diff --git a/drivers/motor/motor_state.cpp b/drivers/motor/motor_state.cpp
index 6ae19373..ce66db91 100644
--- a/drivers/motor/motor_state.cpp
+++ b/drivers/motor/motor_state.cpp
@@ -62,7 +62,7 @@ namespace motor {
       speed = 0.0f - speed;
 
     // Clamp the speed between the hard limits
-    motor_speed = CLAMP(speed, -motor_scale, motor_scale);
+    motor_speed = CLAMP(speed, 0.0f - motor_scale, motor_scale);
     last_enabled_duty = motor_speed / motor_scale;
 
     return enable_with_return();
@@ -81,7 +81,7 @@ namespace motor {
   }
 
   float MotorState::to_percent_with_return(float in, float in_min, float in_max) {
-    float speed = MotorState::map_float(in, in_min, in_max, 0.0f - motor_speed, motor_speed);
+    float speed = MotorState::map_float(in, in_min, in_max, 0.0f - motor_scale, motor_scale);
     return set_speed_with_return(speed);
   }
 
diff --git a/libraries/motor2040/motor2040.hpp b/libraries/motor2040/motor2040.hpp
index 17dc22d4..acb8f17a 100644
--- a/libraries/motor2040/motor2040.hpp
+++ b/libraries/motor2040/motor2040.hpp
@@ -31,10 +31,13 @@ namespace motor {
     const uint ENCODER_D_A = 14;
     const uint ENCODER_D_B = 15;
 
-    const pin_pair ENCODER_A(ENCODER_A_A, ENCODER_A_B);
-    const pin_pair ENCODER_B(ENCODER_B_A, ENCODER_B_B);
-    const pin_pair ENCODER_C(ENCODER_C_A, ENCODER_C_B);
-    const pin_pair ENCODER_D(ENCODER_D_A, ENCODER_D_B);
+    // Although encoder A and B channels are arbitrary, our MMME Encoders
+    // that accompany Motor2040 count down when the motors are diving in a
+    // positive direction, so these pin pairs are set as B and A instead
+    const pin_pair ENCODER_A(ENCODER_A_B, ENCODER_A_A);
+    const pin_pair ENCODER_B(ENCODER_B_B, ENCODER_B_A);
+    const pin_pair ENCODER_C(ENCODER_C_B, ENCODER_C_A);
+    const pin_pair ENCODER_D(ENCODER_D_B, ENCODER_D_A);
     const uint NUM_ENCODERS = 4;
 
     const uint TX_TRIG = 16;
diff --git a/micropython/examples/motor2040/motor_cluster.py b/micropython/examples/motor2040/motor_cluster.py
index 400e364d..b06a8685 100644
--- a/micropython/examples/motor2040/motor_cluster.py
+++ b/micropython/examples/motor2040/motor_cluster.py
@@ -1,60 +1,64 @@
 import gc
 import time
 import math
-from servo import ServoCluster, servo2040
+from motor import MotorCluster, motor2040
 
 """
-Demonstrates how to create a ServoCluster object to control multiple servos at once.
+Demonstrates how to create a MotorCluster object to control multiple motors at once.
 
-NOTE: ServoCluster uses the RP2040's PIO system, and as
+NOTE: MotorCluster uses the RP2040's PIO system, and as
 such may have problems when running code multiple times.
 If you encounter issues, try resetting your board.
 """
 
-# Free up hardware resources ahead of creating a new ServoCluster
+# Free up hardware resources ahead of creating a new MotorCluster
 gc.collect()
 
-# Create a servo cluster for pins 0 to 3, using PIO 0 and State Machine 0
-START_PIN = servo2040.SERVO_1
-END_PIN = servo2040.SERVO_4
-servos = ServoCluster(pio=0, sm=0, pins=list(range(START_PIN, END_PIN + 1)))
+# Create a motor cluster, using PIO 0 and State Machine 0
+MOTOR_PINS = [motor2040.MOTOR_A, motor2040.MOTOR_B, motor2040.MOTOR_C, motor2040.MOTOR_D]
+motors = MotorCluster(pio=0, sm=0, pins=MOTOR_PINS)
 
-# Enable all servos (this puts them at the middle)
-servos.enable_all()
+# Enable all motors
+motors.enable_all()
 time.sleep(2)
 
-# Go to min
-servos.all_to_min()
+# Drive at full positive
+motors.all_full_positive()
 time.sleep(2)
 
-# Go to max
-servos.all_to_max()
+# Stop all moving
+motors.stop_all()
 time.sleep(2)
 
-# Go back to mid
-servos.all_to_mid()
+# Drive at full negative
+motors.all_full_negative()
 time.sleep(2)
 
