SOFTPWM

Multi-line description of commit,
feel free to be detailed.

[Issue: X]

47 files changed, 457 insertions, 1548 deletions

diff --git a/code/debug/motors/.idea/.gitignore b/code/debug/motors/.idea/.gitignore
new file mode 100644
index 0000000..ab1f416
--- /dev/null
+++ b/code/debug/motors/.idea/.gitignore
@@ -0,0 +1,10 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Ignored default folder with query files
+/queries/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/
diff --git a/code/debug/motors/.idea/editor.xml b/code/debug/motors/.idea/editor.xml
new file mode 100644
index 0000000..ca29dcc
--- /dev/null
+++ b/code/debug/motors/.idea/editor.xml
@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BackendCodeEditorSettings">
+    <option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/code/debug/motors/.idea/modules.xml b/code/debug/motors/.idea/modules.xml
new file mode 100644
index 0000000..1984dbc
--- /dev/null
+++ b/code/debug/motors/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/motors.iml" filepath="$PROJECT_DIR$/.idea/motors.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/code/debug/motors/.idea/motors.iml b/code/debug/motors/.idea/motors.iml
new file mode 100644
index 0000000..bc2cd87
--- /dev/null
+++ b/code/debug/motors/.idea/motors.iml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="CPP_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>
\ No newline at end of file
diff --git a/code/debug/motors/.idea/vcs.xml b/code/debug/motors/.idea/vcs.xml
new file mode 100644
index 0000000..c2365ab
--- /dev/null
+++ b/code/debug/motors/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
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
deleted file mode 100644
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
diff --git a/code/debug/motors/3motor_test/include/README b/code/debug/motors/3motor_test/include/README
deleted file mode 100644
index 49819c0..0000000
--- a/code/debug/motors/3motor_test/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_test/lib/README b/code/debug/motors/3motor_test/lib/README
deleted file mode 100644
index 9379397..0000000
--- a/code/debug/motors/3motor_test/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_test/platformio.ini b/code/debug/motors/3motor_test/platformio.ini
deleted file mode 100644
index a13d034..0000000
--- a/code/debug/motors/3motor_test/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_test/src/main.cpp b/code/debug/motors/3motor_test/src/main.cpp
deleted file mode 100644
index 24a4aff..0000000
--- a/code/debug/motors/3motor_test/src/main.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-//a test to test all motors, no PWM 
-#include <Arduino.h>
-
-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;
-
-
-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);
-  Serial.begin(9600);
-  Serial.print("debug 001");
-  
-}
-
-// the loop routine runs over and over again forever:
-void loop() {
-  digitalWrite(led, HIGH);
-  
-  digitalWrite(m1enA, HIGH);
-  digitalWrite(m1enB, LOW);
-  digitalWrite(m1pwm1, HIGH);
-  digitalWrite(m1pwm2, LOW);
-  
-
-  digitalWrite(m2enA, HIGH);
-  digitalWrite(m2enB, LOW);
-  digitalWrite(m2pwm1, HIGH);
-  digitalWrite(m2pwm2, LOW);
-
-  digitalWrite(m3enA, HIGH);
-  digitalWrite(m3enB, LOW);
-  digitalWrite(m3pwm1, HIGH);
-  digitalWrite(m3pwm2, LOW);  
-  
-  delay(5000);             
-
-
-  digitalWrite(led, LOW);
-  
-  digitalWrite(m1enA, HIGH);
-  digitalWrite(m1enB, LOW);
-  digitalWrite(m1pwm1, LOW);
-  digitalWrite(m1pwm2, LOW);
-
-  digitalWrite(m2enA, HIGH);
-  digitalWrite(m2enB, LOW);
-  digitalWrite(m2pwm1, LOW);
-  digitalWrite(m2pwm2, LOW);
-
-  digitalWrite(m3enA, HIGH);
-  digitalWrite(m3enB, LOW);
-  digitalWrite(m3pwm1, LOW);
-  digitalWrite(m3pwm2, LOW);
-  
-  
-  delay(5000);
-
-  
-}
\ No newline at end of file
diff --git a/code/debug/motors/3motor_test/test/README b/code/debug/motors/3motor_test/test/README
deleted file mode 100644
index 9b1e87b..0000000
