diff --git a/src/motion/Motion.cpp b/src/motion/Motion.cpp
index 049a75d..5244d24 100644
--- a/src/motion/Motion.cpp
+++ b/src/motion/Motion.cpp
@@ -11,6 +11,10 @@
 
 #include "Motion.h"
 
+TaskHandle_t xMoveTaskHandle = NULL;
+TaskHandle_t xClockwiseTaskHandle = NULL;
+TaskHandle_t xAntiClockwiseTaskHandle = NULL;
+
 // Constructor
 Motion::Motion() {
     
@@ -20,31 +24,40 @@ Motion::Motion() {
 void Motion::begin(void) {
     
 }
-void moveTask(void * moveForMs) {
+void moveTask(void * args) {
     analogWrite(MOTOR_LEFT_PIN, 128);
     analogWrite(MOTOR_RIGHT_PIN, 128);
-    vTaskDelay((uint32_t) moveForMs);
+    vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
     analogWrite(MOTOR_LEFT_PIN, 0);
     analogWrite(MOTOR_RIGHT_PIN, 0);
+    vTaskDelete(xMoveTaskHandle);
 }
 
 // Move forward for a certain amount of time.
 void Motion::move(uint32_t moveForMs) {
-    xTaskCreate(moveTask, "Move", configMINIMAL_STACK_SIZE, (void*)moveForMs, 1, NULL);
-    // analogWrite(MOTOR_LEFT_PIN, 128);
-    // analogWrite(MOTOR_RIGHT_PIN, 128);
-    // vTaskDelay(moveForMs);
-    // analogWrite(MOTOR_LEFT_PIN, 0);
-    // analogWrite(MOTOR_RIGHT_PIN, 0);
+    xTaskCreate(moveTask, "Move", 4096, (void*)moveForMs, 10, &xMoveTaskHandle);
 }
 
+void leftMotorTask(void * args) {
+    analogWrite(MOTOR_LEFT_PIN, 128);
+    vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
+    analogWrite(MOTOR_LEFT_PIN, 0);
+    vTaskDelete(xClockwiseTaskHandle);
+}
 
 // Rotate clockwise for a certain amount of time.
 void Motion::rotateClockwise(uint32_t rotateForMs) {
+    xTaskCreate(leftMotorTask, "LeftMotor", 4096, (void*)rotateForMs, 10, &xClockwiseTaskHandle);
+}
 
+void rightMotorTask(void * args) {
+    analogWrite(MOTOR_RIGHT_PIN, 128);
+    vTaskDelay((uint32_t) args / portTICK_PERIOD_MS);
+    analogWrite(MOTOR_RIGHT_PIN, 0);
+    vTaskDelete(xAntiClockwiseTaskHandle);
 }
 
 // Rotate anticlockwise for a certain amount of time.
 void Motion::rotateAnticlockwise(uint32_t rotateForMs) {
-
+    xTaskCreate(rightMotorTask, "RightMotor", 4096, (void*)rotateForMs, 10, &xAntiClockwiseTaskHandle);
 }