From d33bd356cda7f438ac3bbeb37cf33a1f50322202 Mon Sep 17 00:00:00 2001
From: Samuel <samuel.kay@poivron-robotique.fr>
Date: Thu, 29 Jan 2026 20:25:02 +0100
Subject: [PATCH] =?UTF-8?q?Fusion=20du=20code=20de=20communication=20appli?=
 =?UTF-8?q?cative=20avec=20le=20code=20de=20d=C3=A9placement?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 CMakeLists.txt                |   1 +
 Messagerie_propulsion2026.ods | Bin 0 -> 29704 bytes
 Readme.md                     | 111 ++++++++++++++++++++++++++++++++++
 Trajectoire.c                 |   3 -
 Trajectoire.h                 |   3 +-
 Trajet.c                      |   1 -
 main.c                        |  67 +++++++++++++++++++-
 messagerie.h                  |  21 +++++--
 messagerie_applicative.c      |  50 +++++++++++++++
 messagerie_applicative.h      |  12 ++++
 messages_propulsion.h         |  27 +++++++++
 11 files changed, 283 insertions(+), 13 deletions(-)
 create mode 100644 Messagerie_propulsion2026.ods
 create mode 100644 messagerie_applicative.c
 create mode 100644 messagerie_applicative.h
 create mode 100644 messages_propulsion.h

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fdfe7c6..208c5b0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,6 +19,7 @@ add_executable(Mon_Projet
   Geometrie.c
   i2c_maitre.c
   messagerie.c
+  messagerie_applicative.c
   Moteurs.c
   Localisation.c
   main.c
diff --git a/Messagerie_propulsion2026.ods b/Messagerie_propulsion2026.ods
new file mode 100644
index 0000000000000000000000000000000000000000..8a7ece9823d139b2cad772aa9c1a380440e68b66
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diff --git a/Readme.md b/Readme.md
index 92cb5c3..2328981 100644
--- a/Readme.md
+++ b/Readme.md
@@ -6,12 +6,19 @@ Basé sur le code du PAMI 2025 de l'équipe Poivron Robotique.
 Principales évolutions: 
 
 - Ajout de la communication USB
+- Définition des messages applicatifs
 
 Méthode de test
 ---------------
+
 * Éteindre la LED avec la trame : `echo -e "\xFF\xFF\x06rD\x00\x01\x36\x00" > /dev/ttyACM0`
+
 * Allumer la LED avec la trame : `echo -e "\xFF\xFF\x06rD\x00\x01\x06\x00" > /dev/ttyACM0`
 
+* Tester la réception de la position
+
+  `echo -e "\xFF\xFF\x11rP\x00\x0C\x01\x01\x01\x01\x05\x05\x05\x05\x09\x09\x09\x09\x00" > /dev/ttyACM0`
+
 Difficultés
 -----------
 Il suffit d'une petite modification du code (ajout d'un `printf` par exemple), pour que la communication se bloque côté PC 
@@ -19,3 +26,107 @@ Il suffit d'une petite modification du code (ajout d'un `printf` par exemple), p
 L'utilisation du second cœur pour envoyer la télémétrie peut perturber le débug avec printf => Augment grandement le délai de réponse 
 