--- a/code/debug/motors/3motor_test/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
diff --git a/code/debug/motors/PWM/.vscode/extensions.json b/code/debug/motors/PWM/.vscode/extensions.json
deleted file mode 100644
index 080e70d..0000000
--- a/code/debug/motors/PWM/.vscode/extensions.json
+++ /dev/null
@@ -1,10 +0,0 @@
-{
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
-    "recommendations": [
-        "platformio.platformio-ide"
-    ],
-    "unwantedRecommendations": [
-        "ms-vscode.cpptools-extension-pack"
-    ]
-}
diff --git a/code/debug/motors/PWM/include/README b/code/debug/motors/PWM/include/README
deleted file mode 100644
index 49819c0..0000000
--- a/code/debug/motors/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/PWM/lib/README b/code/debug/motors/PWM/lib/README
deleted file mode 100644
index 9379397..0000000
--- a/code/debug/motors/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/PWM/platformio.ini b/code/debug/motors/PWM/platformio.ini
deleted file mode 100644
index a13d034..0000000
--- a/code/debug/motors/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/PWM/src/main.cpp b/code/debug/motors/PWM/src/main.cpp
deleted file mode 100644
index c7d8fe0..0000000
--- a/code/debug/motors/PWM/src/main.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-#include <Arduino.h>
-
-IntervalTimer myTimer;
-
-int pwmPin = 3; //pin for PWM output
-int pwmacc = 1000; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
-int PWMval = 0; //value of the PWM, means you can enter value from 0 to the value of pwmacc
-
-
-void setup() {
-}
-void setup() {
-  
-  Timer3.initialize(800);  // 800 microseconds or 1.25Hz
-  Timer3.attachInterrupt(updatePWM);
-}
-
-void updatePWM() {
-  static int counter = 0;
-  if PWMval < 0) {
-    PWMval = 0;
-  }
-  if (PWMval > pwmacc) {
-    PWMval = pwmacc;
-  }
-
-  if (counter < PWMval) {
-    digitalWrite(pwmPin, HIGH);
-  } else {
-    digitalWrite(pwmPin, LOW);
-  }
-
-  counter++;
-  if (counter >= pwmacc) {
-    counter = 0;
-  }
-}
-
-void loop() {
-  for i (0; i < pwmacc; i++) {
-    PWMval = i;
-    delay(10);
-  }
-  for i (pwmacc; i > 0; i--) {
-    PWMval = i;
-    delay(10);
-  }
-}
\ No newline at end of file
diff --git a/code/debug/motors/PWM/test/README b/code/debug/motors/PWM/test/README
deleted file mode 100644
index 9b1e87b..0000000
--- a/code/debug/motors/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
diff --git a/code/debug/motors/base_drive/.vscode/extensions.json b/code/debug/motors/base_drive/.vscode/extensions.json
deleted file mode 100644
index 080e70d..0000000
--- a/code/debug/motors/base_drive/.vscode/extensions.json
+++ /dev/null
@@ -1,10 +0,0 @@
-{
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
-    "recommendations": [
-        "platformio.platformio-ide"
-    ],
-    "unwantedRecommendations": [
-        "ms-vscode.cpptools-extension-pack"
-    ]
-}
diff --git a/code/debug/motors/base_drive/include/README b/code/debug/motors/base_drive/include/README
deleted file mode 100644
index 49819c0..0000000
--- a/code/debug/motors/base_drive/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/base_drive/lib/README b/code/debug/motors/base_drive/lib/README
deleted file mode 100644
index 9379397..0000000
--- a/code/debug/motors/base_drive/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/base_drive/platformio.ini b/code/debug/motors/base_drive/platformio.ini
deleted file mode 100644
index a13d034..0000000
--- a/code/debug/motors/base_drive/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/base_drive/src/main.cpp b/code/debug/motors/base_drive/src/main.cpp
deleted file mode 100644
index 1130afe..0000000
--- a/code/debug/motors/base_drive/src/main.cpp
+++ /dev/null
@@ -1,233 +0,0 @@
-
-//motor: https://www.pololu.com/product/4861
-//motor driver: https://www.pololu.com/product/2997
-
-//Create the timers
-IntervalTimer pwm_timer;
-IntervalTimer enc_timer;
-
-//define the pins
-//If the motors are spinning incorectly, change pins not the drive function.
