diff --git a/micropython_firmware/main.py b/micropython_firmware/main.py
index fa81ada..1466360 100644
--- a/micropython_firmware/main.py
+++ b/micropython_firmware/main.py
@@ -1 +1,35 @@
-# empty file
+import machine
+import time
+
+class Motor:
+    def __init__(self, enable, dir1, dir2):
+        self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
+        self.dir1_pin = machine.Pin(dir1, machine.Pin.OUT)
+        self.dir2_pin = machine.Pin(dir2, machine.Pin.OUT)
+
+        self.direction = 1 # default direction: dir1_pin = HIGH, dir2_pin = LOW
+        self.reverse()
+
+    def reverse(self):
+        print("reversing direction")
+        self.direction = not self.direction
+        self.dir1_pin.value(self.direction)
+        self.dir2_pin.value(not self.direction)
+
+    def spin(self,seconds):
+        self.enable_pin.value(1)
+        time.sleep(seconds)
+        self.enable_pin.value(0)
+
+print("setting up pins")
+m1 = Motor(4, 16, 5)
+m2 = Motor(14, 0, 2)
+print("setup complete")
+
+print("Motor test")
+print("Motor 1:")
+m1.spin(0.1)
+print("Motor 2:")
+m2.spin(0.1)
+
+print("done!")