diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h
index d95df7efd..7e8948724 100644
--- a/ESP-IDF_Robot/main/rc.h
+++ b/ESP-IDF_Robot/main/rc.h
@@ -118,10 +118,18 @@ static void update_pwm (int rc_x, int rc_y) {
     // Pass PWM values to the proper DC motors depending on the joystick y-axis position
     // Forward
     if (y_val > y_centered) {
-        m.
+        m.motor1_rpm_pcm = motor_a_speed;
+        m.motor2_rpm_pcm = motor_b_speed;
+        m.motor3_rpm_pcm = 0;
+        m.motor4_rpm_pcm = 0;
     }
     // Reverse
-    if (y_val < y_centered) {}
+    if (y_val < y_centered) {
+        m.motor1_rpm_pcm = motor_a_speed;
+        m.motor2_rpm_pcm = motor_b_speed;
+        m.motor3_rpm_pcm = 0;
+        m.motor4_rpm_pcm = 0;
+    }
 
 
     /*