diff --git a/code.ino b/code.ino
new file mode 100644
index 0000000..a16749d
--- /dev/null
+++ b/code.ino
@@ -0,0 +1,58 @@
+#define ENVELOPE 0xAA
+#define MOTOR1_PWM_PIN 16
+#define MOTOR2_PWM_PIN 17
+#define PWM_CHANNEL_1 0
+#define PWM_CHANNEL_2 1
+#define PWM_FREQ 1000
+#define PWM_RESOLUTION 8 // 8 bits: 0-255
+
+unsigned long lastReceiveTime = 0;
+uint8_t prevMotor1 = 0, prevMotor2 = 0;
+
+void setup() {
+  Serial.begin(115200);
+  ledcSetup(PWM_CHANNEL_1, PWM_FREQ, PWM_RESOLUTION);
+  ledcSetup(PWM_CHANNEL_2, PWM_FREQ, PWM_RESOLUTION);
+  ledcAttachPin(MOTOR1_PWM_PIN, PWM_CHANNEL_1);
+  ledcAttachPin(MOTOR2_PWM_PIN, PWM_CHANNEL_2);
+}
+
+void loop() {
+  static enum { WAIT_HEADER, WAIT_M1, WAIT_M2 } state = WAIT_HEADER;
+  static uint8_t m1_val, m2_val;
+  
+  while (Serial.available()) {
+    uint8_t b = Serial.read();
+    if (state == WAIT_HEADER) {
+      if (b == ENVELOPE) state = WAIT_M1;
+    } else if (state == WAIT_M1) {
+      m1_val = b;
+      state = WAIT_M2;
+    } else if (state == WAIT_M2) {
+      m2_val = b;
+      // Only update if changed
+      if (m1_val != prevMotor1) {
+        ledcWrite(PWM_CHANNEL_1, m1_val);
+        prevMotor1 = m1_val;
+      }
+      if (m2_val != prevMotor2) {
+        ledcWrite(PWM_CHANNEL_2, m2_val);
+        prevMotor2 = m2_val;
+      }
+      lastReceiveTime = millis();
+      state = WAIT_HEADER;
+    }
+  }
+
+  // Motor safety: Stop if no update in 200 ms
+  if (millis() - lastReceiveTime > 200) {
+    if (prevMotor1 != 0) {
+      ledcWrite(PWM_CHANNEL_1, 0);
+      prevMotor1 = 0;
+    }
+    if (prevMotor2 != 0) {
+      ledcWrite(PWM_CHANNEL_2, 0);
+      prevMotor2 = 0;
+    }
+  }
+}