PwmOut pwmFwdLeft = PwmOut(PB_5);
    PwmOut pwmBwdLeft = PwmOut(PB_7);

    PwmOut pwmFwdRight = PwmOut(PA_6);
    PwmOut pwmBwdRight = PwmOut(PB_6);

    pwmFwdLeft.period(1.0 / 20000);
    pwmBwdLeft.period(1.0 / 20000);
    pwmFwdRight.period(1.0 / 20000);
    pwmBwdRight.period(1.0 / 20000);

    pwmFwdLeft = 0.5f;
    pwmBwdLeft = 0.5f;
    pwmFwdRight = 0.5f;
    pwmBwdRight = 0.5f;