diff --git a/RC excavator/FW/src/controller.cpp b/RC excavator/FW/src/controller.cpp
index cbff5bb..e651ad2 100644
--- a/RC excavator/FW/src/controller.cpp	
+++ b/RC excavator/FW/src/controller.cpp	
@@ -4,9 +4,11 @@ XboxSeriesXControllerESP32_asukiaaa::Core xboxController; //"40:8e:2c:41:e4:eb")
 uint32_t lastcontrollernotify = 0;
 
 uint16_t joymax = 0;
+uint16_t trgmax = 0;
 #define deadband 10000
+#define trgdeadband 200
 
-direction getdirection(int setpoint)
+direction getdirectionJoy(int setpoint)
 {
   if(setpoint > (joymax/2 +deadband))
   {
@@ -16,11 +18,35 @@ direction getdirection(int setpoint)
   {
     return direction::left;
   }
-  else
+  //else
+  return direction::stop;
+}
+
+direction getdirecion2Button(uint8_t button0, uint8_t button1)
+{
+  if(button0 & !button1)
   {
-    return direction::stop;
+    return direction::left;
   }
-  
+  if(!button0 & button1)
+  {
+    return direction::right;
+  }
+  //else
+  return direction::stop;
+}
+
+direction getTrackDirection(int trigger, uint8_t shoulder)
+{
+  if(trigger > (trgmax/2 + trgdeadband) & !shoulder)
+  {
+    return direction::right;
+  }
+  if((trigger == 0) & shoulder)
+  {
+    return direction::left;
+  }
+  return direction::stop;
 }
 
 void setup_controller()
@@ -47,23 +73,27 @@ void loop_controller()
         // log_i("message: %s", Serial.print(xboxController.xboxNotif.toString()));
         unsigned long receivedAt = xboxController.getReceiveNotificationAt();
         joymax = XboxControllerNotificationParser::maxJoy;
+        trgmax = XboxControllerNotificationParser::maxTrig;
         if (millis() - lastcontrollernotify > CONTROLLERNOTIFY)
         {
-          log_i("joyLHori rate: %u", xboxController.xboxNotif.joyLHori);
-          log_i("joyLVert rate: %u", xboxController.xboxNotif.joyLVert);
-          log_i("joyRHori rate: %u", xboxController.xboxNotif.joyRHori);
-          log_i("joyRVert rate: %u", xboxController.xboxNotif.joyRVert);
+          // log_i("joyLHori rate: %u", xboxController.xboxNotif.btnLS);
+          // log_i("joyLVert rate: %u", xboxController.xboxNotif.btnLB);
+          // log_i("joyRHori rate: %u", xboxController.xboxNotif.trigLT);
+          // log_i("joyRVert rate: %u", xboxController.xboxNotif.trigRT);
           log_i("battery %d %", xboxController.battery);
-          log_i("joymax:%d",joymax );
+          //log_v("joymax:%d",joymax );
           lastcontrollernotify = millis();
         }
-        controlMotor("Pivot", getdirection(xboxController.xboxNotif.joyLHori));
-        controlMotor("Dipper", getdirection(xboxController.xboxNotif.joyLVert));
+        controlMotor("Pivot", getdirectionJoy(xboxController.xboxNotif.joyLHori));
+        controlMotor("Dipper", getdirectionJoy(xboxController.xboxNotif.joyLVert));
+        controlMotor("Bucket", getdirectionJoy(xboxController.xboxNotif.joyRHori));
+        controlMotor("Boom", getdirectionJoy(xboxController.xboxNotif.joyRVert));
+        controlMotor("Push", getdirecion2Button(xboxController.xboxNotif.btnX, xboxController.xboxNotif.btnY));
+        controlMotor("Thumb", getdirecion2Button(xboxController.xboxNotif.btnA, xboxController.xboxNotif.btnB));
 