-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;
-
-//PWM variables
-int pwmacc = 100; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
-int PWMval1 = 0;  //value of the PWM1, means you can enter value from 0 to the value of pwmacc
-
-//encoder variables
-const int refreshrate = 50; //refresh rate of the encoder
-volatile long oneENCcount = 0; //the amount of pulses from motor one encoder
-
-double ONErpm = 0.00; //the amount of revolutions motor one makes per minute
-
-
-
-void setup() {
-  pinMode(m1enA, OUTPUT);
-  pinMode(m1enB, OUTPUT);
-  pinMode(m1pwm1, OUTPUT);
-  pinMode(m1pwm2, OUTPUT);
-
-  pwm_timer.begin(updatePWM, refreshrate); //speed at wich PWM is updated PWM
-  enc_timer.begin(enc_refr, 50);  //refresh rate of the encoder
-
-  attachInterrupt(digitalPinToInterrupt(m1encoA), AoneIRS, CHANGE); //calls void AoneIRS if there is a change of the stare of m1encoA
-  attachInterrupt(digitalPinToInterrupt(m1encoB), BoneIRS, CHANGE); //ditto
-
-  Serial.begin(9600);
-  Serial.print("start");
-  SetTunings(1, 1, 1);
-
-}
-
-void updatePWM() {
-  int counter1 = 0;
-  //PWM one
-  //if the entered valvue is less the zero set it to zero, because lower that zero is not posible
-  if (PWMval1 < 0) {
-    PWMval1 = 0;
-  }
-  //if the enterd value is higher than the maximum posible value, set it to max.
-  if (PWMval1 > pwmacc) {
-    PWMval1 = pwmacc;
-  }
-  //check if the counter has passed the PWM value, and turn of the motor based on that.
-  if (counter1 < PWMval1) {
-    digitalWrite(m1enA, HIGH);
-  } else {
-    digitalWrite(m1enA, LOW);
-  }
-  counter1++;
-
-  if (counter1 >= pwmacc) {
-    counter1 = 0;
-  }
-}
-
-void AoneIRS(){
-  oneENCcount++; //adds one to the count
-}
-void BoneIRS(){
-  oneENCcount++; //dieselbe
-}
-
-void enc_refr(){
-  //calculate RPM. It gets updated 48 times per rotation.
-  ONErpm = (oneENCcount/48.00) * (60000000.00 / refreshrate);
-  //reset the counting to zero for next cycle.
