diff --git a/leo/ruote.py b/leo/ruote.py
index a47775f..79ffaa2 100644
--- a/leo/ruote.py
+++ b/leo/ruote.py
@@ -2,11 +2,27 @@ from pybricks.parameters import Port, Stop
 from pybricks.pupdevices import Motor
 from pybricks.tools import wait
 
-mDestra = Motor(Port.A)
+mDestra = Motor(Port.F)
 mSinistra = Motor(Port.B)
 
-mSinistra.run_angle(1000, 360, then=Stop.HOLD, wait=False)
-mDestra.run_angle(1000, 360, then=Stop.HOLD, wait=False)
+
+def vai_avanti(speed, gradi):
+    mSinistra.run_angle(speed, gradi, then=Stop.NONE, wait=False)
+    mDestra.run_angle(-speed, gradi, then=Stop.NONE, wait=False)
+
+
+def turn(speed_L, speed_R, gradi):
+    mSinistra.run_angle(speed_L, gradi, then=Stop.NONE, wait=False)
+    mDestra.run_angle(speed_R, gradi, then=Stop.NONE, wait=False)
+
+
+print("test1")
+vai_avanti(1000, 360)
+print("test2")
+turn(1000, 1000, 360)
+print("test3")
+vai_avanti(1000, 360)
+turn(1000, 1000, 360)
 
 
 while not (mSinistra.done() and mDestra.done()):
diff --git a/pyproject.toml b/pyproject.toml
index 763e356..5ff5445 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -19,7 +19,7 @@ target-version = "py313"
 line-length = 88
 
 [tool.ruff.lint]
-extend-select = ["I", "UP", "N", "C"]  # isort, pyupgrade, pep8-naming, mccabe
+extend-select = ["I", "UP", "C"]  # isort, pyupgrade, pep8-naming, mccabe
 
 [tool.ruff.lint.mccabe]
 max-complexity = 12