commit cfed6d27b992284fde98de6a3f2f5252e11e6d65
Author: Samuel <samuel.kay@poivron-robotique.fr>
Date:   Wed Apr 15 19:57:57 2026 +0200

    Trajectoire droite fonctionnelle

diff --git a/Messagerie.py b/Messagerie.py
new file mode 100644
index 0000000..ccc08f1
--- /dev/null
+++ b/Messagerie.py
@@ -0,0 +1,30 @@
+import struct
+import serial
+from time import sleep
+
+
+def send_msg(message : bytes):
+    message_binaire = struct.pack('BBB{}sB'.format(message.__len__()), 0xFF, 0xFF, message.__len__() + 1, message, 0x00)
+    print(message_binaire)
+    ser.write(message_binaire)
+
+def msg_envoi_donnees(carte_id: bytes, registre : int, charge_utile : bytes):
+    send_msg(struct.pack('ccBB{}s'.format(charge_utile.__len__()), b'r', carte_id, registre, charge_utile.__len__(), charge_utile))
+    
+def led_on():
+    msg_envoi_donnees(b'D', 0x00, b'\x06')
+
+def led_off():
+    msg_envoi_donnees(b'D', 0x00, b'\x36') 
+    
+if __name__ == "__main__":
+    ser = serial.Serial('/dev/ttyACM0' , 115200)
+    traj = struct.pack('bffff', 0, 0.0, 0.0, 100. , 0.)
+    msg_envoi_donnees(b'P', 0x22, traj)
+
+    while True:
+        
+        led_off()
+        sleep(0.5)
+        led_on()
+        sleep(0.5)
\ No newline at end of file
diff --git a/Readme.md b/Readme.md
new file mode 100644
index 0000000..ff654e9
--- /dev/null
+++ b/Readme.md
@@ -0,0 +1,6 @@
+Requis :
+--------
+PySerial : https://pythonhosted.org/pyserial/pyserial.html
+
+
+