From 095e34ce772ee28195b08bdac8e69ae653677694 Mon Sep 17 00:00:00 2001
From: Alexandre Bobkov <alexandre.bobkov@gmail.com>
Date: Wed, 6 Aug 2025 04:12:14 -0400
Subject: [PATCH] pwm

---
 ESP-IDF_Robot/main/rc.h | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h
index 7dc20ea6f..63fb0e57e 100644
--- a/ESP-IDF_Robot/main/rc.h
+++ b/ESP-IDF_Robot/main/rc.h
@@ -113,9 +113,13 @@ static void update_pwm (int rc_x, int rc_y) {
         m.motor3_rpm_pcm = -(y - x);   // Left side motors, reverse
         m.motor4_rpm_pcm = -(y + x);   // Right side motors, reverse
     }
-    // Rotations
-    if (y < 1500) && (y > 1500) {
-
+    // ROTATIONS
+    // Rotate right
+    if ((y < 1500) && (y > 1500)) && (x > 8000) {
+        m.motor1_rpm_pcm = 0;
+        m.motor2_rpm_pcm = 0;
+        m.motor3_rpm_pcm = 0;
+        m.motor4_rpm_pcm = 0;
     }
     // -------------