diff --git a/software/firmware/grasping_end_effector/grasping_end_effector.ino b/software/firmware/grasping_end_effector/grasping_end_effector.ino
index 95c2b6e..2508894 100644
--- a/software/firmware/grasping_end_effector/grasping_end_effector.ino
+++ b/software/firmware/grasping_end_effector/grasping_end_effector.ino
@@ -1,9 +1,59 @@
-void setup() {
-  // put your setup code here, to run once:
+const int pwm_11 = 5;
+const int pwm_12 = 21;
 
+#define COAST   0
+#define REVERSE 1
+#define FORWARD 2
+#define BRAKE   3
+
+void setup() {
+  pinMode(pwm_11, OUTPUT);
+  pinMode(pwm_12, OUTPUT);
+  Serial.begin(9600);
+  digitalWrite(pwm_11, LOW);
+  digitalWrite(pwm_12, LOW);
 }
 
 void loop() {
-  // put your main code here, to run repeatedly:
-
+  setMotorOutput(REVERSE);
+  delay(1000);
+  setMotorOutput(FORWARD);
+  delay(1000);
+}
+
+//---Set Motor Output---//
+/*
+  ----------------
+  Control Logic:
+  ----------------
+           IN1 | IN2 | DIRECT
+      Coast: 0    0      0
+    Reverse: 0    1      1
+    Forward: 1    0      2
+      Brake: 1    1      3
+  ----------------
+*/
+
+void setMotorOutput(uint8_t direct)
+{
+  if (direct <= 4)
+  {
+    if (direct <= 1){
+      digitalWrite(pwm_11, LOW);
+      Serial.println("1.1 LOW");
+    }
+    else{
+      digitalWrite(pwm_11, HIGH);
+      Serial.println("1.1 HIGH");
+    }
+
+    if ((direct == 0) || (direct == 2)){
+      digitalWrite(pwm_12, LOW);
+      Serial.println("1.2 LOW");
+    }
+    else{
+      digitalWrite(pwm_12, HIGH);
+      Serial.println("1.2 HIGH");
+    }
+  }
 }