diff --git a/CMakeLists.txt b/CMakeLists.txt
index 63a3def..d8f703d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@ target_link_libraries(Mon_Projet
   hardware_i2c 
   hardware_uart 
   hardware_pwm
+  hardware_adc
   pico_stdlib
   pico_multicore
 )
diff --git a/main.c b/main.c
index a337170..d2c98b3 100644
--- a/main.c
+++ b/main.c
@@ -6,11 +6,14 @@
 #include "pico/stdlib.h"
 #include "hardware/pwm.h"
 #include <stdio.h>
-
+#include "hardware/adc.h"
 #define LED_VERTE 25
 #define PIN_VITESSE_M1 2
-#define PIN_SENS_A_M1 0
+#define PIN_SENS_A_M1 0                                                                                                                     
 #define PIN_SENS_B_M1 1
+
+uint16_t result1 = 0;
+uint16_t result0 = 0;
 int M1_INITIALISE()
 {
 	gpio_init(PIN_VITESSE_M1);
@@ -20,6 +23,10 @@ int M1_INITIALISE()
     gpio_set_dir(PIN_VITESSE_M1, GPIO_OUT);
 	gpio_set_dir(PIN_SENS_A_M1, GPIO_OUT);
 	gpio_set_dir(PIN_SENS_B_M1, GPIO_OUT);
+
+	gpio_set_function(PIN_VITESSE_M1, GPIO_FUNC_PWM);
+	pwm_set_wrap(PIN_VITESSE_M1, 100);
+	pwm_set_chan_level(PIN_VITESSE_M1, PWM_CHAN_B, 50);
     
 }
 
@@ -44,11 +51,33 @@ int M1_RECULE()
 
 
 }
+int Adc_Init()
+{
+	adc_init();
+	adc_gpio_init(26);
+	adc_gpio_init(27);
+}
+int AdcRead0()
+{
+	adc_select_input(0);
+	uint16_t resultadc = adc_read();
+	return resultadc;
+}
 
 
 
 
 
+int AdcRead1()
+{
+	adc_select_input(1);
+	uint16_t resultadc= adc_read();
+	return resultadc;
+}
+
+
+
+
 
 
 void main()
@@ -61,16 +90,33 @@ void main()
 	pwm_set_chan_level(4, PWM_CHAN_B, 25);
 	pwm_set_enabled(4, true);
 
-	//Moteur 1
+	// ADC
+	adc_init();
+	adc_gpio_init(26);
+	adc_gpio_init(27);
+	
+	while (1) 
+	{
+		// Voie Y
+		result0 = AdcRead0();
+		printf(">result:%d\n",result0-2048);
 
+		// Voie X
+		result1 = AdcRead1();
+	 	printf(">result1:%d\n",result1-2048);
+		printf("test\n",result0);
+
+		sleep_ms(100);
+
+	}
 	M1_INITIALISE();
+
 	while(1)
 	{
-
 		M1_AVANCE();
-		sleep_ms(3000);
+		sleep_ms(1000);
 		M1_RECULE();
-		sleep_ms(3000);
+		sleep_ms(1000);
 	
 	}