     else
     {
       // Brake ?
-      digitalWrite(HbridgeLogicPin1, LOW);
-      digitalWrite(HbridgeLogicPin2, LOW);
+      digitalWrite(HbridgeLogicPin1, HIGH); // According to a website i don't remember
+      digitalWrite(HbridgeLogicPin2, HIGH); // but hard to check with the motor I have
     }
 	// \todo: add an input to enable manual rotation of the motor
   }
-  return alpha;
-}
-
-
-
-
+}
+
+
+
+

  }
	
  // Fallback to manual control if the analog voltage is close to zero (probably unplugged)
  isManualControl = (sensorValue < 10);

  if (isManualControl)  
  {
    // Motor is free to move to enable manual control
    digitalWrite(HbridgeEnablePin, LOW);
  }
  
  // If not in Serial control overwrite the value 
  if (false == isSerialControl)
  {
    alphaSigned = 2*((sensorValue-sensorValueMin)/(sensorValueMax - sensorValueMin)-0.5);  
  }
  // The saturation ensures the motor can be stopped and avoids division by zero
  double alpha = max(fabs(alphaSigned), deadBand);
  alpha = min(alpha, 1);

  if (alphaSigned > fabs(deadBand))
  {
    // Forward rotation
    digitalWrite(HbridgeLogicPin1, HIGH);

  }
  else 
  {
    if (alphaSigned < 0)
    {
	  // Backward rotation
      digitalWrite(HbridgeLogicPin1, LOW);
