diff --git a/examples/joystick.py b/examples/joystick.py
index 9a2e1c08be..26bfa24e12 100755
--- a/examples/joystick.py
+++ b/examples/joystick.py
@@ -3,6 +3,7 @@
 import threading
 import argparse
 import numpy as np
+from pprint import pprint
 from inputs import get_gamepad
 
 from kbhit import KBHit
@@ -78,20 +79,15 @@ def joystick_thread(joystick):
 
 def main(joystick):
   threading.Thread(target=joystick_thread, args=(joystick,), daemon=True).start()
-  with PandaRunner() as (p, CI):
+  with PandaRunner() as p:
     CC = CarControl(enabled=False)
     while True:
-      cd = [CanData(addr, dat, bus) for addr, dat, bus in p.can_recv()]
-      CI.update([0, cd])
-
       CC.actuators.accel = float(4.0*np.clip(joystick.axes_values['gb'], -1, 1))
       CC.actuators.steer = float(np.clip(joystick.axes_values['steer'], -1, 1))
-
-      from pprint import pprint
       pprint(CC)
 
-      _, can_sends = CI.apply(CC)
-      p.can_send_many(can_sends, timeout=1000)
+      p.read()
+      p.write(CC)
 
       # 100Hz
       time.sleep(0.01)
diff --git a/opendbc/car/panda_runner.py b/opendbc/car/panda_runner.py
index 2e6221decb..598ff51e4a 100644
--- a/opendbc/car/panda_runner.py
+++ b/opendbc/car/panda_runner.py
@@ -4,7 +4,7 @@
 from panda import Panda
 from opendbc.car.car_helpers import get_car
 from opendbc.car.can_definitions import CanData
-from opendbc.car.structs import CarControl
+from opendbc.car.structs import CarParams, CarControl
 
 class PandaRunner(AbstractContextManager):
   def __enter__(self):
@@ -14,12 +14,12 @@ def __enter__(self):
     # setup + fingerprinting
     self.p.set_safety_mode(Panda.SAFETY_ELM327, 1)
     self.CI = get_car(self._can_recv, self.p.can_send_many, self.p.set_obd, True)
-    print("fingerprinted", self.CI.CP.carName)
-    assert self.CI.CP.carFingerprint != "mock", "Unable to identify car. Check connections and ensure car is supported."
+    assert self.CI.CP.carFingerprint.lower() != "mock", "Unable to identify car. Check connections and ensure car is supported."
 
+    safety_model = list(CarParams.SafetyModel).index(self.CI.CP.safetyConfigs[0].safetyModel)
     self.p.set_safety_mode(Panda.SAFETY_ELM327, 1)
     self.CI.init(self.CI.CP, self._can_recv, self.p.can_send_many)
-    self.p.set_safety_mode(Panda.SAFETY_TOYOTA, self.CI.CP.safetyConfigs[0].safetyParam)
+    self.p.set_safety_mode(safety_model, self.CI.CP.safetyConfigs[0].safetyParam)
 
     return self