 		newData = true;
 	}
 
+	if (head.available()) 
+	{
+		char msg[64] = {0};
+		controler.readBytesUntil('\n', msg, sizeof msg); // IF RF24 ---> radio.read(&msg, sizeof(msg));
+		newData = true;
+	}
+
 	if(newData)
 	{
 		Serial.println(msg);

	Serial.println(" |  __  (|  __  (___) |   | | |   | | | |   | |   ");
	Serial.println(" | |__)  ) |__)  )  | |___| | |   | |_| |_  | |   ");
	Serial.println(" |______/|______/   |______/|_|   |_(_____) |_|   ");
	Serial.println("            _ Astromech Industrie _               ");
	Serial.println("      > https://github.com/Gruniek/BB-UNIT <      ");
	Serial.println("           > http://r2builders.fr/ <              ");
	Serial.print("           FIRMWARE VERSION : ");
	Serial.print(version);
	Serial.println("               ");
	Serial.println("==================================================");



//PINOUT

#define PIN_ENABLE_A     33      // Activation off all stepper
#define PIN_ENABLE_B     27      // Activation off all stepper

#define PIN_STEP_A       31      // PIN STEP FOR X
#define PIN_DIR_A        29      // PIN DIRECTION FOR X 

#define PIN_STEP_B       25      // PIN STEP FOR X
#define PIN_DIR_B        23      // PIN DIRECTION FOR X 

#define pinStepX         26      // PIN STEP FOR X
#define pinDirX          24      // PIN DIRECTION FOR X 

#define pinStepY         4       // PIN STEP FOR Y
#define pinDirY          3       // PIN DIRECTION FOR Y

#define pinStepZ         8       // PIN STEP FOR Y
#define pinDirZ          9       // PIN DIRECTION FOR Y
#define Z_POSITION       35      // PIN FOR THE DIGITAL INPUT FOR THE HEAD POSITION


#define TRIGGER_LIGHT    36      // PIN TRIGGER FOR START/STOP THE LIGHTING INSIDE THE BALL
#define LIGHTING         37      // PIN FOR FEED THE LIGHTING

#define SWITCH_1         34      // TRIGGER NOT USED FOR THE MOMENT

#define LED_1            48      // LED 1
#define LED_2            44      // LED 2
#define LED_3            40      // LED 3
#define LED_4            46      // LED 4
#define LED_5            42      // LED 5


#define PING             13

#define LIGHT            20      // Pin for turn on/off lighting on the ball (Great for a technical maintenance ;) )

#define CURRENT          0
#define VOLTAGE          6

// I2C
int I2C_ADRESS         = 1;

// MOTOR VARIABLE
int SPEED_A            = 0;
int SPEED_B            = 0;
bool RUN_A             = false;
bool RUN_B             = false;
bool DIRECTION_A       = true;   // true = Front | false = back
bool DIRECTION_B       = true;   // true = Front | false = back

int x                  = 0;
int y                  = 0;
int bx                 = 0;
int by                 = 0;
int vx                 = 0;
int vy                 = 0;

int speedX             = 0;
int speedY             = 0;
int speedZ             = 0;
int setpointX          = 90;
int setpointY          = 90;

int Zangle             = 0;
bool newData           = false;

int multiplier         = 15;
int emergencyStop      = 11; // PIN
int eStop              = 12; // PIN
bool emgStop           = false;

int TMP_DATA[30]      ;

bool runX              = false;
bool runY              = false;
bool runZ              = false;
bool directX           = false; // false = Gauche / true = droite
bool directY           = false; // false = Gauche / true = droite
bool directZ           = false; // false = Gauche / true = droite

bool xok               = false;
bool yok               = false;
bool zok               = false;

long intX              = 0;
long intY              = 0;

bool production        = false;
bool LED_PING          = false;
bool BOOT              = false;

bool enMotAB           = false;
bool enMotXY           = false;
bool enMotZ            = false;



unsigned long previousMillisX = 0;
unsigned long previousMillisY = 0;
