diff --git a/ros_arduino_python/src/ros_arduino_python/arduino_driver.py b/ros_arduino_python/src/ros_arduino_python/arduino_driver.py
index b9b6b2a..ab48748 100755
--- a/ros_arduino_python/src/ros_arduino_python/arduino_driver.py
+++ b/ros_arduino_python/src/ros_arduino_python/arduino_driver.py
@@ -95,7 +95,7 @@ class Arduino:
         '''
         self.port.close() 
     
-    def motors_configure(motors_reversed = False,
+    def motors_configure(self, motors_reversed = False,
       left_motor_reversed = False, right_motor_reversed = False):
 	self.motors_reversed = motors_reversed
 	self.left_motor_reversed = left_motor_reversed
diff --git a/ros_arduino_python/src/ros_arduino_python/base_controller.py b/ros_arduino_python/src/ros_arduino_python/base_controller.py
index 7c3b29c..2d37526 100755
--- a/ros_arduino_python/src/ros_arduino_python/base_controller.py
+++ b/ros_arduino_python/src/ros_arduino_python/base_controller.py
@@ -52,7 +52,7 @@ class BaseController:
         self.motors_reversed = rospy.get_param("~motors_reversed", False)
 	self.left_motor_reversed = rospy.get_param("~left_motor_reversed", False)
 	self.right_motor_reversed = rospy.get_param("~right_motor_reversed", False)
-	arduino.motors_configure(self.motors_reversed, self.left_motor_reverse, self.right_motor_reverse)
+	arduino.motors_configure(self.motors_reversed, self.left_motor_reversed, self.right_motor_reversed)
 
         # Set up PID parameters and check for missing values
         self.setup_pid(pid_params)