   
   pinMode(pinLeftMotor,OUTPUT);
   pinMode(pinRightMotor,OUTPUT);
+  pinMode(pinLeftDirection,OUTPUT);
+  pinMode(pinRightDirection,OUTPUT);
 }
 
 void loop() {
-  if (periode>1600000){
+  if (period>1600000){
     voltmetre();
-    periode=0;
+    period=0;
     //Serial.println("loop");
   }
   

      if(c==250) {
         Serial.println(" ");
         i=0; 
         mode = MODE_BRAS
      }
      if(c==254) {
         Serial.println(" ");
         i=0; 
         MODE = MODE_TANK:
      }
      /*if(c==65) { //MODE 1
        glowingLED(30);

int mesure_voltage;
  //R1=97.9 kOhms 
  //R2=98.8 kOhms
float period=0; //permet de relentir la cadence d'envoi de la tension


        //softPWM
unsigned long currentMicros = micros();
unsigned long previousMicros = 0;

int puissance[2]={0,0};

float PWM_frequency = 200;
unsigned long PWM_period = 1e6 / PWM_frequency; //Period = 1 / F(Hz) *  

int pinRightMotor = 12;
int pinLeftMotor = 13;
int pinRightDirection = 14;
int pinLeftDirection = 15;

void setup() {
  Serial.begin(9600);
