diff --git a/LICENSE b/LICENSE
index 3952c6d..a0ed272 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,6 +1,7 @@
 MIT License
 
 Copyright (c) 2017-2023 ODrive Robotics Inc.
+Copyright (c) 2025 Mathew3000
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
diff --git a/library.properties b/library.properties
index 5b3eb53..1ca54aa 100644
--- a/library.properties
+++ b/library.properties
@@ -1,6 +1,6 @@
 # https://arduino.github.io/arduino-cli/0.33/library-specification/
 name=ODriveArduino
-version=0.10.3
+version=0.10.4
 author=ODrive Robotics Inc. <info@odriverobotics.com>
 maintainer=ODrive Robotics Inc. <info@odriverobotics.com>
 sentence=Library to control ODrive motor controllers
diff --git a/src/ODriveUART.cpp b/src/ODriveUART.cpp
index 10e8823..e7477f2 100644
--- a/src/ODriveUART.cpp
+++ b/src/ODriveUART.cpp
@@ -5,8 +5,6 @@
 #include "Arduino.h"
 #include "ODriveUART.h"
 
-static const int kMotorNumber = 0;
-
 // Print with stream operator
 template<class T> inline Print& operator <<(Print &obj,     T arg) { obj.print(arg);    return obj; }
 template<>        inline Print& operator <<(Print &obj, float arg) { obj.print(arg, 4); return obj; }
@@ -18,6 +16,16 @@ void ODriveUART::clearErrors() {
     serial_ << F("sc\n");
 }
 
+void ODriveUART::selectAxis(int axis){
+    if(axis >= 0 && axis < 2){
+        selected_axis = axis;
+    }
+}
+
+int ODriveUART::getAxis(){
+    return selected_axis;
+}
+
 void ODriveUART::setPosition(float position) {
     setPosition(position, 0.0f, 0.0f);
 }
@@ -27,7 +35,7 @@ void ODriveUART::setPosition(float position, float velocity_feedforward) {
 }
 
 void ODriveUART::setPosition(float position, float velocity_feedforward, float torque_feedforward) {
-    serial_ << F("p ") << kMotorNumber  << F(" ") << position << F(" ") << velocity_feedforward << F(" ") << torque_feedforward << F("\n");
+    serial_ << F("p ") << selected_axis  << F(" ") << position << F(" ") << velocity_feedforward << F(" ") << torque_feedforward << F("\n");
 }
 
 void ODriveUART::setVelocity(float velocity) {
@@ -35,15 +43,15 @@ void ODriveUART::setVelocity(float velocity) {
 }
 
 void ODriveUART::setVelocity(float velocity, float torque_feedforward) {
-    serial_ << F("v ") << kMotorNumber  << F(" ") << velocity << F(" ") << torque_feedforward << F("\n");
+    serial_ << F("v ") << selected_axis  << F(" ") << velocity << F(" ") << torque_feedforward << F("\n");
 }
 
 void ODriveUART::setTorque(float torque) {
-    serial_ << F("c ") << kMotorNumber << F(" ") << torque << F("\n");
+    serial_ << F("c ") << selected_axis << F(" ") << torque << F("\n");
 }
 
 void ODriveUART::trapezoidalMove(float position) {
-    serial_ << F("t ") << kMotorNumber << F(" ") << position << F("\n");
+    serial_ << F("t ") << selected_axis << F(" ") << position << F("\n");
 }
 
 ODriveFeedback ODriveUART::getFeedback() {
@@ -52,7 +60,7 @@ ODriveFeedback ODriveUART::getFeedback() {
         serial_.read();
     }
 
-    serial_ << F("f ") << kMotorNumber << F("\n");
+    serial_ << F("f ") << selected_axis << F("\n");
 
     String response = readLine();
 
@@ -77,11 +85,13 @@ void ODriveUART::setParameter(const String& path, const String& value) {
 }
 
 void ODriveUART::setState(ODriveAxisState requested_state) {
-    setParameter(F("axis0.requested_state"), String((long)requested_state));
+    String parameter = "axis" + String(selected_axis) + ".requested_state";
+    setParameter(parameter, String((long)requested_state));
 }
 
 ODriveAxisState ODriveUART::getState() {
-    return (ODriveAxisState)getParameterAsInt(F("axis0.current_state"));
+    String parameter = "axis" + String(selected_axis) + ".current_state";
+    return (ODriveAxisState)getParameterAsInt(parameter);
 }
 
 String ODriveUART::readLine(unsigned long timeout_ms) {
diff --git a/src/ODriveUART.h b/src/ODriveUART.h
index 714015a..44c650e 100644
--- a/src/ODriveUART.h
+++ b/src/ODriveUART.h
@@ -18,6 +18,16 @@ class ODriveUART {
      */
     ODriveUART(Stream& serial);
 
+    /**
+     * @brief (Only ODrive 3.6) Select which axis to controll
+     */
+    void selectAxis(int axis);
+    
+    /**
+     * @brief (Only ODrive 3.6) Check which axis is selected
+     */
+    int getAxis();
+
     /**
      * @brief Clears the error status of the ODrive and restarts the brake
      * resistor if it was disabled due to an error.
@@ -101,6 +111,8 @@ class ODriveUART {
     ODriveAxisState getState();
 
 private:
+    int selected_axis = 0;
+
     String readLine(unsigned long timeout_ms = 10);
 
     Stream& serial_;