 La communication crash rapidement : à cause de la danse du PAMI => Suppression de la dance du PAMI (c'était codé à l'arrache)
+
+Les points des trajectoires sont des `double`, il faut les mettre en `float`.
+
+Pas de trajectoire rotation sur soi-même ?
+
+Annexes
+=======
+
+Tables des registres
+--------------------
+
+
+Table des registres :
+---------------------
+
+| Adresse | R/W | Type             | Donnée                                                                                                                                                        |
+| ------- | --- | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| 0x00    | RW  | flottant 32 bits | Position X en mm                                                                                                                                              |
+| 0x01    | RW  | flottant 32 bits | Position X en mm                                                                                                                                              |
+| 0x02    | RW  | flottant 32 bits | Position X en mm                                                                                                                                              |
+| 0x03    | RW  | flottant 32 bits | Position X en mm                                                                                                                                              |
+| 0x04    | RW  | flottant 32 bits | Position Y en mm                                                                                                                                              |
+| 0x05    | RW  | flottant 32 bits | Position Y en mm                                                                                                                                              |
+| 0x06    | RW  | flottant 32 bits | Position Y en mm                                                                                                                                              |
+| 0x07    | RW  | flottant 32 bits | Position Y en mm                                                                                                                                              |
+| 0x08    | RW  | flottant 32 bits | Orientation en radian                                                                                                                                         |
+| 0x09    | RW  | flottant 32 bits | Orientation en radian                                                                                                                                         |
+| 0x0A    | RW  | flottant 32 bits | Orientation en radian                                                                                                                                         |
+| 0x0B    | RW  | flottant 32 bits | Orientation en radian                                                                                                                                         |
+| 0x0C    | R   | Boolean          | Mouvement en cours : 1<br>Mouvement terminé : 0                                                                                                               |
+| 0x0D    | RW  | uint8_t          | Mode<br>0 : arrêt des moteurs<br>1 : pilotage des moteurs PWM<br>2 : pilotage en vitesse des roues<br>3 : pilotage avec la loi de commande<br>4 : Trajectoire |
+| 0x0E    | RW  | int_16           | Commande PWM moteur gauche                                                                                                                                    |
+| 0x0F    | RW  | int_16           | Commande PWM moteur gauche                                                                                                                                    |
+| 0x10    | RW  | int_16           | Commande PWM moteur droit                                                                                                                                     |
+| 0x11    | RW  | int_16           | Commande PWM moteur droit                                                                                                                                     |
+| 0x12    | RW  | Flottant 32 bits | Consigne vitesse gauche en mm/s                                                                                                                               |
+| 0x13    | RW  | Flottant 32 bits | Consigne vitesse gauche en mm/s                                                                                                                               |
+| 0x14    | RW  | Flottant 32 bits | Consigne vitesse gauche en mm/s                                                                                                                               |
+| 0x15    | RW  | Flottant 32 bits | Consigne vitesse gauche en mm/s                                                                                                                               |
+| 0x16    | RW  | Flottant 32 bits | Consigne vitesse gauche en mm/s                                                                                                                               |
+| 0x17    | RW  | Flottant 32 bits | Consigne vitesse gauche en mm/s                                                                                                                               |
+| 0x18    | RW  | Flottant 32 bits | Consigne vitesse gauche en mm/s                                                                                                                               |
+| 0x19    | RW  | Flottant 32 bits | Consigne vitesse gauche en mm/s                                                                                                                               |
+| 0x1A    | RW  | Flottant 32 bits | Consigne d’avance du robot                                                                                                                                    |
+| 0x1B    | RW  | Flottant 32 bits | Consigne d’avance du robot                                                                                                                                    |
+| 0x1C    | RW  | Flottant 32 bits | Consigne d’avance du robot                                                                                                                                    |
+| 0x1D    | RW  | Flottant 32 bits | Consigne d’avance du robot                                                                                                                                    |
+| 0x1E    | RW  | Flottant 32 bits | Consigne de rotation du robot                                                                                                                                 |
+| 0x1F    | RW  | Flottant 32 bits | Consigne de rotation du robot                                                                                                                                 |
+| 0x20    | RW  | Flottant 32 bits | Consigne de rotation du robot                                                                                                                                 |
+| 0x21    | RW  | Flottant 32 bits | Consigne de rotation du robot                                                                                                                                 |
+| 0x22    | RW  | Enum 8 bits      | Trajectoire, type :<br>0 : Droite<br>1 : Circulaire<br>2 : Bézier<br>3 : Composée<br>4 : Rotation                                                             |
+| 0x23    | RW  | Flottant 32 bits | Point 1, X                                                                                                                                                    |
+| 0x24    | RW  | Flottant 32 bits | Point 1, X                                                                                                                                                    |
+| 0x25    | RW  | Flottant 32 bits | Point 1, X                                                                                                                                                    |
+| 0x26    | RW  | Flottant 32 bits | Point 1, X                                                                                                                                                    |
+| 0x27    | RW  | Flottant 32 bits | Point 1, Y                                                                                                                                                    |
+| 0x28    | RW  | Flottant 32 bits | Point 1, Y                                                                                                                                                    |
+| 0x29    | RW  | Flottant 32 bits | Point 1, Y                                                                                                                                                    |
+| 0x2A    | RW  | Flottant 32 bits | Point 1, Y                                                                                                                                                    |
