diff --git a/app/raspberry_pi/repository/packages/p/pca9685/xmake.lua b/app/raspberry_pi/repository/packages/p/pca9685/xmake.lua
deleted file mode 100644
index d38a7f07..00000000
--- a/app/raspberry_pi/repository/packages/p/pca9685/xmake.lua
+++ /dev/null
@@ -1,30 +0,0 @@
-package("pca9685")
-    set_homepage("https://github.com/chaoticmachinery/pca9685")
-    set_description("PCA9685 C++ Library. Works with SunFounder")
-    set_license("LGPL-2.1")
-
-    set_urls("https://github.com/chaoticmachinery/pca9685.git")
-
-    add_versions("2017.12.07", "6f9794d888f77b863884c3eac933b75a07101347")
-
-    on_install("linux", function (package)
-        io.writefile("xmake.lua", [[
-            add_rules("mode.debug", "mode.release")
-            target("pca9685")
-                set_kind("$(kind)")
-                set_languages("c++11")
-                add_files("PCA9685.cpp")
-                add_headerfiles("PCA9685.h")
-        ]])
-        local configs = {}
-        import("package.tools.xmake").install(package, configs)
-    end)
-
-    on_test(function (package)
-        assert(package:check_cxxsnippets({test = [[
-            #include "PCA9685.h"
-            void test() {
-                PCA9685 pwm;
-            }
-        ]]}, {configs = {languages = "c++11"}}))
-    end)
diff --git a/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.h b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.h
new file mode 100644
index 00000000..7df3e81e
--- /dev/null
+++ b/app/raspberry_pi/repository/packages/t/tb6612/tb6612/include/TB6612.h
@@ -0,0 +1,37 @@
+#ifndef TB6612_H
+#define TB6612_H
+
+#pragma once
+
+#include "cppgpio.hpp"
+
+namespace tb6612
+{
+    class Motor
+    {
+    public:
+        Motor(
+            const int &direction_channel,
+            const int &pwn = 0,
+            const bool &offset = true) : 
+            direction_channel(direction_channel), 
+            pwm(pwm), 
+            offset(offset),
+            forward_offset(offset),
+            backward_offset(!offset)
+        {
+        }
+
+    private:
+        const int direction_channel;
+        const int pwm;
+        const bool offset;
+
+        bool forward_offset;
+        bool backward_offset;
+
+        int speed = 0;
+    }
+}
+
+#endif
\ No newline at end of file
diff --git a/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua b/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua
new file mode 100644
index 00000000..b7f0a0fe
--- /dev/null
+++ b/app/raspberry_pi/repository/packages/t/tb6612/xmake.lua
@@ -0,0 +1,8 @@
+package("tb6612")
+    add_deps("cppgpio")
+    set_sourcedir(path.join(os.scriptdir(), "tb6612"))
+    on_install(function (package)
+        local configs = {}
+        import("package.tools.xmake").install(package, configs)
+    end)
+package_end()
\ No newline at end of file