diff --git a/ino/contact_printer/ContactPrinter.cpp b/ino/contact_printer/ContactPrinter.cpp
index f645fb5..570efd0 100644
--- a/ino/contact_printer/ContactPrinter.cpp
+++ b/ino/contact_printer/ContactPrinter.cpp
@@ -6,10 +6,12 @@ ContactPrinter::ContactPrinter () {
 }
 
 void ContactPrinter::Setup () {
+
 	pinMode(takeup_picture_pin_cw, OUTPUT);
 	pinMode(takeup_picture_pin_ccw, OUTPUT);
 	pinMode(takeup_stock_pin_cw, OUTPUT);
 	pinMode(takeup_stock_pin_ccw, OUTPUT);
+
 	pinMode(start_button_pin, INPUT_PULLUP);
 
 	drive_motor.Setup();
@@ -29,19 +31,19 @@ void ContactPrinter::Setup () {
 	digitalWrite(takeup_stock_pin_ccw, LOW);
 
 	SetSpeedTakeup(0.4);
-	//SetSpeedDrive(1.0);
+	SetSpeedDrive(1.0);
 }
 
 void ContactPrinter::Start () {
-	RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
-	delay(100);
+	Serial.println("Start()");
 	drive_motor.Start();
+	//RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
+	
 	running = true;
 }
 
 void ContactPrinter::Stop () {
-	drive_motor.Start();
-	delay(100);
+	drive_motor.Stop();
 	RampTakeup(takeup_pwm_duty_cycle, 0, takeup_ramp_time);
 	digitalWrite(takeup_picture_pin_cw, LOW);
 	digitalWrite(takeup_picture_pin_ccw, LOW);
@@ -55,7 +57,7 @@ void ContactPrinter::SetSpeedTakeup(float speed) {
 }
 
 void ContactPrinter::SetSpeedDrive(float speed) {
-	//drive_motor.SetSpeed();
+	drive_motor.SetSpeed(speed);
 }
 
 void ContactPrinter::SetDirectionStock(bool clockwise) {
@@ -123,8 +125,11 @@ bool ContactPrinter::IsRunning () {
 
 void ContactPrinter::Loop () {
 	timer = millis();
-	drive_motor.Loop();
-	if (takeup_ramping) {
-		RampTakeupLoop();
+	ButtonLoop();
+	if (running) {
+		drive_motor.Loop();
+		if (takeup_ramping) {
+			RampTakeupLoop();
+		}
 	}
 }
\ No newline at end of file
diff --git a/ino/contact_printer/ContactPrinter.h b/ino/contact_printer/ContactPrinter.h
index 42c13fb..976aeba 100644
--- a/ino/contact_printer/ContactPrinter.h
+++ b/ino/contact_printer/ContactPrinter.h
@@ -25,7 +25,7 @@ class ContactPrinter {
 	const uint8_t takeup_stock_pin_cw = 18;
 	const uint8_t takeup_stock_pin_ccw = 5;
 
-	const uint8_t start_button_pin = 17;
+	const uint8_t start_button_pin = 15;
 
 	/* MOTOR PWM */
 	const uint32_t pwm_frequency = 30000;
diff --git a/ino/contact_printer/DriveMotor.cpp b/ino/contact_printer/DriveMotor.cpp
index 249dde9..671235a 100644
--- a/ino/contact_printer/DriveMotor.cpp
+++ b/ino/contact_printer/DriveMotor.cpp
@@ -17,6 +17,9 @@ void DriveMotor::Setup () {
 	pinMode(forward_pin, OUTPUT);
 	pinMode(backward_pin, OUTPUT);
 
+	pinMode(encoder_a_pin, INPUT);
+  	pinMode(encoder_b_pin, INPUT);
+
 	ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
 	ledcAttachPin(enable_pin, pwm_channel);
 	ledcWrite(pwm_channel, pwm_duty_cycle);
@@ -30,14 +33,18 @@ void DriveMotor::Start() {
 	digitalWrite(forward_pin, HIGH);
 	digitalWrite(backward_pin, LOW);
 }
+
 void DriveMotor::Stop() {
 	pwm_duty_cycle = 0;
 	digitalWrite(forward_pin, LOW);
 	digitalWrite(backward_pin, LOW);
 	ledcWrite(pwm_channel, pwm_duty_cycle);
 }
-void DriveMotor::SetSpeed() {
-	pwm_duty_cycle = 255;
+
+void DriveMotor::SetSpeed(float speed) {
+	pwm_duty_cycle = floor(255 * speed);
+	Serial.print("Set drive motor PWM = ");
+	Serial.println(pwm_duty_cycle);
 }
 
 void DriveMotor::Loop () {
diff --git a/ino/contact_printer/DriveMotor.h b/ino/contact_printer/DriveMotor.h
index b074efe..80deb5c 100644
--- a/ino/contact_printer/DriveMotor.h
+++ b/ino/contact_printer/DriveMotor.h
@@ -8,11 +8,11 @@ class DriveMotor {
 	private:
 
 	//defaults are for EPS32 dev board
-	volatile uint8_t enable_pin = 13;
-	volatile uint8_t forward_pin = 12; //Clockwise
+	volatile uint8_t enable_pin = 26;
+	volatile uint8_t forward_pin = 27; //Clockwise
 	volatile uint8_t backward_pin = 14; //Counter-clockwise
-	volatile uint8_t encoder_a_pin = 27;
-	volatile uint8_t encoder_b_pin = 26;
+	volatile uint8_t encoder_a_pin = 33;
+	volatile uint8_t encoder_b_pin = 25;
 
 	volatile uint8_t pwm_duty_cycle = 0;
 
@@ -36,7 +36,9 @@ class DriveMotor {
 	void Loop();
 	void Start();
 	void Stop();
-	void SetSpeed();
+	void SetSpeed(float speed);
+
+	static void ReadEncoder();
 
 };
 
diff --git a/ino/esp32_dc_motor_poc/esp32_dc_motor_poc.ino b/ino/esp32_dc_motor_poc/esp32_dc_motor_poc.ino
index 89ecaf6..eef5aea 100644
--- a/ino/esp32_dc_motor_poc/esp32_dc_motor_poc.ino
+++ b/ino/esp32_dc_motor_poc/esp32_dc_motor_poc.ino
@@ -6,9 +6,9 @@
 *********/
 
 // Motor A
-int motor1Pin1 = 27; 
-int motor1Pin2 = 26; 
-int enable1Pin = 14; 
+int motor1Pin1 = 14; 
+int motor1Pin2 = 27; 
+int enable1Pin = 26; 
 
 // Setting PWM properties
 const int freq = 30000;