+| 0x2B    | RW  | Flottant 32 bits | Point 2, X                                                                                                                                                    |
+| 0x2C    | RW  | Flottant 32 bits | Point 2, X                                                                                                                                                    |
+| 0x2D    | RW  | Flottant 32 bits | Point 2, X                                                                                                                                                    |
+| 0x2E    | RW  | Flottant 32 bits | Point 2, X                                                                                                                                                    |
+| 0x2F    | RW  | Flottant 32 bits | Point 2, Y                                                                                                                                                    |
+| 0x30    | RW  | Flottant 32 bits | Point 2, Y                                                                                                                                                    |
+| 0x31    | RW  | Flottant 32 bits | Point 2, Y                                                                                                                                                    |
+| 0x32    | RW  | Flottant 32 bits | Point 2, Y                                                                                                                                                    |
+| 0x33    | RW  | Flottant 32 bits | Point 3, X                                                                                                                                                    |
+| 0x34    | RW  | Flottant 32 bits | Point 3, X                                                                                                                                                    |
+| 0x35    | RW  | Flottant 32 bits | Point 3, X                                                                                                                                                    |
+| 0x36    | RW  | Flottant 32 bits | Point 3, X                                                                                                                                                    |
+| 0x37    | RW  | Flottant 32 bits | Point 3, Y                                                                                                                                                    |
+| 0x38    | RW  | Flottant 32 bits | Point 3, Y                                                                                                                                                    |
+| 0x39    | RW  | Flottant 32 bits | Point 3, Y                                                                                                                                                    |
+| 0x3A    | RW  | Flottant 32 bits | Point 3, Y                                                                                                                                                    |
+| 0x3B    | RW  | Flottant 32 bits | Point 4, X                                                                                                                                                    |
+| 0x3C    | RW  | Flottant 32 bits | Point 4, X                                                                                                                                                    |
+| 0x3D    | RW  | Flottant 32 bits | Point 4, X                                                                                                                                                    |
+| 0x3E    | RW  | Flottant 32 bits | Point 4, X                                                                                                                                                    |
+| 0x3F    | RW  | Flottant 32 bits | Point 4, Y                                                                                                                                                    |
+| 0x40    | RW  | Flottant 32 bits | Point 4, Y                                                                                                                                                    |
+| 0x41    | RW  | Flottant 32 bits | Point 4, Y                                                                                                                                                    |
+| 0x42    | RW  | Flottant 32 bits | Point 4, Y                                                                                                                                                    |
+| 0x43    | RW  | Flottant 32 bits | orientation_debut_rad                                                                                                                                         |
+| 0x44    | RW  | Flottant 32 bits | orientation_debut_rad                                                                                                                                         |
+| 0x45    | RW  | Flottant 32 bits | orientation_debut_rad                                                                                                                                         |
+| 0x46    | RW  | Flottant 32 bits | orientation_debut_rad                                                                                                                                         |
+| 0x47    | RW  | Flottant 32 bits | orientation_fin_rad                                                                                                                                           |
+| 0x48    | RW  | Flottant 32 bits | orientation_fin_rad                                                                                                                                           |
+| 0x49    | RW  | Flottant 32 bits | orientation_fin_rad                                                                                                                                           |
+| 0x4A    | RW  | Flottant 32 bits | orientation_fin_rad                                                                                                                                           |
+| 0x4B    | RW  | Flottant 32 bits | rayon mm                                                                                                                                                      |
+| 0x4C    | RW  | Flottant 32 bits | rayon mm                                                                                                                                                      |
+| 0x4D    | RW  | Flottant 32 bits | rayon mm                                                                                                                                                      |
+| 0x4E    | RW  | Flottant 32 bits | rayon mm                                                                                                                                                      |
+| 0x4F    | RW  | Flottant 32 bits | Angle début rad                                                                                                                                               |
+| 0x50    | RW  | Flottant 32 bits | Angle début rad                                                                                                                                               |
+| 0x51    | RW  | Flottant 32 bits | Angle début rad                                                                                                                                               |
+| 0x52    | RW  | Flottant 32 bits | Angle début rad                                                                                                                                               |
+| 0x53    | RW  | Flottant 32 bits | Angle fin rad                                                                                                                                                 |
+| 0x54    | RW  | Flottant 32 bits | Angle fin rad                                                                                                                                                 |
+| 0x55    | RW  | Flottant 32 bits | Angle fin rad                                                                                                                                                 |
+| 0x56    | RW  | Flottant 32 bits | Angle fin rad                                                                                                                                                 |
\ No newline at end of file
diff --git a/Trajectoire.c b/Trajectoire.c
index 063ec36..89ee335 100644
--- a/Trajectoire.c
+++ b/Trajectoire.c
@@ -135,17 +135,14 @@ struct point_xyo_t Trajectoire_get_point(struct trajectoire_t * trajectoire, dou
     switch(trajectoire->type){
         case TRAJECTOIRE_DROITE:
             point_xyo.point_xy = Trajectoire_droite_get_point(trajectoire, abscisse);
-            point_xyo.orientation = Trajectoire_get_orientation_rad(trajectoire, abscisse);
             break;
 
