               is_hand_control = false;
               robotStop();
               
-              interval_direction = 0;
-              interval_gabarit = 0;
-              setStateLedGabarit(0);
-              setStateLedDirection(0);
+              changeGroupLedState(0, LOW, 0);
+              changeGroupLedState(1, LOW, 0);
               
               sendShortAnswer(true);
             }

            break;
          case '5': //changeLightMode
            {
              int intensity;
              int period;
              if (input_buffer[2] == '1') {
                intensity = 255;
                period = input_buffer.substring(3, last_char).toInt();
              } else {
                intensity = 0;
                period = 0;
              }
              
              if (input_buffer[1] == '1') {
                interval_direction = period;
                intensity_direction = intensity;
                
                if (!period) {
                  setStateLedDirection(intensity);
                }
              } else {
                interval_gabarit = period;
                intensity_gabarit = intensity;
                
                if (!period) {
                  setStateLedGabarit(intensity);
                }
              }
              sendShortAnswer(true);
            }
            break;
          case '6': //getDistanceObstacle

            {
              is_hand_control = true;

              changeGroupLedState(0, HIGH, 0);
              changeGroupLedState(1, LOW, 0);
              sendShortAnswer(true);
            }
            break;
