diff --git a/power/logic_psu.sch b/power/logic_psu.sch
index 05f43f5..6f29cbf 100644
--- a/power/logic_psu.sch
+++ b/power/logic_psu.sch
@@ -580,24 +580,22 @@ Wire Wire Line
 $Comp
 L Connector_Generic:Conn_01x02 J6
 U 1 1 50F5BE5A
-P 1200 2850
+P 850 2850
 AR Path="/50F5BE5A" Ref="J6"  Part="1" 
 AR Path="/50FF13A8/50F5BE5A" Ref="J6"  Part="1" 
-F 0 "J6" V 1150 2850 50  0000 C CNN
-F 1 "B3_Wago" V 1250 2850 40  0000 C CNN
-F 2 "TerminalBlock_WAGO:TerminalBlock_WAGO_236-402_1x02_P5.00mm_45Degree" H 1200 2850 60  0001 C CNN
-F 3 "" H 1200 2850 60  0001 C CNN
-F 4 "FAR 1283527" H 1200 2850 60  0001 C CNN "Reference"
-F 5 "0,84" H 1200 2850 60  0001 C CNN "prix"
-	1    1200 2850
+F 0 "J6" V 800 2850 50  0000 C CNN
+F 1 "B3_Wago" V 900 2850 40  0000 C CNN
+F 2 "TerminalBlock_WAGO:TerminalBlock_WAGO_236-402_1x02_P5.00mm_45Degree" H 850 2850 60  0001 C CNN
+F 3 "" H 850 2850 60  0001 C CNN
+F 4 "FAR 1283527" H 850 2850 60  0001 C CNN "Reference"
+F 5 "0,84" H 850 2850 60  0001 C CNN "prix"
+	1    850  2850
 	-1   0    0    -1  
 $EndComp
 Wire Wire Line
-	1550 2850 1400 2850
+	1550 2850 1450 2850
 Wire Wire Line
-	1400 2950 2700 2950
-Wire Wire Line
-	1850 2850 2200 2850
+	1850 2850 1950 2850
 Wire Wire Line
 	3350 3150 3350 3450
 Wire Wire Line
@@ -796,22 +794,19 @@ F 3 "" H 2700 3600 50  0001 C CNN
 	1    2700 3600
 	1    0    0    -1  
 $EndComp
-Connection ~ 9500 1750
 Wire Wire Line
 	9500 1750 9700 1750
 Wire Wire Line
 	9500 1950 9700 1950
-Wire Wire Line
-	9500 1750 9500 1950
 $Comp
 L power:+12V #PWR0175
 U 1 1 60094D63
-P 9500 1750
-F 0 "#PWR0175" H 9500 1600 50  0001 C CNN
-F 1 "+12V" H 9515 1923 50  0000 C CNN
-F 2 "" H 9500 1750 50  0001 C CNN
-F 3 "" H 9500 1750 50  0001 C CNN
-	1    9500 1750
+P 9500 1550
+F 0 "#PWR0175" H 9500 1400 50  0001 C CNN
+F 1 "+12V" H 9515 1723 50  0000 C CNN
+F 2 "" H 9500 1550 50  0001 C CNN
+F 3 "" H 9500 1550 50  0001 C CNN
+	1    9500 1550
 	1    0    0    -1  
 $EndComp
 Wire Wire Line
@@ -829,11 +824,6 @@ Wire Wire Line
 Connection ~ 9600 1650
 Wire Wire Line
 	9600 1650 9700 1650
-Connection ~ 9500 1350
-Wire Wire Line
-	9500 1550 9700 1550
-Wire Wire Line
-	9500 1350 9500 1550
 Wire Wire Line
 	9600 2150 9600 2050
 $Comp
@@ -880,102 +870,195 @@ PFET_DRAIN
 $Comp
 L Regulator_Linear:LM7805_TO220 U1
 U 1 1 60125424
-P 7900 5750
-F 0 "U1" H 7900 5992 50  0000 C CNN
-F 1 "LM7805" H 7900 5901 50  0000 C CNN
-F 2 "Package_TO_SOT_SMD:SOT-223-3_TabPin2" H 7900 5975 50  0001 C CIN
-F 3 "https://www.onsemi.cn/PowerSolutions/document/MC7800-D.PDF" H 7900 5700 50  0001 C CNN
-	1    7900 5750
+P 2450 5050
+F 0 "U1" H 2450 5292 50  0000 C CNN
+F 1 "LM7805" H 2450 5201 50  0000 C CNN
+F 2 "Package_TO_SOT_SMD:SOT-223-3_TabPin2" H 2450 5275 50  0001 C CIN
+F 3 "https://www.onsemi.cn/PowerSolutions/document/MC7800-D.PDF" H 2450 5000 50  0001 C CNN
+	1    2450 5050
 	1    0    0    -1  
 $EndComp
 $Comp
 L power:+5V #PWR0176
 U 1 1 601266A6
-P 8650 5750
-F 0 "#PWR0176" H 8650 5600 50  0001 C CNN
-F 1 "+5V" H 8665 5923 50  0000 C CNN
-F 2 "" H 8650 5750 50  0001 C CNN
-F 3 "" H 8650 5750 50  0001 C CNN
-	1    8650 5750
+P 3200 5050
+F 0 "#PWR0176" H 3200 4900 50  0001 C CNN
+F 1 "+5V" H 3215 5223 50  0000 C CNN
+F 2 "" H 3200 5050 50  0001 C CNN
+F 3 "" H 3200 5050 50  0001 C CNN
+	1    3200 5050
 	1    0    0    -1  
 $EndComp
 $Comp
 L power:+12V #PWR0177
 U 1 1 60126C51
-P 7250 5750
-F 0 "#PWR0177" H 7250 5600 50  0001 C CNN
-F 1 "+12V" H 7265 5923 50  0000 C CNN