         case TRAJECTOIRE_CIRCULAIRE:
             point_xyo.point_xy = Trajectoire_circulaire_get_point(trajectoire, abscisse);
-            point_xyo.orientation = Trajectoire_get_orientation_rad(trajectoire, abscisse);
             break;
         
         case TRAJECTOIRE_BEZIER:
             point_xyo.point_xy = Trajectoire_bezier_get_point(trajectoire, abscisse);
-            point_xyo.orientation = Trajectoire_get_orientation_rad(trajectoire, abscisse);
             break;
 
         case TRAJECTOIRE_COMPOSEE:
diff --git a/Trajectoire.h b/Trajectoire.h
index a072781..7bcd770 100644
--- a/Trajectoire.h
+++ b/Trajectoire.h
@@ -11,12 +11,11 @@ enum trajectoire_type_t{
 };
 
 struct point_xy_t{
-    double x, y;
+    float x, y;
 };
 
 struct point_xyo_t{
     struct point_xy_t point_xy;
-    float orientation;
 };
 
 struct trajectoire_t {
diff --git a/Trajet.c b/Trajet.c
index 7808b21..1abfee1 100644
--- a/Trajet.c
+++ b/Trajet.c
@@ -76,7 +76,6 @@ enum etat_trajet_t Trajet_avance(float pas_de_temps_s){
 
     position.x_mm = point.point_xy.x;
     position.y_mm = point.point_xy.y;
-    position.angle_radian = point.orientation;
 
     position_consigne=position;
     Asser_Position(position);
diff --git a/main.c b/main.c
index bbc28c1..981d803 100644
--- a/main.c
+++ b/main.c
@@ -14,6 +14,7 @@
 #include "i2c_maitre.h"
 #include "Localisation.h"
 #include "messagerie.h"
+#include "messagerie_applicative.h"
 #include "Moteurs.h"
 #include "Strategie.h"
 #include "Servomoteur.h"
@@ -104,9 +105,9 @@ void main(void)
 	// TODO: A remettre - quand on aura récupéré un capteur
 	if(get_identifiant() != 0){
 		//multicore_launch_core1(gestion_VL53L8CX);
-		multicore_launch_core1(gestion_affichage);
+		//multicore_launch_core1(gestion_affichage);
 	}else{
-		multicore_launch_core1(gestion_affichage);
+		//multicore_launch_core1(gestion_affichage);
 	}
 
