   //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() {

            Serial.print(" / ");
            servo[i].write(angle[i]);
            i++;
         } 
         if(i==nbrServos) {
            y=0;
            i=-1; 
         }
      }
  
  }
  
  periode++;
 }
 

  voltmetre();
  //Serial.print("Voltage = ");Serial.print(mesure_voltage);Serial.println(" V ");Serial.println();
  
  while (voltage<6.5) 
  {
    Serial.print((char)150); //valeur arbitraire
    delay(100);
  }
  
  for (int j=0 ; j<2 ; j++){
