     motorBackwardA();
     motorBackwardB();
   }
-  changeDuty(speed);
-  
+  
+  motor_speed_now = 0;
+  is_acceleration = true;
+  is_moving = true;
+  is_rotation = false;
   is_forward = forward;
-  robot_is_moving = true;
-  is_rotation = false;
-}
-void robotRotate(bool right,  int speed){
+}
+void robotRotate(bool right){
   if (right) {
     motorBackwardA();
     motorForwardB();

#define PIN_MOTOR_B_INPUT_1 30
#define PIN_MOTOR_B_INPUT_2 32

const int motor_max = 200;
String input_buffer = "";

unsigned long moving_time = 0;
unsigned long previous_millis_moving = 0;
unsigned long last_time_obstacle_check = 0;

bool robot_is_moving = false;
bool is_rotation = false;
bool is_forward = false;


            {
              is_hand_control = false;
              robotStop();
              
              interval_direction = 0;
              interval_gabarit = 0;
              analogWrite(LED_PIN_GABARIT, 0);
              analogWrite(LED_PIN_DIRECTION, 0);
              
              sendShortAnswer(true);
            }
            break;
