text: #define k1_sleep 540
  #define k1_up 150
  #define k1_normal 350
  
  #define k2_sleep 270
  #define k2_up 650
  #define k2_normal 450
  
  #define k3_sleep 560
  #define k3_up 150
  #define k3_normal 350
  
  #define k4_sleep 230
  #define k4_up 650
  #define k4_normal 450
  
  #define l1_sleep 500
  #define l1_normal 400
  #define l1_forward 250
  #define l1_backward 630
  
  #define l2_sleep 350
  #define l2_normal 450
  #define l2_forward 620
  #define l2_backward 250
  
  #define l3_sleep 350
  #define l3_normal 470
  #define l3_forward 300
  #define l3_backward 630
  
  #define l4_sleep 550
  #define l4_normal 400
  #define l4_forward 600
  #define l4_backward 250
  