diff --git a/main/ugv_io.cc b/main/ugv_io.cc
index 146fabc..371c6af 100644
--- a/main/ugv_io.cc
+++ b/main/ugv_io.cc
@@ -29,7 +29,7 @@ static constexpr mcpwm_unit_t MCPWM_UNIT      = MCPWM_UNIT_0;
 static constexpr gpio_num_t   MOTOR_LEFT_PWM  = GPIO_NUM_0;
 static constexpr gpio_num_t   MOTOR_LEFT_DIR  = GPIO_NUM_2;
 static constexpr gpio_num_t   MOTOR_RIGHT_PWM = GPIO_NUM_12;
-static constexpr gpio_num_t   MOTOR_RIGHT_DIR = GPIO_NUM_14;
+static constexpr gpio_num_t   MOTOR_RIGHT_DIR = GPIO_NUM_16;
 
 IOClass IO;
 
@@ -46,8 +46,10 @@ void IOClass::Init() {
 void IOClass::InitMotors() {
   ERROR_CHECK(gpio_set_direction(MOTOR_LEFT_PWM, GPIO_MODE_OUTPUT));
   ERROR_CHECK(gpio_set_direction(MOTOR_LEFT_DIR, GPIO_MODE_OUTPUT));
+  ERROR_CHECK(gpio_set_pull_mode(MOTOR_LEFT_DIR, GPIO_FLOATING));
   ERROR_CHECK(gpio_set_direction(MOTOR_RIGHT_PWM, GPIO_MODE_OUTPUT));
   ERROR_CHECK(gpio_set_direction(MOTOR_RIGHT_DIR, GPIO_MODE_OUTPUT));
+  ERROR_CHECK(gpio_set_pull_mode(MOTOR_RIGHT_DIR, GPIO_FLOATING));
   ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM0A, MOTOR_LEFT_PWM));
   ERROR_CHECK(mcpwm_gpio_init(MCPWM_UNIT, MCPWM1A, MOTOR_RIGHT_PWM));