SOFTPWM

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diff --git a/code/debug/motors/3motor_PWM/.gitignore b/code/debug/motors/3motor_PWM/.gitignore
deleted file mode 100644
index 03f4a3c..0000000
--- a/code/debug/motors/3motor_PWM/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-.pio
diff --git a/code/debug/motors/3motor_PWM/include/README b/code/debug/motors/3motor_PWM/include/README
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index 49819c0..0000000
--- a/code/debug/motors/3motor_PWM/include/README
+++ /dev/null
@@ -1,37 +0,0 @@
-
-This directory is intended for project header files.
-
-A header file is a file containing C declarations and macro definitions
-to be shared between several project source files. You request the use of a
-header file in your project source file (C, C++, etc) located in `src` folder
-by including it, with the C preprocessing directive `#include'.
-
-```src/main.c
-
-#include "header.h"
-
-int main (void)
-{
- ...
-}
-```
-
-Including a header file produces the same results as copying the header file
-into each source file that needs it. Such copying would be time-consuming
-and error-prone. With a header file, the related declarations appear
-in only one place. If they need to be changed, they can be changed in one
-place, and programs that include the header file will automatically use the
-new version when next recompiled. The header file eliminates the labor of
-finding and changing all the copies as well as the risk that a failure to
-find one copy will result in inconsistencies within a program.
-
-In C, the convention is to give header files names that end with `.h'.
-
-Read more about using header files in official GCC documentation:
-
-* Include Syntax
-* Include Operation
-* Once-Only Headers
-* Computed Includes
-
-https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/code/debug/motors/3motor_PWM/lib/README b/code/debug/motors/3motor_PWM/lib/README
deleted file mode 100644
index 9379397..0000000
--- a/code/debug/motors/3motor_PWM/lib/README
+++ /dev/null
@@ -1,46 +0,0 @@
-
-This directory is intended for project specific (private) libraries.
-PlatformIO will compile them to static libraries and link into the executable file.
-
-The source code of each library should be placed in a separate directory
-("lib/your_library_name/[Code]").
-
-For example, see the structure of the following example libraries `Foo` and `Bar`:
-
-|--lib
-|  |
-|  |--Bar
-|  |  |--docs
-|  |  |--examples
-|  |  |--src
-|  |     |- Bar.c
-|  |     |- Bar.h
-|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
-|  |
-|  |--Foo
-|  |  |- Foo.c
-|  |  |- Foo.h
-|  |
-|  |- README --> THIS FILE
-|
-|- platformio.ini
-|--src
-   |- main.c
-
-Example contents of `src/main.c` using Foo and Bar:
-```
-#include <Foo.h>
-#include <Bar.h>
-
-int main (void)
-{
-  ...
-}
-
-```
-
-The PlatformIO Library Dependency Finder will find automatically dependent
-libraries by scanning project source files.
-
-More information about PlatformIO Library Dependency Finder
-- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/code/debug/motors/3motor_PWM/platformio.ini b/code/debug/motors/3motor_PWM/platformio.ini
deleted file mode 100644
index a13d034..0000000
--- a/code/debug/motors/3motor_PWM/platformio.ini
+++ /dev/null
@@ -1,14 +0,0 @@
-; PlatformIO Project Configuration File
-;
-;   Build options: build flags, source filter
-;   Upload options: custom upload port, speed and extra flags
-;   Library options: dependencies, extra library storages
-;   Advanced options: extra scripting
-;
-; Please visit documentation for the other options and examples
-; https://docs.platformio.org/page/projectconf.html
-
-[env:teensy41]
-platform = teensy
-board = teensy41
-framework = arduino
diff --git a/code/debug/motors/3motor_PWM/src/main.cpp b/code/debug/motors/3motor_PWM/src/main.cpp
deleted file mode 100644
index 1a0fa98..0000000
--- a/code/debug/motors/3motor_PWM/src/main.cpp
+++ /dev/null
@@ -1,230 +0,0 @@
-#include <TimerThree.h>
-
-//base code for six direction driving
-
-int led = 13;
-
-int m1enA = 6;
-int m1enB = 5;
-int m1pwm1 = 4;
-int m1pwm2 = 3;
-int m1encoA = 32;
-int m1encoB = 31;
-
-int m2enA = 12;
-int m2enB = 11;
-int m2pwm1 = 9;
-int m2pwm2 = 10;
-int m2encoA = 30;
-int m2encoB = 29;
-
-int m3enA = 27;
-int m3enB = 26;
-int m3pwm1 = 24;
-int m3pwm2 = 25;
-int m3encoA = 28;
-int m3encoB = 23;
-
-int pwmacc = 1000; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
-int PWMval1 = 0; //value of the PWM, means you can enter value from 0 to the value of pwmacc
-int PWMval2 = 0;
-int PWMval3 = 0;
-
-
-void setup() {
-  pinMode(m1enA, OUTPUT);
-  pinMode(m1enB, OUTPUT);
-  pinMode(m1pwm1, OUTPUT);
-  pinMode(m1pwm2, OUTPUT);
-  
-  pinMode(m2enA, OUTPUT);
-  pinMode(m2enB, OUTPUT);
-  pinMode(m2pwm1, OUTPUT);
-  pinMode(m2pwm2, OUTPUT);
-  
-  pinMode(m3enA, OUTPUT);
-  pinMode(m3enB, OUTPUT);
-  pinMode(m3pwm1, OUTPUT);
-  pinMode(m3pwm2, OUTPUT);
-
-  Timer3.initialize(25);  // 800 microseconds or 1.25Hz
-  Timer3.attachInterrupt(updatePWM);
-
-  Serial.begin(9600);
-  Serial.print("start");
-  
-}
-
-void updatePWM() {
-  //1
-  static int counter = 0;
-  if (PWMval1 < 0) {
-    PWMval1 = 0;
-  }
-  if (PWMval1 > pwmacc) {
-    PWMval1 = pwmacc;
-  }
-
-  if (counter < PWMval1) {
-    digitalWrite(m1enA, HIGH);
-  } else {
-    digitalWrite(m1enA, LOW);
-  }
-
-  counter++;
-  if (counter >= pwmacc) {
-    counter = 0;
-  }
-
-  //2
-  static int counter2 = 0;
-  if (PWMval2 < 0) {
-    PWMval2 = 0;
-  }
-  if (PWMval2 > pwmacc) {
-    PWMval2 = pwmacc;
-  }
-
-  if (counter2 < PWMval2) {
-    digitalWrite(m2enA, HIGH);
-  } else {
-    digitalWrite(m2enA, LOW);
-  }
-
-  counter2++;
-  if (counter2 >= pwmacc) {
-    counter2 = 0;
-  }
-
-  //3
-  int static counter3 = 0;
-  if (PWMval3 < 0) {
-    PWMval3 = 0;
-  }
-  if (PWMval3 > pwmacc) {
-    PWMval3 = pwmacc;
-  }
-
-  if (counter3 < PWMval3) {
-    digitalWrite(m3enA, HIGH);
-  } else {
-    digitalWrite(m3enA, LOW);
-  }
-
-  counter3++;
-  if (counter3 >= pwmacc) {
-    counter3 = 0;
-  }
-}
-
-
-void drive(int speed, int direction){
- //
- //!!!
