#define MOTOR1 D0
#define MOTOR2 D1
#define MOTOR3 D2
#define MOTOR4 D3
#define PWMFREQ 50 //every 20ms
#define PWMRESOLUTION 16 
#define BNOINTERRUPTSIG D6 
#define BNOI2CADRESS 0x4b
//https://docs.arduino.cc/language-reference/en/structure/further-syntax/define/