   		{
   			if(!xok) 
   			{
-  				Serial.println("STAT x1");
+  				Serial.println("STAT x1 ");
   				xok = true;
   				delay(2000);
   			}

//=============================================================================//
void setup()
{
	pinMode( pinEnable , OUTPUT );
    pinMode( pinDirX   , OUTPUT );
    pinMode( pinStepX  , OUTPUT );
    pinMode( pinDirY   , OUTPUT );

  
  Big thanks for http://r2builders.fr/ !
  Initial project : http://r2builders.fr/forum/viewtopic.php?f=26&t=3928&hilit=BB8+par+MOUS
  
  ===============
  EXEMPLE COMMAND 
  ===============
  < SET >
  'SET x87 y75 h3 \n'        // SET a new setpoint for x and y with 3degree of Hysteressis
  'SET x90 y90 i1 j0 k1 \n'  // SET an inversion of the sensor X Y and invert the direction of X
  
  	x = SETPOINT for X
	y = SETPOINT for Y
	m = MULTIPLIER FOR THE SPEED OF THE MOTOR X and Y
	i = INVERT the angle sensor ( X = Y and Y = X )
	j = INVERT the direction of X
	k = INVERT the direction of Y
	h = SET a new HYSTERESSIS 



  < BOOT > 
  'BOOT \n'  // LAUNCH TEST for X, Y and Z -> Return X and Y to initial SETPOINT (x90 y90 ) and Z to ZERO



  < RUN >
  'RUN \n'   // RUN the code in production mode (Recieved all data, X and Y runing for the SETPOINT poistion and Z folow the remote controll
  
  < STOP >   
  'STOP \n'  // STOP the production mode. All motors are stopped.
  
  
  < ROTATE >
  'ROTATE d1 s100 \n'   // ROTATE Z motor on the RIGHT DIRECTION (d0 LEFT, d1 RIGHT) WITH the SPEED at 1000/100 = 10 step/sec = 18dec/sec
  
  
  < STAT >
  // It is all data SENDED to the MASTER-BOARD
  
*/

#include "Wire.h"