-  oneENCcount = 0;
-}
-void PID(int speed){
-  Serial.println(ONErpm);
-  PWMval1 = Compute(); //enter output from PID algorith here
-  digitalWrite(m1enB, LOW);
-  digitalWrite(m1pwm1, HIGH);
-  digitalWrite(m1pwm2, LOW);
-}
-
-/*working variables*/
-unsigned long lastTime;
-double Input, Output, Setpoint;
-double errSum, lastErr;
-double kp, ki, kd;
-int Compute()
-{
-  Input = ONErpm;
-  /*How long since we last calculated*/
-  unsigned long now = millis();
-  double timeChange = (double)(now - lastTime);
- 
-  /*Compute all the working error variables*/
-  double error = Setpoint - Input;
-  errSum += (error * timeChange);
-  double dErr = (error - lastErr) / timeChange;
- 
-/*Compute PID Output*/
- 
-/*Remember some variables for next time*/
-  lastErr = error;
-  lastTime = now;
-  return kp * error + ki * errSum + kd * dErr;
-}
- 
-void SetTunings(double Kp, double Ki, double Kd)
-{
-kp = Kp;
-ki = Ki;
-kd = Kd;
-}
-
-//the loop routine runs over and over again forever:
-void loop() {
-  drive(50, 0); //speed value between 0-100
-  //Serial.println("Motor one is at: " + ONErpm + " RPM.");
-  delay(50);
-}
-
-void drive(int speed, int direction){
- //
- // Direction............|.Motor 1.|.Motor 2.|.Motor 3.
- // 0deg(forward)........|....0....|....-....|....+....
- // 60deg................|....+....|....-....|....0....
- // 120deg...............|....+....|....0....|....-....
- // 180 deg (backward)...|....0....|....+....|....-....
- // 240 deg..............|....-....|....+....|....0....
- // 300 deg..............|....-....|....0....|....+....
- //
-
-  digitalWrite(m1enA, HIGH);
-  digitalWrite(m2enA, HIGH);
-  digitalWrite(m3enA, HIGH);
-  digitalWrite(m1enB, LOW);
-  digitalWrite(m2enB, LOW);
-  digitalWrite(m3enB, LOW);
-  Serial.println("debug2");
-  Serial.println(direction);
-  if(direction>330 || direction<=30){
-    //0 deg
-    digitalWrite(m1pwm1, HIGH);
-    digitalWrite(m1pwm2, LOW);
-
-    digitalWrite(m2pwm1, LOW);
-    digitalWrite(m2pwm2, LOW);
-
-    digitalWrite(m3pwm1, HIGH);
-    digitalWrite(m3pwm2, LOW);
-    Serial.println("0 deg");
-  }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, LOW);
-    digitalWrite(m3pwm2, HIGH);
-  }else if (direction>90 && direction <= 150){
-    //120 deg
-    Serial.println("120 deg");
-    digitalWrite(m1pwm1, HIGH);
-    digitalWrite(m1pwm2, LOW);
-    digitalWrite(m2pwm1, HIGH);
-    digitalWrite(m2pwm2, LOW);
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, LOW);
-  }else if (direction > 150 && direction <= 210) {
-    //180 degrees
-    Serial.println("on 180");
-    digitalWrite(m1pwm1, LOW);
-    digitalWrite(m1pwm2, HIGH);
-
-    digitalWrite(m2pwm1, LOW);
-    digitalWrite(m2pwm2, LOW);
-
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, HIGH);
-  }else if (direction > 210 && direction <= 270) {
-    //240 degrees
-    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
-    digitalWrite(m1pwm1, HIGH);
-    digitalWrite(m1pwm2, LOW);
-
-    digitalWrite(m2pwm1, HIGH);
-    digitalWrite(m2pwm2, LOW);
-
-    Serial.println("300deg");
-    digitalWrite(m3pwm1, LOW);
-    digitalWrite(m3pwm2, LOW);
-  }else{
-    Serial.println("how?");
-  }
-}
diff --git a/code/debug/motors/base_drive/test/README b/code/debug/motors/base_drive/test/README
deleted file mode 100644
index 9b1e87b..0000000
--- a/code/debug/motors/base_drive/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
diff --git a/code/debug/motors/basic-motor-dr/.idea/.gitignore b/code/debug/motors/basic-motor-dr/.idea/.gitignore
new file mode 100644
index 0000000..ab1f416
--- /dev/null
+++ b/code/debug/motors/basic-motor-dr/.idea/.gitignore
@@ -0,0 +1,10 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Ignored default folder with query files
