diff --git a/CMakeLists.txt b/CMakeLists.txt
index 232101a..3c41f48 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,7 +21,7 @@ target_include_directories(Mon_Projet PRIVATE Mon_Projet_ULD_API/inc/)
 
 target_link_libraries(Mon_Projet
   hardware_i2c 
-  hardware_uart 
+  hardware_pwm 
   hardware_pio
   pico_stdlib
   pico_multicore
diff --git a/main.c b/main.c
index aae8c2a..6aee4c2 100644
--- a/main.c
+++ b/main.c
@@ -4,16 +4,131 @@
  * SPDX-License-Identifier: BSD-3-Clause
 */
 #include "pico/stdlib.h"
+#include "hardware/pwm.h"
 #include <stdio.h>
 #include "QEI.h"
 
+#define LED1PIN 20
+#define M1_SENS1 7
+#define M1_SENS2 13
+#define M1_VITESSE 27 //5B
+#define M2_SENS1 10
+#define M2_SENS2 5
+#define M2_VITESSE 9 //4B
+
+void Moteur_init(void);
+void M1_forward(int speed);
+void M1_backward(int speed);
+void M1_speed(int speed);
+void M2_forward(int speed);
+void M2_backward(int speed);
+void M2_speed(int speed);
+
 void main(void)
 {
+	int ledpower = 500;
+
     stdio_init_all();
 	QEI_init();
+	Moteur_init();
+
+	gpio_init(LED1PIN);
+	gpio_set_dir(LED1PIN, GPIO_OUT );		
+	gpio_put(LED1PIN, 1);
+
 	while(1){
 		QEI_update();
-		printf(">c1:%d\n>c2:%d\n", QEI_get(QEI_A_NAME), QEI_get(QEI_B_NAME) );
-		sleep_ms(10);
+
+		printf(">c1:%d\n>c2:%d\n", QEI_get(QEI_A_NAME), QEI_get(QEI_B_NAME) );	
+		
+		M1_speed(1000);
+		M2_speed(1000);
+		
+		sleep_ms(100);
+	}
+}
+
+void Moteur_init(void){
+
+	gpio_init(M1_SENS1);
+	gpio_init(M1_SENS2);
+	gpio_init(M2_SENS1);
+	gpio_init(M2_SENS2);
+	gpio_set_dir(M1_SENS1, GPIO_OUT);
+	gpio_set_dir(M1_SENS2, GPIO_OUT);
+	gpio_set_dir(M2_SENS1, GPIO_OUT);
+	gpio_set_dir(M2_SENS2, GPIO_OUT);
+	gpio_put(M1_SENS1, 0);
+	gpio_put(M1_SENS2, 0);
+	gpio_put(M2_SENS1, 0);
+	gpio_put(M2_SENS2, 0);
+
+	gpio_set_function(M1_VITESSE, GPIO_FUNC_PWM);
+	gpio_set_function(M2_VITESSE, GPIO_FUNC_PWM);
+	pwm_set_wrap(5, 1000);
+	pwm_set_wrap(4, 1000);
+	pwm_set_chan_level(5, PWM_CHAN_B, 0);
+	pwm_set_chan_level(4, PWM_CHAN_B, 0);
+	pwm_set_enabled(5, true);
+	pwm_set_enabled(4, true);
+
+}
+
+void M1_forward(int speed)
+{
+	pwm_set_chan_level(5, PWM_CHAN_B, speed);
+	gpio_put(M1_SENS1, 1);
+	gpio_put(M1_SENS2, 0);
+}
+
+// Set motor 1 speed backward
+void M1_backward(int speed)
+{
+	pwm_set_chan_level(5, PWM_CHAN_B, speed);
+	gpio_put(M1_SENS1, 0);
+	gpio_put(M1_SENS2, 1);
+}
+
+// Set motor 1 speed and direction (negative value : backward / positive value : forward)
+void M1_speed(int speed)
+{
+	if(speed < 0)
+	{
+		speed = -speed;
+		M1_backward(speed);
+	}
+	else
+	{
+		M1_forward(speed);
+	}
+}
+
+// Set motor 2 speed forward
+void M2_forward(int speed)
+{
+	pwm_set_chan_level(4, PWM_CHAN_B, speed);
+	gpio_put(M2_SENS1, 0);
+	gpio_put(M2_SENS2, 1);
+}
+
+// Set motor 2 speed backward
+void M2_backward(int speed)
+{
+	pwm_set_chan_level(4, PWM_CHAN_B, speed);
+	gpio_put(M2_SENS1, 1);
+	gpio_put(M2_SENS2, 0);
+}
+
+// Set motor 2 speed and direction (negative value : backward / positive value : forward)
+void M2_speed(int speed)
+{
+	if(speed < 0)
+	{
+		speed = -speed;
+		M2_backward(speed);
+	}
+	else
+	{
+		M2_forward(speed);
 	}
 }