 }
 
 
-  void turnLeft(int velocity){
-    if (lastCommand!=CMD_LEFT){
-      stop(HARD); 
-      coldTimerStart=millis(); 
-      currentLeftVelocity=LOW;
-      currentRightVelocity=baseVelocity;
-    }
-    setDirection(RIGHT, FORWARD);
-    setDirection(LEFT, BACKWARD);
-    setSpeedAndGo(LOW,velocity);
-  }
-
-  void turnRight(int velocity){
-    if (lastCommand!=CMD_RIGHT){
-     stop(HARD); 
-     coldTimerStart=millis();
-     currentRightVelocity=LOW;
-     currentLeftVelocity=baseVelocity;
-   }
-   setDirection(RIGHT, BACKWARD);
-   setDirection(LEFT, FORWARD);
-   setSpeedAndGo(velocity,LOW);
+void turnLeft2(int velocity){
+  if (lastCommand!=CMD_LEFT){
+    stop(HARD); 
+    coldTimerStart=millis(); 
+    currentLeftVelocity=LOW;
+    currentRightVelocity=baseVelocity;
+  }
+  setDirection(RIGHT, FORWARD);
+  setDirection(LEFT, BACKWARD);
+  setSpeedAndGo(LOW,velocity);
+}
+
+void turnRight2(int velocity){
+  if (lastCommand!=CMD_RIGHT){
+   stop(HARD); 
+   coldTimerStart=millis();
+   currentRightVelocity=LOW;
+   currentLeftVelocity=baseVelocity;
  }
+ setDirection(RIGHT, BACKWARD);
+ setDirection(LEFT, FORWARD);
+ setSpeedAndGo(velocity,LOW);
+}
 
 // with method = HARD = true it uses brakes, otherwise stop by inertia 
-void stop(bool method) {
+void stop2(bool method) {
   if (method){ 
     brake(BOTH);
     currentRightVelocity=currentLeftVelocity=LOW;

    break;
  }
}
void setSpeedAndGo(int velocityLeft, int velocityRight) {
  releaseBrake(BOTH); 
  
  if (millis()-coldTimerStart>100 ) {
    if ( currentLeftVelocity<velocityLeft+10 && currentLeftVelocity!=LOW){
    currentLeftVelocity= currentLeftVelocity+velocityStep/5;
    }
    if (currentRightVelocity<velocityRight){


    currentRightVelocity= currentRightVelocity+velocityStep/5;
    
    }
    analogWrite(PWM_LEFT, currentLeftVelocity);
    analogWrite(PWM_RIGHT, currentRightVelocity); 

        }
        switch (command) {
          case CMD_LEFT:
          turnLeft(param1);//param1
          break;
          case CMD_RIGHT:
          turnRight(param1);//param1
          break;
          case CMD_STOP:
          stop(HARD);