-F 2 "" H 7250 5750 50  0001 C CNN
-F 3 "" H 7250 5750 50  0001 C CNN
-	1    7250 5750
+P 1800 5050
+F 0 "#PWR0177" H 1800 4900 50  0001 C CNN
+F 1 "+12V" H 1815 5223 50  0000 C CNN
+F 2 "" H 1800 5050 50  0001 C CNN
+F 3 "" H 1800 5050 50  0001 C CNN
+	1    1800 5050
 	1    0    0    -1  
 $EndComp
 $Comp
 L Device:CP C?
 U 1 1 6012703D
-P 8650 5900
+P 3200 5200
 AR Path="/6012703D" Ref="C?"  Part="1" 
 AR Path="/50FF13A8/6012703D" Ref="C7"  Part="1" 
-F 0 "C7" H 8700 6200 50  0000 L CNN
-F 1 "10u" V 8800 5850 50  0000 L CNN
-F 2 "Capacitor_THT:CP_Radial_D5.0mm_P2.50mm" H 8650 5900 60  0001 C CNN
-F 3 "" H 8650 5900 60  0001 C CNN
-F 4 "RS703-7396" H 8650 5900 60  0001 C CNN "Reference"
-F 5 "0.864" H 8650 5900 60  0001 C CNN "prix"
-	1    8650 5900
+F 0 "C7" H 3250 5500 50  0000 L CNN
+F 1 "10u" V 3350 5150 50  0000 L CNN
+F 2 "Capacitor_THT:CP_Radial_D5.0mm_P2.50mm" H 3200 5200 60  0001 C CNN
+F 3 "" H 3200 5200 60  0001 C CNN
+F 4 "RS703-7396" H 3200 5200 60  0001 C CNN "Reference"
+F 5 "0.864" H 3200 5200 60  0001 C CNN "prix"
+	1    3200 5200
 	1    0    0    -1  
 $EndComp
 $Comp
 L Device:C C?
 U 1 1 6012763F
-P 8200 5900
+P 2750 5200
 AR Path="/6012763F" Ref="C?"  Part="1" 
 AR Path="/50FF13A8/6012763F" Ref="C6"  Part="1" 
-F 0 "C6" H 8350 6100 50  0000 L CNN
-F 1 "100n" H 8350 6000 50  0000 L CNN
-F 2 "Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder" H 8550 5900 60  0001 C CNN
-F 3 "" H 8200 5900 60  0001 C CNN
-	1    8200 5900
+F 0 "C6" H 2900 5400 50  0000 L CNN
+F 1 "100n" H 2900 5300 50  0000 L CNN
+F 2 "Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder" H 3100 5200 60  0001 C CNN
+F 3 "" H 2750 5200 60  0001 C CNN
+	1    2750 5200
 	1    0    0    -1  
 $EndComp
 Wire Wire Line
-	8200 5750 8650 5750
-Connection ~ 8200 5750
+	2750 5050 3200 5050
+Connection ~ 2750 5050
 Wire Wire Line
-	8650 6050 8200 6050
-Connection ~ 7900 6050
+	3200 5350 2750 5350
+Connection ~ 2450 5350
 Wire Wire Line
-	7900 6050 7250 6050
-Connection ~ 8200 6050
+	2450 5350 1800 5350
+Connection ~ 2750 5350
 Wire Wire Line
-	8200 6050 7900 6050
+	2750 5350 2450 5350
 Wire Wire Line
-	7250 5750 7600 5750
-Connection ~ 7250 5750
-Connection ~ 8650 5750
+	1800 5050 2150 5050
+Connection ~ 1800 5050
+Connection ~ 3200 5050
 $Comp
 L Device:C C?
 U 1 1 60127A01
-P 7250 5900
+P 1800 5200
 AR Path="/60127A01" Ref="C?"  Part="1" 
 AR Path="/50FF13A8/60127A01" Ref="C5"  Part="1" 
-F 0 "C5" H 7400 6100 50  0000 L CNN
-F 1 "100n" H 7400 6000 50  0000 L CNN
-F 2 "Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder" H 7600 5900 60  0001 C CNN
-F 3 "" H 7250 5900 60  0001 C CNN
-	1    7250 5900
+F 0 "C5" H 1950 5400 50  0000 L CNN
+F 1 "330n" H 1950 5300 50  0000 L CNN
+F 2 "Capacitor_SMD:C_0805_2012Metric_Pad1.18x1.45mm_HandSolder" H 2150 5200 60  0001 C CNN
+F 3 "" H 1800 5200 60  0001 C CNN
+	1    1800 5200
 	1    0    0    -1  
 $EndComp
 $Comp
 L power:GND #PWR0179
 U 1 1 600EBFC5
-P 7250 6050
-F 0 "#PWR0179" H 7250 5800 50  0001 C CNN
-F 1 "GND" H 7255 5877 50  0000 C CNN
-F 2 "" H 7250 6050 50  0001 C CNN
-F 3 "" H 7250 6050 50  0001 C CNN
-	1    7250 6050
+P 1800 5350
+F 0 "#PWR0179" H 1800 5100 50  0001 C CNN
+F 1 "GND" H 1805 5177 50  0000 C CNN
+F 2 "" H 1800 5350 50  0001 C CNN
+F 3 "" H 1800 5350 50  0001 C CNN
+	1    1800 5350
 	1    0    0    -1  
 $EndComp
-Connection ~ 7250 6050
+Connection ~ 1800 5350
+$Comp
+L power:+5V #PWR?
+U 1 1 60130758
+P 9500 1950
