diff --git a/robot/include/servos.h b/robot/include/servos.h
index 4ede364..ea0c094 100644
--- a/robot/include/servos.h
+++ b/robot/include/servos.h
@@ -26,6 +26,13 @@
 #define US2TIMER0(us)     (uint16_t)((51U * us) / (200U * PWM_PERIOD_MS))
 
 void init_servos(void);
-void run_servos(void);
+
+void servo_full_forw(void);
+void servo_turn_forw_r(void);
+void servo_turn_forw_l(void);
+void servo_full_backw(void);
+void servo_turn_backw_r(void);
+void servo_turn_backw_l(void);
+
 
 #endif /* SERVOS_H */
diff --git a/robot/src/servos.c b/robot/src/servos.c
index 0f6bd11..778b0b1 100644
--- a/robot/src/servos.c
+++ b/robot/src/servos.c
@@ -23,8 +23,38 @@ void init_servos(void)
     SET(SERVO_DDR, SERVO_R_BIT);
 }
 
-void run_servos(void)
+void servo_full_forw(void)
 {
     SERVO_L_REG = US2TIMER0(SERVO_L_FORW);
     SERVO_R_REG = US2TIMER0(SERVO_R_FORW);
 }
+
+void servo_turn_forw_r(void)
+{
+    SERVO_L_REG = US2TIMER0(SERVO_L_FORW);
+    SERVO_R_REG = US2TIMER0(SERVO_R_STOP);
+}
+
+void servo_turn_forw_l(void)
+{
+    SERVO_L_REG = US2TIMER0(SERVO_L_STOP);
+    SERVO_R_REG = US2TIMER0(SERVO_R_FORW);
+}
+
+void servo_full_backw(void)
+{
+    SERVO_L_REG = US2TIMER0(SERVO_L_BACKW);
+    SERVO_R_REG = US2TIMER0(SERVO_R_BACKW);
+}
+
+void servo_turn_backw_r(void)
+{
+    SERVO_L_REG = US2TIMER0(SERVO_L_STOP);
+    SERVO_R_REG = US2TIMER0(SERVO_R_BACKW);
+}
+
+void servo_turn_backw_l(void)
+{
+    SERVO_L_REG = US2TIMER0(SERVO_L_BACKW);
+    SERVO_R_REG = US2TIMER0(SERVO_R_STOP);
+}