 
 #include <Dagu4Motor.h>
 
-//YunServer server;
-              // pwn, dir, cur(analog), encA, encB 
-Dagu4Motor left(11, 12, 0, 0, 0);
-Dagu4Motor right(3, 2, 0, 0, 0);
+                 // pwm, dir, cur(analog), encA, encB 
+Dagu4Motor left_front(5, 4, 0, 0, 0);
+Dagu4Motor left_back(3, 2, 0, 0, 0);
+Dagu4Motor right_front(11, 12, 0, 0, 0);
+Dagu4Motor right_back(9, 8, 0, 0, 0);
 
 void setup() {
   //Serial.begin(9600);

        current_direction = 0;
        return;
     }
     //right.setMotorDirection(MOTOR_FORWARD);
     //right.setSpeed(MOTOR_SPEED);   
     left.setMotorDirection(MOTOR_FORWARD);
     left.setSpeed(MOTOR_SPEED);   
     current_direction = FORWARD;
}


        stop_movement();
        current_direction = 0;
        return;
     } else if (current_direction == FORWARD_LEFT) {
        go_forward();
     }
     if (current_direction == FORWARD) {
        right_motor(MOTOR_FORWARD, MOTOR_SPEED + 70);
        left_motor(MOTOR_BACKWARDS, MOTOR_SPEED / 2);
        current_direction = FORWARD_RIGHT;
     } else {
        right_motor(MOTOR_FORWARD, MOTOR_SPEED / 2);
        left_motor(MOTOR_BACKWARDS, MOTOR_SPEED / 2);
        current_direction = RIGHT;
     }
}

void go_forward() {
