diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index eba76c0..0cbff79 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -262,12 +262,15 @@ bool CustomRobot::processOacCmd(const std::string& cmd, const nlohmann::json& me
     
     try {
         if (cmd == "SwitchSet") {
-            if (!message.contains("param") || !message["param"].contains("enable")) {
-                LOG_ERROR("SwitchSet cmd missing 'enable' parameter");
+            // get current state
+            bool currentEnable = false;
+            if (!controller_->SwitchGet(currentEnable)) {
+                LOG_ERROR("Failed to get current switch state");
                 return false;
             }
-            bool enable = message["param"]["enable"];
-            return controller_->SwitchSet(enable);
+            
+            // switch to opposite state
+            return controller_->SwitchSet(!currentEnable);
             
         } else if (cmd == "SwitchGet") {
             bool enable = false;