     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;
-}
-
-
-
-
+}
+
+
+
+

//  Serial.print("alphaManual = " );                       
//  Serial.print(alphaSigned);      
//  Serial.print("\t alphaUsed = ");      
//  Serial.println(alphaSigned);   
}

double computeLogicState()
{
  sensorValue = analogRead(analogInPin);
  // If the analog value is changed, it means that the user wants to take control with the joystick
  // so fallback to joystick control
  if (fabs(initialSensorValue-sensorValue) > 10)

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