+F 0 "#PWR?" H 9500 1800 50  0001 C CNN
+F 1 "+5V" H 9515 2123 50  0000 C CNN
+F 2 "" H 9500 1950 50  0001 C CNN
+F 3 "" H 9500 1950 50  0001 C CNN
+	1    9500 1950
+	1    0    0    -1  
+$EndComp
+Wire Wire Line
+	9500 1550 9700 1550
+Wire Wire Line
+	9500 1550 9500 1750
+Connection ~ 9500 1550
+$Comp
+L power:LINE #PWR?
+U 1 1 6013AC53
+P 1200 2250
+F 0 "#PWR?" H 1200 2100 50  0001 C CNN
+F 1 "LINE" H 1215 2423 50  0000 C CNN
+F 2 "" H 1200 2250 50  0001 C CNN
+F 3 "" H 1200 2250 50  0001 C CNN
+	1    1200 2250
+	1    0    0    -1  
+$EndComp
+$Comp
+L Device:Polyfuse F?
+U 1 1 6013BA9D
+P 1700 2700
+F 0 "F?" V 1475 2700 50  0000 C CNN
+F 1 "2A" V 1566 2700 50  0000 C CNN
+F 2 "" H 1750 2500 50  0001 L CNN
+F 3 "~" H 1700 2700 50  0001 C CNN
+	1    1700 2700
+	0    1    1    0   
+$EndComp
+Wire Wire Line
+	1850 2700 1950 2700
+Wire Wire Line
+	1950 2700 1950 2850
+Connection ~ 1950 2850
+Wire Wire Line
+	1950 2850 2200 2850
+Wire Wire Line
+	1550 2700 1450 2700
+Wire Wire Line
+	1450 2700 1450 2850
+Connection ~ 1450 2850
+$Comp
+L Device:Jumper JP?
+U 1 1 60146B55
+P 1200 2550
+F 0 "JP?" V 1154 2677 50  0000 L CNN
+F 1 "AC" V 1245 2677 50  0000 L CNN
+F 2 "" H 1200 2550 50  0001 C CNN
+F 3 "~" H 1200 2550 50  0001 C CNN
+	1    1200 2550
+	0    1    1    0   
+$EndComp
+Wire Wire Line
+	1050 2850 1200 2850
+Connection ~ 1200 2850
+Wire Wire Line
+	1200 2850 1450 2850
+$Comp
+L Device:Jumper JP?
+U 1 1 6014CA6B
+P 1200 3250
+F 0 "JP?" V 1246 3162 50  0000 R CNN
+F 1 "AC" V 1155 3162 50  0000 R CNN
+F 2 "" H 1200 3250 50  0001 C CNN
+F 3 "~" H 1200 3250 50  0001 C CNN
+	1    1200 3250
+	0    -1   -1   0   
+$EndComp
+Wire Wire Line
+	1050 2950 1200 2950
+Connection ~ 1200 2950
+Wire Wire Line
+	1200 2950 2700 2950
+$Comp
+L power:NEUT #PWR?
+U 1 1 60152DC7
+P 1200 3550
+F 0 "#PWR?" H 1200 3400 50  0001 C CNN
+F 1 "NEUT" H 1215 3723 50  0000 C CNN
+F 2 "" H 1200 3550 50  0001 C CNN
+F 3 "" H 1200 3550 50  0001 C CNN
+	1    1200 3550
+	-1   0    0    1   
+$EndComp
 $EndSCHEMATC
diff --git a/power/matemat_power-cache.lib b/power/matemat_power-cache.lib
index 5b234c9..e506c55 100644
--- a/power/matemat_power-cache.lib
+++ b/power/matemat_power-cache.lib
@@ -220,6 +220,28 @@ X ~ 2 0 -150 50 U 50 50 1 1 P
 ENDDRAW
 ENDDEF
 #
+# Device_Jumper
+#
+DEF Device_Jumper JP 0 30 Y N 1 F N
+F0 "JP" 0 150 50 H V C CNN
+F1 "Device_Jumper" 0 -80 50 H V C CNN
+F2 "" 0 0 50 H I C CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ SolderJumper*
+ Jumper*
+ TestPoint*2Pads*
+ TestPoint*Bridge*
+$ENDFPLIST
+DRAW
+A 0 -26 125 1426 373 0 1 0 N -98 50 99 50
+C -100 0 35 0 1 0 N
+C 100 0 35 0 1 0 N
+X 1 1 -300 0 165 R 50 50 0 1 P
+X 2 2 300 0 165 L 50 50 0 1 P
+ENDDRAW
+ENDDEF
+#
 # Device_L
 #
 DEF Device_L L 0 40 N N 1 F N
@@ -243,6 +265,26 @@ X 2 2 0 -150 50 U 50 50 1 1 P
 ENDDRAW
 ENDDEF
 #
+# Device_Polyfuse
+#
+DEF Device_Polyfuse F 0 0 N Y 1 F N
+F0 "F" -100 0 50 V V C CNN
+F1 "Device_Polyfuse" 100 0 50 V V C CNN
+F2 "" 50 -200 50 H I L CNN
+F3 "" 0 0 50 H I C CNN
+$FPLIST
+ *polyfuse*
+ *PTC*
+$ENDFPLIST
+DRAW
+S -30 100 30 -100 0 1 10 N
+P 2 0 1 0 0 100 0 -100 N
+P 4 0 1 0 -60 100 -60 60 60 -60 60 -100 N
+X ~ 1 0 150 50 D 50 50 1 1 P
+X ~ 2 0 -150 50 U 50 50 1 1 P
+ENDDRAW
+ENDDEF
+#
 # Device_Q_NPN_BCE
 #
 DEF Device_Q_NPN_BCE Q 0 0 Y N 1 F N
diff --git a/uncanny/can.go b/uncanny/can.go
index 4ea4f80..2b696ef 100644
--- a/uncanny/can.go
+++ b/uncanny/can.go
@@ -7,8 +7,12 @@ import (
 	"github.com/brutella/can"
 )
 
