 int mesure_voltage;
   //R1=97.9 kOhms 
   //R2=98.8 kOhms
-float periode=0; //permet de relentir la cadence d'envoi de la tension
+float period=0; //permet de relentir la cadence d'envoi de la tension
 
 
         //softPWM
 unsigned long currentMicros = micros();
 unsigned long previousMicros = 0;
 
+int puissance[2]={0,0};
+
 float PWM_frequency = 200;
 unsigned long PWM_period = 1e6 / PWM_frequency; //Period = 1 / F(Hz) *  
 
 int pinRightMotor = 12;
 int pinLeftMotor = 13;
-
+int pinRightDirection = 14;
+int pinLeftDirection = 15;
 
 void setup() {
   Serial.begin(9600);

void stillLED(){
  analogWrite(pinLED,250);
}


/*************** softPWM  ***************/ 
void softPWM(int pin, int dutyCycle/* Percentage */) {
  currentMicros = micros(); //Time elapsed since the start of the start of the programm
  if (currentMicros - previousMicros <= dutyCycle*period/100) {
    digitalWrite(pin,HIGH);
    Serial.println("ON");
  }

    //else Serial.println("error");
}
 
/* 
void glowingLED(int periodeLED){
 for(int fadeValue = 0 ; fadeValue <= 255; fadeValue +=5) { 
    analogWrite(pinLED, fadeValue);         