 
@@ -132,6 +133,64 @@ void main(void)
 							// données[1]: id de la carte
 							// données[2]: 1er registre
 							// données[3 à tailles_données -1]: valeurs
+							struct message_applicatif_t message_applicatif;
+
+							memcpy(&message_applicatif, message.donnees, message.taille_donnees);
+							printf("id_carte:%c %d\n", message_applicatif.id_carte, message_applicatif.id_carte);
+
+							
+							if(message_applicatif.id_carte == 'P'){
+								
+								mise_a_jour_position = false;
+								mise_a_jour_mode = false;
+								mise_a_jour_pwm = false;
+								mise_a_jour_vitesse_roues = false;
+								mise_a_jour_vitesse_robot = false;
+								mise_a_jour_trajectoire = false;
+
+								// Copie des données dans la mémoire d'échange
+								// Et actualisation des variables "mise_a_jour_..."
+								for (int num_octet=0; num_octet<message_applicatif.taille_donnees; num_octet++){
+									écriture_données(message_applicatif.adresse_registre + num_octet, message_applicatif.donnees_applicative.donnees[num_octet]);
+								}
+
+								if(mise_a_jour_position){
+									struct msg_propulsion_position_t msg_propulsion_position;
+
+									get_données_reçues((uint8_t *) &msg_propulsion_position, sizeof(msg_propulsion_position), REG_PROPULSION_POSITION);
+									printf("mise à jour de la position, x:%2.2f, y:%2.2f, orientation: %2.2f\n", msg_propulsion_position.position_x_mm,
+											msg_propulsion_position.position_y_mm, msg_propulsion_position.orientation_rad);
+								}
+								if(mise_a_jour_mode){
+									uint8_t mode;
+									get_données_reçues(&mode, sizeof(mode), REG_PROPULSION_MODE);
+									printf("mode:%d\n", mode);
+								}
+								if(mise_a_jour_pwm){
+									struct msg_propulsion_pwm_t msg_propulsion_pwm;
+									get_données_reçues((uint8_t *) &msg_propulsion_pwm, sizeof(msg_propulsion_pwm), REG_PROPULSION_PWM);
+									printf("pwm_gauche:%d, pwm_droit:%d\n", msg_propulsion_pwm.pwm_gauche, msg_propulsion_pwm.pwm_gauche);
+								}
+								if(mise_a_jour_vitesse_roues){
+									struct msg_propulsion_vitesse_roues_t msg_propulsion_vitesse_roues;
+									get_données_reçues((uint8_t *) &msg_propulsion_vitesse_roues, sizeof(msg_propulsion_vitesse_roues), REG_PROPULSION_VITESSE_ROUES);
+									printf("vitesse_roue_gauche:%f, vitesse_roue_gauche:%d\n", msg_propulsion_vitesse_roues.vitesse_gauche_mm_s, msg_propulsion_vitesse_roues.vitesse_droite_mm_s);
+								}
+								if(mise_a_jour_vitesse_robot){
+									struct msg_propulsion_vitesse_robot_t msg_propulsion_vitesse_robot;
+									get_données_reçues((uint8_t *) &msg_propulsion_vitesse_robot, sizeof(msg_propulsion_vitesse_robot), REG_PROPULSION_VITESSE_ROBOT);
+									printf("avance_robot (mm/s) : %f, rotation (rad/s): %f\n", msg_propulsion_vitesse_robot.avance_mm_s,
+											msg_propulsion_vitesse_robot.rotation_rad_s);
+									
+								}
+								if(mise_a_jour_trajectoire){
+									// Oh la la !
+								}
+
+							}
+
+
+
 							id_carte = message.donnees[1];
 							registre = message.donnees[2];
 							if(id_carte == 'D'){
@@ -159,10 +218,12 @@ void main(void)
 				QEI_update();
 				Localisation_gestion();
 				
-				gestion_PAMI(step_ms, &asser_pos);
+				//gestion_PAMI(step_ms, &asser_pos);
 				if(asser_pos){
 					AsserMoteur_Gestion(step_ms);
 				}
+				// Récupération des valeurs pour les mettre dans la mémoire d'échange
+				// TODO
 			}
 		}
 		
diff --git a/messagerie.h b/messagerie.h
index 6eec6fc..719c23f 100644
--- a/messagerie.h
+++ b/messagerie.h
@@ -1,13 +1,12 @@
 #include "pico/stdlib.h"
+#include "messages_propulsion.h"
 
 #define MESSAGE_TIMEOUT_US 2000
 
 struct message_t{
-  uint8_t type; // 'd' pour demande, 'r' pour une réception de données, 'w' pour écrire des données, '>' pour des logs
-  uint8_t id_carte; // Identifiant de la carte (on reprend les adresses I2C)
-  uint8_t adresse_registre; // Adresse du registre lu
+  uint8_t type; // 'b' pour binaire, '>' pour des logs
   uint8_t taille_donnees;
-  uint8_t donnees[255];
+  uint8_t donnees[255];  
 };
 
 struct message_requete_t{
@@ -17,6 +16,20 @@ struct message_requete_t{
   uint8_t taille_donnees;
 };
 