+const queueSize = 10
+
 type Can struct {
 	bus       *can.Bus
+	queue     chan func()
+
 	swstate   FeedbackMessage
 	dispstate int
 }
@@ -20,112 +24,154 @@ func NewCan(intf string) (*Can, error) {
 	}
 	can := &Can{
 		bus:       bus,
+		queue:     make(chan func(), queueSize),
 		dispstate: -1,
 	}
 	bus.Subscribe(can)
 	return can, nil
 }
 
-func (c *Can) Start() {
-	go func() {
-		// send the init sequence, but (hopefully) defer until after we start listening
-		// FIXME this is inherently racy :(
-		go c.initialize()
-		// ConnectAndPublish will block, so we'll just leave the Printf hanging here
-		log.Printf("CAN bus shut down: %v", c.bus.ConnectAndPublish())
-	}()
+func (c *Can) Start() error {
+	go c.process()
+	log.Printf("Starting bus listener")
+	return c.bus.ConnectAndPublish()
 }
 
-func (c *Can) Stop() {
-	c.bus.Disconnect()
+func (c *Can) process() {
+	running := true
+	log.Printf("Starting processing queue")
+	for running {
+		select {
+		case fn, ok := <-c.queue:
+			if ok {
+				fn()
+			} else {
+				running = false
+			}
+		}
+	}
+	for range c.queue {}
+	log.Printf("Processing queue shut down")
+}
+
+func (c *Can) Stop() error {
+	log.Printf("Shutting down processing queue and bus listener")
+	close(c.queue)
+	return c.bus.Disconnect()
 }
 