- // If the motors are spinning incorectly, change pins not the drive function.
- //!!!
- //
- // 0 = motor off
- // + = motor spinning forwards
- // - = motor spinning backwards
- //
- // Motor 1 is the left one.
- // Motor 2 is the one in the back.
- // Motor 3 is the right one.
- //
- // Direction............|.Motor 1.|.Motor 2.|.Motor 3.
- // 0deg(forward)........|....-....|....0....|....+....
- // 60deg................|....0....|....-....|....+....    
- // 120deg...............|....+....|....-....|....0....
- // 180 deg (backward)...|....+....|....0....|....-.... 
- // 240 deg..............|....0....|....+....|....-....
- // 300 deg..............|....-....|....+....|....0....
- //
-
-  PWMval1 = speed;
-  PWMval2 = speed;
-  PWMval3 = speed;
-  digitalWrite(m1enB, LOW);
-  digitalWrite(m2enB, LOW);
-  digitalWrite(m3enB, LOW);
-  Serial.println("debug2");
-  Serial.println(direction);
-  if(direction>330 || direction<=30){
-    //0 deg
-    Serial.println("0 deg");
-    digitalWrite(m1pwm1, LOW);
-    digitalWrite(m1pwm2, HIGH);
-
-    digitalWrite(m2pwm1, LOW);
-    digitalWrite(m2pwm2, LOW);
-
-    digitalWrite(m3pwm1, HIGH);
-    digitalWrite(m3pwm2, LOW); 
-  }else if (direction>30 && direction <= 90){
-    //60 deg
-    Serial.println("60deg");
-    digitalWrite(m1pwm1, LOW);
-    digitalWrite(m1pwm2, LOW);
-
-    digitalWrite(m2pwm1, LOW);
-    digitalWrite(m2pwm2, HIGH);
-    
-    digitalWrite(m3pwm1, HIGH);
-    digitalWrite(m3pwm2, LOW);
-  }else if (direction>90 && direction <= 150){
-    //120 deg
-    Serial.println("120 deg");
-    digitalWrite(m1pwm1, HIGH);
-    digitalWrite(m1pwm2, LOW);
-
-    digitalWrite(m2pwm1, LOW);
-    digitalWrite(m2pwm2, HIGH);
-
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, LOW);
-  }else if (direction > 150 && direction <= 210) {
-    //180 degrees
-    Serial.println("on 180");
-    digitalWrite(m1pwm1, HIGH);
-    digitalWrite(m1pwm2, LOW);
-
-    digitalWrite(m2pwm1, LOW);
-    digitalWrite(m2pwm2, LOW);
-    
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, HIGH);
-  }else if (direction > 210 && direction <= 270) {
-    //240 degrees
-    Serial.println("240deg");
-    digitalWrite(m1pwm1, LOW);
-    digitalWrite(m1pwm2, LOW);
-
-    digitalWrite(m2pwm1, HIGH);
-    digitalWrite(m2pwm2, LOW);
-
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, HIGH);
-  }else if (direction > 270 && direction <= 330) {
-    //300 degrees
-    Serial.println("300deg");
-    digitalWrite(m1pwm1, LOW);
-    digitalWrite(m1pwm2, HIGH);
-
-    digitalWrite(m2pwm1, HIGH);
-    digitalWrite(m2pwm2, LOW);
-
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, LOW);
-  }else{
-    Serial.println("how?");  
-  }
-}
-
-// the loop routine runs over and over again forever:
-void loop() {
-  
-  drive(600, 0);
-  Serial.println("ffor");
-  delay(1500);
-
-}
diff --git a/code/debug/motors/3motor_PWM/test/README b/code/debug/motors/3motor_PWM/test/README
deleted file mode 100644
index 9b1e87b..0000000
--- a/code/debug/motors/3motor_PWM/test/README
+++ /dev/null
@@ -1,11 +0,0 @@
-
-This directory is intended for PlatformIO Test Runner and project tests.
-
-Unit Testing is a software testing method by which individual units of
-source code, sets of one or more MCU program modules together with associated
-control data, usage procedures, and operating procedures, are tested to
-determine whether they are fit for use. Unit testing finds problems early
-in the development cycle.
-
-More information about PlatformIO Unit Testing:
-- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html