-SWEEPS = 3              # How many sweeps of the servo to perform
+# Coast all to a gradual stop
+motors.coast_all()
+time.sleep(2)
+
+
+SWEEPS = 2              # How many sweeps of the motors to perform
 STEPS = 10              # The number of discrete sweep steps
 STEPS_INTERVAL = 0.5    # The time in seconds between each step of the sequence
-SWEEP_EXTENT = 90.0     # How far from zero to move the servos when sweeping
+SPEED_EXTENT = 1.0      # How far from zero to drive the motors when sweeping
 
-# Do a sine sweep
+# Do a sine speed sweep
 for j in range(SWEEPS):
     for i in range(360):
-        value = math.sin(math.radians(i)) * SWEEP_EXTENT
-        servos.all_to_value(value)
+        speed = math.sin(math.radians(i)) * SPEED_EXTENT
+        motors.all_to_speed(speed)
         time.sleep(0.02)
 
-# Do a stepped sweep
+# Do a stepped speed sweep
 for j in range(SWEEPS):
     for i in range(0, STEPS):
-        servos.all_to_percent(i, 0, STEPS, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT)
+        motors.all_to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
         time.sleep(STEPS_INTERVAL)
     for i in range(0, STEPS):
-        servos.all_to_percent(i, STEPS, 0, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT)
+        motors.all_to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
         time.sleep(STEPS_INTERVAL)
 
-# Disable the servos
-servos.disable_all()
+# Disable the motors
+motors.disable_all()
diff --git a/micropython/examples/motor2040/motor_profiler.py b/micropython/examples/motor2040/motor_profiler.py
index 28cc875d..d930e0d4 100644
--- a/micropython/examples/motor2040/motor_profiler.py
+++ b/micropython/examples/motor2040/motor_profiler.py
@@ -2,7 +2,6 @@ import gc
 import time
 from motor import Motor, motor2040
 from encoder import Encoder, MMME_CPR
-from encoder import REVERSED
 
 """
 A program that profiles the speed of a motor across its PWM
@@ -14,6 +13,7 @@ ENCODER_PINS = motor2040.ENCODER_A      # The pins of the encoder attached to th
 GEAR_RATIO = 50                         # The gear ratio of the motor
 COUNTS_PER_REV = MMME_CPR * GEAR_RATIO  # The counts per revolution of the motor's output shaft
 
+DIRECTION = 0                           # The direction to spin the motor in. NORMAL (0), REVERSED (1)
 SPEED_SCALE = 5.4                       # The scaling to apply to the motor's speed
                                         # Set this to the maximum measured speed
 
@@ -25,19 +25,19 @@ CAPTURE_TIME = 0.2                      # How long to capture the motor's speed
 gc.collect()
 
 # Create a motor and set its speed scale, and give it a zero deadzone
-m = Motor(MOTOR_PINS, speed_scale=SPEED_SCALE, deadzone=0.0)
+m = Motor(MOTOR_PINS, direction=DIRECTION, speed_scale=SPEED_SCALE, deadzone=0.0)
 
 # Create an encoder, using PIO 0 and State Machine 0
-enc = Encoder(0, 0, ENCODER_PINS, counts_per_rev=COUNTS_PER_REV, count_microsteps=True)
-
-# Uncomment the below line (and the top import) to reverse the counting direction
-enc.direction(REVERSED)
+enc = Encoder(0, 0, ENCODER_PINS, direction=DIRECTION, counts_per_rev=COUNTS_PER_REV, count_microsteps=True)
 
 
 # Function that performs a single profiling step
 def profile_at_duty(duty):
     # Set the motor to a new duty cycle and wait for it to settle
-    m.duty(duty)
+    if DIRECTION == 1:
+        m.duty(0.0 - duty)
+    else:
+        m.duty(duty)
     time.sleep(SETTLE_TIME)
 
     # Perform a dummy capture to clear the encoder
diff --git a/micropython/examples/motor2040/motor_wave.py b/micropython/examples/motor2040/motor_wave.py
index 7d5c228e..369f326c 100644
--- a/micropython/examples/motor2040/motor_wave.py
+++ b/micropython/examples/motor2040/motor_wave.py
@@ -3,29 +3,28 @@ import time
 import math
 from pimoroni import Button
 from plasma import WS2812
-from motor import Motor, MotorCluster, motor2040
+from motor import Motor, motor2040
 
 """
 An example of applying a wave pattern to a group of motors and the LED.
 
 Press "Boot" to exit the program.
 