+/queries/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/
diff --git a/code/debug/motors/basic-motor-dr/.idea/editor.xml b/code/debug/motors/basic-motor-dr/.idea/editor.xml
new file mode 100644
index 0000000..ca29dcc
--- /dev/null
+++ b/code/debug/motors/basic-motor-dr/.idea/editor.xml
@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BackendCodeEditorSettings">
+    <option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/code/debug/motors/basic-motor-dr/.idea/modules.xml b/code/debug/motors/basic-motor-dr/.idea/modules.xml
new file mode 100644
index 0000000..9ddc8bc
--- /dev/null
+++ b/code/debug/motors/basic-motor-dr/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/pwm.iml" filepath="$PROJECT_DIR$/.idea/pwm.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/code/debug/motors/basic-motor-dr/.idea/pwm.iml b/code/debug/motors/basic-motor-dr/.idea/pwm.iml
new file mode 100644
index 0000000..4c94235
--- /dev/null
+++ b/code/debug/motors/basic-motor-dr/.idea/pwm.iml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CIDR" type="CPP_MODULE" version="4" />
\ No newline at end of file
diff --git a/code/debug/motors/basic-motor-dr/.idea/vcs.xml b/code/debug/motors/basic-motor-dr/.idea/vcs.xml
new file mode 100644
index 0000000..4fce1d8
--- /dev/null
+++ b/code/debug/motors/basic-motor-dr/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../../../.." vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/code/debug/motors/basic-motor-dr/basic-motor-dr.ino b/code/debug/motors/basic-motor-dr/basic-motor-dr.ino
new file mode 100755
index 0000000..b7f3b36
--- /dev/null
+++ b/code/debug/motors/basic-motor-dr/basic-motor-dr.ino
@@ -0,0 +1,32 @@
+int m1enA = 6;
+int m1enB = 5;
+int m1pwm1 = 4;
+int m1pwm2 = 3;
+int m1encoA = 32;
+int m1encoB = 31;
+
+void setup() {
+  Serial.begin(9600);
+
+  pinMode(m1enA, OUTPUT);
+  pinMode(m1enB, OUTPUT);
+  pinMode(m1pwm1, OUTPUT);
+  pinMode(m1pwm2, OUTPUT);
+
+  pinMode(m1pwm1, INPUT);
+  pinMode(m1pwm2, INPUT);
+  
+}
+
+void loop() {
+  digitalWrite(m1enA, HIGH);
+  digitalWrite(m1enB, LOW);
+  digitalWrite(m1pwm1, HIGH);
+  digitalWrite(m1pwm2, LOW);
+  delay(500);
+  digitalWrite(m1enA, HIGH);
+  digitalWrite(m1enB, LOW);
+  digitalWrite(m1pwm1, LOW);
+  digitalWrite(m1pwm2, HIGH);
+  delay(500);
+}
diff --git a/code/debug/motors/enc-pwm-3-motor/.gitignore b/code/debug/motors/enc-pwm-3-motor/.gitignore
deleted file mode 100644
index 03f4a3c..0000000
--- a/code/debug/motors/enc-pwm-3-motor/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-.pio
diff --git a/code/debug/motors/enc-pwm-3-motor/include/README b/code/debug/motors/enc-pwm-3-motor/include/README
deleted file mode 100644
index 49819c0..0000000
--- a/code/debug/motors/enc-pwm-3-motor/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/enc-pwm-3-motor/lib/README b/code/debug/motors/enc-pwm-3-motor/lib/README
deleted file mode 100644
index 9379397..0000000
--- a/code/debug/motors/enc-pwm-3-motor/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/enc-pwm-3-motor/platformio.ini b/code/debug/motors/enc-pwm-3-motor/platformio.ini
deleted file mode 100644
index a13d034..0000000
--- a/code/debug/motors/enc-pwm-3-motor/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/enc-pwm-3-motor/src/main.cpp b/code/debug/motors/enc-pwm-3-motor/src/main.cpp
deleted file mode 100644
index 4e3cf37..0000000
--- a/code/debug/motors/enc-pwm-3-motor/src/main.cpp
+++ /dev/null
@@ -1,284 +0,0 @@
-//motor: https://www.pololu.com/product/4861
-//motor driver: https://www.pololu.com/product/2997
-
-//Create the timers
-IntervalTimer pwm_timer;
-IntervalTimer enc_timer;
-
-//define the pins
-//If the motors are spinning incorectly, change pins not the drive function.
