 }
 void print_pitch_and_roll() {
   Serial.print(mR);
-  Serial.print(";");
+  Serial.print(",");
   Serial.print(mL);
-  Serial.print(";");
+  Serial.print(",");
   Serial.print(roll_speed);
   Serial.print("     …     ");
   Serial.print(mF);
-  Serial.print(";");
+  Serial.print(",");
   Serial.print(mB);
-  Serial.print(";");
+  Serial.print(",");
   Serial.println(pitch_speed);
 }
-void print_yaw_and_motors() {
+void print_motors() {
   Serial.print(mR);
-  Serial.print(";");
+  Serial.print(",");
   Serial.print(mL);
-  Serial.print(";");
+  Serial.print(",");
   Serial.print(mF);
-  Serial.print(";");
-  Serial.print(mB);
-  Serial.print(";");
-  Serial.println(yaw_speed);
+  Serial.print(",");
+  Serial.println(mB);
 }
 void print_pid_values() {
   Serial.print(input[0]);
-  Serial.print(";");
+  Serial.print(",");
   Serial.println(pid_roll_out);
-}
-
-void print_that_bitch() {
-  print_pid_values();
 }
 
 //foncition qui s'execute une fois et au début
 void setup() {
-  Serial.begin(9600);
+  Serial.begin(250000);
   bno_initialisation();
   rx_initialize();
   motor_right.attach(MOTOR_PIN_RIGHT);

  yaw_speed = gyroscope.z() * 180 / 3.14159265359;

  imu::Vector<3> euler = bno.getVector(Adafruit_BNO055::VECTOR_EULER);
  roll_angle = euler.x();
  pitch_angle = euler.y();

  pid_roll_speed_in = map(roll_speed, -180, 180, ROLL_WMIN, ROLL_WMAX);

  rx_read();
  bno_get_values();
  control_update();
  print_motors();
}
