diff --git a/Services/bordage.c b/Services/bordage.c
index ba7dfe8..21915b3 100644
--- a/Services/bordage.c
+++ b/Services/bordage.c
@@ -3,6 +3,8 @@
 #include <bordage.h>
 #include <MyTimer.h>
 
+// int* anglequonveut=0; A DECLARER DANS LE MAIN
+
 void Init_bordage(TIM_TypeDef *Timer, char channel, unsigned short ValARR, unsigned short ValPSC){
 		MyTimer_Init(Timer,ValARR,ValPSC);
 		Mytimer_PWM(Timer, channel);
@@ -10,21 +12,30 @@ void Init_bordage(TIM_TypeDef *Timer, char channel, unsigned short ValARR, unsig
 		MyGPIO_Init(GPIOA, 0, AltOut_Ppull);
 }
 
-void Update_bodage (TIM_TypeDef *Timer, char channel){
+void Update_bodage (TIM_TypeDef *Timer, char channel, float roulis, int* angle){
 	float val;
+	int val2;
 	val = TIM4->CNT;
-	if (val <4.0*45.0 || val > 4.0*(360.0-45.0)) {
-		Mytimer_PWM_cycle(Timer, channel, 9);
+	val2 = TIM4->CNT;
+	if (roulis < -40.0 || roulis > 40.0) {
+		Mytimer_PWM_cycle(Timer, channel, 5);
 	}
-	else
-		if (val <= 720.0) {
-			val/= -108.0;
-			val+= 35.0/3.0;
-			Mytimer_PWM_cycle(Timer, channel, (int) val);
+	else {			
+		if (val <4.0*45.0 || val > 4.0*(360.0-45.0)) {
+			Mytimer_PWM_cycle(Timer, channel, 9);
 		}
-		else{
-			val/= 108.0;
-			val+= -5.0/3.0;
-			Mytimer_PWM_cycle(Timer, channel, (int) val);
+		else
+			if (val <= 720.0) {
+				*angle = 2*(val2)/12 -30;
+				val/= -108.0;
+				val+= 35.0/3.0;
+				Mytimer_PWM_cycle(Timer, channel, (int) val);
+			}
+			else{
+				*angle = -2*(val2)/12 + 210;
+				val/= 108.0;
+				val+= -5.0/3.0;
+				Mytimer_PWM_cycle(Timer, channel, (int) val);
+			}
 		}
 }
\ No newline at end of file
diff --git a/Services/bordage.h b/Services/bordage.h
index 8231c50..1d98bf5 100644
--- a/Services/bordage.h
+++ b/Services/bordage.h
@@ -4,6 +4,6 @@
 
 void Init_bordage(TIM_TypeDef *Timer, char channel, unsigned short ValARR, unsigned short ValPSC);
 
-void Update_bodage (TIM_TypeDef *Timer, char channel);
+void Update_bodage (TIM_TypeDef *Timer, char channel, float roulis, int* angle);
 
 #endif
\ No newline at end of file