I made this small correction in multiple files. Once I did my project seem to work better. I still need some hardware. Without knowing the inner workings of the project. It does look like a simple typo that got copied over multiple files.

 GenericDriverParams* params = new GenericDriverParams {
-    .pins = { pin1A, pin2A, pin2A, pin2B },
+    .pins = { pin1A, pin1B, pin2A, pin2B },
    .pwm_frequency = pwm_frequency
  };