From f02418d92c321d88807dca1b47c1fab566a15e72 Mon Sep 17 00:00:00 2001
From: Alexander B <alexandre.bobkov@gmail.com>
Date: Wed, 6 Aug 2025 08:39:37 -0400
Subject: [PATCH] pwm

---
 ESP-IDF_Robot/main/rc.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ESP-IDF_Robot/main/rc.h b/ESP-IDF_Robot/main/rc.h
index 9f47e799d..531329678 100644
--- a/ESP-IDF_Robot/main/rc.h
+++ b/ESP-IDF_Robot/main/rc.h
@@ -97,7 +97,7 @@ static void update_pwm (int rc_x, int rc_y) {
     // ADDED ON AUG 6, 2025: to be tested!
     // CONTINOUS UPDATE
     // All forward directions
-    if (x >= 3500) {
+    if (x >= 3500 && y >= 700 && y <= 1000) {
         m.motor1_rpm_pcm = x;   // Left side motors, forward
         m.motor2_rpm_pcm = x;   // Right side motors, forward
         m.motor3_rpm_pcm = 0;