diff --git a/automata/Eva.py b/automata/Eva.py
index d831a7e..a17a1e3 100644
--- a/automata/Eva.py
+++ b/automata/Eva.py
@@ -162,9 +162,9 @@ def control_run(self, loop=1, wait_for_ready=True):
         return self.__http_client.control_run(loop=1, wait_for_ready=True)
 
 
-    def control_go_to(self, joints, wait_for_ready=True):
+    def control_go_to(self, joints, wait_for_ready=True, velocity=None, time=None):
         self.__logger.debug('Eva.control_go_to called')
-        return self.__http_client.control_go_to(joints, wait_for_ready=True)
+        return self.__http_client.control_go_to(joints, wait_for_ready=wait_for_ready, velocity=velocity, time=time)
 
 
     def control_pause(self, wait_for_paused=True):
diff --git a/automata/eva_http_client.py b/automata/eva_http_client.py
index 98ed07d..14a5587 100644
--- a/automata/eva_http_client.py
+++ b/automata/eva_http_client.py
@@ -251,8 +251,15 @@ def control_run(self, loop=1, wait_for_ready=True):
             self.control_wait_for(RobotState.READY)
 
 
-    def control_go_to(self, joints, wait_for_ready=True):
-        r = self.api_call('POST', 'controls/go_to', json.dumps({'joints': joints}))
+    def control_go_to(self, joints, wait_for_ready=True, velocity=None, time=None):
+        if velocity is not None:
+            body = json.dumps({'joints': joints, 'velocity': velocity})
+        elif time is not None:
+            body = json.dumps({'joints': joints, 'time': time})
+        else:
+            body = json.dumps({'joints': joints})
+
+        r = self.api_call('POST', 'controls/go_to', body)
         if r.status_code != 200:
             eva_error('control_go_to error', r)
         elif wait_for_ready: