 	analogWrite(rightForwardSpeed, 255);
 	analogWrite(rightBackwardSpeed, 0);
   }*/
-  analogWrite(rightForwardSpeed, 100);
+  
+  analogWrite(rightForwardSpeed, 255);
   analogWrite(rightBackwardSpeed, 0);
+  analogWrite(leftForwardSpeed, 255);
+  analogWrite(leftBackwardSpeed, 0);
 
   lastErrorL = ErrorL;
   lastErrorR = ErrorR;

const int encoderRightData2 = 5;
const int encoderLeftData1 = 2;
const int encoderLeftData2 = 4;
const int rightForwardSpeed = 7; //BLi
const int rightBackwardSpeed = 6; //HLi
const int rightDisable = 8;
const int leftForwardSpeed = 10;
const int leftBackwardSpeed = 9;
const int leftDisable = 11;

volatile int tickDataRight = 0;
volatile int tickDataLeft = 0;

  if( abs(PWM_R) < 0 )
	PWM_R = 0;

  /*if(PWM_L < 0) {
	analogWrite(leftForwardSpeed, 0);
	analogWrite(leftBackwardSpeed, -PWM_L);
  } else {
	analogWrite(leftForwardSpeed, PWM_L);
	analogWrite(leftBackwardSpeed, 0);
  }*/

  /*if(PWM_R < 0) {
	analogWrite(rightForwardSpeed, 0);
