<commit_before>#include "EBot.h"

#define IN1	6
#define IN2	7
#define IN3	8
#define IN4	9
#define ENA	5
#define ENB	11

#define	ServoPin	3

#define Echo	A4
#define Trig	A5

void EBot::begin() {
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);
  pinMode(Echo, INPUT);
  pinMode(Trig, OUTPUT);
  servo.attach(ServoPin);
  this->setDirection();
  this->setSpeed();
  this->setAngle();
}

void EBot::setSpeed(int speed) {
  this->speed = EBot::boundaries(speed, 110, 255);
  this->setDirection(this->direction);
}

int EBot::getSpeed() {
  return this->speed;
}

void EBot::setDirection(EBot::move direction) {
  this->direction = direction;
  switch(this->direction) {
   case STOP:
   this->stop();
   break;
   case FORWARD:
   this->forward();<commit_msg>changed min speed<commit_after>#include "EBot.h"

#define IN1	6
#define IN2	7
#define IN3	8
#define IN4	9
#define ENA	5
#define ENB	11

#define	ServoPin	3

#define Echo	A4
#define Trig	A5

void EBot::begin() {
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);
  pinMode(ENA, OUTPUT);
  pinMode(ENB, OUTPUT);
  pinMode(Echo, INPUT);
  pinMode(Trig, OUTPUT);
  servo.attach(ServoPin);
  this->setDirection();
  this->setSpeed();
  this->setAngle();
}

void EBot::setSpeed(int speed) {
  this->speed = EBot::boundaries(speed, 120, 255);
  this->setDirection(this->direction);
}

int EBot::getSpeed() {
  return this->speed;
}

void EBot::setDirection(EBot::move direction) {
  this->direction = direction;
  switch(this->direction) {
   case STOP:
   this->stop();
   break;
   case FORWARD:
   this->forward();
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