Hi , thanks for all your comments !
I“ve been working on this boat for about 3 years ( I also did the boat ) , with several ups and downs , returns to start point, etc...
But now, with 12 pages of code, i have reached my goal, a full function rowboat with variable speed in every direction and with any servos, battery, links or cables outside the rower.
Tomorrow I'll take it to a pool for a test and video.
(Sorry for my English, I“m using Google translator)