diff --git a/Messagerie.py b/Messagerie.py
index 2506a71..7209e04 100644
--- a/Messagerie.py
+++ b/Messagerie.py
@@ -67,6 +67,13 @@ def lecture_propulsion():
         if len(list_message[1])>25:
                 struct_value = struct.unpack('ffffff',list_message[1][1:25])
                 return (struct_value[0],struct_value[1],struct_value[2], struct_value[3], struct_value[4], struct_value[5])
+        
+def envoie_trajectoire(traj):
+     msg_envoi_donnees(b'P', 0x22, traj)
+
+def envoie_cde_PWM(pwn_gauche, pwm_droit):
+     commande_PWM = struct.pack('=Bhh',1, pwn_gauche, pwm_droit)
+     msg_envoi_donnees(b'P', 0x0D, commande_PWM)
     
 if __name__ == "__main__":
 
@@ -81,7 +88,15 @@ if __name__ == "__main__":
                        50. , 0.,
                        150. , 200.,
                        200. , 200.,)
-    msg_envoi_donnees(b'P', 0x22, traj)
+    # msg_envoi_donnees(b'P', 0x22, traj)
+
+    commande_PWM = struct.pack('=Bhh',1, 000, 000)
+    print(commande_PWM)
+    msg_envoi_donnees(b'P', 0x0D, commande_PWM)
+
+    envoie_cde_PWM(000,0)
+    exit()
+
 
     while True:
         pos = None