 #define PIN_MOTOR_B_INPUT_1 30
 #define PIN_MOTOR_B_INPUT_2 32
 
-const int motor_max = 200;
+const int motor_speed_max = 200;
+int motor_speed_now = 0;
 String input_buffer = "";
 
 unsigned long moving_time = 0;
 unsigned long previous_millis_moving = 0;
+unsigned long previous_millis_accelarting = 0;
 unsigned long last_time_obstacle_check = 0;
 
-bool robot_is_moving = false;
+bool is_moving = false;
+bool is_acceleration = false;
 bool is_rotation = false;
 bool is_forward = false;
 

            {
              is_hand_control = false;
              robotStop();
              sendShortAnswer(true);
            }
            break;

    motorForwardA();
    motorBackwardB();
  }

  motor_speed_now = 0;
  is_acceleration = true;
  is_moving = true;
  is_rotation = true;
  is_forward = right;
}
