soooo the motors had PWM and GND which is fine, right? no. that means they can be speed controlled but only in one direction. you could flip the connector but not in use. I changed it by adding 2 more MOSFETs so that both sides of the motor can be PWM controlled. I moved the pulldown resistors do the sink side of the MOSFETs from the PWM line so that when it's not being controlled its ground, letting the motors be spun in either direction. As I'm writing this I remembered that I only have 4 PWM channels. shit.