diff --git a/ateam_msgs/msg/RobotMotionCommand.msg b/ateam_msgs/msg/RobotMotionCommand.msg
index 0b66fc9a..b7eaa9b2 100644
--- a/ateam_msgs/msg/RobotMotionCommand.msg
+++ b/ateam_msgs/msg/RobotMotionCommand.msg
@@ -10,6 +10,8 @@ float64 limit_acc_angular  # (rad/s/s)
 # pivot parameters
 float64 pivot_orbit_radius  # (m)
 float64 pivot_inset_angle  # (rad)
+uint8 pivot_direction  # orbit drive direction: PD_FORWARD=0, PD_BACKWARD=1
+bool pivot_compute_inset_angle  # if true, firmware derives inset_angle from peak angular vel
 
 uint8 kick_request
 float32 kick_speed  # (m/s)
@@ -25,6 +27,10 @@ uint8 KR_CHIP_NOW = 5
 uint8 KR_CHIP_TOUCH = 6
 uint8 KR_CHIP_CAPTURED = 7
 
+# pivot direction (orbit drive direction)
+uint8 PD_FORWARD = 0
+uint8 PD_BACKWARD = 1
+
 # body control modes
 uint8 BCM_OFF = 0
 uint8 BCM_GLOBAL_POSITION = 1
@@ -32,4 +38,5 @@ uint8 BCM_GLOBAL_VELOCITY = 2
 uint8 BCM_LOCAL_VELOCITY = 3
 uint8 BCM_GLOBAL_ACCEL = 4
 uint8 BCM_LOCAL_ACCEL = 5
-uint8 BCM_PIVOT = 6
+uint8 BCM_HEADING_PIVOT = 6
+uint8 BCM_POINT_PIVOT = 7
diff --git a/motion/ateam_controls/controls b/motion/ateam_controls/controls
index 2adc62d7..5f72604c 160000
--- a/motion/ateam_controls/controls
+++ b/motion/ateam_controls/controls
@@ -1 +1 @@
-Subproject commit 2adc62d7f057e7551c359f21b213f716710eb4e3
+Subproject commit 5f72604ca70a3a28bed8b7fc4125f798e652656f
diff --git a/radio/ateam_radio_bridge/src/radio_bridge_node.cpp b/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
index 9e613fbc..ec264b0e 100644
--- a/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
+++ b/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
@@ -366,14 +366,31 @@ class RadioBridgeNode : public rclcpp::Node
             static_cast<float>(command.acceleration.theta),
           };
           break;
-        case ateam_msgs::msg::RobotMotionCommand::BCM_PIVOT:
-          control_msg.body_control_mode = BCM_PIVOT;
-          control_msg.cmd.pivot = {
+        case ateam_msgs::msg::RobotMotionCommand::BCM_HEADING_PIVOT:
+          control_msg.body_control_mode = BCM_HEADING_PIVOT;
+          control_msg.cmd.heading_pivot = {
             static_cast<float>(command.pose.theta),
             static_cast<float>(command.limit_vel_angular),
             static_cast<float>(command.limit_acc_angular),
             static_cast<float>(command.pivot_orbit_radius),
-            static_cast<float>(command.pivot_inset_angle)
+            static_cast<float>(command.pivot_inset_angle),
+            static_cast<PivotDirection>(command.pivot_direction),
+            static_cast<uint8_t>(command.pivot_compute_inset_angle),
+            {0, 0}
+          };
+          break;
+        case ateam_msgs::msg::RobotMotionCommand::BCM_POINT_PIVOT:
+          control_msg.body_control_mode = BCM_POINT_PIVOT;
+          control_msg.cmd.point_pivot = {
+            static_cast<float>(command.pose.x),
+            static_cast<float>(command.pose.y),
+            static_cast<float>(command.limit_vel_angular),
+            static_cast<float>(command.limit_acc_angular),
+            static_cast<float>(command.pivot_orbit_radius),
+            static_cast<float>(command.pivot_inset_angle),
+            static_cast<PivotDirection>(command.pivot_direction),
+            static_cast<uint8_t>(command.pivot_compute_inset_angle),
+            {0, 0}
           };
           break;
         default:
diff --git a/radio/ateam_radio_msgs/CMakeLists.txt b/radio/ateam_radio_msgs/CMakeLists.txt
index e7703b97..91bb1b66 100644
--- a/radio/ateam_radio_msgs/CMakeLists.txt
+++ b/radio/ateam_radio_msgs/CMakeLists.txt
@@ -23,7 +23,8 @@ set(RADIO_STRUCTS_TO_GENERATE
     LocalVelocityCommand
     GlobalAccelerationCommand
     LocalAccelerationCommand
-    PivotCommand
+    PointPivotCommand
+    HeadingPivotCommand
     BasicTelemetry
     ErrorTelemetry
     ExtendedTelemetry
diff --git a/radio/ateam_radio_msgs/software-communication b/radio/ateam_radio_msgs/software-communication
index 5b0c64fa..8b77146d 160000
--- a/radio/ateam_radio_msgs/software-communication
+++ b/radio/ateam_radio_msgs/software-communication
@@ -1 +1 @@
-Subproject commit 5b0c64fabb26156ae38a9e415f3472e65f3324c4
+Subproject commit 8b77146da2112944074d343e9b5d57cad65e5c0d