           case '3': //moveToByTime
             {
               moving_time = input_buffer.substring(2, last_char - 1).toInt();
-              robotMove(input_buffer[1] == '1', motor_max);
+              robotMove(input_buffer[1] == '1');
             }
             break;
           case '2': //rotateTo
           case '4': //rotateToByTime
             {
               moving_time = input_buffer.substring(2, last_char - 1).toInt();
-              robotRotate(input_buffer[1] == '1', motor_max);
+              robotRotate(input_buffer[1] == '1');
             }
             break;
           case '5': //changeLightMode

                case '2':
                  {
                    switch (input_buffer[2]) {
                      case '0': { robotMove(false, motor_max); } break; //backward
                      case '1': { robotStop(); } break; //stop
                      case '2': { robotMove(true, motor_max); } break; //forward                      
                    }
                  }
                  break;
                case '3':
                  {
                    switch (input_buffer[2]) {
                      case '0': { robotRotate(true, motor_max); } break; //right
                      case '1': { robotStop(); } break; //stop
                      case '2': { robotRotate(false, motor_max); } break; //left                      
                    }
                  }
                  break;

    motorBackwardA();
    motorBackwardB();
  }
  
  motor_speed_now = 0;
  is_acceleration = true;
  is_moving = true;
  is_rotation = false;
  is_forward = forward;
}
void robotRotate(bool right){
  if (right) {
    motorBackwardA();
    motorForwardB();
