diff --git a/ino/contact_printer/ContactPrinter.h b/ino/contact_printer/ContactPrinter.h
index 5322fb7..31e2660 100644
--- a/ino/contact_printer/ContactPrinter.h
+++ b/ino/contact_printer/ContactPrinter.h
@@ -8,7 +8,8 @@ class ContactPrinter {
 
 	private:
 
-	EncoderMotor drive_motor;
+	//use default drive motor pins
+	DriveMotor drive_motor;
 
 	const uint16_t serial_delay = 5;
 	const uint16_t baud = 115200;
diff --git a/ino/contact_printer/DriveMotor.cpp b/ino/contact_printer/DriveMotor.cpp
index b3b73a2..249dde9 100644
--- a/ino/contact_printer/DriveMotor.cpp
+++ b/ino/contact_printer/DriveMotor.cpp
@@ -1,10 +1,10 @@
-#include "EncoderMotor.h"
+#include "DriveMotor.h"
 
-EncoderMotor::EncoderMotor () {
+DriveMotor::DriveMotor () {
 
 };
 
-EncoderMotor::EncoderMotor (uint8_t e_pin, uint8_t f_pin, uint8_t b_pin, uint8_t ea_pin, uint8_t eb_pin) {
+DriveMotor::DriveMotor (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;
@@ -12,7 +12,7 @@ EncoderMotor::EncoderMotor (uint8_t e_pin, uint8_t f_pin, uint8_t b_pin, uint8_t
 	encoder_b_pin = eb_pin;
 };
 
-void EncoderMotor::Setup () {
+void DriveMotor::Setup () {
 	pinMode(enable_pin, OUTPUT);
 	pinMode(forward_pin, OUTPUT);
 	pinMode(backward_pin, OUTPUT);
@@ -25,21 +25,21 @@ void EncoderMotor::Setup () {
 	digitalWrite(backward_pin, LOW);
 }
 
-void EncoderMotor::Start() {
+void DriveMotor::Start() {
 	ledcWrite(pwm_channel, pwm_duty_cycle);
 	digitalWrite(forward_pin, HIGH);
 	digitalWrite(backward_pin, LOW);
 }
-void EncoderMotor::Stop() {
+void DriveMotor::Stop() {
 	pwm_duty_cycle = 0;
 	digitalWrite(forward_pin, LOW);
 	digitalWrite(backward_pin, LOW);
 	ledcWrite(pwm_channel, pwm_duty_cycle);
 }
-void EncoderMotor::SetSpeed() {
+void DriveMotor::SetSpeed() {
 	pwm_duty_cycle = 255;
 }
 
-void EncoderMotor::Loop () {
+void DriveMotor::Loop () {
 	//monitor speed
 }
diff --git a/ino/contact_printer/DriveMotor.h b/ino/contact_printer/DriveMotor.h
index 65d5157..55dfe1b 100644
--- a/ino/contact_printer/DriveMotor.h
+++ b/ino/contact_printer/DriveMotor.h
@@ -1,9 +1,9 @@
-#ifndef ENCODER_MOTOR
-#define ENCODER_MOTOR
+#ifndef DRIVE_MOTOR
+#define DRIVE_MOTOR
 
 #include <Arduino.h>
 
-class EncoderMotor {           
+class DriveMotor {           
 
 	private:
 
@@ -28,8 +28,8 @@ class EncoderMotor {
 
 	public:
 
-	EncoderMotor();
-	EncoderMotor(uint8_t e_pin, uint8_t f_pin, uint8_t b_pin, uint8_t ea_pin, uint8_t eb_pin);
+	DriveMotor();
+	DriveMotor(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();