diff --git a/pca9685/cli.py b/pca9685/cli.py
index 4f1f471..f55e2f3 100644
--- a/pca9685/cli.py
+++ b/pca9685/cli.py
@@ -115,12 +115,14 @@ def execute_from_command_line():
 
     if args["steering"]:
         steering_pin = donkeycar.parts.pins.pwm_pin_by_id(pin_id)
-        steering = actuator.PWMSteering(steering_pin, left_pulse=args["--left-pulse"], right_pulse=args["--right-pulse"])
+        controller = actuator.PulseController(steering_pin)
+        steering = actuator.PWMSteering(controller=controller, left_pulse=args["--left-pulse"], right_pulse=args["--right-pulse"])
         client = init_mqtt_steering_client(steering_controller=steering, broker_host=broker_host, user=user,
                                            password=password, client_id=client_id, steering_topic=topic)
     elif args["throttle"]:
         throttle_pin = donkeycar.parts.pins.pwm_pin_by_id("PCA9685.0:40.7")
-        throttle = actuator.PWMThrottle(throttle_pin, max_pulse=args["--max-pulse"], min_pulse=args["--min-pulse"],
+        controller = actuator.PulseController(throttle_pin)
+        throttle = actuator.PWMThrottle(controller=controller, max_pulse=args["--max-pulse"], min_pulse=args["--min-pulse"],
                                         zero_pulse=args["--zero-pulse"])
         client = init_mqtt_throttle_client(throttle_controller=throttle, broker_host=broker_host, user=user,
                                            password=password, client_id=client_id, throttle_topic=topic)