-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;
-
-//PWM variables
-int pwmacc = 100; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
-int PWMval1 = 0;  //value of the PWM1, means you can enter value from 0 to the value of pwmacc 
-int PWMval2 = 0;  //same but for the second one
-int PWMval3 = 0;  //same but for the thirth one
-
-//encoder variables
-const int refreshrate = 50; //refresh rate of the encoder
-volatile long oneENCcount = 0; //the amount of pulses from motor one encoder 
-volatile long twoENCcount = 0; //idem, but motor two
-volatile long threeENCcount = 0; //kɛlɔ
-
-double ONErpm = 0.00; //the amount of revolutions motor one makes per minute
-double TWOrpm = 0.00; //mismo
-double THREErpm = 0.00; //адилхан
-
-
-
-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);
-
-  pwm_timer.begin(updatePWM, refreshrate); //speed at wich PWM is updated PWM 
-  enc_timer.begin(enc_refr, 50);  //refresh rate of the encoder
-
-  attachInterrupt(digitalPinToInterrupt(m1encoA), AoneIRS, CHANGE); //calls void AoneIRS if there is a change of the stare of m1encoA
-  attachInterrupt(digitalPinToInterrupt(m1encoB), BoneIRS, CHANGE); //ditto
-  attachInterrupt(digitalPinToInterrupt(m2encoA), AtwoIRS, CHANGE); //hali
-  attachInterrupt(digitalPinToInterrupt(m2encoB), BtwoIRS, CHANGE); //একই
-  attachInterrupt(digitalPinToInterrupt(m3encoA), AthreeIRS, CHANGE); //ߊ߬ ߓߍ߮ ߓߋ߫ ߞߟߋ߫
-  attachInterrupt(digitalPinToInterrupt(m3encoB), AthreeIRS, CHANGE); //To samo
-
-  Serial.begin(9600);
-  Serial.print("start");
-  
-}
-
-void updatePWM() {
-  //PWM one
-  //if the entered valvue is less the zero set it to zero, because lower that zero is not posible
-  if (PWMval1 < 0) {    
-    PWMval1 = 0;
-  }
-  //if the enterd value is higher than the maximum posible value, set it to max.
-  if (PWMval1 > pwmacc) {
-    PWMval1 = pwmacc;
-  }
-  //check if the counter has passed the PWM value, and turn of the motor based on that.
-  if (counter1 < PWMval1) {
-    digitalWrite(m1enA, HIGH);
-  } else {
-    digitalWrite(m1enA, LOW);
-  }
-  counter1++; 
-
-  if (counter1 >= pwmacc) {
-    counter1 = 0;
-  }
-
-  //PWM two
-  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;
-  }
-
-  //PWM three
-  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 AoneIRS(){
-  oneENCcount++ //adds one to the count
-}
-void BoneIRS(){
-  oneENCcount++ //dieselbe
-}
-void AtwoIRS(){
-  twoENCcount++ //même
-}
-void BtwoIRS(){
-  twoENCcount++ //samme
-}
-void AthreeIRS(){
-  threeENCcount++ //aynı
-}
-void BthreeIRS(){
-  threeENCcount++ //такой же
-}
-
-void enc_refr(){
-  //calculate RPM. It gets updated 48 times per rotation.
