diff --git a/source/application/drive_ctrl.c b/source/application/drive_ctrl.c
index c232a1d..7acc498 100644
--- a/source/application/drive_ctrl.c
+++ b/source/application/drive_ctrl.c
@@ -96,8 +96,8 @@ int drive_ctrl_set_speed_left(int speed_percent)
 {
 	unsigned int front_speed = calc_speed_front(speed_percent);
 	unsigned int back_speed = calc_speed_back(speed_percent);
-	int ret = drv_ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
-	ret |= drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
+	int ret = drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
+	ret |= drv_ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
 
 	return ret;
 }
@@ -106,8 +106,8 @@ int drive_ctrl_set_speed_right(int speed_percent)
 {
 	unsigned int front_speed = calc_speed_front(speed_percent);
 	unsigned int back_speed = calc_speed_back(speed_percent);
-	int ret = drv_ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
-	ret |= drv_ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
+	int ret = drv_ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&front_speed);
+	ret |= drv_ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&back_speed);
 
 	return ret;
 }
diff --git a/source/application/include/engines.h b/source/application/include/engines.h
index 8957632..6a955ed 100644
--- a/source/application/include/engines.h
+++ b/source/application/include/engines.h
@@ -13,24 +13,24 @@ struct engine_ctrl {
 	const struct driver *enable;
 };
 
-static struct engine_ctrl right_forward = {
-		.pwm = &pwm_2,
-		.enable = &gpio_c0,
-};
-
-static struct engine_ctrl right_backward = {
-		.pwm = &pwm_1,
-		.enable = &gpio_c1,
-};
-
 static struct engine_ctrl left_forward = {
 		.pwm = &pwm_4,
 		.enable = &gpio_c2,
 };
 
-static struct engine_ctrl left_backward = {
+static struct engine_ctrl right_backward = {
 		.pwm = &pwm_3,
 		.enable = &gpio_c3,
 };
 
+static struct engine_ctrl right_forward = {
+		.pwm = &pwm_2,
+		.enable = &gpio_c0,
+};
+
+static struct engine_ctrl left_backward = {
+		.pwm = &pwm_1,
+		.enable = &gpio_c1,
+};
+
 #endif /* SOURCE_APPLICATION_INCLUDE_ENGINES_H_ */