-NOTE: MotorCluster and Plasma WS2812 use the RP2040's PIO system,
-and as such may have problems when running code multiple times.
+NOTE: Plasma WS2812 uses the RP2040's PIO system, and as
+such may have problems when running code multiple times.
 If you encounter issues, try resetting your board.
 """
 
-SPEED = 5             # The speed that the LEDs will cycle at
+SPEED = 5             # The speed that the LEDs and motors will cycle at
 BRIGHTNESS = 0.4      # The brightness of the LEDs
-UPDATES = 50          # How many times to update LEDs and Motors per second
-MOTOR_EXTENT = 1.0    # How far from zero to move the motors
+UPDATES = 50          # How many times to update LEDs and motors per second
+SPEED_EXTENT = 1.0    # How far from zero to drive the motors
 
 # Free up hardware resources ahead of creating a new MotorCluster
 gc.collect()
 
-# Create a motor cluster for pins 0 to 7, using PIO 0 and State Machine 0
-# motors = MotorCluster(pio=0, sm=0, pins=list(range(START_PIN, END_PIN + 1)))
-MOTOR_PINS = [ motor2040.MOTOR_1, motor2040.MOTOR_2, motor2040.MOTOR_3, motor2040.MOTOR_4]
+# Create a list of motors
+MOTOR_PINS = [motor2040.MOTOR_A, motor2040.MOTOR_B, motor2040.MOTOR_C, motor2040.MOTOR_D]
 motors = [Motor(pins) for pins in MOTOR_PINS]
 
 # Create the LED, using PIO 1 and State Machine 0
@@ -49,11 +48,10 @@ while user_sw.raw() is not True:
     led.set_hsv(0, offset / 2, 1.0, BRIGHTNESS)
 
     # Update all the MOTORs
-    #for i in range(motors.count()):
     for i in range(len(motors)):
         angle = ((i / len(motors)) + offset) * math.pi
-        motors[i].speed(math.sin(angle) * MOTOR_EXTENT)
-        
+        motors[i].speed(math.sin(angle) * SPEED_EXTENT)
+
     time.sleep(1.0 / UPDATES)
 
 # Stop all the motors
diff --git a/micropython/examples/motor2040/multiple_motors.py b/micropython/examples/motor2040/multiple_motors.py
index 32696607..19ebacd5 100644
--- a/micropython/examples/motor2040/multiple_motors.py
+++ b/micropython/examples/motor2040/multiple_motors.py
@@ -7,35 +7,41 @@ Demonstrates how to create multiple Motor objects and control them together.
 """
 
 # Create a list of motors
-MOTOR_PINS = [ motor2040.MOTOR_1, motor2040.MOTOR_2, motor2040.MOTOR_3, motor2040.MOTOR_4]
+MOTOR_PINS = [motor2040.MOTOR_A, motor2040.MOTOR_B, motor2040.MOTOR_C, motor2040.MOTOR_D]
 motors = [Motor(pins) for pins in MOTOR_PINS]
 
-# Enable all motors (this puts them at the middle)
+# Enable all motors
 for m in motors:
     m.enable()
 time.sleep(2)
 
-# Go to min
+# Drive at full positive
 for m in motors:
     m.full_positive()
 time.sleep(2)
 
-# Go to max
-for m in motors:
-    m.full_negative()
-time.sleep(2)
-
-# Go back to mid
+# Stop moving
 for m in motors:
     m.stop()
 time.sleep(2)
 
-SWEEPS = 3              # How many sweeps of the motor to perform
+# Drive at full negative
+for m in motors:
+    m.full_negative()
+time.sleep(2)
+
+# Coast to a gradual stop
+for m in motors:
+    m.coast()
+time.sleep(2)
+
+
+SWEEPS = 2              # How many speed sweeps of the motor to perform
 STEPS = 10              # The number of discrete sweep steps
 STEPS_INTERVAL = 0.5    # The time in seconds between each step of the sequence
-SPEED_EXTENT = 1.0      # How far from zero to move the motor when sweeping
+SPEED_EXTENT = 1.0      # How far from zero to drive the motors when sweeping
 
-# Do a sine sweep
+# Do a sine speed sweep
 for j in range(SWEEPS):
     for i in range(360):
         speed = math.sin(math.radians(i)) * SPEED_EXTENT
@@ -43,7 +49,7 @@ for j in range(SWEEPS):
             s.speed(speed)
         time.sleep(0.02)
 
-# Do a stepped sweep
+# Do a stepped speed sweep
 for j in range(SWEEPS):
     for i in range(0, STEPS):
         for m in motors:
diff --git a/micropython/examples/motor2040/single_motor.py b/micropython/examples/motor2040/single_motor.py
index 3c7e81d4..6f6b1bf2 100644
--- a/micropython/examples/motor2040/single_motor.py
+++ b/micropython/examples/motor2040/single_motor.py
@@ -6,43 +6,48 @@ from motor import Motor, motor2040
 Demonstrates how to create a Motor object and control it.
 """
 
