diff --git a/Host_cdc_usb b/Host_cdc_usb
index aaae87c..0a64c1b 100755
Binary files a/Host_cdc_usb and b/Host_cdc_usb differ
diff --git a/Host_cdc_usb.c b/Host_cdc_usb.c
index 3bb52f5..8291dd2 100644
--- a/Host_cdc_usb.c
+++ b/Host_cdc_usb.c
@@ -59,15 +59,33 @@ int main(){
         printf("Open success: %s\n", filename);;
     }
     int my_char;
+    int type_message=0;
+
+    // Données à envoyer
+    struct msg_propulsion_position_t msg_propulsion_position;
+    msg_propulsion_position.position_x_mm = 1.5;
+    msg_propulsion_position.position_y_mm = 2.5;
+    msg_propulsion_position.orientation_rad = -3;
+
+    uint8_t mode = 2;
+
+    struct msg_propulsion_pwm_t msg_propulsion_pwm;
+    msg_propulsion_pwm.pwm_droit= -20;
+    msg_propulsion_pwm.pwm_gauche= 20;
+
+    struct msg_propulsion_vitesse_roues_t msg_propulsion_vitesse_roues;
+    msg_propulsion_vitesse_roues.vitesse_droite_mm_s = 253.5;
+    msg_propulsion_vitesse_roues.vitesse_gauche_mm_s = -153.2;
+
+    struct msg_propulsion_vitesse_robot_t msg_propulsion_vitesse_robot;
+    msg_propulsion_vitesse_robot.avance_mm_s = 354.3;
+    msg_propulsion_vitesse_robot.rotation_rad_s = -2.3;
     
     while(1){
         time ( &rawtime );
-        if(rawtime > rawtime_old +2){
+        if(rawtime > rawtime_old){
             rawtime_old = rawtime;
-            struct msg_propulsion_position_t msg_propulsion_position;
-            msg_propulsion_position.position_x_mm = 1.5;
-            msg_propulsion_position.position_y_mm = 2.5;
-            msg_propulsion_position.orientation_rad = -3;
+            
             uint8_t données_led[10];
             données_led[0]='r';
             données_led[1]='D';
@@ -79,12 +97,42 @@ int main(){
                 données_led[4]=0x05;
             }
             on = !on;
-            
+
+            if (type_message>4) type_message=0;
+
+            printf("envoi message\n");
+            switch (type_message){
+                case 0: 
+                    printf("case 0\n");
+                    envoi_données_applicatives('r', 'P', REG_PROPULSION_POSITION, (uint8_t *) &msg_propulsion_position, 
+                    sizeof(msg_propulsion_position), fp); 
+                    break;
+                case 1:
+                    printf("case 1\n");
+                    envoi_données_applicatives('r', 'P', REG_PROPULSION_MODE, &mode, sizeof(mode), fp);
+                    break;
+                case 2: 
+                    printf("case 2\n");
+                    envoi_données_applicatives('r', 'P', REG_PROPULSION_PWM, (uint8_t *) &msg_propulsion_pwm, sizeof(msg_propulsion_pwm), fp);
+                    break;
+                case 3: 
+                    printf("case 3\n");
+                    envoi_données_applicatives('r', 'P', REG_PROPULSION_VITESSE_ROUES, (uint8_t *) &msg_propulsion_vitesse_roues, sizeof(msg_propulsion_vitesse_roues), fp);
+                    break;
+                case 4:
+                    printf("case 2\n");
+                    envoi_données_applicatives('r', 'P', REG_PROPULSION_VITESSE_ROBOT, (uint8_t *) &msg_propulsion_vitesse_robot, sizeof(msg_propulsion_vitesse_robot), fp);
+                    break;
+
+                default: type_message=0;
+
+            }
+            type_message++;
 
             //envoi_données_protocole(données_led, 5, fp);
             //envoi_données_applicatives('r', 'D', 0, &données_led[4], 1, fp);
-            printf("envoi message\n");
-            envoi_données_applicatives('r', 'P', 0, (uint8_t *) &msg_propulsion_position, sizeof(msg_propulsion_position), fp);
+            
+            //envoi_données_applicatives('r', 'P', 0, (uint8_t *) &msg_propulsion_position, sizeof(msg_propulsion_position), fp);
         }
     }
 
diff --git a/messages_propulsion.h b/messages_propulsion.h
index f12cc65..74a0933 100644
--- a/messages_propulsion.h
+++ b/messages_propulsion.h
@@ -4,10 +4,25 @@
 #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