     if (abs(saved_tick[RIGHT] - current_tick[RIGHT]) <= diff_encoder)
     {
       goal_velocity_from_button[LINEAR]  = 0.05;
+      tTime[6] = millis();
     }
     else
     {

    saved_tick[RIGHT] = current_tick[RIGHT];

    diff_encoder = TEST_DISTANCE / (0.207 / 4096); // (Circumference of Wheel) / (The number of tick per revolution)
  }
  else if (buttons & (1<<1))
  {

    saved_tick[RIGHT] = current_tick[RIGHT];

    diff_encoder = (TEST_RADIAN * TURNING_RADIUS) / (0.207 / 4096);
    tTime[6] = millis();
  }

  if (move[LINEAR])
