text: // PIN utilisées pour l'encodeur incrémental
  #define PORT1_NE1 31
  #define PORT1_NE2 18
  
  #define PORT2_NE1 38
  #define PORT2_NE2 19
  
  void InitEncoders(); // setup encoder position detection
  
  int getPosition1(); // get the actual position of the incremental encoder in pulse.
  
  float getSpeed(); // get the actual speed in pulses/s, computed from the time between two pulses.
  