     saved_tick[RIGHT] = current_tick[RIGHT];
 
     diff_encoder = TEST_DISTANCE / (0.207 / 4096); // (Circumference of Wheel) / (The number of tick per revolution)
+    tTime[6] = millis();
   }
   else if (buttons & (1<<1))
   {

    saved_tick[RIGHT] = current_tick[RIGHT];

    diff_encoder = (TEST_RADIAN * TURNING_RADIUS) / (0.207 / 4096);
  }

  if (move[LINEAR])

    if (abs(saved_tick[RIGHT] - current_tick[RIGHT]) <= diff_encoder)
    {
      goal_velocity_from_button[ANGULAR]= -0.7;
      tTime[6] = millis();
    }
    else
    {
