diff --git a/ino/contact_printer/ContactPrinter.cpp b/ino/contact_printer/ContactPrinter.cpp
index f29a010..4e882b6 100644
--- a/ino/contact_printer/ContactPrinter.cpp
+++ b/ino/contact_printer/ContactPrinter.cpp
@@ -1,18 +1,18 @@
 #include "ContactPrinter.h" 
 
 ContactPrinter::ContactPrinter () {
-	SetDriveSpeed(drive_speed);
+	SetSpeedDrive(drive_speed);
 	SetSpeedTakeup(takeup_speed);
 }
 
 void ContactPrinter::Setup () {
-	pinMode(drive_pin, OUTPUT);
 	pinMode(takeup_picture_pin_cw, OUTPUT);
 	pinMode(takeup_picture_pin_ccw, OUTPUT);
 	pinMode(takeup_stock_pin_cw, OUTPUT);
 	pinMode(takeup_stock_pin_ccw, OUTPUT);
 
-	digitalWrite(drive_pin, LOW);
+	drive_motor.Setup();
+
 	digitalWrite(takeup_picture_pin_cw, LOW);
 	digitalWrite(takeup_picture_pin_ccw, LOW);
 	digitalWrite(takeup_stock_pin_cw, LOW);
@@ -22,11 +22,11 @@ void ContactPrinter::Setup () {
 void ContactPrinter::Start () {
 	RampTakeup(0, takeup_pwm, takeup_ramp_time);
 	delay(100);
-	analogWrite(drive_pin, drive_pwm);
+	//drive_motor.Start();
 }
 
 void ContactPrinter::Stop () {
-	analogWrite(drive_pin, 0);
+	//drive_motor.Start();
 	delay(100);
 	RampTakeup(takeup_pwm, 0, takeup_ramp_time);
 
@@ -38,8 +38,7 @@ void ContactPrinter::SetSpeedTakeup(float speed) {
 }
 
 void ContactPrinter::SetSpeedDrive(float speed) {
-	drive_speed = speed;
-	drive_pwm = round(speed * 255);
+	//drive_motor.SetSpeed();
 }
 
 void ContactPrinter::SetDirectionStock(bool clockwise) {
diff --git a/ino/contact_printer/ContactPrinter.h b/ino/contact_printer/ContactPrinter.h
index 9480c29..929f1e8 100644
--- a/ino/contact_printer/ContactPrinter.h
+++ b/ino/contact_printer/ContactPrinter.h
@@ -2,21 +2,24 @@
 #define CONTACT_PRINTER
 
 #include <Arduino.h>
+#include "EncoderMotor.h"
 
 class ContactPrinter {           
 
 	private:
 
+	EncoderMotor drive_motor;
+
 	const uint16_t serial_delay = 5;
 	const uint16_t baud = 57600;
-	const uint8_t drive_pin = 7;
+
 	const uint8_t takeup_picture_pin_cw = 8;
 	const uint8_t takeup_picture_pin_ccw = 9;
 	const uint8_t takeup_stock_pin_cw = 10;
 	const uint8_t takeup_stock_pin_ccw = 11;
 
-	volatile float drive_speed = 1f;
-	volatile float takeup_speed = 1f;
+	volatile float drive_speed = 1.0; //calculated rpm
+	volatile float takeup_speed = 1.0; //estimated rpm
 
 	volatile uint16_t drive_pwm;
 	volatile uint16_t takeup_pwm;
@@ -24,6 +27,9 @@ class ContactPrinter {
 	volatile bool takeup_picture_cw = false;
 	volatile bool takeup_picture_ccw = true;
 
+	volatile bool takeup_stock_cw = true;
+	volatile bool takeup_stock_ccw = true;
+
 	volatile uint16_t takeup_ramp_time = 500;
 
 	volatile bool running = false;
@@ -33,6 +39,7 @@ class ContactPrinter {
 	ContactPrinter();
 
 	void Setup();
+	void Loop();
 	void Start();
 	void Stop();
 	void SetSpeedTakeup(float speed);
diff --git a/ino/contact_printer/EncoderMotor.cpp b/ino/contact_printer/EncoderMotor.cpp
new file mode 100644
index 0000000..13e4def
--- /dev/null
+++ b/ino/contact_printer/EncoderMotor.cpp
@@ -0,0 +1,23 @@
+#include "EncoderMotor.h"
+
+EncoderMotor::EncoderMotor () {
+
+};
+
+EncoderMotor::EncoderMotor (uint8_t e_pin, uint8_t f_pin, uint8_t b_pin, uint8_t ea_pin, uint8_t eb_pin) {
+	enable_pin = e_pin;
+	forward_pin = f_pin;
+	backward_pin = b_pin;
+	encoder_a_pin = ea_pin;
+	encoder_b_pin = eb_pin;
+};
+
+void EncoderMotor::Setup () {
+	pinMode(enable_pin, OUTPUT);
+	pinMode(forward_pin, OUTPUT);
+	pinMode(backward_pin, OUTPUT);
+
+	ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
+	ledcAttachPin(enable_pin, pwm_channel);
+	ledcWrite(pwm_channel, pwm_duty_cycle);
+}
diff --git a/ino/contact_printer/EncoderMotor.h b/ino/contact_printer/EncoderMotor.h
index 8b77c11..b6d1d3b 100644
--- a/ino/contact_printer/EncoderMotor.h
+++ b/ino/contact_printer/EncoderMotor.h
@@ -6,15 +6,29 @@
 class EncoderMotor {           
 
 	private:
-		uint8_t enable_pin;
-		uint8_t forward_pin;
-		uint8_t backward_pin;
-		uint8_t pwm_duty_speed = 255;
-		uint32_t pwm_frequency = 30000;
+
+	//defaults are for EPS32 dev board
+	volatile uint8_t enable_pin = 13;
+	volatile uint8_t forward_pin = 12;
+	volatile uint8_t backward_pin = 14;
+	volatile uint8_t encoder_a_pin = 27;
+	volatile uint8_t encoder_b_pin = 26;
+
+	volatile uint8_t pwm_duty_cycle = 255;
+
+	const uint32_t pwm_frequency = 30000;
+	const uint8_t pwm_channel = 0;
+	const uint8_t pwm_resolution = 8;
 
 	public:
 
 	EncoderMotor();
+	EncoderMotor(uint8_t e_pin, uint8_t f_pin, uint8_t b_pin, uint8_t ea_pin, uint8_t eb_pin);
+	void Setup();
+	void Loop();
+	void Start();
+	void Stop();
+	void SetSpeed();
 
 };