diff --git a/library.properties b/library.properties
index 50525ed..ed79434 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Arduino_AlvikCarrier
-version=1.0.0
+version=1.0.1
 author=Arduino, Giovanni di Dio Bruno, Lucio Rossi
 maintainer=Arduino <info@arduino.cc>
 sentence=Library and firmware for Arduino Alvik Carrier board
diff --git a/src/definitions/robot_definitions.h b/src/definitions/robot_definitions.h
index 3ac824f..0562bf5 100644
--- a/src/definitions/robot_definitions.h
+++ b/src/definitions/robot_definitions.h
@@ -88,7 +88,7 @@ const float MOTION_FX_PERIOD = (1000U / MOTION_FX_FREQ);
 // Library version
 #define VERSION_BYTE_HIGH 1
 #define VERSION_BYTE_MID 0
-#define VERSION_BYTE_LOW 0
+#define VERSION_BYTE_LOW 1
 
 
 
diff --git a/src/motor_control/motor_control.cpp b/src/motor_control/motor_control.cpp
index 74ba1b3..13aa831 100644
--- a/src/motor_control/motor_control.cpp
+++ b/src/motor_control/motor_control.cpp
@@ -217,7 +217,10 @@ bool MotorControl::isPositionControlEnabled(){
 }
 
 void MotorControl::resetPosition(const float p0){
-    position=p0;
+    disablePositionControl();
+    pos_pid->reset();
+    position = p0;
+    reference_position = p0;
 }
 
 float MotorControl::getPosition(){