   pinMode(LED_PIN, OUTPUT);
   digitalWrite(LED_PIN, LOW);
   
-  // power management pins //
+  // power management //
   pinMode(SERVO_PIN, OUTPUT);
+  pinMode(MOTOR_ENABLE_PIN, OUTPUT);
   pinMode(POWER_PIN, OUTPUT);
-  pinMode(MOTOR_PIN, OUTPUT);
+  pinMode(MOTOR_DISABLE_PIN, OUTPUT);
   digitalWrite(SERVO_PIN, LOW);
+  digitalWrite(MOTOR_ENABLE_PIN, LOW);
   digitalWrite(POWER_PIN, LOW);
-  digitalWrite(MOTOR_PIN, LOW);
+  digitalWrite(MOTOR_DISABLE_PIN, LOW);
+  motor_power(false);
   
   // host communication //
   Serial.begin(38400);

  lastDriveCommandTime = millis();
}

// enable/disable motor driver communication and power
void driveEnable(boolean action)
{
  if (action)
  {
    if (!driveEnabled) {
      pm();
      driveUART(true);
      lastDriveCommandTime = millis();
    }
  }
  else
  {
    if (driveEnabled) {
      driveUART(false);
      pm();
    }
  }
}






//=======================================

