   analogWrite(PIN_MOTOR_B_ENABLE, 0); 
   digitalWrite(PIN_MOTOR_B_INPUT_2, LOW);
   digitalWrite(PIN_MOTOR_B_INPUT_1, LOW);
-  robot_is_moving = false;
-
-  delay(200);
+  is_moving = false;
+  is_acceleration = false;
+  motor_speed_now = 0;
+
+  delay(500);
 }
 
 void motorForwardA(){

    }
  }
  
  if (robot_is_moving) {
    if (!is_hand_control) {
      current_millis = millis();
      if (current_millis - previous_millis_moving > moving_time) {
        previous_millis_moving = current_millis;
        robotStop();
        sendShortAnswer(true);
      }
      
      if (!is_rotation) {
        if (distanceIK(is_forward) < 15) { 
          robotStop();
          sendShortAnswer(false);

void motorBackwardB(){
  digitalWrite(PIN_MOTOR_B_INPUT_1, HIGH);
  digitalWrite(PIN_MOTOR_B_INPUT_2, LOW);
}
int distanceIK(boolean check_forward){ 
  unsigned int delay_time = millis() - last_time_obstacle_check;
