     pinMode( PING        , OUTPUT );
 
 	Serial.begin(9600);
-	Serial.println("Booting up...");
+	
+	    
+    Serial.println("==================================================");
+	Serial.println("  _______ ______     _     _  ______  ____ ______ "); 
+	Serial.println(" (____   (____  )   | |   | |/ ___  |(____|______)");
+	Serial.println("  ____)  )____)  )__| |   | | |   | | | |   | |   ");      
+	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("==================================================");
+    
     Serial.println(" ");
-    Serial.println("_ Astromech Industrie _");
-    Serial.print("  BB-8 Version ");
-    Serial.println(version);
-    Serial.println("===================");
-    Serial.println(" ");
-    
-
-
-    
-    Serial.print("Initializing I2C devices...  I2C ADRESS :");
+	Serial.println("[1]-Booting up...");
+
+    Serial.print("[2]-Initializing I2C devices...  I2C ADRESS : ");
     Serial.print(i2cAdress);
   
     Wire.begin(i2cAdress);
     
+    Serial.println("[3]-Connect to the MPU6050... ");
     accelgyro.initialize();
-	Serial.println(" [ OK ]");
-
-    Serial.print("Connect to the MPU6050 : ");
-    Serial.println(accelgyro.testConnection());
-    //Serial.println(accelgyro.testConnection() ? "Connection successful" : "Connection failed");
-    
-    Serial.println("Initializing RF24 devices...  ");
+    
+    //Serial.println(accelgyro.testConnection());
+    Serial.println(accelgyro.testConnection() ? "Connection successful" : "Connection failed");
+    
+    Serial.println("[4]-Initializing RF24 devices...  ");
     radio.begin();
     radio.openWritingPipe(pipe);
     radio.startListening();
     
     /* Start I2C bus and PCF8574 instance */
+    Serial.print("[5]-Initializing PCF8574...");
   	expander.begin(0x20);
-  
+  	
+    Serial.print("[6]-Setup pinout of the PCF8574...");
   	/* Setup some PCF8574 pins for demo */
   	expander.pinMode(0, OUTPUT);
   	expander.pinMode(1, OUTPUT);

  EXEMPLE COMMAND 
  ===============
  
*/

#include "Wire.h"
#include "MPU6050.h"

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <RF24_config.h>
#include "PCF8574.h"

int i2cAdress      = 1;

int pinDirA        = 2;      // PIN DIRECTION FOR X 
int pinStepA       = 3;      // PIN STEP FOR X
int pinEnable      = 4;      // Activation off all stepper

int pinDirB        = 5;      // PIN DIRECTION FOR Y
int pinStepB       = 6;      // PIN STEP FOR Y

int CurrentBat1    = 0;
int CurrentBat2    = 1;

bool ifPing        = false;
bool emgStop       = false;
bool production    = false;

int setpointX      = 0;
int setpointY      = 0;
int multiplier     = 0;
int hysteresis     = 0;
bool invertXY      = 0;
bool invertX       = 0;
bool invertY       = 0;

unsigned long currentA = 0;
unsigned long previousMillisA = 0;
unsigned long currentB = 0;
unsigned long previousMillisB = 0;

unsigned long trigSec  = 1000;
unsigned long trigS    = 0;
