diff --git a/src/motion/Motion.h b/src/motion/Motion.h
index 195c077..c4c6f7d 100644
--- a/src/motion/Motion.h
+++ b/src/motion/Motion.h
@@ -23,6 +23,7 @@
 #define CHANNEL_LEFT       LEDC_CHANNEL_3 
 #define CHANNEL_RIGHT      LEDC_CHANNEL_4  
 #define DUTY_RES           LEDC_TIMER_13_BIT // Set duty resolution to 13 bits
+#define PHASE_180_DEG      (1 << (DUTY_RES))/2 // (2**DUTY_RES)/2 Set phase to 180 degrees 
 #define FREQUENCY          (5000) // Frequency in Hertz. Set frequency at 5 kHz
 #define DEFAULT_BASE_VALUE  3900
 
@@ -32,7 +33,7 @@
 
 class Motor{
     public:
-        Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel);
+        Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel, int phase=0);
         
         /**
          * @brief Initializes the motor 
@@ -80,12 +81,17 @@ class Motor{
         ledc_channel_t channel;
         Power* powerManager;
         uint16_t duty;
+        // The phase of the pwm signal, expressed as a number betweeen 0 and
+        // the maximum value representable by the pwm timer resolution.
+        int phase;
 };
 
 class Motion{
 protected:
     static inline uint16_t RIGHT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
     static inline uint16_t LEFT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
+    static inline int LEFT_MOTOR_PHASE = 0;
+    static inline int RIGHT_MOTOR_PHASE = PHASE_180_DEG;
     static const int MOTOR_RIGHT_PIN = 11; 
     static const int MOTOR_LEFT_PIN = 12;
     static void moveTask(void * args);
@@ -101,8 +107,8 @@ protected:
 
 public:
     //Instances of the motors, so they can also be used from outside to set values for the motors directly.
-    static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT);
-    static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT);
+    static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT,LEFT_MOTOR_PHASE);
+    static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT,RIGHT_MOTOR_PHASE);
     
     //MotionDetection instance, for motion Correction and user (access with dezibot.motion.detection)
     static inline MotionDetection detection;
diff --git a/src/motion/Motor.cpp b/src/motion/Motor.cpp
index ea6e9db..6482ded 100644
--- a/src/motion/Motor.cpp
+++ b/src/motion/Motor.cpp
@@ -4,24 +4,27 @@
 #define MOTOR_LEFT_PIN 12
 #define MOTOR_RIGHT_PIN 11
 
-Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel) {
-  this->pin = pin;
-  this->channel = channel;
-  this->timer = timer;
-  this->duty = 0;
+Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel, int phase){
+    this->pin = pin;
+    this->channel = channel;
+    this->timer = timer;
+    this->duty = 0;
+    this->phase = phase;
 };
 
-void Motor::begin(void) {
-  pinMode(this->pin, OUTPUT);
-  ledc_channel_config_t channelConfig = {.gpio_num = this->pin,
-                                         .speed_mode = LEDC_MODE,
-                                         .channel = this->channel,
-                                         .intr_type = LEDC_INTR_DISABLE,
-                                         .timer_sel = this->timer,
-                                         .duty = 0, // Set duty to 0%
-                                         .hpoint = 0};
-  ledc_channel_config(&channelConfig);
-  Serial.println("Motor begin done");
+void Motor::begin(void){
+    pinMode(this->pin,OUTPUT);
+    ledc_channel_config_t channelConfig = {
+        .gpio_num       = this->pin,
+        .speed_mode     = LEDC_MODE,
+        .channel        = this->channel,
+        .intr_type      = LEDC_INTR_DISABLE,
+        .timer_sel      = this->timer,
+        .duty           = 0, // Set duty to 0%
+        .hpoint         = this->phase
+    };
+    ledc_channel_config(&channelConfig);
+    Serial.println("Motor begin done");
 };
 
 bool Motor::setSpeed(uint16_t duty) {