diff --git a/firmware/src/main.rs b/firmware/src/main.rs
index ca64956..61eaa93 100644
--- a/firmware/src/main.rs
+++ b/firmware/src/main.rs
@@ -5,21 +5,24 @@ use embassy_executor::Spawner;
 use embassy_time::Timer;
 use esp_backtrace as _;
 use esp_hal::{
-
-    clock::Clocks,
-    gpio::{Io, Level, Output},
-    mcpwm::PeripheralClockConfig,
-    timer::timg::TimerGroup,
-};
-use esp_println::println;
-
     clock::Clocks, gpio::{Io, Level, Output}, mcpwm::PeripheralClockConfig, timer::timg::TimerGroup
 };
 use esp_println::println;
-use esp_wifi::current_millis;
+use fugit::RateExtU32;
+use esp_hal::mcpwm::McPwm;
+use esp_hal::mcpwm::timer::PwmWorkingMode;
+use esp_hal::mcpwm::operator::PwmPinConfig;
+
+#[esp_hal_embassy::main]
+async fn main(_spawner: Spawner) {
+    esp_println::logger::init_logger_from_env();
+    let peripherals = esp_hal::init(esp_hal::Config::default());
 
+    let timg0 = TimerGroup::new(peripherals.TIMG0);
+    esp_hal_embassy::init(timg0.timer0);
+
+    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
-    let mut led = Output::new(io.pins.gpio17, Level::Low);
     let mut led = Output::new(io.pins.gpio18, Level::Low);
     // add these
     let motor_hi_pin = io.pins.gpio13;
@@ -40,76 +43,67 @@ use esp_wifi::current_millis;
         PwmPinConfig::UP_ACTIVE_HIGH,
     );
 
-    let cur_motor_value = 255;
-    motor_hi.set_timestamp(cur_motor_value);
+    motor_hi.set_timestamp(180);
     motor_lo.set_timestamp(0);
 
-
-        // Toggle LED
-        led.toggle();
-
-        if increasing && l_r {
-            duty_cycle -= step;
-            println!("fast!");
-
-            if duty_cycle <= 0 {
-                increasing = false;
-            }
-            motor_hi.set_timestamp(255 - duty_cycle);
-            motor_lo.set_timestamp(duty_cycle);
-        } else if !increasing && l_r {
-            println!("slow");
-            duty_cycle += step;
-            if duty_cycle >= 60 {
-                increasing = true;
-                l_r = false
+    let mut status = 0;//speed up 1 and slowing down 0
+    let mut direction = 0;//spin sirection.
+    let mut pin13= 255;
+    let mut pin14 = 0;
+    let maximum =255;
+    let minimum = 180;
+
+    loop {
+        //println!("Hello, World!");
+        //led.toggle();
+        //Timer::after_millis(1_000).await;
+
+
+        if status == 0 && direction == 0 {
+            pin13 -= 1;
+            if pin13 <= minimum {
+                direction = 1;
+                status = 1;
+                pin13 = 0;
+                pin14 = 180;
+                Timer::after_millis(50).await;
             }
-            motor_lo.set_timestamp(duty_cycle);
-            motor_hi.set_timestamp(255 - duty_cycle);
-        } else if increasing && !l_r {
-            println!("away fast!");
-            duty_cycle -= step;
-            if duty_cycle <= 0 {
-                increasing = false;
-            }
-            motor_hi.set_timestamp(duty_cycle);
-            motor_lo.set_timestamp(255 - duty_cycle);
-
         }
 
-        else if !increasing && !l_r {
-            println!("away slow!");
-            duty_cycle += step;
-            if duty_cycle >= 60 {
-                increasing = true;
-                l_r = true;
+        if status == 1 && direction == 1 {
+            pin14 += 1;
+            if pin14 >= maximum {
+                direction = 1;
+                status = 0;
             }
-            motor_hi.set_timestamp(duty_cycle);
-            motor_lo.set_timestamp(255 - duty_cycle);
+        }
 
+        if status == 0 && direction == 1 {
+            pin14 -= 1;
+            if pin14 <= minimum {
+                direction = 0;
+                status = 1;
+                pin14 = 0;
+                pin13 = 180;
+                Timer::after_millis(50).await;
+            }
         }
 
-        Timer::after_millis(500).await;
+        if status == 1 && direction == 0 {
+            pin13 += 1;
+            if pin13 >= maximum {
+                direction = 0;
+                status = 0;
+            }
+        }
+        motor_hi.set_timestamp(pin13);
+        motor_lo.set_timestamp(pin14);
 
-        // println!("Hello, World!");
-        // led.toggle();
-        // Timer::after_millis(1_000).await;
+        
 
-        for cur_motor_value in (0..=255).rev() {
-            motor_hi.set_timestamp(cur_motor_value);
-            motor_lo.set_timestamp(0);
-            Timer::after_millis(10).await;
-        }
 
-        Timer::after_millis(100).await; 
+        Timer::after_millis(50).await;
         
-        for cur_motor_value in (0..=255).rev() {
-            motor_hi.set_timestamp(0);
-            motor_lo.set_timestamp(cur_motor_value);
-            Timer::after_millis(10).await; 
-        }
-    
-        Timer::after_millis(100).await;
 
     }
 }