Write a sketch of Arduino

Programmer services are required. I need to write a sketch of Arduino. Rotate the engine at the speed of “Speed0” (0-1024), in the direction of “Dir0” (0/1), listen to the end sensor, when the end is triggered, move back to the value of long “Marg0” and zero the value of the position “Poz”, give a signal to the LED about the implementation.
Provide for the inclusion (removal of comment) of correction of the Marg0 value using a potentiometer +-70%

Calculate the value of the “Poz” position of the DESCRIPTION and SKETCH.
Disable the proposed filter "Filtr" (0/1),
We don't use the PID from this sketch.

We control the engine based on the values from the encoder DESCRIPTION AND SKETCH.
Put the maximum permissible distance value at the beginning of the sketch, the incoming signal is scaled to this value.
Provide for the inclusion (removal of comments) of correction of values using potentiometers +-70%:
Maximum distance, maximum speed, maximum acceleration and other PID settings.