 /****************************************************************
 *                Ecriture série des valeurs servos              *
 ****************************************************************/
-        
-        
-        //SERVO 
+#define MODE_BRAS 0
+#define MODE_TANK 1
+int mode = MODE_BRAS;
+
+        //SERVOS 
 #include <Servo.h>
 int i=-1;
 int y=0;
 const int nbrServos=6;                              //Nombre de servomoteurs
 const int brocheServo[nbrServos]={3,5,6,9,13,11};   //Choix des broches pour les servomoteurs 3 5 6 9 10 11
-//const int brocheServo[nbrServos]={8,9};
 int angle[nbrServos];
-const int angle0[nbrServos]={90,180,0,90,90,100}; //90 0 180 180 90
-//int angle0[nbrServos]={90,90};
+const int angle0[nbrServos]={90,180,0,90,180,90}; //90 0 180 180 90
 Servo servo[nbrServos];
 
 //Servo 2 : angle+ = montée : OK

  //R2=98.8 kOhms
float periode=0; //permet de relentir la cadence d'envoi de la tension

int pinLED=12;



void setup() {

      else {
         //Serial.print(c);
         //Serial.print(" ");
         if(mode == MODE_BRAS && i>=0 && i<nbrServos && voltage>6.5) {
            angle[i]=c;
            //Serial.print("Servo numero ");
            Serial.print(i+1);
