diff --git a/batteria.py b/batteria.py
index 6e856d5..1602b42 100644
--- a/batteria.py
+++ b/batteria.py
@@ -14,7 +14,7 @@ class Colors:
     NC: str = "\033[0m"
 
 
-def calcola_carica(v_mv: float):
+def calcola_carica(v_mv: float) -> str:
     v: float = v_mv / 1000
     carica = ""
     if v >= 8.4:
@@ -28,12 +28,24 @@ def calcola_carica(v_mv: float):
     return carica + Colors.NC
 
 
+def calcola_perc(v_mv: float) -> float:
+    v: float = v_mv / 1000.0
+    v_min: float = 6.8
+    v_max: float = 8.5
+    perc: float = (v - v_min) / (v_max - v_min) * 100.0
+    if perc < 0.0:
+        return 0.0
+    if perc > 100.0:
+        return 100.0
+    return perc
+
+
 def print_carica():
     v_mv = hub.battery.voltage()  # millivolt
     i_ma = hub.battery.current()  # milliampere (corrente assorbita)
     print(f"Voltage: {v_mv} mV  |  Current: {i_ma} mA")
     # print(f"Caricatore: {}")
-    print(f"Batteria: {calcola_carica(v_mv)}")
+    print(f"Batteria: {calcola_carica(v_mv)} ({calcola_perc(v_mv)}%)")
 
 
 print_carica()
diff --git a/guida_funzionante_2.py b/guida_funzionante_2.py
new file mode 100644
index 0000000..2f7544f
--- /dev/null
+++ b/guida_funzionante_2.py
@@ -0,0 +1,30 @@
+from pybricks.hubs import PrimeHub
+from pybricks.parameters import Axis, Direction, Port
+from pybricks.pupdevices import Motor
+from pybricks.robotics import DriveBase
+from pybricks.tools import wait
+
+from robot import CBHUB as HUB
+
+# import batteria
+
+hub = HUB.hub
+db = HUB.db
+
+db.use_gyro(True)
+# (mm/s, mm/s², deg/s, deg/s²)
+db.settings(100, 100, 90, 50)
+wait(300)
+db.reset(angle=0)
+
+
+db.straight(100)
+db.turn(90)
+db.straight(100)
+db.turn(90)
+db.straight(100)
+db.turn(90)
+db.straight(100)
+db.turn(90)
+
+print(f"drived {db.distance()}")
diff --git a/robot.py b/robot.py
index ca74d8a..c781201 100644
--- a/robot.py
+++ b/robot.py
@@ -55,7 +55,7 @@ class Robot:
         right_port: Port,
         left_direction: Direction,
         right_direction: Direction,
-        wheel_diameter: int,
+        wheel_diameter: float,
         axle_track: int,
         use_gyro: bool,
         straight_speed: int = DEFAULT_STRAIGHT_SPEED,
@@ -110,3 +110,21 @@ LEOHUB: Robot = Robot(
     turn_acceleration=DEFAULT_TURN_ACCELERATION,
     settle_ms=DEFAULT_GYRO_SETTLE_MS,
 )
+
+CBHUB: Robot = Robot(
+    name="cbhub",
+    top_side=A.UP,
+    front_side=A.RIGHT,
+    left_port=Port.B,
+    right_port=Port.A,
+    left_direction=Direction.COUNTERCLOCKWISE,
+    right_direction=Direction.CLOCKWISE,
+    wheel_diameter=49.5,
+    axle_track=88,
+    use_gyro=True,
+    straight_speed=DEFAULT_STRAIGHT_SPEED,
+    straight_acceleration=DEFAULT_STRAIGHT_ACCELERATION,
+    turn_rate=DEFAULT_TURN_RATE,
+    turn_acceleration=DEFAULT_TURN_ACCELERATION,
+    settle_ms=DEFAULT_GYRO_SETTLE_MS,
+)