 	{
 		digitalWrite(Right_A, LOW);
 		digitalWrite(Right_B, HIGH);
-		analogWrite(Right_PWM, (-(val - 32)) << 3);
+		analogWrite(Right_PWM, (-(val - 31)) << 3);
 	}
 }
 //左モーター(0～63を+-0～255へ)
 void LeftMotor(unsigned char val){
-	if (val == 32)
+	if ((val == 32) || (val == 31))
 	{
 		digitalWrite(Left_A, LOW);
 		digitalWrite(Left_B, LOW);

			if ((!dirty) && (byteNo == 4) && ((buff & 0x70) == parity))
			{
				//正常
				RightMotor(Rmotor);
				LeftMotor(Lmotor);
				ServoMotor(servoVal);

	{
		digitalWrite(Left_A, LOW);
		digitalWrite(Left_B, HIGH);
		analogWrite(Left_PWM, (-(val - 31)) << 3);
	}
}

inline int elect(char x){
	return x - '0';
}


