diff --git a/config/lino_base_config.h b/config/lino_base_config.h
index 1068648..c110660 100644
--- a/config/lino_base_config.h
+++ b/config/lino_base_config.h
@@ -18,9 +18,9 @@
 #define LED_PIN 13 //used for debugging status
 
 //uncomment the base you're building
-#define LINO_BASE DIFFERENTIAL_DRIVE       // 2WD and Tracked robot w/ 2 motors
+//#define LINO_BASE DIFFERENTIAL_DRIVE       // 2WD and Tracked robot w/ 2 motors
 // #define LINO_BASE SKID_STEER            // 4WD robot
-// #define LINO_BASE MECANUM               // Mecanum drive robot
+#define LINO_BASE MECANUM               // Mecanum drive robot
 
 //uncomment the motor driver you're using
 #define USE_GENERIC_2_IN_MOTOR_DRIVER      // Motor drivers with 2 Direction Pins(INA, INB) and 1 PWM(ENABLE) pin ie. L298, L293, VNH5019
@@ -29,8 +29,8 @@
 // #define USE_ESC_MOTOR_DRIVER            // Motor ESC for brushless motors
 
 //uncomment the IMU you're using
-#define USE_GY85_IMU
-// #define USE_MPU6050_IMU
+// #define USE_GY85_IMU
+#define USE_MPU6050_IMU
 // #define USE_MPU9150_IMU
 // #define USE_MPU9250_IMU
 
@@ -47,17 +47,17 @@ ROBOT ORIENTATION
 */
 
 //define your robot' specs here
-#define MOTOR_MAX_RPM 140                   // motor's max RPM          
+#define MOTOR_MAX_RPM 200                   // motor's max RPM          
 #define MAX_RPM_RATIO 0.85                  // max RPM allowed for each MAX_RPM_ALLOWED = MOTOR_MAX_RPM * MAX_RPM_RATIO          
-#define MOTOR_OPERATING_VOLTAGE 24          // motor's operating voltage (used to calculate max RPM)
-#define MOTOR_POWER_MAX_VOLTAGE 12          // max voltage of the motor's power source (used to calculate max RPM)
-#define MOTOR_POWER_MEASURED_VOLTAGE 12     // current voltage reading of the power connected to the motor (used for calibration)
+#define MOTOR_OPERATING_VOLTAGE 6          // motor's operating voltage (used to calculate max RPM)
+#define MOTOR_POWER_MAX_VOLTAGE 7          // max voltage of the motor's power source (used to calculate max RPM)
+#define MOTOR_POWER_MEASURED_VOLTAGE 6.80     // current voltage reading of the power connected to the motor (used for calibration)
 #define COUNTS_PER_REV1 144000              // wheel1 encoder's no of ticks per rev
 #define COUNTS_PER_REV2 144000              // wheel2 encoder's no of ticks per rev
 #define COUNTS_PER_REV3 144000              // wheel3 encoder's no of ticks per rev
 #define COUNTS_PER_REV4 144000              // wheel4 encoder's no of ticks per rev
-#define WHEEL_DIAMETER 0.152                // wheel's diameter in meters
-#define LR_WHEELS_DISTANCE 0.271            // distance between left and right wheels
+#define WHEEL_DIAMETER 0.14324                // wheel's diameter in meters
+#define LR_WHEELS_DISTANCE 0.2            // distance between left and right wheels
 #define PWM_BITS 10                          // PWM Resolution of the microcontroller
 #define PWM_FREQUENCY 20000                 // PWM Frequency
 
@@ -74,35 +74,35 @@ ROBOT ORIENTATION
 #define MOTOR4_INV false
 
 // ENCODER PINS
-#define MOTOR1_ENCODER_A 14
-#define MOTOR1_ENCODER_B 15 
+#define MOTOR1_ENCODER_A 23
+#define MOTOR1_ENCODER_B 22 
 
-#define MOTOR2_ENCODER_A 11
-#define MOTOR2_ENCODER_B 12 
+#define MOTOR2_ENCODER_A 21
+#define MOTOR2_ENCODER_B 20 
 
 #define MOTOR3_ENCODER_A 17
 #define MOTOR3_ENCODER_B 16 
 
-#define MOTOR4_ENCODER_A 9
-#define MOTOR4_ENCODER_B 10
+#define MOTOR4_ENCODER_A 15
+#define MOTOR4_ENCODER_B 14
 
 // MOTOR PINS
 #ifdef USE_GENERIC_2_IN_MOTOR_DRIVER
-  #define MOTOR1_PWM 21 //Pin no 21 is not a PWM pin on Teensy 4.x, you can swap it with pin no 1 instead.
-  #define MOTOR1_IN_A 20
-  #define MOTOR1_IN_B 1 
+  #define MOTOR1_PWM 1 //Pin no 21 is not a PWM pin on Teensy 4.x, you can swap it with pin no 1 instead.
+  #define MOTOR1_IN_A 2
+  #define MOTOR1_IN_B 3 
 
-  #define MOTOR2_PWM 5
-  #define MOTOR2_IN_A 6
-  #define MOTOR2_IN_B 8
+  #define MOTOR2_PWM 6
+  #define MOTOR2_IN_A 4
+  #define MOTOR2_IN_B 5
 
-  #define MOTOR3_PWM 22
-  #define MOTOR3_IN_A 23
-  #define MOTOR3_IN_B 0
+  #define MOTOR3_PWM 7
+  #define MOTOR3_IN_A 8
+  #define MOTOR3_IN_B 9
 
-  #define MOTOR4_PWM 4
-  #define MOTOR4_IN_A 3
-  #define MOTOR4_IN_B 2
+  #define MOTOR4_PWM 12
+  #define MOTOR4_IN_A 10
+  #define MOTOR4_IN_B 11
 
   #define PWM_MAX pow(2, PWM_BITS) - 1
   #define PWM_MIN -PWM_MAX