diff --git a/tools/ugv.py b/tools/ugv.py
index 43b3b92..7832ef1 100755
--- a/tools/ugv.py
+++ b/tools/ugv.py
@@ -9,18 +9,18 @@ import time
 import binascii
 from base64 import b64decode, b64encode
 
-from e32 import E32
 import messages_pb2 as messages
 from google.protobuf.message import Message
 
 log = logging.getLogger("ugv")
 
-class UGVComms(E32):
+
+class UGVComms:
     MAX_WRITE_RETRY = 5
     RETRY_TIME = 3.0
 
     def __init__(self, serial_port: serial.Serial):
-        E32.__init__(self, serial_port)
+        self.ser = serial_port
         self.msg_acks = []
         self.ack_cv = threading.Condition()
         self.next_command_id = 1
@@ -118,7 +118,7 @@ class UGVComms(E32):
                 msg = self.read_message()
                 self.process_message(msg)
             except serial.SerialException:
-                if not self.ser.is_open or not self.is_running: # port was probably just closed
+                if not self.ser.is_open or not self.is_running:  # port was probably just closed
                     return
                 log.error("serial error", exc_info=True)
                 return
@@ -146,7 +146,7 @@ def main():
         # ugv.write_command(cmd)
         cmd.type = messages.CMD_SET_CONFIG
         cmd.config.angle_pid.kp = 0.10
-        cmd.config.angle_pid.ki = 0#.00005
+        cmd.config.angle_pid.ki = 0  # .00005
         cmd.config.angle_pid.kd = 0.4
         cmd.config.angle_pid.max_output = 0.5
         cmd.config.angle_pid.max_i_error = 15.0
diff --git a/tools/ugv_cmd.py b/tools/ugv_cmd.py
index c210ad8..bd72d14 100755
--- a/tools/ugv_cmd.py
+++ b/tools/ugv_cmd.py
@@ -55,6 +55,7 @@ class UGV_CLI:
             'get_status': self.get_status,
             's': self.get_status,
         }
+        self.ugv = None
         pass
 
     @cli_cmd(names=["help", "h", "?"], description="Print this help message")
@@ -128,12 +129,21 @@ class UGV_CLI:
             log.info("last status (%.4f seconds ago): %s",
                      last_status_delay, self.ugv.last_status)
 
-    def find_command(self, name):
+    @staticmethod
+    def find_command(name):
         for cmd in cli_commands:
             if name in cmd.names:
                 return cmd
         return None
 
+    @staticmethod
+    def complete_command(text, state):
+        options = [name for cmd in cli_commands for name in cmd.names if name.startswith(text)]
+        if state < len(options):
+            return options[state]
+        else:
+            return None
+
     def start(self):
         self.is_running = True
 
@@ -144,6 +154,10 @@ class UGV_CLI:
         ser = serial.serial_for_url(ser_url, baudrate=9600, parity=serial.PARITY_NONE,
                                     stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
                                     timeout=0.5)
+
+        readline.parse_and_bind("tab: complete")
+        readline.set_completer(self.complete_command)
+
         self.ugv = UGVComms(ser)
         self.ugv.start()
         time.sleep(0.2)