     	    delay(2000);
     	}
     	
+    	if (strcmp(strtok(msg, " "), "ROTATE") == 0) // ROTATE d1 s100  <-- Rotate Z right, 18c/sec
+    	{
+      		// trouvé le message
+      		char *p;
+      		while ((p = strtok(NULL, " ")) != NULL)
+      		{
+        		int val = atoi(p + 1);
+        		switch (*p)
+        		{
+          			case 'd': directZ  = val; break;
+          			case 's': speedZ   = val; break;
+        		}
+      		}
+    	}
+    	
     	
   }
    
-   if(boot)
+   if(BOOT)
    {
    	    // SET X IN POSITION
    		if(x < 90) directX = false;

  		{
  			if(!yok) 
  			{
  				Serial.println(STAT y1);
  				yok = true;
  				delay(2000);
  			}

#define pinStepY         6      // PIN STEP FOR Y
#define pinDirY          5      // PIN DIRECTION FOR Y

#define pinStepZ         8      // PIN STEP FOR Y
#define pinDirZ          7      // PIN DIRECTION FOR Y

#define Z_POSITION       9      // PIN FOR THE DIGITAL INPUT FOR THE HEAD POSITION

