diff --git a/ros_ws/src/arduino/motor/motor.ino b/ros_ws/src/arduino/motor/motor.ino
index 2260c7f..0b1bc1b 100644
--- a/ros_ws/src/arduino/motor/motor.ino
+++ b/ros_ws/src/arduino/motor/motor.ino
@@ -72,9 +72,9 @@ const int ENCODER_PIN = 2;
 /**
  * @brief Pins used to control the Motor
  */
-const int FORWARD_PWM_PIN = 5;
-const int REVERSE_PWM_PIN = 6;
-const int ENABLE_PIN = A3;
+const int FORWARD_PWM_PIN = 9;
+const int REVERSE_PWM_PIN = 10;
+const int ENABLE_PIN = 7;
 
 /**
  * @brief Float used to scale the Speed to
diff --git a/ros_ws/src/control/launch/robot.launch b/ros_ws/src/control/launch/robot.launch
index 73fe9d2..26a64b1 100644
--- a/ros_ws/src/control/launch/robot.launch
+++ b/ros_ws/src/control/launch/robot.launch
@@ -2,7 +2,7 @@
     <!-- Define arguments and defaults -->
     <arg name="robot_addr" default="localhost"/>
     <arg name="robot_launch" default="igvc.launch"/>
-    <arg name="controller_type" default="360.yaml" />
+    <arg name="controller_type" default="moga.yaml" />
     <include file="$(find control)/launch/$(arg robot_launch)" />
 
     <!-- Connect to the specified master -->
@@ -24,10 +24,10 @@
     <node pkg="control" type="motor_controller_node" name="motor_controller_node"/>
     
     <!-- Arduino Stuff -->
-    <node name="arduino_right" pkg="rosserial_python" type="serial_node.py" args="/dev/ttyACM0"/>
-    <node name="arduino_left" pkg="rosserial_python" type="serial_node.py" args="/dev/ttyACM1"/>
-    <node name="arduino_conv" pkg="rosserial_python" type="serial_node.py" args="/dev/ttyACM3"/>
-    <node name="arduino_dump" pkg="rosserial_python" type="serial_node.py" args="/dev/ttyACM4"/>
+    <node name="arduino_right" pkg="rosserial_python" type="serial_node.py" args="/dev/ttyUSB1"/>
+    <node name="arduino_left" pkg="rosserial_python" type="serial_node.py" args="/dev/ttyUSB0"/>
+    <node name="arduino_conv" pkg="rosserial_python" type="serial_node.py" args="/dev/ttyUSB2"/>
+    <node name="arduino_dump" pkg="rosserial_python" type="serial_node.py" args="/dev/ttyUSB3"/>
 
     <!-- Sensing and mapping files -->
     <include file="$(find control)/launch/slam.launch"/>
diff --git a/ros_ws/src/control/param/controllers/360.yaml b/ros_ws/src/control/param/controllers/360.yaml
index f90cc77..df5cd48 100644
--- a/ros_ws/src/control/param/controllers/360.yaml
+++ b/ros_ws/src/control/param/controllers/360.yaml
@@ -13,7 +13,7 @@
 #POWER_BUTTON:     8
 #UP_DPAD:          13
 #DOWN_DPAD:        14
-#RIGHT_DPAD:       12
+#RIGHT_DPAD:       12sd
 #LEFT_DPAD:        11
 
 
diff --git a/ros_ws/src/control/param/controllers/moga.yaml b/ros_ws/src/control/param/controllers/moga.yaml
index 1b53c37..d28813c 100644
--- a/ros_ws/src/control/param/controllers/moga.yaml
+++ b/ros_ws/src/control/param/controllers/moga.yaml
@@ -13,7 +13,8 @@ controller_type:   moga
 
 lin_vel_axis:      1
 ang_vel_axis:      2
-
+conveyor_speed_forward:    4
+conveyor_speed_back:       5
 teleop_btn:        0
 standby_btn:       1
 
@@ -21,3 +22,6 @@ autonomous_btn:    3
 speed_inc_btn:     5
 speed_dec_btn:     4
 turbo_btn:         2
+
+actuator_up:               13
+actuator_down:             14