   if(y < 90) directY = false;
   else directY = true;
 
-  digitalWrite(dirY, directY);
+  digitalWrite(pinDirY, directY);
   
   // Si ont doit demarer le moteur
   if(y > (setpointY + hysteresis) || (y < setpointY - hysteresis )) 

  if(x < 90) directX = false;
  else directX = true;

  digitalWrite(dirX, directX);
  
  // Si ont doit demarer le moteur
  if(x > (setpointX + hysteresis) || (x < setpointX - hysteresis )) 
  { 
    if(x > minX && x < maxX) runX = true; 
    else runY = false;
  }
  else runX = false;
  

      start = true;
    }
    
    if (strcmp(strtok(msg, " "), "STOP") == 0)
    {
      Serial.println("STOP");
      start = false;
