diff --git a/main_loop.py b/main_loop.py
index a6209a9..5c4c524 100644
--- a/main_loop.py
+++ b/main_loop.py
@@ -279,6 +279,7 @@ def main(connection=None):
                             const.FUNCTION_UPDATE_CONFIG: robot_control.set_config,
                             const.FUNCTION_UPDATE_PID: robot_control.update_pid_values,
                             const.FUNCTION_REQUEST_CONFIG: robot_control.send_config,
+                            const.FUNCTION_REQUEST_PID: robot_control.send_pid_factors,
                         }
                         get_function[const.PUB_MESSAGES.index(topic[i])](buf[i]["data"])
 
diff --git a/robot/constants.py b/robot/constants.py
index efa90d4..017b975 100644
--- a/robot/constants.py
+++ b/robot/constants.py
@@ -159,6 +159,7 @@
     "Neuronavigation to Robot: Update config",
     "Neuronavigation to Robot: Update robot control pid factors",
     "Neuronavigation to Robot: Request config",
+    "Dashboard to Robot: Request pid factors",
 ]
 
 FUNCTION_CONNECT_TO_ROBOT = 0
@@ -179,3 +180,4 @@
 FUNCTION_UPDATE_CONFIG = 15
 FUNCTION_UPDATE_PID = 16
 FUNCTION_REQUEST_CONFIG = 17
+FUNCTION_REQUEST_PID = 18
diff --git a/robot/control/robot_control.py b/robot/control/robot_control.py
index 43e491e..695e9f6 100644
--- a/robot/control/robot_control.py
+++ b/robot/control/robot_control.py
@@ -1127,8 +1127,7 @@ def update(self):
     def send_config(self, data):
         self.remote_control.send_message(
                     "Robot to Neuronavigation: Initial config",
-                    {"config": self.config,
-                     "pid_factors": self.pid_group.get_pid_factors()},
+                    {"config": self.config},
                 )
     
     def set_config(self, data: dict):
@@ -1179,4 +1178,8 @@ def set_config(self, data: dict):
     def update_pid_values(self, pids_factors: dict):
         if "translations" in pids_factors and "rotations" in pids_factors:
             self.pid_group.update_pid_factors(pids_factors["translations"], pids_factors["rotations"])
-
+    
+    def send_pid_factors(self, data):
+        self.remote_control.send_message(
+                "Robot to Dashboard: PID factors",
+                {"pid_factors": self.pid_group.get_pid_factors()})