   previous_millis_moving = millis();
 }
 void robotStop(){ 
-  servo_left.write(89);
-  servo_right.write(90);
+  servo_left.write(SERV_L_STOP);
+  servo_right.write(SERV_R_STOP);
   is_moving = false;
   delay(500);
 }
 void motorForwardLeft(){
-  servo_left.write(180);
+  servo_left.write(SERV_L_FORW);
 }
 void motorForwardRight(){
-  servo_right.write(180);
+  servo_right.write(SERV_R_FORW);
 }
 void motorBackwardLeft(){
-  servo_left.write(0);
+  servo_left.write(SERV_L_BACK);
 }
 void motorBackwardRight(){
-  servo_right.write(0);
+  servo_right.write(SERV_R_BACK);
 }
 int distanceIK(boolean check_forward){ 
   unsigned int delay_time = millis() - last_time_obstacle_check;

            {
              is_hand_control = true;

              interval_direction = 0;
              interval_gabarit = 0;
              setStateLedGabarit(0);
              setStateLedDirection(0);
              
              sendShortAnswer(true);
            }
            break;

#define PIN_MOTOR_LEFT 5
#define PIN_MOTOR_RIGHT 3

/*1*/ const int SERV_R_STOP = 89, SERV_L_STOP = 89, SERV_R_FORW = 180, SERV_L_FORW = 180, SERV_R_BACK = 0, SERV_L_BACK = 0;
///*2*/ const int SERV_R_STOP = 89, SERV_L_STOP = 89, SERV_R_FORW = 180, SERV_L_FORW = 180, SERV_R_BACK = 0, SERV_L_BACK = 0;
///*3*/ const int SERV_R_STOP = 89, SERV_L_STOP = 89, SERV_R_FORW = 180, SERV_L_FORW = 180, SERV_R_BACK = 0, SERV_L_BACK = 0;
///*4*/ const int SERV_R_STOP = 89, SERV_L_STOP = 89, SERV_R_FORW = 180, SERV_L_FORW = 180, SERV_R_BACK = 0, SERV_L_BACK = 0;
///*5*/ const int SERV_R_STOP = 89, SERV_L_STOP = 89, SERV_R_FORW = 180, SERV_L_FORW = 180, SERV_R_BACK = 0, SERV_L_BACK = 0;
///*6*/ const int SERV_R_STOP = 89, SERV_L_STOP = 89, SERV_R_FORW = 180, SERV_L_FORW = 180, SERV_R_BACK = 0, SERV_L_BACK = 0;
///*7*/ const int SERV_R_STOP = 89, SERV_L_STOP = 89, SERV_R_FORW = 180, SERV_L_FORW = 180, SERV_R_BACK = 0, SERV_L_BACK = 0;

String input_buffer = "";

unsigned long moving_time = 0;
