   //R2=98.8 kOhms
 float periode=0; //permet de relentir la cadence d'envoi de la tension
 
-int pinLED=12;
-
+
+        //softPWM
+unsigned long currentMicros = micros();
+unsigned long previousMicros = 0;
+
+float PWM_frequency = 200;
+unsigned long PWM_period = 1e6 / PWM_frequency; //Period = 1 / F(Hz) *  
+
+int pinRightMotor = 12;
+int pinLeftMotor = 13;
 
 
 void setup() {

      else {
         //Serial.print(c);
         //Serial.print(" ");
         if(i>=0 && i<nbrServos && voltage>6.5) {
            angle[i]=c;
            //Serial.print("Servo numero ");
            Serial.print(i+1);

            Serial.print(" / ");
            servo[i].write(angle[i]);
            i++;
            if(i==nbrServos) {
              y=0;
              i=-1; 
            }
         } 
         if(mode == MODE_TANK && i>=0 && i<2 && voltage>6.5) {
            puissance[i]=c;
            //Serial.print("Servo numero ");
            Serial.print(i+1);
            Serial.print("=");
            Serial.print(puissance[i]);
            Serial.print(" / ");
            i++;
            if(i==2) {
              y=0;
              i=-1; 
            }
         }
      }
  
  } 
  periode++;
 }
 
