 
         // left motor reverse
         case REVERSE:
-          analogWrite(PIN_MOTOR_LEFT_A, leftPWM);
-          analogWrite(PIN_MOTOR_LEFT_B, 0);
+          analogWrite(PIN_MOTOR_LEFT_A, 0);
+          analogWrite(PIN_MOTOR_LEFT_B, leftPWM);
           break;
       }
     }

      switch (leftMode) {
        // left motor forward
        case FORWARD:
          analogWrite(PIN_MOTOR_LEFT_A, 0);
          analogWrite(PIN_MOTOR_LEFT_B, leftPWM);
          break;

        // left motor brake

      switch (rightMode) {
        // right motor forward
        case FORWARD:
          analogWrite(PIN_MOTOR_RIGHT_A, rightPWM);
          analogWrite(PIN_MOTOR_RIGHT_B, 0);
          break;

        // right motor brake
