diff --git a/kuukar/kuukar.py b/kuukar/kuukar.py
index e11077c..4a6da44 100644
--- a/kuukar/kuukar.py
+++ b/kuukar/kuukar.py
@@ -15,7 +15,7 @@ class kuukar:
         self.sensors = kuukar_sensors.sensors(self.mcu)
         self.leds = kuukar_leds.leds(self.mcu)
         self.motion = kuukar_motion.motion(
-            self.mcu, self.drv, self.leds, self.sensors)
+            self.mcu, self.leds, self.sensors)
         self.lcd = kuukar_lcd.lcd(self.motion, self.sensors)
         self.environment = kuukar_environment.environment(
             self.lcd, self.leds, self.sensors)
diff --git a/kuukar/kuukar_motion.py b/kuukar/kuukar_motion.py
index eb8a573..1642565 100644
--- a/kuukar/kuukar_motion.py
+++ b/kuukar/kuukar_motion.py
@@ -11,9 +11,8 @@ class motion:
 
     roaming = False
 
-    def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico, drv: telemetrix_rpi_pico.TelemetrixRpiPico, leds: leds, sensors: sensors) -> None:
+    def __init__(self, mcu: telemetrix_rpi_pico.TelemetrixRpiPico, leds: leds, sensors: sensors) -> None:
         self.mcu = mcu
-        self.drv = drv
         self.leds = leds
         self.sensors = sensors
         self.roam_thread = threading.Thread(target=self.__roam_looper)
@@ -22,15 +21,15 @@ class motion:
         drive_pins = [MOTOR_FL_F, MOTOR_FL_R, MOTOR_FR_F,
                       MOTOR_FR_R, MOTOR_RL_F, MOTOR_RL_R, MOTOR_RR_F, MOTOR_RR_R]
         for drive_pin in drive_pins:
-            self.drv.set_pin_mode_pwm_output(drive_pin)
+            self.mcu.set_pin_mode_pwm_output(drive_pin)
 
     def motor_write(self, forward_pin: int, reverse_pin: int, speed: int):
         if speed < 0:
-            self.drv.pwm_write(forward_pin, 0)
-            self.drv.pwm_write(reverse_pin, -int(speed))
+            self.mcu.pwm_write(forward_pin, 0)
+            self.mcu.pwm_write(reverse_pin, -int(speed))
         elif speed >= 0:
-            self.drv.pwm_write(forward_pin, int(speed))
-            self.drv.pwm_write(reverse_pin, 0)
+            self.mcu.pwm_write(forward_pin, int(speed))
+            self.mcu.pwm_write(reverse_pin, 0)
 
     def drive(self, speed: int):
         self.motor_write(MOTOR_FL_F, MOTOR_FL_R, speed)