if ( Yaxis >= 130 && Xaxis < 130 && Xaxis > 120  )      // go forward, both axes has value from Yaxis
{
    MotorsDirection(BothAxes, FORWARD);                 // Both axes goes forward

    LeftPWMBuffer = map(Yaxis, 130, 255, 0, 255);

    LastActualLeftDiff = LeftPWMBuffer - LastLeftPWM;

    if ( LastActualLeftDiff > 0 )
    {
        for ( incr = LastLeftPWM; incr <= LastLeftPWM + LastActualLeftDiff - 1 ; incr++ )
        {
            _delay_ms(10);
            PORTA ^= (1<<PA7);
            LeftPWM = incr;
        }
    }
    else
    {
        LeftPWM  = LeftPWMBuffer;
    }
}

LastLeftPWM = LeftPWM;