function Ruch(drivingPower,turningPower, drivingDist,turningDist,tryb)

myNXT = COM_OpenNXT('usb.ini');
COM_SetDefaultNXT(myNXT);

% Set some parameters:
leftWheel   = MOTOR_A;
rightWheel  = MOTOR_C;
bothWheels  = [leftWheel; rightWheel];

% now create the objects for straigt driving:
mForward = NXTMotor(bothWheels, 'Power', drivingPower, 'TachoLimit', drivingDist);
mReverse = mForward; % clone object
mReverse.Power = -mForward.Power; % just swap the power sign



  % in degrees

% for turning the bot, we have two objects each:
mTurnLeft1 = NXTMotor(leftWheel, 'Power', -turningPower, 'TachoLimit', turningDist);
mTurnLeft1.SpeedRegulation = false; % don't need this for turning

% for the 2nd part of turning, use first part's settings and modify:
mTurnLeft2 = mTurnLeft1;                 % copy object
mTurnLeft2.Port     = rightWheel;        % but use other wheel
mTurnLeft2.Power    = -mTurnLeft1.Power; % swap power again

% the right-turn objects are the same, but mirrored:
mTurnRight1 = mTurnLeft1;               % first copy...
mTurnRight2 = mTurnLeft2;
mTurnRight1.Power = -mTurnRight1.Power; % now mirror powers
mTurnRight2.Power = -mTurnRight2.Power;
% Instead of mirroring the powers, we could've also changed
% the ports (swapped left and right wheels).

% TRYB - 1 Przod | 2 - Tyl | 3 - Podnies | 4 - Opusc | 5 - Lewo | 6 -Prawo

if (tryb == 1)
    % make a left-turn
    mTurnLeft1.SendToNXT();
    mTurnLeft2.SendToNXT();
    mTurnLeft1.WaitFor();
    mTurnLeft2.WaitFor();
else
    % turn back to the origin
    mTurnRight1.SendToNXT();
    mTurnRight2.SendToNXT();
    mTurnRight1.WaitFor();
    mTurnRight2.WaitFor();
end

end