   Serial.println(input[3]);
 }
 void print_pitch_and_roll() {
-  Serial.print(mR - 100);
-  Serial.print(", ");
-  Serial.print(mL - 100);
-  Serial.print(", ");
+  Serial.print(mR);
+  Serial.print(";");
+  Serial.print(mL);
+  Serial.print(";");
   Serial.print(roll_speed);
   Serial.print("     …     ");
-  Serial.print(mF - 100);
-  Serial.print(", ");
-  Serial.print(mB - 100);
-  Serial.print(", ");
+  Serial.print(mF);
+  Serial.print(";");
+  Serial.print(mB);
+  Serial.print(";");
   Serial.println(pitch_speed);
 }
 void print_yaw_and_motors() {
-  Serial.print(mR - 100);
-  Serial.print(", ");
-  Serial.print(mL - 100);
-  Serial.print(", ");
-  Serial.print(mF - 100);
-  Serial.print(", ");
-  Serial.print(mB - 100);
-  Serial.print(", ");
+  Serial.print(mR);
+  Serial.print(";");
+  Serial.print(mL);
+  Serial.print(";");
+  Serial.print(mF);
+  Serial.print(";");
+  Serial.print(mB);
+  Serial.print(";");
   Serial.println(yaw_speed);
 }
 void print_pid_values() {
   Serial.print(input[0]);
-  Serial.print(", ");
+  Serial.print(";");
   Serial.println(pid_roll_out);
 }
 



// PID variables
bool auto_stabilisation_mode = false; //activer ou pas le mode auto-stabilisé: utiliser le switch de input 5 ou 6
int dt = 3;//notre dt est de 100 millisecondes
double pid_roll_speed_in, pid_roll_angle_in,   pid_roll_out,   pid_roll_setpoint,  roll_error,  Integral_roll_error,  Derivative_roll_error,  last_roll_error, AS_roll_error, AS_Integral_roll_error, AS_Derivative_roll_error, AS_last_roll_error = 0;
double pid_pitch_speed_in, pid_pitch_angle_in,  pid_pitch_out,  pid_pitch_setpoint, pitch_error, Integral_pitch_error, Derivative_pitch_error, last_pitch_error, AS_pitch_error, AS_Integral_pitch_error, AS_Derivative_pitch_error, AS_last_pitch_error = 0;

  mF = throttle + pid_pitch_out - pid_yaw_out;//////moteurs opposés/////
  mB = throttle - pid_pitch_out - pid_yaw_out;//////////////////////////

  motor_right.writeMicroseconds(mR);
  motor_left.writeMicroseconds(mL);
  motor_front.writeMicroseconds(mF);
  motor_back.writeMicroseconds(mB);
}

//fonction qui empeche les moteurs de tourner