+struct message_applicatif_t{
+  uint8_t commande; // 'r' : réception de données, 'd' : demande de données
+  uint8_t id_carte; // Identifiant de la carte (on reprend les adresses I2C)
+  uint8_t adresse_registre; // Adresse du registre lu ou écrit
+  uint8_t taille_donnees;
+  union{
+    uint8_t donnees[100];
+#ifdef MESSAGE_PROPULSION_H
+    struct msg_propulsion_position_t msg_propulsion_position;
+#endif
+
+  }donnees_applicative;
+
+};
 
 bool messagerie_message_disponible();
 struct message_t messagerie_get_message();
diff --git a/messagerie_applicative.c b/messagerie_applicative.c
new file mode 100644
index 0000000..44b86a5
--- /dev/null
+++ b/messagerie_applicative.c
@@ -0,0 +1,50 @@
+#include <string.h>
+#include "messagerie_applicative.h"
+
+uint8_t memoire_echange[200];
+
+
+
+bool mise_a_jour_position = false;
+bool mise_a_jour_mode = false;
+bool mise_a_jour_pwm = false;
+bool mise_a_jour_vitesse_roues = false;
+bool mise_a_jour_vitesse_robot = false;
+bool mise_a_jour_trajectoire = false;
+
+void get_données_reçues(uint8_t * dst, unsigned int taille, unsigned int registre){
+    memcpy(dst, &(memoire_echange[registre]), taille);
+}
+
+
+void écriture_données(unsigned int adresse, uint8_t donnée){
+	if( adresse <= 11){
+		// Position du robot
+		mise_a_jour_position = true;
+	}else if(adresse <= 12){
+		// Read only
+
+	}else if(adresse <= 13){
+		// Mode
+		mise_a_jour_mode = true;
+	}else if(adresse <= 17){
+		// PWM moteur
+		mise_a_jour_pwm = true;
+	}else if(adresse <= 25){
+		// Vitesse roues
+		mise_a_jour_vitesse_roues = true;
+	}else if(adresse <= 33){
+		// Vitesse robot
+		mise_a_jour_vitesse_robot = true;
+	}else if(adresse <= 86){
+		// Trajectoire
+		mise_a_jour_trajectoire = true;
+	}else if(adresse >86){
+		// Hors mémoire
+		return;
+	}
+		
+	memoire_echange[adresse] = donnée;
+
+
+}
diff --git a/messagerie_applicative.h b/messagerie_applicative.h
new file mode 100644
index 0000000..cf05b5f
--- /dev/null
+++ b/messagerie_applicative.h
@@ -0,0 +1,12 @@
+#include <stdint.h>
+#include <stdbool.h>
+
+void écriture_données(unsigned int adresse, uint8_t donnée);
+void get_données_reçues(uint8_t * dst, unsigned int taille, unsigned int registre);
+
+extern bool mise_a_jour_position;
+extern bool mise_a_jour_mode;
+extern bool mise_a_jour_pwm;
+extern bool mise_a_jour_vitesse_roues;
+extern bool mise_a_jour_vitesse_robot;
+extern bool mise_a_jour_trajectoire;
\ No newline at end of file
diff --git a/messages_propulsion.h b/messages_propulsion.h
new file mode 100644
index 0000000..8317e15
--- /dev/null
+++ b/messages_propulsion.h
@@ -0,0 +1,27 @@
+#ifndef MESSAGE_PROPULSION_H
+#define MESSAGE_PROPULSION_H
+#define USB_ID_PROPULSION 'P'
+
+#define REG_PROPULSION_POSITION 0x00
+#define REG_PROPULSION_MODE 0x0D
+#define REG_PROPULSION_PWM 0x0E
+#define REG_PROPULSION_VITESSE_ROUES 0x12
+#define REG_PROPULSION_VITESSE_ROBOT 0x1A
+
+struct msg_propulsion_position_t{
+    float position_x_mm, position_y_mm, orientation_rad;
+};
+
+struct msg_propulsion_pwm_t{
+    uint16_t pwm_gauche, pwm_droit;
+};
+
+struct msg_propulsion_vitesse_roues_t{
+    float vitesse_gauche_mm_s, vitesse_droite_mm_s;
+};
+
+struct msg_propulsion_vitesse_robot_t {
+    float avance_mm_s, rotation_rad_s;
+};
+
+#endif
\ No newline at end of file