diff --git a/platformio.ini b/platformio.ini
index fce8421..e57a0cb 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -17,7 +17,8 @@ board_build.mcu = esp32
 upload_protocol = esptool
 lib_deps = 
 	fastled/FastLED @ ~3.6.0
-  https://github.com/PolarRobotics/PR-Lib.git
+  adafruit/Adafruit PWM Servo Driver Library @ ^3.0.2
+  https://github.com/PolarRobotics/PR-Lib.git#add-pwm-module #dependent on Adafruit PWM Servo Driver Library
   adafruit/Adafruit LIS3MDL@^1.2.4
 extra_scripts = pre:pio_build_script.py
 
@@ -26,6 +27,8 @@ build_src_filter =
 	+<*>
 	-<Pairing/depairingStation.cpp>
 	-<Pairing/getAddress.cpp>
+	-<.pio\libdeps\robot\PR-Lib\src\MotorInterface.h>
+	-<.pio\libdeps\robot\PR-Lib\src\MotorInterface.cpp>
 	-<Robot/Quarterback_old.cpp>
 	-<Utilities/ReadBotInfo.cpp>
 	-<Utilities/WriteBotInfo.cpp>
diff --git a/src/PolarRobotics.h b/src/PolarRobotics.h
index 75f5eb7..4b87fbf 100644
--- a/src/PolarRobotics.h
+++ b/src/PolarRobotics.h
@@ -31,6 +31,8 @@
 #define M2_PIN 33 // | rightMotor | rightFront |
 #define M3_PIN 26 // |    N/A     | leftRear   |
 #define M4_PIN 27 // |    N/A     | rightRear  |
+#define PWM0_PIN 0
+#define PWM1_PIN 1
 
 // Pins for special bot features, conveyor, flywheels, etc...
 #define SPECBOT_PIN1 18
diff --git a/src/Robot/Kicker.h b/src/Robot/Kicker.h
index da4e663..caf46fd 100644
--- a/src/Robot/Kicker.h
+++ b/src/Robot/Kicker.h
@@ -3,7 +3,6 @@
 #ifndef KICKER_H
 #define KICKER_H
 
-#include <MotorInterface.h>
 #include <Robot/Robot.h>
 #include <ps5Controller.h> // ESP PS5 library, access using global instance `ps5`
 #include <Utilities/Debouncer.h>
diff --git a/src/Robot/MotorControl.cpp b/src/Robot/MotorControl.cpp
index 37bea59..9fb6a37 100644
--- a/src/Robot/MotorControl.cpp
+++ b/src/Robot/MotorControl.cpp
@@ -46,8 +46,6 @@ MotorControl::MotorControl() {
   lastRampTime = millis();
 }
 
-
-
 /**
  * @brief setup the given pin to the next free channel, returns channel number or 255 if failure
  * @author Rhys Davies
@@ -64,7 +62,7 @@ uint8_t MotorControl::setup(int mot_pin, MotorType type, bool has_encoder, float
   this->enc_a_pin = enc_a_chan_pin, this->enc_b_pin = enc_b_chan_pin;
 
   // Calculate the max rpm by multiplying the nominal motor RPM by the gear ratio
-  this->max_rpm = int(MOTOR_MAX_RPM_ARR[static_cast<uint8_t>(this->motor_type)] * this->gear_ratio);
+  this->max_rpm = uint16_t(MOTOR_MAX_RPM_ARR[static_cast<uint8_t>(this->motor_type)] * this->gear_ratio);
 
   // call the logic to attach the motor pin and setup, return 255 on an error
   return Motor.attach(mot_pin, MIN_PWM_US, MAX_PWM_US);
diff --git a/src/Robot/MotorControl.h b/src/Robot/MotorControl.h
index 9cb46f2..3ad5b02 100644
--- a/src/Robot/MotorControl.h
+++ b/src/Robot/MotorControl.h
@@ -1,9 +1,10 @@
 #pragma once
 
 #include <Arduino.h>
+// #include <Robot/PWM_Module.h>
 #include <PolarRobotics.h>
-// #include <MotorInterface.h>
-#include <MotorInterface.h>
+#include <PWM_Module.h>
+//#include <MotorInterface.h>
 
 
 // Enum for Increasing or Decreasing Flywheel Speed
@@ -17,8 +18,8 @@ class MotorControl {
   float gear_ratio;     // the input / output gear ratio
 
   // Servo:
-  MotorInterface Motor;
-
+  //MotorInterface Motor;
+  PWM_Module Motor;
   // for ramp
   float requestedRPM;     
   float lastRampTime;
@@ -42,7 +43,7 @@ class MotorControl {
   float omega;
 
 public:
-  int max_rpm;          // the motor max rpm * the gear ratio 
+  uint16_t max_rpm;          // the motor max rpm * the gear ratio 
   MotorControl();
   uint8_t setup(int mot_pin, MotorType type = big_ampflow, bool has_encoder = false, float gearRatio = 1, int enc_a_chan_pin = -1, int enc_b_chan_pin = -1); // if no encoder, leave blank, will not attach pins
 
diff --git a/src/main.cpp b/src/main.cpp
index 3096670..2063d9d 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -128,7 +128,7 @@ void setup() {
     default: // Assume lineman
       robot = new Lineman();
       drive = new Drive(lineman, driveParams);
-      drive->setupMotors(M1_PIN, M2_PIN);
+      drive->setupMotors(PWM0_PIN, PWM1_PIN);
   }
 
   // drive->printSetup();
@@ -229,7 +229,7 @@ void loop() {
     robot->action();
 
     // DEBUGGING:  
-    // drive->printDebugInfo(); // comment this line out to reduce compile time and memory usage
+    drive->printDebugInfo(); // comment this line out to reduce compile time and memory usage
     // drive->printCsvInfo(); // prints info to serial monitor in a csv (comma separated value) format
     // lights.printDebugInfo();