-        controlMotor("Bucket", getdirection(xboxController.xboxNotif.joyRHori));
-        controlMotor("Boom", getdirection(xboxController.xboxNotif.joyRVert));
+        controlMotor("TrackLeft", getTrackDirection(xboxController.xboxNotif.trigLT, xboxController.xboxNotif.btnLB));
+        controlMotor("TrackRight", getTrackDirection(xboxController.xboxNotif.trigRT, xboxController.xboxNotif.btnRB));
 
-        //controlMotor("TrackLeft", getdirection(xboxController.xboxNotif.trigLT)
 
       }
     }
diff --git a/RC excavator/FW/src/controller.h b/RC excavator/FW/src/controller.h
index 9c0f896..4f56b61 100644
--- a/RC excavator/FW/src/controller.h	
+++ b/RC excavator/FW/src/controller.h	
@@ -2,7 +2,7 @@
 #include "motors.h"
 #include <XboxSeriesXControllerESP32_asukiaaa.hpp>
 
-#define CONTROLLERNOTIFY 1000
+#define CONTROLLERNOTIFY 30000
 
 
 void setup_controller();
diff --git a/RC excavator/FW/src/motors.cpp b/RC excavator/FW/src/motors.cpp
index 1c66fb4..2cbd9d8 100644
--- a/RC excavator/FW/src/motors.cpp	
+++ b/RC excavator/FW/src/motors.cpp	
@@ -11,14 +11,14 @@ Servo auxServo;
 
 motorinit initlist[NUMMOTORS]
 {
-  {pivot0,      pivot1,       0,  "Pivot"},
-  {mainBoom0,   mainBoom1,    1,  "Boom"},
-  {secondBoom0, secondBoom1,  2,  "Dipper"},
-  {tiltAttach0, tiltAttach1,  3,  "Bucket"},
-  {thumb0,      thumb1,       4,  "Thumb"},
-  {auxAttach0,  auxAttach1,   5,  "Aux"},
-  {leftMotor0,  leftMotor1,   6,  "TrackLeft"},
-  {rightMotor0, rightMotor1,  7,  "TrackRight"}
+  {pivot0,      pivot1,       0,  "Pivot",      true},
+  {mainBoom0,   mainBoom1,    1,  "Boom",       false},
+  {secondBoom0, secondBoom1,  2,  "Dipper",     true},
+  {tiltAttach0, tiltAttach1,  3,  "Bucket",     true},
+  {thumb0,      thumb1,       4,  "Thumb",      false},
+  {auxAttach0,  auxAttach1,   5,  "Push",       false},
+  {leftMotor0,  leftMotor1,   6,  "TrackLeft",  true},
+  {rightMotor0, rightMotor1,  7,  "TrackRight", true}
 };
 
 std::vector<motor> motors;
@@ -67,8 +67,17 @@ void motor::begin()
 
 void motor::setIO(uint8_t in0, uint8_t in1)
 {
+  if(!m_invert)
+  {
     mcp.digitalWrite(m_pin0, in0);
     mcp.digitalWrite(m_pin1, in1);
+  }
+  else
+  {
+    mcp.digitalWrite(m_pin0, in1);
+    mcp.digitalWrite(m_pin1, in0);
+  }
+
 }
 
 uint32_t lastmotorlog = 0;
diff --git a/RC excavator/FW/src/motors.h b/RC excavator/FW/src/motors.h
index 2bf5afe..0d7d2ee 100644
--- a/RC excavator/FW/src/motors.h	
+++ b/RC excavator/FW/src/motors.h	
@@ -25,6 +25,7 @@ struct motorinit
   uint8_t in1;
   uint8_t id;
   String name;
+  bool invert;
 };
 
 enum direction
@@ -47,13 +48,15 @@ class motor
     String m_name;
     uint32_t m_lastlog;
     direction current;
+    bool m_invert;
     void setIO(uint8_t in0, uint8_t in1);
 
   public:
     motor(motorinit initstruct):  m_pin0(initstruct.in0), 
                                   m_pin1(initstruct.in1), 
                                   m_id(initstruct.id), 
-                                  m_name(initstruct.name) {};
+                                  m_name(initstruct.name),
+                                  m_invert(initstruct.invert) {};
    
     void begin();
     void run(direction dir);