diff --git a/ino/contact_printer/ContactPrinter.cpp b/ino/contact_printer/ContactPrinter.cpp
index 4e882b6..bfee312 100644
--- a/ino/contact_printer/ContactPrinter.cpp
+++ b/ino/contact_printer/ContactPrinter.cpp
@@ -13,6 +13,15 @@ void ContactPrinter::Setup () {
 
 	drive_motor.Setup();
 
+	ledcSetup(takeup_picture_pwm_channel, pwm_frequency, pwm_resolution);
+	ledcSetup(takeup_stock_pwm_channel, pwm_frequency, pwm_resolution);
+
+	ledcAttachPin(takeup_picture_pin_enable, takeup_picture_pwm_channel);
+	ledcAttachPin(takeup_stock_pin_enable, takeup_stock_pwm_channel);
+
+	ledcWrite(takeup_picture_pwm_channel, takeup_pwm_duty_cycle);
+	ledcWrite(takeup_stock_pwm_channel, takeup_pwm_duty_cycle);
+
 	digitalWrite(takeup_picture_pin_cw, LOW);
 	digitalWrite(takeup_picture_pin_ccw, LOW);
 	digitalWrite(takeup_stock_pin_cw, LOW);
@@ -20,7 +29,7 @@ void ContactPrinter::Setup () {
 }
 
 void ContactPrinter::Start () {
-	RampTakeup(0, takeup_pwm, takeup_ramp_time);
+	RampTakeup(0, takeup_pwm_duty_cycle, takeup_ramp_time);
 	delay(100);
 	//drive_motor.Start();
 }
@@ -28,13 +37,13 @@ void ContactPrinter::Start () {
 void ContactPrinter::Stop () {
 	//drive_motor.Start();
 	delay(100);
-	RampTakeup(takeup_pwm, 0, takeup_ramp_time);
+	RampTakeup( takeup_pwm_duty_cycle, 0, takeup_ramp_time);
 
 } 
 
 void ContactPrinter::SetSpeedTakeup(float speed) {
 	takeup_speed = speed;
-	takeup_pwm = round(speed * 255);
+	takeup_pwm_duty_cycle = floor(speed * 255);
 }
 
 void ContactPrinter::SetSpeedDrive(float speed) {
@@ -60,25 +69,25 @@ void ContactPrinter::RampTakeup(uint16_t start, uint16_t end, uint16_t time) {
 
 	if (takeup_picture_cw) {
 		takeup_picture_pin = takeup_picture_pin_cw;
-		analogWrite(takeup_picture_pin_ccw, 0);
+		//analogWrite(takeup_picture_pin_ccw, 0);
 	} else {
 		takeup_picture_pin = takeup_picture_pin_ccw;
-		analogWrite(takeup_picture_pin_cw, 0);
+		//analogWrite(takeup_picture_pin_cw, 0);
 	}
 	if (takeup_stock_cw) {
 		takeup_stock_pin = takeup_stock_pin_cw;
-		analogWrite(takeup_stock_pin_ccw, 0);
+		//analogWrite(takeup_stock_pin_ccw, 0);
 	} else {
 		takeup_stock_pin = takeup_stock_pin_cw;
-		analogWrite(takeup_stock_pin_cw, 0);
+		//analogWrite(takeup_stock_pin_cw, 0);
 	}
 
 	for (uint16_t i = 0; i < steps; i++) {
 		if (pwm <= 0 || pwm >= 256) {
 			break;
 		}
-		analogWrite(takeup_picture_pin, pwm);
-		analogWrite(takeup_stock_pin, pwm);
+		//analogWrite(takeup_picture_pin, pwm);
+		//analogWrite(takeup_stock_pin, pwm);
 		delay(step);
 		if (dir) {
 			pwm++;
diff --git a/ino/contact_printer/ContactPrinter.h b/ino/contact_printer/ContactPrinter.h
index 929f1e8..b970ee5 100644
--- a/ino/contact_printer/ContactPrinter.h
+++ b/ino/contact_printer/ContactPrinter.h
@@ -11,18 +11,25 @@ class ContactPrinter {
 	EncoderMotor drive_motor;
 
 	const uint16_t serial_delay = 5;
-	const uint16_t baud = 57600;
+	const uint16_t baud = 115200;
 
+	const uint8_t takeup_picture_pin_enable = 7;
 	const uint8_t takeup_picture_pin_cw = 8;
 	const uint8_t takeup_picture_pin_ccw = 9;
+
+	const uint8_t takeup_stock_pin_enable = 12;
 	const uint8_t takeup_stock_pin_cw = 10;
 	const uint8_t takeup_stock_pin_ccw = 11;
 
+	const uint32_t pwm_frequency = 30000;
+	const uint8_t takeup_picture_pwm_channel = 1;
+	const uint8_t takeup_stock_pwm_channel = 2;
+	const uint8_t pwm_resolution = 8;
+
 	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;
+	volatile uint16_t takeup_pwm_duty_cycle = 255;
 
 	volatile bool takeup_picture_cw = false;
 	volatile bool takeup_picture_ccw = true;
diff --git a/ino/contact_printer/EncoderMotor.cpp b/ino/contact_printer/EncoderMotor.cpp
index 13e4def..3d7dda3 100644
--- a/ino/contact_printer/EncoderMotor.cpp
+++ b/ino/contact_printer/EncoderMotor.cpp
@@ -20,4 +20,7 @@ void EncoderMotor::Setup () {
 	ledcSetup(pwm_channel, pwm_frequency, pwm_resolution);
 	ledcAttachPin(enable_pin, pwm_channel);
 	ledcWrite(pwm_channel, pwm_duty_cycle);
+
+	digitalWrite(forward_pin, LOW);
+	digitalWrite(backward_pin, LOW);
 }
diff --git a/scripts/compile.sh b/scripts/compile.sh
new file mode 100644
index 0000000..386002b
--- /dev/null
+++ b/scripts/compile.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+set -e
+
+FQBN=esp32:esp32:esp32 			#ESP32
+
+INO="./ino/contact_printer"
+INOFILE="${INO}/contact_printer.ino"
+OUTPUT="./bin"
+
+mkdir -p "${OUTPUT}"
+
+#esp32
+arduino-cli compile --fqbn ${FQBN} --output-dir "${OUTPUT}" "${INO}" || echo 'Compile failed' && exit 1