diff --git a/firmware/upy_clank/config.py b/firmware/upy_clank/config.py
new file mode 100644
index 0000000..63e5004
--- /dev/null
+++ b/firmware/upy_clank/config.py
@@ -0,0 +1,12 @@
+PIN_CONFIG = {
+    "left": {
+        "encoder": {"cpr": 1320, "pin_a": 0, "pin_b": 1},
+        "motor": {"pwm": 23, "in1": 22, "in2": 21},
+    },
+    "right": {
+        "encoder": {"cpr": 1320, "pin_a": 2, "pin_b": 3},
+        "motor": {"pwm": 19, "in1": 18, "in2": 17},
+    },
+}
+
+DUTY_MAX = 65535
diff --git a/firmware/upy_clank/main.py b/firmware/upy_clank/main.py
index cdab06d..3ae0c80 100644
--- a/firmware/upy_clank/main.py
+++ b/firmware/upy_clank/main.py
@@ -1,4 +1,5 @@
-__upy_clank_version__ = '0.1.0'
+__upy_clank_version__ = "0.1.0"
+
 
 def main():
-    pass
\ No newline at end of file
+    pass
diff --git a/firmware/upy_clank/motor.py b/firmware/upy_clank/motor.py
new file mode 100644
index 0000000..5534ae1
--- /dev/null
+++ b/firmware/upy_clank/motor.py
@@ -0,0 +1,59 @@
+from machine import Pin, PWM
+
+
+class Motor:
+    def __init__(self, pwm_pin, in1_pin, in2_pin) -> None:
+        self.pwm = pwm_pin
+        self.in1 = in1_pin
+        self.in2 = in2_pin
+
+
+class MotorController:
+    def __init__(self, left_motor, right_motor) -> None:
+        self.left = left_motor
+        self.right = right_motor
+
+    def forward(self):
+        self.left.in1.value(1)
+        self.left.in2.value(0)
+        self.right.in2.value(1)
+        self.right.in1.value(0)
+        self.left.pwm.duty_u16(65535 // 2)
+        self.right.pwm.duty_u16(65535 // 2)
+
+    def reverse(self):
+        self.left.in1.value(0)
+        self.left.in2.value(1)
+        self.right.in2.value(0)
+        self.right.in1.value(1)
+        self.left.pwm.duty_u16(65535 // 2)
+        self.right.pwm.duty_u16(65535 // 2)
+
+    def stop(self):
+        self.left.pwm.duty_u16(0)
+        self.right.pwm.duty_u16(0)
+
+    @classmethod
+    def from_config(cls, pin_config):
+        return cls(
+            Motor(
+                # 100Hz duty cycle, range 0-65535
+                pwm_pin=PWM(
+                    Pin(pin_config["left"]["motor"]["pwm"], Pin.OUT),
+                    freq=100,
+                    duty_u16=0,
+                ),
+                in1_pin=Pin(pin_config["left"]["motor"]["in1"], Pin.OUT),
+                in2_pin=Pin(pin_config["left"]["motor"]["in2"], Pin.OUT),
+            ),
+            Motor(
+                # 100Hz duty cycle, range 0-65535
+                pwm_pin=PWM(
+                    Pin(pin_config["right"]["motor"]["pwm"], Pin.OUT),
+                    freq=100,
+                    duty_u16=0,
+                ),
+                in1_pin=Pin(pin_config["right"]["motor"]["in1"], Pin.OUT),
+                in2_pin=Pin(pin_config["right"]["motor"]["in2"], Pin.OUT),
+            ),
+        )