diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index 692b218..0c3842e 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -257,24 +257,36 @@ static _Noreturn void Mma_Thread(tMma *env) {
 */
 
 
-//    env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
+    env->pwms->pwmFrontIo.run(env->pwms->pwmFrontIo.env);
+//    env->pwms->pwmRearIo.run(env->pwms->pwmRearIo.env);
 
+    env->pwms->pwmFrontIo.setActivePercent(env->pwms->pwmFrontIo.env, 50);
+    env->pwms->pwmRearIo.setActivePercent(env->pwms->pwmRearIo.env, 50);
+    env->pwms->pwmFrontReservedIo.setActivePercent(env->pwms->pwmFrontReservedIo.env, 50);
+    env->pwms->pwmRearReservedIo.setActivePercent(env->pwms->pwmRearReservedIo.env, 50);
     for (;;) {
-/*
-        env->pwms->pwmIo.setActivePercent(env->pwms->pwmIo.env, 77);
+
+
         SystemDelayMs(10);
-        uint8_t pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
-        //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM = %d", pwm)
+        uint8_t pwm1 = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontCaptureIO.env);
+        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Front) = %d", pwm1)
+
 
-        env->pwms->pwmIo.setActivePercent(env->pwms->pwmIo.env, 22);
         SystemDelayMs(10);
-        pwm = env->pwms->pwmCaptureIO.getPwm(env->pwms->pwmCaptureIO.env);
-        //LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM = %d", pwm)
-
-*/
+        uint8_t pwm2 = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearCaptureIO.env);
+        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Rear) = %d", pwm2)
 
+        SystemDelayMs(10);
+        uint8_t pwm3 = env->pwms->pwmFrontCaptureIO.getPwm(env->pwms->pwmFrontReservedCaptureIO.env);
+        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Front Reserve) = %d", pwm3)
         LoadDataInFromModel(env);
 
+        SystemDelayMs(10);
+        uint8_t pwm4 = env->pwms->pwmRearCaptureIO.getPwm(env->pwms->pwmRearReservedCaptureIO.env);
+        LoggerFormatInfo(LOGGER, LOG_TASK_ARB, "PWM (Rear Reserve) = %d", pwm4)
+        LoadDataInFromModel(env);
+
+
         SystemDelayMs(500);
 
         GpioPinToggle(&env->gpios->led.LED_G);