diff --git a/buildhat/color.py b/buildhat/color.py
index edf6030..5959263 100644
--- a/buildhat/color.py
+++ b/buildhat/color.py
@@ -210,4 +210,4 @@ def wait_for_new_color(self):
 
     def on(self):
         """Turn on the sensor and LED"""
-        self._write(f"port {self.port} ; plimit 1 ; set -1\r")
+        self.reverse()
diff --git a/buildhat/colordistance.py b/buildhat/colordistance.py
index da85c3a..3447e17 100644
--- a/buildhat/colordistance.py
+++ b/buildhat/colordistance.py
@@ -199,4 +199,4 @@ def wait_for_new_color(self):
 
     def on(self):
         """Turn on the sensor and LED"""
-        self._write(f"port {self.port} ; plimit 1 ; set -1\r")
+        self.reverse()
diff --git a/buildhat/devices.py b/buildhat/devices.py
index e8bf086..0db16b1 100644
--- a/buildhat/devices.py
+++ b/buildhat/devices.py
@@ -188,7 +188,7 @@ def isconnected(self):
 
     def reverse(self):
         """Reverse polarity"""
-        self._write(f"port {self.port} ; plimit 1 ; set -1\r")
+        self._write(f"port {self.port} ; port_plimit 1 ; set -1\r")
 
     def get(self):
         """Extract information from device
@@ -253,7 +253,7 @@ def select(self):
 
     def on(self):
         """Turn on sensor"""
-        self._write(f"port {self.port} ; plimit 1 ; on\r")
+        self._write(f"port {self.port} ; port_plimit 1 ; on\r")
 
     def off(self):
         """Turn off sensor"""
diff --git a/buildhat/motors.py b/buildhat/motors.py
index 102a159..38786c0 100644
--- a/buildhat/motors.py
+++ b/buildhat/motors.py
@@ -71,7 +71,7 @@ def plimit(self, plimit):
         """
         if not (plimit >= 0 and plimit <= 1):
             raise MotorError("plimit should be 0 to 1")
-        self._write(f"port {self.port} ; plimit {plimit}\r")
+        self._write(f"port {self.port} ; port_plimit {plimit}\r")
 
     def bias(self, bias):
         """Bias motor
@@ -413,7 +413,7 @@ def plimit(self, plimit):
         """
         if not (plimit >= 0 and plimit <= 1):
             raise MotorError("plimit should be 0 to 1")
-        self._write(f"port {self.port} ; plimit {plimit}\r")
+        self._write(f"port {self.port} ; port_plimit {plimit}\r")
 
     def bias(self, bias):
         """Bias motor