diff --git a/frtos/motor/motor_init.h b/frtos/motor/motor_init.h
index c4e5c20..f094e46 100644
--- a/frtos/motor/motor_init.h
+++ b/frtos/motor/motor_init.h
@@ -77,23 +77,23 @@ motor_init(car_struct_t *car_struct)
     gpio_set_function(PWM_PIN_RIGHT, GPIO_FUNC_PWM);
 
     car_struct->p_left_motor->pwm.slice_num
-        = pwm_gpio_to_slice_num(PWM_PIN_LEFT);
+        = pwm_gpio_to_slice_num(0);
     car_struct->p_right_motor->pwm.slice_num
-        = pwm_gpio_to_slice_num(PWM_PIN_RIGHT);
+        = pwm_gpio_to_slice_num(0);
 
     // NOTE: PWM clock is 125MHz for raspberrypi pico w by default
 
     // 125MHz / 50 = 2500kHz
     pwm_set_clkdiv(car_struct->p_left_motor->pwm.slice_num, PWM_CLK_DIV);
-    pwm_set_clkdiv(car_struct->p_right_motor->pwm.slice_num, PWM_CLK_DIV);
+//    pwm_set_clkdiv(car_struct->p_right_motor->pwm.slice_num, PWM_CLK_DIV);
 
     // L289N can accept up to 40kHz
     // 2500kHz / 100 = 25kHz
     pwm_set_wrap(car_struct->p_left_motor->pwm.slice_num, (PWM_WRAP - 1U));
-    pwm_set_wrap(car_struct->p_right_motor->pwm.slice_num, (PWM_WRAP - 1U));
+//    pwm_set_wrap(car_struct->p_right_motor->pwm.slice_num, (PWM_WRAP - 1U));
 
     pwm_set_enabled(car_struct->p_left_motor->pwm.slice_num, true);
-    pwm_set_enabled(car_struct->p_right_motor->pwm.slice_num, true);
+//    pwm_set_enabled(car_struct->p_right_motor->pwm.slice_num, true);
 }
 
 /*!
diff --git a/frtos/motor/motor_test.c b/frtos/motor/motor_test.c
index b5182e4..21c6d22 100644
--- a/frtos/motor/motor_test.c
+++ b/frtos/motor/motor_test.c
@@ -8,14 +8,16 @@ motor_control_task(void *params)
     for (;;)
     {
         set_wheel_direction(DIRECTION_FORWARD);
-        set_wheel_speed_synced(90u, car_struct);
+        set_wheel_speed_synced(99u, car_struct);
+        vTaskDelay(pdMS_TO_TICKS(1000));
+        set_wheel_speed_synced(50u, car_struct);
 
-        vTaskDelay(pdMS_TO_TICKS(10000));
+        vTaskDelay(pdMS_TO_TICKS(5000));
 
         revert_wheel_direction();
         set_wheel_speed_synced(90u, car_struct);
 
-        vTaskDelay(pdMS_TO_TICKS(10000));
+        vTaskDelay(pdMS_TO_TICKS(5000));
     }
 }
 
diff --git a/frtos/rtos_car.c b/frtos/rtos_car.c
index fd8a0ab..8c19622 100644
--- a/frtos/rtos_car.c
+++ b/frtos/rtos_car.c
@@ -33,30 +33,37 @@ void
 motor_control_task(void *params)
 {
     car_struct_t *car_struct = (car_struct_t *)params;
+    car_struct->p_pid->use_pid = false;
     set_wheel_direction(DIRECTION_FORWARD);
-    set_wheel_speed_synced(90u, car_struct);
+    // set_wheel_speed_synced(50u, car_struct);
+    pwm_set_chan_level(car_struct->p_left_motor->pwm.slice_num,
+                       car_struct->p_left_motor->pwm.channel,
+                       50u);
+//    pwm_set_chan_level(car_struct->p_right_motor->pwm.slice_num,
+//                           car_struct->p_right_motor->pwm.channel,
+//                           50u);
 
     for (;;)
     {
-        uint8_t temp = check_line_touch(car_struct);
-        switch (temp)
-        {
-            default:
-                break;
-            case 0b01:
-                car_struct->p_right_motor->speed.distance_cm
-                    -= SLOT_DISTANCE_CM;
-                break;
-            case 0b10:
-                car_struct->p_right_motor->speed.distance_cm
-                    += SLOT_DISTANCE_CM;
-                break;
-            case 0b11:
-                turn(DIRECTION_LEFT, 90u, 90u, car_struct);
-                set_wheel_direction(DIRECTION_FORWARD);
-                set_wheel_speed_synced(90u, car_struct);
-                break;
-        }
+//        uint8_t temp = check_line_touch(car_struct);
+//        switch (temp)
+//        {
+//            default:
+//                break;
+//            case 0b01:
+//                car_struct->p_right_motor->speed.distance_cm
+//                    -= SLOT_DISTANCE_CM;
+//                break;
+//            case 0b10:
+//                car_struct->p_right_motor->speed.distance_cm
+//                    += SLOT_DISTANCE_CM;
+//                break;
+//            case 0b11:
+//                turn(DIRECTION_LEFT, 90u, 90u, car_struct);
+//                set_wheel_direction(DIRECTION_FORWARD);
+//                set_wheel_speed_synced(90u, car_struct);
+//                break;
+//        }
 
         vTaskDelay(pdMS_TO_TICKS(25));
     }
@@ -172,13 +179,13 @@ main(void)
     sleep_ms(1000u);
 
      // control task
-//     TaskHandle_t h_motor_turning_task_handle = NULL;
-//     xTaskCreate(motor_control_task,
-//                 "motor_turning_task",
-//                 configMINIMAL_STACK_SIZE,
-//                 (void *)&car_struct,
-//                 PRIO,
-//                 &h_motor_turning_task_handle);
+     TaskHandle_t h_motor_turning_task_handle = NULL;
+     xTaskCreate(motor_control_task,
+                 "motor_turning_task",
+                 configMINIMAL_STACK_SIZE,
+                 (void *)&car_struct,
+                 PRIO,
+                 &h_motor_turning_task_handle);
 
     // obs task
 //    TaskHandle_t h_obs_task_handle = NULL;
@@ -190,13 +197,13 @@ main(void)
 //                &h_obs_task_handle);
 
     // turn task
-        TaskHandle_t h_turn_task_handle = NULL;
-        xTaskCreate(turn_task,
-                    "turn_task",
-                    configMINIMAL_STACK_SIZE,
-                    (void *)&car_struct,
-                    PRIO,
-                    &h_turn_task_handle);
+//        TaskHandle_t h_turn_task_handle = NULL;
+//        xTaskCreate(turn_task,
+//                    "turn_task",
+//                    configMINIMAL_STACK_SIZE,
+//                    (void *)&car_struct,
+//                    PRIO,
+//                    &h_turn_task_handle);
 
     // PID timer
     struct repeating_timer pid_timer;