diff --git a/config.h b/config.h
index a20bf05..6758ac5 100644
--- a/config.h
+++ b/config.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#define PWM_FREQ            16000     // PWM frequency in Hz
+#define PWM_FREQ            10000     // PWM frequency in Hz
 #define DEAD_TIME              48     // PWM deadtime
 #ifdef VARIANT_TRANSPOTTER
   #define DELAY_IN_MAIN_LOOP    2
diff --git a/defines.h b/defines.h
index 13f2a06..8b6687b 100644
--- a/defines.h
+++ b/defines.h
@@ -39,22 +39,25 @@
 #define RIGHT_HALL_W_PORT GPIOC
 
 #define LEFT_TIM TIM8
+
 #define LEFT_TIM_U CCR1
 #define LEFT_TIM_UH_PIN GPIO_PIN_6
 #define LEFT_TIM_UH_PORT GPIOC
 #define LEFT_TIM_UL_PIN GPIO_PIN_7
 #define LEFT_TIM_UL_PORT GPIOA
+
 #define LEFT_TIM_V CCR2
-#define LEFT_TIM_VH_PIN GPIO_PIN_7
-#define LEFT_TIM_VH_PORT GPIOC
-#define LEFT_TIM_VL_PIN GPIO_PIN_0
-#define LEFT_TIM_VL_PORT GPIOB
-#define LEFT_TIM_W CCR3
-#define LEFT_TIM_WH_PIN GPIO_PIN_8
+#define LEFT_TIM_WH_PIN GPIO_PIN_7
 #define LEFT_TIM_WH_PORT GPIOC
-#define LEFT_TIM_WL_PIN GPIO_PIN_1
+#define LEFT_TIM_WL_PIN GPIO_PIN_0
 #define LEFT_TIM_WL_PORT GPIOB
 
+#define LEFT_TIM_W CCR3
+#define LEFT_TIM_VH_PIN GPIO_PIN_8
+#define LEFT_TIM_VH_PORT GPIOC
+#define LEFT_TIM_VL_PIN GPIO_PIN_1
+#define LEFT_TIM_VL_PORT GPIOB
+
 #define RIGHT_TIM TIM1
 #define RIGHT_TIM_U CCR1
 #define RIGHT_TIM_UH_PIN GPIO_PIN_8
diff --git a/main.cpp b/main.cpp
index 1275bed..1dce694 100644
--- a/main.cpp
+++ b/main.cpp
@@ -215,24 +215,24 @@ int main()
     int pwm = 0;
     int8_t dir = 1;
 
-    const int pwmMax = 1000;
+    const int pwmMax = 400;
 
     for (;;) {
-        HAL_Delay(DELAY_IN_MAIN_LOOP * 2); //delay in ms
+        HAL_Delay(DELAY_IN_MAIN_LOOP ); //delay in ms
 
         timeout = 0;
 
-        left.state.enable = false;
-        left.state.ctrlMod = ControlMode::Voltage;
-        left.state.ctrlTyp = ControlType::Sinusoidal;
+        left.state.enable = true;
+        left.state.ctrlMod = ControlMode::Voltage;//FieldOrientedControl
+        left.state.ctrlTyp = ControlType::FieldOrientedControl;//Sinusoidal;
         left.state.pwm = pwm;
-        left.state.iMotMax = 1;
+        left.state.iMotMax = 10;
 
         right.state.enable = true;
         right.state.ctrlMod = ControlMode::Voltage;
-        right.state.ctrlTyp = ControlType::Sinusoidal;
+        right.state.ctrlTyp = ControlType::FieldOrientedControl;
         right.state.pwm = pwm;
-        right.state.iMotMax = 1;
+        right.state.iMotMax = 10;
 
         pwm += dir;
         if (pwm > pwmMax) {
@@ -288,13 +288,13 @@ void updateMotors()
     }
 
     // Get Left motor currents
-    int16_t curL_phaA = (int16_t)(offsetrl1 - adc_buffer.rl1);
-    int16_t curL_phaB = (int16_t)(offsetrl2 - adc_buffer.rl2);
+    int16_t curL_phaA = (int16_t)(offsetrl1 - adc_buffer.rl1)*2;
+    int16_t curL_phaB = (int16_t)(offsetrl2 - adc_buffer.rl2)*2;
     int16_t curL_DC   = (int16_t)(offsetdcl - adc_buffer.dcl);
 
     // Get Right motor currents
-    int16_t curR_phaB = (int16_t)(offsetrr1 - adc_buffer.rr1);
-    int16_t curR_phaC = (int16_t)(offsetrr2 - adc_buffer.rr2);
+    int16_t curR_phaB = (int16_t)(offsetrr1 - adc_buffer.rr1)*2;
+    int16_t curR_phaC = (int16_t)(offsetrr2 - adc_buffer.rr2)*2;
     int16_t curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);
 
     const int8_t chopL = std::abs(curL_DC) > (left.state.iDcMax * A2BIT_CONV);
@@ -792,7 +792,7 @@ void MX_TIM_Init() {
     sConfigOC.OCMode       = TIM_OCMODE_PWM1;
     sConfigOC.Pulse        = 0;
     sConfigOC.OCPolarity   = TIM_OCPOLARITY_HIGH;
-    sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_LOW;
+    sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
     sConfigOC.OCFastMode   = TIM_OCFAST_DISABLE;
     sConfigOC.OCIdleState  = TIM_OCIDLESTATE_RESET;
     sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
@@ -833,7 +833,7 @@ void MX_TIM_Init() {
     sConfigOC.OCMode       = TIM_OCMODE_PWM1;
     sConfigOC.Pulse        = 0;
     sConfigOC.OCPolarity   = TIM_OCPOLARITY_HIGH;
-    sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_LOW;
+    sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
     sConfigOC.OCFastMode   = TIM_OCFAST_DISABLE;
     sConfigOC.OCIdleState  = TIM_OCIDLESTATE_RESET;
     sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;