         current_direction = 0;
         return;
      }
-     //right.setMotorDirection(MOTOR_BACKWARD);
-     //right.setSpeed(MOTOR_SPEED);   
-     left.setMotorDirection(MOTOR_BACKWARD);
-     left.setSpeed(MOTOR_SPEED);   
+     left_motor(MOTOR_BACKWARDS, MOTOR_SPEED);
+     right_motor(MOTOR_BACKWARDS, MOTOR_SPEED);
      current_direction = BACKWARD;
 }
 
 void stop_movement() {
-     //right.setSpeed(0);   
-     left.setSpeed(0); 
-}
-
-void motorCommand(String side, int dir, int spd) {
-  
-  if (side == "left") {
-     left.setMotorDirection(dir);
-     left.setSpeed(spd);
-  } else if (side == "right") {
-     right.setMotorDirection(dir);
-     right.setSpeed(spd); 
-  } else if (side == "both") {
-     left.setMotorDirection(dir);
-     left.setSpeed(spd); 
-     right.setMotorDirection(dir);
-     right.setSpeed(spd); 
-  }
+     right_front.setSpeed(0);   
+     right_back.setSpeed(0); 
+     left_front.setSpeed(0); 
+     left_back.setSpeed(0); 
 }
 
 


}

void turn_left() {
     if (current_direction == RIGHT) {
        stop_movement();
        current_direction = 0;
        return;
     }  
     left.setMotorDirection(MOTOR_FORWARD);
     left.setSpeed(MOTOR_SPEED);   
     //right.setMotorDirection(MOTOR_BACKWARD);
     //right.setSpeed(MOTOR_SPEED / 2);
     current_direction = LEFT;
}

void turn_right() {

        current_direction = 0;
        return;
     }
     if (current_direction == FORWARD) {
         left_motor(MOTOR_FORWARD, MOTOR_SPEED + 100);
         right_motor(MOTOR_FORWARD, MOTOR_SPEED + 100);
     } else {
         left_motor(MOTOR_FORWARD, MOTOR_SPEED);
         right_motor(MOTOR_FORWARD, MOTOR_SPEED);
     }
     current_direction = FORWARD;
}

