diff --git a/andino_firmware/src/app.cpp b/andino_firmware/src/app.cpp
index f7d97361..82d3c900 100644
--- a/andino_firmware/src/app.cpp
+++ b/andino_firmware/src/app.cpp
@@ -126,8 +126,8 @@ void App::setup() {
 }
 
 void App::loop() {
-  // Process command shell.
-  shell_.process();
+  // Process command prompt input.
+  shell_.process_input();
 
   // Run a PID calculation at the appropriate intervals
   if (millis() > nextPID) {
@@ -155,25 +155,33 @@ void App::loop() {
   }
 }
 
-void App::cmd_unknown_cb(const char*, const char*) { Serial.println("Unknown command."); }
+void App::cmd_unknown_cb(int, char**) { Serial.println("Unknown command."); }
 
-void App::cmd_read_analog_gpio_cb(const char* arg1, const char*) {
-  const int pin = atoi(arg1);
+void App::cmd_read_analog_gpio_cb(int argc, char** argv) {
+  if (argc < 2) {
+    return;
+  }
+
+  const int pin = atoi(argv[1]);
   Serial.println(analogRead(pin));
 }
 
-void App::cmd_read_digital_gpio_cb(const char* arg1, const char*) {
-  const int pin = atoi(arg1);
+void App::cmd_read_digital_gpio_cb(int argc, char** argv) {
+  if (argc < 2) {
+    return;
+  }
+
+  const int pin = atoi(argv[1]);
   Serial.println(digitalRead(pin));
 }
 
-void App::cmd_read_encoders_cb(const char*, const char*) {
+void App::cmd_read_encoders_cb(int, char**) {
   Serial.print(left_encoder_.read());
   Serial.print(" ");
   Serial.println(right_encoder_.read());
 }
 
-void App::cmd_reset_encoders_cb(const char*, const char*) {
+void App::cmd_reset_encoders_cb(int, char**) {
   left_encoder_.reset();
   right_encoder_.reset();
   left_pid_controller_.reset(left_encoder_.read());
@@ -181,9 +189,13 @@ void App::cmd_reset_encoders_cb(const char*, const char*) {
   Serial.println("OK");
 }
 
-void App::cmd_set_motors_speed_cb(const char* arg1, const char* arg2) {
-  const int left_motor_speed = atoi(arg1);
-  const int right_motor_speed = atoi(arg2);
+void App::cmd_set_motors_speed_cb(int argc, char** argv) {
+  if (argc < 3) {
+    return;
+  }
+
+  const int left_motor_speed = atoi(argv[1]);
+  const int right_motor_speed = atoi(argv[2]);
 
   // Reset the auto stop timer.
   lastMotorCommand = millis();
@@ -206,9 +218,13 @@ void App::cmd_set_motors_speed_cb(const char* arg1, const char* arg2) {
   Serial.println("OK");
 }
 
-void App::cmd_set_motors_pwm_cb(const char* arg1, const char* arg2) {
-  const int left_motor_pwm = atoi(arg1);
-  const int right_motor_pwm = atoi(arg2);
+void App::cmd_set_motors_pwm_cb(int argc, char** argv) {
+  if (argc < 3) {
+    return;
+  }
+
+  const int left_motor_pwm = atoi(argv[1]);
+  const int right_motor_pwm = atoi(argv[2]);
 
   // Reset the auto stop timer.
   lastMotorCommand = millis();
@@ -222,7 +238,12 @@ void App::cmd_set_motors_pwm_cb(const char* arg1, const char* arg2) {
   Serial.println("OK");
 }
 
-void App::cmd_set_pid_tuning_gains_cb(const char* arg1, const char*) {
+void App::cmd_set_pid_tuning_gains_cb(int argc, char** argv) {
+  // TODO(jballoffet): Refactor to expect command multiple arguments.
+  if (argc < 2) {
+    return;
+  }
+
   static constexpr int kSizePidArgs{4};
   int i = 0;
   char arg[20];
@@ -230,7 +251,7 @@ void App::cmd_set_pid_tuning_gains_cb(const char* arg1, const char*) {
   int pid_args[kSizePidArgs]{0, 0, 0, 0};
 