 func (c *Can) Handle(frame can.Frame) {
-	log.Printf("Got CAN frame to 0x%08x", frame.ID)
-	typ, obj, err := DecodeMessage(frame)
-	if err != nil {
-		if err == UnsupportedMessageType {
-			log.Printf("Unsupported message type: 0x%08x", frame.ID)
-		} else {
-			log.Printf("Cannot decode message: %v", err)
-		}
-	} else {
-		switch typ {
-		case MessageTypeFeedback:
-			log.Printf("Got feedback message: %+v", obj.(FeedbackMessage))
-			log.Printf("Data: 0x%02x 0x%02x", frame.Data[0], frame.Data[1])
-			c.swstate = obj.(FeedbackMessage)
-			// when all end switches are off: send stop command
-			if !c.swstate.EndD && !c.swstate.EndE && !c.swstate.EndF && !c.swstate.EndG && !c.swstate.EndH {
-				log.Printf("All end switches off, stopping dispenser")
-				c.Cancel()
+	c.queue <- func() {
+		log.Printf("Got CAN frame to 0x%08x", frame.ID)
+		typ, obj, err := DecodeMessage(frame)
+		if err != nil {
+			if err == UnsupportedMessageType {
+				log.Printf("Unsupported message type: 0x%08x", frame.ID)
+			} else {
+				log.Printf("Cannot decode message: %v", err)
+			}
+		} else {
+			switch typ {
+			case MessageTypeFeedback:
+				log.Printf("Got feedback message: %+v", obj.(FeedbackMessage))
+				log.Printf("Data: 0x%02x 0x%02x", frame.Data[0], frame.Data[1])
+				c.swstate = obj.(FeedbackMessage)
+				// when all end switches are off: send stop command
+				if !c.swstate.EndD && !c.swstate.EndE && !c.swstate.EndF && !c.swstate.EndG && !c.swstate.EndH {
+					log.Printf("All end switches off, stopping dispenser")
+					c.Cancel()
+				}
+			case MessageTypeFeedbackRequest:
+				// ignore
+			case MessageTypePower:
+				log.Printf("Got power message: %+v", obj.(PowerMessage))
+				// ignore
+			case MessageTypePowerRequest:
+				// ignore
+			case MessageTypeDispense:
+				log.Printf("Got dispense message: %+v", obj.(DispenseMessage))
+				c.dispstate = obj.(DispenseMessage).Slot
+			case MessageTypeAuto:
+				// ignore
 			}
-		case MessageTypeFeedbackRequest:
-			// ignore
-		case MessageTypePower:
-			log.Printf("Got power message: %+v", obj.(PowerMessage))
-			// ignore
-		case MessageTypePowerRequest:
-			// ignore
-		case MessageTypeDispense:
-			log.Printf("Got dispense message: %+v", obj.(DispenseMessage))
-			c.dispstate = obj.(DispenseMessage).Slot
-		case MessageTypeAuto:
-			// ignore
 		}
 	}
 }
 
