diff --git a/src/DynamixelInterfaceArduinoImpl.cpp b/src/DynamixelInterfaceArduinoImpl.cpp
index 9dc0cda..c218e3a 100644
--- a/src/DynamixelInterfaceArduinoImpl.cpp
+++ b/src/DynamixelInterfaceArduinoImpl.cpp
@@ -22,6 +22,8 @@ void DynamixelInterfaceImpl<T>::readMode()
 	if(mDirectionPin!=NO_DIR_PORT)
 	{
 		digitalWrite(mDirectionPin, LOW);
+		//enable listen() here:
+		setReadMode(mStream, mTxPin)
 	}
 	else
 	{
@@ -35,6 +37,8 @@ void DynamixelInterfaceImpl<T>::writeMode()
 	if(mDirectionPin!=NO_DIR_PORT)
 	{
 		digitalWrite(mDirectionPin, HIGH);
+                //disable listen() here:
+		setWriteMode(mStream, mTxPin);		
 	}
 	else
 	{
@@ -43,7 +47,7 @@ void DynamixelInterfaceImpl<T>::writeMode()
 }
 	
 template<class T>
-DynamixelInterfaceImpl<T>::DynamixelInterfaceImpl(T &aStream, uint8_t aTxPin, uint8_t aDirectionPin=NO_DIR_PORT):
+DynamixelInterfaceImpl<T>::DynamixelInterfaceImpl(T &aStream, uint8_t aTxPin, uint8_t aDirectionPin):
 	mStream(aStream), mDirectionPin(aDirectionPin), mTxPin(aTxPin)
 {
 	if(mDirectionPin!=NO_DIR_PORT)
diff --git a/src/DynamixelInterfaceArduinoImpl.h b/src/DynamixelInterfaceArduinoImpl.h
index 436edc0..514d2c1 100644
--- a/src/DynamixelInterfaceArduinoImpl.h
+++ b/src/DynamixelInterfaceArduinoImpl.h
@@ -24,7 +24,7 @@ class DynamixelInterfaceImpl:public DynamixelInterface
 	 * \param[in] aTxPin : pin number of the tx pin
 	 * \param[in] aDirectionPin : direction pin, use NO_DIR_PORT if you do not use one (default)
 	*/
-	DynamixelInterfaceImpl(T &aStream, uint8_t aTxPin, uint8_t aDirectionPin);
+	DynamixelInterfaceImpl(T &aStream, uint8_t aTxPin, uint8_t aDirectionPin=NO_DIR_PORT);
 	
 	/**
 	 * \brief Destructor