAMETER_FLOAT(h, "Robot height", INIT_H);
 
 // Direction vector
-TERMINAL_PARAMETER_FLOAT(dx, "Dx", 0.0);
-TERMINAL_PARAMETER_FLOAT(dy, "Dy", 0.0);
-TERMINAL_PARAMETER_FLOAT(crab, "Crab", 0.0);
+TERMINAL_PARAMETER_FLOAT(dx, "Dx", INIT_DX);
+TERMINAL_PARAMETER_FLOAT(dy, "Dy", INIT_DY);
+TERMINAL_PARAMETER_FLOAT(crab, "Crab", INIT_CRAB);
 
 // Turning, in ° per step
-TERMINAL_PARAMETER_FLOAT(turn, "Turn", 0.0);
+TERMINAL_PARAMETER_FLOAT(turn, "Turn", INIT_TURN);
 
 // Front delta h
-TERMINAL_PARAMETER_FLOAT(frontH, "Front delta H", 0.0);
+TERMINAL_PARAMETER_FLOAT(frontH, "Front delta H", INIT_FRONTH);
 
 #ifdef HAS_TERMINAL
 TERMINAL_COMMAND(toggleBackLegs, "Toggle back legs")
@@ -89,6 +89,20 @@ TERMINAL_COMMAND(toggleCrab, "Toggle crab mode")
     if (crab == 0) crab = 30;
     else if (crab == 30) crab = 0;
 }
+TERMINAL_COMMAND(reset, "Reset robot's motion parameters"){
+    motion_init();
+    freq = INIT_FREQ;
+    backLegs = INIT_BACKLEGS;
+    alt = INIT_ALT;
+    r = INIT_R;
+    h = INIT_H;
+    dx = INIT_DX;
+    dy = INIT_DY;
+    crab = INIT_CRAB;
+    turn = INIT_TURN;
+    frontH = INIT_FRONTH;
+    terminal_io()->println("OK");
+}
 #endif
 
 // Gait selector
diff --git a/firmware/src/motion.h b/firmware/src/motion.h
index 62ad0c6..3f25268 100644
--- a/firmware/src/motion.h
+++ b/firmware/src/motion.h
@@ -1,6 +1,17 @@
 #ifndef _METABOT_MOTION_H
 #define _METABOT_MOTION_H
 
+#define INIT_FREQ       2.0
+#define INIT_BACKLEGS   false
+#define INIT_ALT        15.0
+#define INIT_R          153.0
+#define INIT_H          -55.0
+#define INIT_DX         0.0
+#define INIT_DY         0.0
+#define INIT_CRAB       0.0
+#define INIT_TURN       0.0
+#define INIT_FRONTH     0.0
+
 // Output angles
 extern float l1[4], l2[4], l3[4];