 func (c *Can) IsEmpty(slot int) bool {
-	switch (slot) {
-	case 0:
-		return c.swstate.EmptyD
-	case 1:
-		return c.swstate.EmptyE
-	case 2:
-		return c.swstate.EmptyF
-	case 3:
-		return c.swstate.EmptyG
-	case 4:
-		return c.swstate.EmptyH
+	ret := make(chan bool)
+	c.queue <- func() {
+		switch (slot) {
+		case 0:
+			ret <- c.swstate.EmptyD
+		case 1:
+			ret <- c.swstate.EmptyE
+		case 2:
+			ret <- c.swstate.EmptyF
+		case 3:
+			ret <- c.swstate.EmptyG
+		case 4:
+			ret <- c.swstate.EmptyH
+		}
+		ret <- false
 	}
-	return false
+	return <-ret
 }
 
 func (c *Can) IsDispensing(slot int) bool {
-	switch (slot) {
-	case 0:
-		return c.swstate.EndD
-	case 1:
-		return c.swstate.EndE
-	case 2:
-		return c.swstate.EndF
-	case 3:
-		return c.swstate.EndG
-	case 4:
-		return c.swstate.EndH
+	ret := make(chan bool)
+	c.queue <- func() {
+		switch (slot) {
+		case 0:
+			ret <- c.swstate.EndD
+		case 1:
+			ret <- c.swstate.EndE
+		case 2:
+			ret <- c.swstate.EndF
+		case 3:
+			ret <- c.swstate.EndG
+		case 4:
+			ret <- c.swstate.EndH
+		}
+		ret <- false
 	}
-	return false
+	return <-ret
 }
 
 func (c *Can) ActiveDispenser() int {
-	return c.dispstate
+	ret := make(chan int)
+	c.queue <- func() {
+		ret <- c.dispstate
+	}
+	return <- ret
 }
 
-func (c *Can) Dispense(slot int) error {
-	log.Printf("Starting dispense on slot %d", slot)
-	return c.bus.Publish(DispenseMessage{slot}.Encode())
+func (c *Can) Dispense(slot int) {
+	c.queue <- func() {
+		log.Printf("Starting dispense on slot %d", slot)
+		err := c.bus.Publish(DispenseMessage{slot}.Encode())
+		if err != nil {
+			log.Printf("Error sending dispense command: %v", err)
+		}
+	}
 }
 
-func (c *Can) Cancel() error {
-	log.Printf("Stopping dispense")
-	return c.bus.Publish(DispenseMessage{DispenseSlotOff}.Encode())
+func (c *Can) Cancel() {
+	c.queue <- func() {
+		log.Printf("Stopping dispense")
+		err := c.bus.Publish(DispenseMessage{DispenseSlotOff}.Encode())
+		if err != nil {
+			log.Printf("Error sending stop command: %v", err)
+		}
+	}
 }
 
-func (c *Can) initialize() {
-	log.Printf("Initializing")
-	// enable automatic status updates
-	c.bus.Publish(AutoMessage{true}.Encode())
-	c.bus.Publish(RequestFeedbackMessage())
-	c.bus.Publish(RequestPowerMessage())
+func (c *Can) Initialize() {
+	c.queue <- func() {
+		log.Printf("Initializing devices")
+		// enable automatic status updates
+		c.bus.Publish(AutoMessage{true}.Encode())
+		c.bus.Publish(RequestFeedbackMessage())
+		c.bus.Publish(RequestPowerMessage())
+	}
 }
diff --git a/uncanny/cmd/uncanny/main.go b/uncanny/cmd/uncanny/main.go
index bdb88b5..f2475e0 100644
--- a/uncanny/cmd/uncanny/main.go
+++ b/uncanny/cmd/uncanny/main.go
@@ -4,6 +4,7 @@ import (
 	"flag"
 	"git.kabelsalat.ch/seto/matemat/uncanny"
 	"log"
+	"sync"
 )
 
