Antony289:
Look, please, at the very beginning, after my clarification text, I updated the attached file, it is called * ROBOT_3_eng.ino in this file I translated everything into English.Once again I attach this file.
Thank you. I do appreciate that it was troublesome to have to translate the comments.
What I'm not clear about now is whether the program in Reply #39 takes account of all the suggestions that have already been made?
If so (and I do hope it does) then please tell us exactly what it does and what you want it to do that is different.
...R