   // Example: "u 30:20:10:50".
-  strcpy(arg, arg1);
+  strcpy(arg, argv[1]);
   char* p = arg;
   while ((str = strtok_r(p, ":", &p)) != NULL && i < kSizePidArgs) {
     pid_args[i] = atoi(str);
diff --git a/andino_firmware/src/app.h b/andino_firmware/src/app.h
index 1c125695..b0ed9aa6 100644
--- a/andino_firmware/src/app.h
+++ b/andino_firmware/src/app.h
@@ -50,36 +50,28 @@ class App {
 
  private:
   /// Callback method for an unknown command (default).
-  // TODO(jballoffet): Parse arguments within callback method.
-  static void cmd_unknown_cb(const char* arg1, const char* arg2);
+  static void cmd_unknown_cb(int argc, char** argv);
 
   /// Callback method for the `Commands::kReadAnalogGpio` command.
-  // TODO(jballoffet): Parse arguments within callback method.
-  static void cmd_read_analog_gpio_cb(const char* arg1, const char* arg2);
+  static void cmd_read_analog_gpio_cb(int argc, char** argv);
 
   /// Callback method for the `Commands::kReadDigitalGpio` command.
-  // TODO(jballoffet): Parse arguments within callback method.
-  static void cmd_read_digital_gpio_cb(const char* arg1, const char* arg2);
+  static void cmd_read_digital_gpio_cb(int argc, char** argv);
 
   /// Callback method for the `Commands::kReadEncoders` command.
-  // TODO(jballoffet): Parse arguments within callback method.
-  static void cmd_read_encoders_cb(const char* arg1, const char* arg2);
+  static void cmd_read_encoders_cb(int argc, char** argv);
 
   /// Callback method for the `Commands::kResetEncoders` command.
-  // TODO(jballoffet): Parse arguments within callback method.
-  static void cmd_reset_encoders_cb(const char* arg1, const char* arg2);
+  static void cmd_reset_encoders_cb(int argc, char** argv);
 
   /// Callback method for the `Commands::kSetMotorsSpeed` command.
-  // TODO(jballoffet): Parse arguments within callback method.
-  static void cmd_set_motors_speed_cb(const char* arg1, const char* arg2);
+  static void cmd_set_motors_speed_cb(int argc, char** argv);
 
   /// Callback method for the `Commands::kSetMotorsPwm` command.
-  // TODO(jballoffet): Parse arguments within callback method.
-  static void cmd_set_motors_pwm_cb(const char* arg1, const char* arg2);
+  static void cmd_set_motors_pwm_cb(int argc, char** argv);
 
   /// Callback method for the `Commands::kSetPidsTuningGains` command.
-  // TODO(jballoffet): Parse arguments within callback method.
-  static void cmd_set_pid_tuning_gains_cb(const char* arg1, const char* arg2);
+  static void cmd_set_pid_tuning_gains_cb(int argc, char** argv);
 
   /// Application command shell.
   static Shell shell_;
diff --git a/andino_firmware/src/shell.cpp b/andino_firmware/src/shell.cpp
index 736c4f3b..6c8dfdc0 100644
--- a/andino_firmware/src/shell.cpp
+++ b/andino_firmware/src/shell.cpp
@@ -48,69 +48,57 @@ void Shell::register_command(const char* name, CommandCallback callback) {
   commands_[commands_count_++] = command;
 }
 
-// TODO(jballoffet): Modify parsing method to allow command name to be a string.
-void Shell::process() {
+void Shell::process_input() {
   while (stream_->available() > 0) {
-    // Read the next character
-    char chr = stream_->read();
-
-    // Terminate a command with a CR
-    if (chr == 13) {
-      if (args_count_ == 1) {
-        arg1_[arg_index_] = 0;
-      } else if (args_count_ == 2) {
-        arg2_[arg_index_] = 0;
-      }
-      execute_callback();
-      reset();
-    }
-    // Use spaces to delimit parts of the command
-    else if (chr == ' ') {
-      // Step through the arguments
-      if (args_count_ == 0) {
-        args_count_ = 1;
-      } else if (args_count_ == 1) {
-        arg1_[arg_index_] = 0;
-        args_count_ = 2;
-        arg_index_ = 0;
-      }
-      continue;
-    } else {
-      if (args_count_ == 0) {
-        // The first arg is the single-letter command
-        command_ = chr;
-      } else if (args_count_ == 1) {
-        // Subsequent arguments can be more than one character
-        arg1_[arg_index_] = chr;
-        arg_index_++;
-      } else if (args_count_ == 2) {
-        arg2_[arg_index_] = chr;
-        arg_index_++;
-      }
+    const char input = stream_->read();
+
+    switch (input) {
+      case '\r':
+        // Terminate command prompt message and parse it.
+        message_buffer_[message_index_++] = '\0';
+        parse_message();
+        // Reset message buffer.
+        message_index_ = 0;
+        break;
+
+      case '\n':
+        // Ignore newline characters.
+        break;
+
+      default:
+        message_buffer_[message_index_++] = input;
+        // Prevent buffer overflow.
+        if (message_index_ >= kCommandPromptLengthMax) {
+          message_index_ = 0;
+        }
+        break;
     }
   }
 }
 