 const (
@@ -21,7 +22,20 @@ func main() {
 	if err != nil {
 		log.Fatal(err)
 	}
-	server := uncanny.NewServer(can)
+	server := uncanny.NewServer(can, addr)
 	can.Start()
-	log.Fatal(server.ListenAndServe(addr))
+	wg := sync.WaitGroup{}
+	wg.Add(2)
+	go func() {
+		log.Printf("Server exited: %v", server.Start())
+		wg.Done()
+		can.Stop()
+	}()
+	go func() {
+		log.Printf("Bus listener exited: %v", can.Start())
+		wg.Done()
+		server.Stop()
+	}()
+	wg.Wait()
+	log.Printf("Shut down")
 }
diff --git a/uncanny/server.go b/uncanny/server.go
index bc1035d..99019b4 100644
--- a/uncanny/server.go
+++ b/uncanny/server.go
@@ -15,15 +15,20 @@ const (
 
 type Server struct {
 	*http.ServeMux
+	srv *http.Server
 	can *Can
 }
 
-func NewServer(can *Can) *Server {
+func NewServer(can *Can, addr string) *Server {
 	ret := &Server{
 		ServeMux: http.NewServeMux(),
 		can:      can,
+		srv:      &http.Server{
+			Addr: addr,
+		},
 	}
 	ret.registerHandlers()
+	ret.srv.Handler = ret
 	return ret
 }
 
@@ -39,17 +44,10 @@ func (s *Server) registerHandlers() {
 				log.Printf("Invalid slot number: %d", slot)
 				http.Error(rw, http.StatusText(http.StatusBadRequest), http.StatusBadRequest)
 			} else {
-				err = s.can.Dispense(int(slot))
-				if err != nil {
-					log.Printf("Error sending dispense command: %v", err)
-					rw.Header().Set("Content-Type", "text/plain")
-					rw.WriteHeader(http.StatusServiceUnavailable)
-					fmt.Fprintf(rw, "%d error", slot)
-				} else {
-					rw.Header().Set("Content-Type", "text/plain")
-					rw.WriteHeader(http.StatusOK)
-					fmt.Fprintf(rw, "%d dispense", slot)
-				}
+				s.can.Dispense(int(slot))
+				rw.Header().Set("Content-Type", "text/plain")
+				rw.WriteHeader(http.StatusOK)
+				fmt.Fprintf(rw, "%d dispensing", slot)
 			}
 		} else {
 			log.Printf("Mismatched path: %s", r.URL.Path)
@@ -57,17 +55,10 @@ func (s *Server) registerHandlers() {
 		}
 	})
 	s.HandleFunc("/stop", func(rw http.ResponseWriter, r *http.Request) {
-		err := s.can.Cancel()
-		if err != nil {
-			log.Printf("Error sending stop command: %v", err)
-			rw.Header().Set("Content-Type", "text/plain")
-			rw.WriteHeader(http.StatusServiceUnavailable)
-			fmt.Fprintf(rw, "error")
-		} else {
-			rw.Header().Set("Content-Type", "text/plain")
-			rw.WriteHeader(http.StatusOK)
-			fmt.Fprintf(rw, "stopped")
-		}
+		s.can.Cancel()
+		rw.Header().Set("Content-Type", "text/plain")
+		rw.WriteHeader(http.StatusOK)
+		fmt.Fprintf(rw, "stopping")
 	})
 	s.HandleFunc("/level/", func(rw http.ResponseWriter, r *http.Request) {
 		if matched, _ := path.Match("/level/[0-9]*", r.URL.Path); matched {
@@ -117,6 +108,11 @@ func (s *Server) registerHandlers() {
 	})
 }
 
-func (s *Server) ListenAndServe(addr string) error {
-	return http.ListenAndServe(addr, s)
+func (s *Server) Start() error {
+	log.Printf("Listening on %v", s.srv.Addr)
+	return s.srv.ListenAndServe()
+}
+
+func (s *Server) Stop() error {
+	return s.srv.Close()
 }