diff --git a/source/test/pwm/main.c b/source/test/pwm/main.c
index 22853aa..482e65e 100644
--- a/source/test/pwm/main.c
+++ b/source/test/pwm/main.c
@@ -62,27 +62,48 @@ struct thread_context th_ctx;
 static void th_func(void *arg)
 {
 	unsigned int duty = 0;
+
+	/* open enable pins */
 	open(drive_ctrl.left_forward->enable);
 	write(drive_ctrl.left_forward->enable, "0", 1);
-	open(drive_ctrl.left_forward->pwm);
 	open(drive_ctrl.left_backward->enable);
 	write(drive_ctrl.left_backward->enable, "0", 1);
-	open(drive_ctrl.left_backward->pwm);
+	open(drive_ctrl.right_forward->enable);
+	write(drive_ctrl.right_forward->enable, "0", 1);
+	open(drive_ctrl.right_backward->enable);
+	write(drive_ctrl.right_backward->enable, "0", 1);
 
+	/* open pwm's*/
+	open(drive_ctrl.left_backward->pwm);
+	ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+	open(drive_ctrl.left_forward->pwm);
+	ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+	open(drive_ctrl.right_backward->pwm);
+	ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+	open(drive_ctrl.right_forward->pwm);
+	ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+
+	/* enable enable pins */
 	write(drive_ctrl.left_forward->enable, "1", 1);
 	write(drive_ctrl.left_backward->enable, "1", 1);
+	write(drive_ctrl.right_forward->enable, "1", 1);
+	write(drive_ctrl.right_backward->enable, "1", 1);
 	while(1) {
 		duty = 0;
 		ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+		ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
 		for(duty = 0; duty < 100; duty++) {
 			ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+			ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
 			sleep_ms(100);
 		}
 		duty = 0;
 		ioctl(drive_ctrl.left_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+		ioctl(drive_ctrl.right_forward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
 		sleep_ms(100);
 		for(duty = 0; duty < 100; duty++) {
 			ioctl(drive_ctrl.left_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
+			ioctl(drive_ctrl.right_backward->pwm, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
 			sleep_ms(100);
 		}
 		sleep_ms(100);