diff --git a/Roboid.cpp b/Roboid.cpp
index b1e3fd0..3665af6 100644
--- a/Roboid.cpp
+++ b/Roboid.cpp
@@ -11,6 +11,8 @@ Roboid::Roboid(Perception *perception, Propulsion *propulsion) {
   propulsion->roboid = this;
 }
 
+Roboid::Roboid(ServoMotor **actuation) : actuation(actuation) {}
+
 void Roboid::Update(float currentTimeMs) {
   if (perception != nullptr)
     perception->Update(currentTimeMs);
diff --git a/Roboid.h b/Roboid.h
index 15a133a..47d5375 100644
--- a/Roboid.h
+++ b/Roboid.h
@@ -2,7 +2,7 @@
 
 #include "Perception.h"
 #include "Propulsion.h"
-#include "Servo.h"
+#include "ServoMotor.h"
 
 namespace Passer {
 namespace RoboidControl {
@@ -19,7 +19,9 @@ public:
   /// @param propulsion The Propulsion implementation to use for this Roboid
   Roboid(Perception *perception, Propulsion *propulsion = nullptr);
 
-  Roboid(Perception *perception, Servo **actuation);
+  Roboid(Perception *perception, ServoMotor **actuation);
+
+  Roboid(ServoMotor **actuation);
 
   /// @brief Update the state of the Roboid
   /// @param currentTimeMs The time in milliseconds when calling this
@@ -30,6 +32,7 @@ public:
   Perception *perception = nullptr;
   /// @brief The Propulsion module of this Roboid
   Propulsion *propulsion = nullptr;
+  ServoMotor **actuation = nullptr;
 
   /// @brief The reference to the module to synchronize states across a network
   NetworkSync *networkSync = nullptr;