 
 void processSerialInput()
 {
+  if (fabs(millis()-lastSerialReception_ms)>1000)
+  {
+    isTimeOut = true;
+  }
   // print the string when a newline arrives:
   if (stringComplete)
   {   
+    
     //Serial.println(inputString);
     char ctab[inputString.length()+1];
     inputString.toCharArray(ctab, sizeof(ctab));

}

void computeOrder()
{
  if (myPID1.GetMode() == MANUAL)
  {
    power1 = atoi(pwm1.value());
  }
  if (myPID2.GetMode() == MANUAL)
  {
    power2 = atoi(pwm2.value());
  }
}

void sendOrder()
{
  // Order in the range -127/127
   ST.motor(1, power1);
   ST.motor(2, power2);
}
 

TinyGPSCustom setpos1  (nmea, "ORSP1", 1);  // Position setpoint for Sabertooth output 1
TinyGPSCustom setpos2  (nmea, "ORSP2", 1);  // Position setpoint for Sabertooth output 2
boolean isFeedbackRequested = false;

void setup()
{
