Part of the reason my car keeps hitting the wall is that it is responding too slowly for the speed it is traveling.

Today I carefully calibrated my HPWM 2,xxx,50 commands.

If xxx = 110 the car does not move.
If xxx = 111 the car moves forward, but only on a non-carpeted floor.
If xxx = 112 the car moves forward forcefully but not too fast

xxx = 115 is too fast for my code.
xxx = 125 is full speed which is very fast.

Ken