-  ONErpm = (oneENCcount/48.00) * (60000000.00 / refreshrate)
-  TWOrpm = (twoENCcount/48.00) * (60000000.00 / refreshrate)
-  THREErpm = (threeENCcount/48.00) * (60000000.00 / refreshrate)
-  //reset the counting to zero for next cycle.
-  oneENCcount = 0;
-  twoENCcount = 0;
-  threeENCcount = 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(50, 0); //speed value between 0-100
-  Serial.println("Motor one is at: "+ ONErpm + " RPM.");
-  Serial.println("Motor two is at: "+ TWOrpm + " RPM.");
-  Serial.println("Motor three is at: "+ THREErpm + " RPM.");
-  delay(1500);
-}
diff --git a/code/debug/motors/enc-pwm-3-motor/test/README b/code/debug/motors/enc-pwm-3-motor/test/README
deleted file mode 100644
index 9b1e87b..0000000
--- a/code/debug/motors/enc-pwm-3-motor/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
diff --git a/code/debug/motors/pwm/.idea/.gitignore b/code/debug/motors/pwm/.idea/.gitignore
new file mode 100644
index 0000000..ab1f416
--- /dev/null
+++ b/code/debug/motors/pwm/.idea/.gitignore
@@ -0,0 +1,10 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Ignored default folder with query files
+/queries/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/
diff --git a/code/debug/motors/pwm/.idea/editor.xml b/code/debug/motors/pwm/.idea/editor.xml
new file mode 100644
index 0000000..ca29dcc
--- /dev/null
+++ b/code/debug/motors/pwm/.idea/editor.xml
@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BackendCodeEditorSettings">
+    <option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
+    <option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
+    <option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/code/debug/motors/pwm/.idea/modules.xml b/code/debug/motors/pwm/.idea/modules.xml
new file mode 100644
index 0000000..9ddc8bc
--- /dev/null
+++ b/code/debug/motors/pwm/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/pwm.iml" filepath="$PROJECT_DIR$/.idea/pwm.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/code/debug/motors/pwm/.idea/pwm.iml b/code/debug/motors/pwm/.idea/pwm.iml
new file mode 100644
index 0000000..4c94235
--- /dev/null
+++ b/code/debug/motors/pwm/.idea/pwm.iml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CIDR" type="CPP_MODULE" version="4" />
\ No newline at end of file
diff --git a/code/debug/motors/pwm/.idea/vcs.xml b/code/debug/motors/pwm/.idea/vcs.xml
new file mode 100644
index 0000000..4fce1d8
--- /dev/null
+++ b/code/debug/motors/pwm/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$/../../../.." vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/code/debug/motors/pwm/pwm.ino b/code/debug/motors/pwm/pwm.ino
new file mode 100755
index 0000000..9743b09
--- /dev/null
+++ b/code/debug/motors/pwm/pwm.ino
@@ -0,0 +1,38 @@
+#include <SoftPWM.h>
+
+int m1enA = LED_BUILTIN;
+int m1enB = 5;
+int m1pwm1 = 4;
+int m1pwm2 = 3;
+int m1encoA = 32;
+int m1encoB = 31;
+
+void setup() {
+  Serial.begin(9600);
+
+  SoftPWMBegin();
+  SoftPWMSetPolarity(m1enA, 0);
+  SoftPWMSet(m1enA, 0);
+
+  pinMode(m1enB, OUTPUT);
+  pinMode(m1pwm1, OUTPUT);
+  pinMode(m1pwm2, OUTPUT);
+
+  pinMode(m1pwm1, INPUT);
+  pinMode(m1pwm2, INPUT);
+  
+}
+
+void loop() {
+  SoftPWMSet(m1enA, 50);
+  digitalWrite(m1enB, LOW);
+  digitalWrite(m1pwm1, HIGH);
+  digitalWrite(m1pwm2, LOW);
+  delay(500);
+  SoftPWMSet(m1enA, 255);
+  digitalWrite(m1enA, HIGH);
+  digitalWrite(m1enB, LOW);
+  digitalWrite(m1pwm1, LOW);
+  digitalWrite(m1pwm2, HIGH);
+  delay(500);
+}
diff --git a/code/debug/motors/with-pid/with-pid.ino b/code/debug/motors/with-pid/with-pid.ino
deleted file mode 100644
index ce8e811..0000000
--- a/code/debug/motors/with-pid/with-pid.ino
+++ /dev/null
@@ -1,99 +0,0 @@
-//motor: https://www.pololu.com/product/4861
-//motor driver: https://www.pololu.com/product/2997
-
-//Create the timers
-IntervalTimer pwm_timer;
-IntervalTimer enc_timer;
-
-//define the pins
-//If the motors are spinning incorectly, change pins not the drive function.