-# Create a motor on pins 4 and 5
-m = Motor(motor2040.MOTOR_1)
+# Create a motor
+m = Motor(motor2040.MOTOR_A)
 
-# Enable the motor (this puts it at the middle)
+# Enable the motor
 m.enable()
 time.sleep(2)
 
-# Go to full positive
+# Drive at full positive
 m.full_positive()
 time.sleep(2)
 
-# Go to full negative
-m.full_negative()
-time.sleep(2)
-
 # Stop moving
 m.stop()
 time.sleep(2)
 
+# Drive at full negative
+m.full_negative()
+time.sleep(2)
 
-SWEEPS = 3              # How many sweeps of the motor to perform
+# Coast to a gradual stop
+m.coast()
+time.sleep(2)
+
+
+SWEEPS = 2              # How many speed sweeps of the motor to perform
 STEPS = 10              # The number of discrete sweep steps
 STEPS_INTERVAL = 0.5    # The time in seconds between each step of the sequence
+SPEED_EXTENT = 1.0      # How far from zero to drive the motor when sweeping
 
-# Do a sine sweep
+# Do a sine speed sweep
 for j in range(SWEEPS):
     for i in range(360):
-        m.speed(math.sin(math.radians(i)))
+        m.speed(math.sin(math.radians(i)) * SPEED_EXTENT)
         time.sleep(0.02)
 
-# Do a stepped sweep
+# Do a stepped speed sweep
 for j in range(SWEEPS):
     for i in range(0, STEPS):
-        m.to_percent(i, 0, STEPS)
+        m.to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
         time.sleep(STEPS_INTERVAL)
     for i in range(0, STEPS):
-        m.to_percent(i, STEPS, 0)
+        m.to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
         time.sleep(STEPS_INTERVAL)
 
 # Disable the motor
diff --git a/micropython/examples/motor2040/turn_off_motors.py b/micropython/examples/motor2040/turn_off_motors.py
index 1a33dd9c..bed8fcc2 100644
--- a/micropython/examples/motor2040/turn_off_motors.py
+++ b/micropython/examples/motor2040/turn_off_motors.py
@@ -7,7 +7,7 @@ A simple program that turns off the motors.
 # Create four motor objects.
 # This will initialise the pins, stopping any
 # previous movement that may be stuck on
-m1 = Motor(motor2040.MOTOR_1)
-m2 = Motor(motor2040.MOTOR_2)
-m3 = Motor(motor2040.MOTOR_3)
-m4 = Motor(motor2040.MOTOR_4)
+mA = Motor(motor2040.MOTOR_A)
+mB = Motor(motor2040.MOTOR_B)
+mC = Motor(motor2040.MOTOR_C)
+mD = Motor(motor2040.MOTOR_D)
diff --git a/micropython/modules/motor/motor.c b/micropython/modules/motor/motor.c
index 87f40ff7..a79ddb11 100644
--- a/micropython/modules/motor/motor.c
+++ b/micropython/modules/motor/motor.c
@@ -160,16 +160,16 @@ const mp_rom_obj_tuple_t motor2040_motorD_pins = {
     {&mp_type_tuple}, 2, { MP_ROM_INT(10), MP_ROM_INT(11) },
 };
 const mp_rom_obj_tuple_t motor2040_encoderA_pins = {
-    {&mp_type_tuple}, 2, { MP_ROM_INT(0), MP_ROM_INT(1) },
+    {&mp_type_tuple}, 2, { MP_ROM_INT(1), MP_ROM_INT(0) },
 };
 const mp_rom_obj_tuple_t motor2040_encoderB_pins = {
-    {&mp_type_tuple}, 2, { MP_ROM_INT(2), MP_ROM_INT(3) },
+    {&mp_type_tuple}, 2, { MP_ROM_INT(3), MP_ROM_INT(2) },
 };
 const mp_rom_obj_tuple_t motor2040_encoderC_pins = {
-    {&mp_type_tuple}, 2, { MP_ROM_INT(12), MP_ROM_INT(13) },
+    {&mp_type_tuple}, 2, { MP_ROM_INT(13), MP_ROM_INT(12) },
 };
 const mp_rom_obj_tuple_t motor2040_encoderD_pins = {
-    {&mp_type_tuple}, 2, { MP_ROM_INT(14), MP_ROM_INT(15) },
+    {&mp_type_tuple}, 2, { MP_ROM_INT(15), MP_ROM_INT(14) },
 };
 
 typedef struct _mp_obj_float_t {