diff --git a/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp b/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp
index b1be5a53..e65dbed3 100644
--- a/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp
+++ b/app/raspberry_pi/tests/tb6612/test_rear_wheels.cpp
@@ -1,35 +1,34 @@
 #include <thread>
 
-#include "gpiod.hpp"
+#include "pigpio.h"
+#include "pigpiod_if2.h"
+
+void setupGPIOMotor();
 
 int main()
 {
-
+    setupGPIOMotor();
     return 0;
 }
 
 void setupGPIOMotor()
 {
     int directionChannel;
-    // Setup GPIO for direction channel
-    gpiod::chip chip("/dev/gpiochip0");
-    int direction_channel = 17;
-    chip.prepare_request()
-        .add_line_settings(
-            gpiod::line::offset(direction_channel), gpiod::line_settings()
-                                         .set_direction(gpiod::line::direction::OUTPUT) // Setup the GPIO
-                                         .set_debounce_period(std::chrono::microseconds(100)) // 100 Speed
-                                         .set_output_value(gpiod::line::value::ACTIVE) // Move wheel
-            )
-        .do_request();
-
-    std::this_thread::sleep_for(std::chrono::seconds(5));
-
-    chip.prepare_request()
-        .add_line_settings(
-            gpiod::line::offset(direction_channel), gpiod::line_settings()
-                                         .set_direction(gpiod::line::direction::OUTPUT) // Setup the GPIO
-                                         .set_output_value(gpiod::line::value::INACTIVE) // Stop wheel
-            )
-        .do_request();
+
+    gpioSetMode(directionChannel, PI_OUTPUT);
+
+    int pinA = 12;
+    int pinB = 13;
+    int frequency = 1000;
+
+    gpioSetMode(pinA, PI_OUTPUT);
+    gpioSetMode(pinB, PI_OUTPUT);
+    int a = gpioHardwarePWM(pinA, frequency, 0);
+    int b = gpioHardwarePWM(pinB, frequency, 0);
+
+    int value = 0;
+
+    gpioHardwarePWM(pinB, frequency, static_cast<int>(value));
+    gpioHardwarePWM(pinA, frequency, static_cast<int>(value));
+
 }
\ No newline at end of file
diff --git a/app/raspberry_pi/xmake.lua b/app/raspberry_pi/xmake.lua
index f5a61f98..75603a23 100644
--- a/app/raspberry_pi/xmake.lua
+++ b/app/raspberry_pi/xmake.lua
@@ -19,7 +19,7 @@ add_requires("imath")
 if is_plat("linux", "macosx") then
     -- For the SunFounder Car
     add_requires("pca9685")
-    add_requires("tb6612")
+    add_requires("pigpio")
 end
 
 -- For Functional Programming?
@@ -47,7 +47,7 @@ target("raspberry_pi")
     -- For the SunFounder Car
     add_packages("rplidar")
     add_packages("pca9685")
-    add_packages("tb6612")
+    add_packages("pigpio")
 
     add_headerfiles("include/**.h")
 
@@ -84,7 +84,7 @@ if is_plat("linux") then
             set_default(false)
             set_license("LGPL-2.1")
             
-            add_packages("tb6612")
+            add_packages("pigpio")
 
             add_files("tests/tb6612/" .. name .. ".cpp")
         target_end()