-int led = 13;
-
-int m1enA = 6;
-int m1enB = 5;
-int m1pwm1 = 4;
-int m1pwm2 = 3;
-int m1encoA = 32;
-int m1encoB = 31;
-
-int m3encoB = 23;
-
-//PWM variables
-int pwmacc = 100; //how accurate the PWM is, means you can enter value from 0 to the value of pwmacc
-int PWMval1 = 0;  //value of the PWM1, means you can enter value from 0 to the value of pwmacc
-
-//encoder variables
-const int refreshrate = 50; //refresh rate of the encoder
-volatile long oneENCcount = 0; //the amount of pulses from motor one encoder
-
-double ONErpm = 0.00; //the amount of revolutions motor one makes per minute
-
-
-
-void setup() {
-  pinMode(m1enA, OUTPUT);
-  pinMode(m1enB, OUTPUT);
-  pinMode(m1pwm1, OUTPUT);
-  pinMode(m1pwm2, OUTPUT);
-
-  pwm_timer.begin(updatePWM, refreshrate); //speed at wich PWM is updated PWM
-  enc_timer.begin(enc_refr, 50);  //refresh rate of the encoder
-
-  attachInterrupt(digitalPinToInterrupt(m1encoA), AoneIRS, CHANGE); //calls void AoneIRS if there is a change of the stare of m1encoA
-  attachInterrupt(digitalPinToInterrupt(m1encoB), BoneIRS, CHANGE); //ditto
-
-  Serial.begin(9600);
-  Serial.print("start");
-
-}
-
-void updatePWM() {
-  //PWM one
-  //if the entered valvue is less the zero set it to zero, because lower that zero is not posible
-  if (PWMval1 < 0) {
-    PWMval1 = 0;
-  }
-  //if the enterd value is higher than the maximum posible value, set it to max.
-  if (PWMval1 > pwmacc) {
-    PWMval1 = pwmacc;
-  }
-  //check if the counter has passed the PWM value, and turn of the motor based on that.
-  if (counter1 < PWMval1) {
-    digitalWrite(m1enA, HIGH);
-  } else {
-    digitalWrite(m1enA, LOW);
-  }
-  counter1++;
-
-  if (counter1 >= pwmacc) {
-    counter1 = 0;
-  }
-}
-
-void AoneIRS(){
-  oneENCcount++ //adds one to the count
-}
-void BoneIRS(){
-  oneENCcount++ //dieselbe
-}
-
-void enc_refr(){
-  //calculate RPM. It gets updated 48 times per rotation.
-  ONErpm = (oneENCcount/48.00) * (60000000.00 / refreshrate)
-  //reset the counting to zero for next cycle.
-  oneENCcount = 0;
-}
-void PID(int speed){
-  Serial.println(ONErpm);
-  PWMval1 = ; //enter output from PID algorith here
-  digitalWrite(m1enB, LOW);
-  digitalWrite(m1pwm1, HIGH);
-  digitalWrite(m1pwm2, LOW);
-}
-
-//the loop routine runs over and over again forever:
-void loop() {
-  drive(50); //speed value between 0-100
-  Serial.println("Motor one is at: "+ ONErpm + " RPM.");
-  delay(50);
-}