diff --git a/main/config.cpp b/main/config.cpp
index 832f984..e0db87e 100644
--- a/main/config.cpp
+++ b/main/config.cpp
@@ -10,7 +10,8 @@ single100a_config_t configDriverLeft = {
     .gpio_b = GPIO_NUM_4,
     .ledc_timer = LEDC_TIMER_0,
     .ledc_channel = LEDC_CHANNEL_0,
-    .abInverted = true,
+	.aEnabledPinState = false, //-> pins inverted (mosfets)
+	.bEnabledPinState = false,
     .resolution = LEDC_TIMER_11_BIT,
     .pwmFreq = 10000
 };
@@ -22,7 +23,8 @@ single100a_config_t configDriverRight = {
     .gpio_b = GPIO_NUM_14,
     .ledc_timer = LEDC_TIMER_1,
     .ledc_channel = LEDC_CHANNEL_1,
-    .abInverted = false,
+	.aEnabledPinState = true, //-> pins not inverted
+	.bEnabledPinState = true,
     .resolution = LEDC_TIMER_11_BIT,
     .pwmFreq = 10000
 };
diff --git a/main/motordrivers.cpp b/main/motordrivers.cpp
index fc0f16d..477f861 100644
--- a/main/motordrivers.cpp
+++ b/main/motordrivers.cpp
@@ -79,14 +79,6 @@ void single100a::init(){
 //function to put the h-bridge module in the desired state and duty cycle
 void single100a::set(motorstate_t state_f, float duty_f){
 
-    //define enabled signal state (gpio high/low) TODO: move this to constructor?
-    bool enabled;
-    if (config.abInverted) {
-        enabled = false;
-    } else {
-        enabled = true;
-    }
-
     //scale provided target duty in percent to available resolution for ledc
     uint32_t dutyScaled;
     if (duty_f > 100) { //target duty above 100%
@@ -105,29 +97,29 @@ void single100a::set(motorstate_t state_f, float duty_f){
             ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
             //TODO: to fix bugged state of h-bridge module when idle and start again, maybe try to leave pwm signal on for some time before updating a/b pins?
             //no brake: (freewheel)
-            gpio_set_level(config.gpio_a, enabled);
-            gpio_set_level(config.gpio_b, enabled);
+            gpio_set_level(config.gpio_a, config.aEnabledPinState);
+            gpio_set_level(config.gpio_b, config.bEnabledPinState);
             break;
         case motorstate_t::BRAKE:
             ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, 0);
             ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
             //brake:
-            gpio_set_level(config.gpio_a, !enabled);
-            gpio_set_level(config.gpio_b, !enabled);
+            gpio_set_level(config.gpio_a, !config.aEnabledPinState);
+            gpio_set_level(config.gpio_b, !config.bEnabledPinState);
             break;
         case motorstate_t::FWD:
             ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
             ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
             //forward:
-            gpio_set_level(config.gpio_a, enabled);
-            gpio_set_level(config.gpio_b, !enabled);
+            gpio_set_level(config.gpio_a, config.aEnabledPinState);
+            gpio_set_level(config.gpio_b, !config.bEnabledPinState);
             break;
         case motorstate_t::REV:
             ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
             ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
             //reverse:
-            gpio_set_level(config.gpio_a, !enabled);
-            gpio_set_level(config.gpio_b, enabled);
+            gpio_set_level(config.gpio_a, !config.aEnabledPinState);
+            gpio_set_level(config.gpio_b, config.bEnabledPinState);
             break;
     }
     ESP_LOGD(TAG, "set module to state=%s, duty=%d/%d, duty_input=%.3f%%", motorstateStr[(int)state_f], dutyScaled, dutyMax, duty_f);
diff --git a/main/motordrivers.hpp b/main/motordrivers.hpp
index 19da930..71218ea 100644
--- a/main/motordrivers.hpp
+++ b/main/motordrivers.hpp
@@ -34,7 +34,8 @@ typedef struct single100a_config_t {
     gpio_num_t gpio_b;
     ledc_timer_t ledc_timer;
     ledc_channel_t ledc_channel;
-    bool abInverted;
+	bool aEnabledPinState;
+	bool bEnabledPinState;
     ledc_timer_bit_t resolution;
     int pwmFreq;
 } single100a_config_t;