diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h
index f6760e975..7dc20ea6f 100644
--- a/ESP-IDF_Robot/main/rc.h
+++ b/ESP-IDF_Robot/main/rc.h
@@ -99,9 +99,23 @@ static void update_pwm (int rc_x, int rc_y) {
     }*/
 
     // Smooth update
+    // All forward directions
     if (y >= 1500) {
-        m.motor1_rpm_pcm = y - x;
-        m.motor2_rpm_pcm = ;
+        m.motor1_rpm_pcm = y - x;   // Left side motors, forward
+        m.motor2_rpm_pcm = y + x;   // Right side motors, forward
+        m.motor3_rpm_pcm = 0;
+        m.motor4_rpm_pcm = 0;
+    }
+    // All reverse directions
+    if (y <= -1500) {
+        m.motor1_rpm_pcm = 0;   
+        m.motor2_rpm_pcm = 0;   
+        m.motor3_rpm_pcm = -(y - x);   // Left side motors, reverse
+        m.motor4_rpm_pcm = -(y + x);   // Right side motors, reverse
+    }
+    // Rotations
+    if (y < 1500) && (y > 1500) {
+
     }
     // -------------