         }
         switch (command) {
           case CMD_LEFT:
-          turnLeft(140);//param1
+          turnLeft(param1);//param1
           break;
           case CMD_RIGHT:
-          turnRight(140);//param1
+          turnRight(param1);//param1
           break;
           case CMD_STOP:
           stop(HARD);

}


  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);
 }

// with method = HARD = true it uses brakes, otherwise stop by inertia 
void stop(bool method) {
  if (method){ 
    brake(BOTH);
    currentRightVelocity=currentLeftVelocity=LOW;

SOFT = false;

// Motors definition
//Ch A = LEFT, Ch B = RIGHT
const int
PWM_LEFT   = 3,
DIR_LEFT   = 12,