-void Shell::reset() {
-  command_ = 0;
-  memset(arg1_, 0, sizeof(arg1_));
-  memset(arg2_, 0, sizeof(arg2_));
-  args_count_ = 0;
-  arg_index_ = 0;
+void Shell::parse_message() {
+  char* argv[kCommandArgMax];
+  int argc = 0;
+
+  argv[argc] = strtok(message_buffer_, " ");
+  while (argv[argc] != NULL && argc < (kCommandArgMax - 1)) {
+    argv[++argc] = strtok(NULL, " ");
+  }
+
+  execute_callback(argc, argv);
 }
 
-// TODO(jballoffet): Modify parsing method to allow command name to be a string.
-void Shell::execute_callback() {
+void Shell::execute_callback(int argc, char** argv) {
   for (size_t i = 0; i < commands_count_; i++) {
-    if (command_ == commands_[i].name[0]) {
-      commands_[i].callback(arg1_, arg2_);
+    if (!strcmp(argv[0], commands_[i].name)) {
+      commands_[i].callback(argc, argv);
       return;
     }
   }
 
   // Unknown command received, executing default callback.
   if (default_callback_ != nullptr) {
-    default_callback_(arg1_, arg2_);
+    default_callback_(argc, argv);
   }
 }
 
diff --git a/andino_firmware/src/shell.h b/andino_firmware/src/shell.h
index 3b988f83..b4a8212b 100644
--- a/andino_firmware/src/shell.h
+++ b/andino_firmware/src/shell.h
@@ -39,7 +39,7 @@ namespace andino {
 class Shell {
  public:
   /// @brief Command callback type.
-  typedef void (*CommandCallback)(const char*, const char*);
+  typedef void (*CommandCallback)(int argc, char** argv);
 
   /// @brief Initializes the shell.
   ///
@@ -59,17 +59,11 @@ class Shell {
 
   /// @brief Processes the available input at the command prompt (if any). Meant to be called
   /// continously.
-  void process();
+  void process_input();
 
  private:
-  /// Maximum number of commands that can be registered.
-  static constexpr int kCommandsMax{10};
-
   /// Maximum command name length.
-  static constexpr int kCommandNameLengthMax{16};
-
-  /// Maximum command argument length.
-  static constexpr int kCommandArgLengthMax{16};
+  static constexpr int kCommandNameLengthMax{8};
 
   /// Command registry entry definition.
   struct Command {
@@ -79,11 +73,20 @@ class Shell {
     CommandCallback callback;
   };
 
-  /// Resets the command prompt processing variables.
-  void reset();
+  /// Maximum number of commands that can be registered.
+  static constexpr int kCommandsMax{16};
+
+  /// Maximum number of command arguments that can be processed.
+  static constexpr int kCommandArgMax{16};
+
+  /// Maximum command prompt message length.
+  static constexpr int kCommandPromptLengthMax{64};
+
+  /// Parses the command prompt message.
+  void parse_message();
 
   /// Executes the corresponding command callback function.
-  void execute_callback();
+  void execute_callback(int argc, char** argv);
 
   /// Data stream.
   Stream* stream_{nullptr};
@@ -97,20 +100,11 @@ class Shell {
   /// Number of registered commands.
   size_t commands_count_{0};
 
-  /// Holds the received command.
-  char command_;
-
-  /// Holds the first received command argument.
-  char arg1_[kCommandArgLengthMax];
-
-  /// Holds the second received command argument.
-  char arg2_[kCommandArgLengthMax];
-
-  /// Argument array index.
-  int arg_index_{0};
+  /// Command prompt message.
+  char message_buffer_[kCommandPromptLengthMax];
 
-  /// Number of received command arguments.
-  int args_count_{0};
+  /// Command prompt message index.
+  int message_index_{0};
 };
 
 }  // namespace andino