 
         if(servoRangeDirection == LEFT)
         {
-            SetMotor(motorPin1_1, motorPin1_2, -motorSpeed);
-            SetMotor(motorPin2_1, motorPin2_2, motorSpeed);
+            SetMotor(1, -motorSpeed);
+            SetMotor(2, motorSpeed);
         }
         else
         {
-            SetMotor(motorPin1_1, motorPin1_2, motorSpeed);
-            SetMotor(motorPin2_1, motorPin2_2, -motorSpeed);
+            SetMotor(1, motorSpeed);
+            SetMotor(2, -motorSpeed);
         }
 
         wheelSpinCompleted = false;


    rangeLimit_Timestamp = millis();

    pinMode(motorEnablePin, OUTPUT);
    analogWrite(motorEnablePin, motorSpeed);

    // Motor
    pinMode(motorPin1_1, OUTPUT);

    uint32_t uptime = millis();
    uint8_t servoPos = ServoMotor.read();


    Serial.print(servoPos);
    Serial.print(" - ");
    Serial.print(rangeLeft);
