diff --git a/common/input_capture.c b/common/input_capture.c
index 3f2b27d..28b184b 100644
--- a/common/input_capture.c
+++ b/common/input_capture.c
@@ -59,10 +59,8 @@ void TimerA3CaptureInit(void (*task0)(uint16_t time),
     TIMER_A3->EX0 &= ~0x7;        // input clock divider /1
 
     NVIC->IP[3] = (NVIC->IP[3] & 0xFF0000FF) | 0x00020300; // priority 2 and 3
-    
-    //? enabling something different??
-    NVIC->ISER[0] = (1 << 13) | (1 << 14); // enable 14 and 15
 
+    NVIC->ISER[0] = (1 << 14) | (1 << 15); // enable 14 and 15
 
     // Start Timer A3 in continuous mode with clear
     TIMER_A3->CTL |= 0x0024;         // TACLR | MC__CONTINUOUS
@@ -78,29 +76,4 @@ void TA3_0_IRQHandler(void) {
 void TA3_N_IRQHandler(void) {
     TIMER_A3->CCTL[1] &= ~0x0001;  // ack
     capture_task1(TIMER_A3->CCR[1]);
-}
-
-// #define PRESCALER_FACTOR 3
-// static uint16_t prev_capture0 = 0;
-// static uint16_t prev_capture1 = 0;
-// // ISR for TA3 CCR0 (P10.4 rising edge)
-// void TA3_0_IRQHandler(void) {
-//     uint16_t current_capture = TIMER_A3->CCR[0];
-//     uint16_t period = current_capture - prev_capture0;
-//     prev_capture0 = current_capture;
-    
-//     TIMER_A3->CCTL[0] &= ~0x0001;    // Acknowledge interrupt
-//     capture_task0(period * PRESCALER_FACTOR); // Apply prescaler
-// }
-
-// // ISR for TA3 CCR1 (P10.5 rising edge)
-// void TA3_N_IRQHandler(void) {
-//     if (TIMER_A3->CCTL[1] & 0x0001) { // Check CCIFG1
-//         uint16_t current_capture = TIMER_A3->CCR[1];
-//         uint16_t period = current_capture - prev_capture1;
-//         prev_capture1 = current_capture;
-        
-//         TIMER_A3->CCTL[1] &= ~0x0001; // Acknowledge interrupt
-//         capture_task1(period * PRESCALER_FACTOR); // Apply prescaler
-//     }
-// }
+}
\ No newline at end of file
diff --git a/common/tachometer.c b/common/tachometer.c
index 274f86c..b2e8fba 100644
--- a/common/tachometer.c
+++ b/common/tachometer.c
@@ -20,7 +20,17 @@ TachDirection_t tach_r_dir, tach_l_dir;
 void TachometerRightInt(uint16_t current_time) {
     tach_r_time1 = tach_r_time2;
     tach_r_time2 = current_time;
-    // write this code
+    
+    tach_r_dir = (P5->IN & 0x01) ? Forward : Reverse;
+
+    // int delta = tach_r_time2 - tach_r_time1;
+    // int speed = 2000000 / delta;
+
+    if (tach_r_dir == Forward)
+        ++tach_r_steps;
+    else
+        --tach_r_steps;
+    return;
 }
 
 // Left Encoder B connected to P5.2 (J2.12)
@@ -29,7 +39,17 @@ void TachometerRightInt(uint16_t current_time) {
 void TachometerLeftInt(uint16_t current_time) {
     tach_l_time1 = tach_l_time2;
     tach_l_time2 = current_time;
-    // write this code
+    
+    tach_l_dir = (P5->IN & 0x04) ? Forward : Reverse;
+
+    // int delta = tach_l_time2 - tach_l_time1;
+    // int speed = 2000000 / delta;
+
+    if (tach_l_dir == Forward)
+        ++tach_l_steps;
+    else
+        --tach_l_steps;
+    return;
 }
 
 // Initialize P5.0 and P5.2 and make them GPIO inputs, 
@@ -37,5 +57,11 @@ void TachometerLeftInt(uint16_t current_time) {
 // Initialize the input capture interface, which
 // will be used to measure the speed of rotation.
 void TachometerInit(void) {
-    // write this code
+    P5->SEL0 |= 0x05;   // Set SEL0 for bits 0 and 2
+    P5->SEL1 &= ~0x05;  // Clear SEL1 for bits 0 and 2
+    P5->DIR &= ~0x05;   // Set as inputs
+
+    tach_r_dir = tach_l_dir = Stopped;
+
+    TimerA3CaptureInit(&TachometerRightInt, &TachometerLeftInt);
 }
diff --git a/lab6/main.c b/lab6/main.c
index d638df2..feb0a2e 100644
--- a/lab6/main.c
+++ b/lab6/main.c
@@ -61,12 +61,12 @@ void dummy() {
     return;
 }
 
-int main(void) {
+int main_f(void) {
     CPU_cpsid(); // Disable interrupts
     ClockInit48MHz();  // 48 MHz clock; 12 MHz Timer A clock
     RedLEDInit();
     ColorLEDInit();
-    PWMInitMotor(7502);
+    PWMInitMotor(3751);
     MotorInit();
     // TimerA1Init(&dummy, 1000);
     TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
@@ -120,12 +120,12 @@ void Collect(void) {
     ++time;
 }
 
-int main_collect(void) {
+int main_s(void) {
     CPU_cpsid(); // Disable interrupts
     ClockInit48MHz();  // 48 MHz clock; 12 MHz Timer A clock
     RedLEDInit();
     ColorLEDInit();
-    PWMInitMotor(7502);
+    PWMInitMotor(3751);
     MotorInit();
     TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
     TimerA1Init(&Collect, 5000);  // 100 Hz
@@ -134,15 +134,16 @@ int main_collect(void) {
     return 0;
 }
 
-int main_tach(void) {
+int main(void) {
     CPU_cpsid(); // Disable interrupts
     ClockInit48MHz();
-    PWMInitMotor(7502);
+    PWMInitMotor(3751);
     MotorInit();
     TachometerInit();
-    MotorForward(2000, 2000); // confirm if rotating forward
+    // MotorForward(2000, 2000); // confirm if rotating forward
     //MotorBackward(2000, 2000); // confirm if rotating backward
     CPU_cpsie(); // Enable interrupts
-    CPU_wfi(); // Wait for interrupt
+    // CPU_wfi(); // Wait for interrupt
+    while (1);
     return 0;
 }