diff --git a/keil_project/Services/RFInput.c b/keil_project/Services/RFInput.c
index a1c771a..5042ddd 100644
--- a/keil_project/Services/RFInput.c
+++ b/keil_project/Services/RFInput.c
@@ -22,11 +22,11 @@ void RF_INPUT_Init(void)
 	pb7_init_conf.Pull = LL_GPIO_PULL_DOWN;
 	LL_GPIO_Init(GPIOB, &pb7_init_conf);
 	
-	// timer setup
+	// timer setup to
 	LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
 	LL_TIM_InitTypeDef tim4_init_struct;
 	
-	tim4_init_struct.Autoreload= 1000; // ??
+	tim4_init_struct.Autoreload= 0xFFFF; // ??
 	tim4_init_struct.Prescaler=71;
 	tim4_init_struct.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
 	tim4_init_struct.CounterMode=LL_TIM_COUNTERMODE_UP;
@@ -34,22 +34,30 @@ void RF_INPUT_Init(void)
 	
 	LL_TIM_Init(TIM4, &tim4_init_struct);
 	
-	/*LL_TIM_IC_InitTypeDef tim4_ic_conf;
+	
+	// setup channel 1 to capture period of pwm
+	LL_TIM_IC_InitTypeDef tim4_ic_conf;
 	tim4_ic_conf.ICPolarity= LL_TIM_IC_POLARITY_RISING;
-	tim4_ic_conf.ICActiveInput = LL_TIM_ACTIVEINPUT_TRC;
+	tim4_ic_conf.ICActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
 	tim4_ic_conf.ICFilter = LL_TIM_IC_FILTER_FDIV1;
 	tim4_ic_conf.ICPrescaler = LL_TIM_ICPSC_DIV1;
 	
 	LL_TIM_IC_Init(TIM4, LL_TIM_CHANNEL_CH1, &tim4_ic_conf);
-	*/
+	
+	// setup channel 2 to capture duty time of pwm
 	LL_TIM_IC_InitTypeDef tim4_ic_conf_2;
-	tim4_ic_conf_2.ICPolarity= LL_TIM_IC_POLARITY_RISING;
-	tim4_ic_conf_2.ICActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
+	tim4_ic_conf_2.ICPolarity= LL_TIM_IC_POLARITY_FALLING;
+	tim4_ic_conf_2.ICActiveInput = LL_TIM_ACTIVEINPUT_INDIRECTTI;
 	tim4_ic_conf_2.ICFilter = LL_TIM_IC_FILTER_FDIV1;
 	tim4_ic_conf_2.ICPrescaler = LL_TIM_ICPSC_DIV1;
 	
-	LL_TIM_IC_Init(TIM4, LL_TIM_CHANNEL_CH1, &tim4_ic_conf_2);
-
+	LL_TIM_IC_Init(TIM4, LL_TIM_CHANNEL_CH2, &tim4_ic_conf_2);
+	
+	// setup reset of clock at rising edge
+	LL_TIM_SetSlaveMode(TIM4, LL_TIM_SLAVEMODE_RESET);
+	LL_TIM_SetTriggerInput(TIM4, LL_TIM_TS_TI1FP1);
+	
+	LL_TIM_EnableCounter(TIM4);
 }
 
 int RF_INPUT_GetValue1(void)
diff --git a/keil_project/Src/main.c b/keil_project/Src/main.c
index b107345..3af9fa4 100644
--- a/keil_project/Src/main.c
+++ b/keil_project/Src/main.c
@@ -19,9 +19,11 @@
 #include "stm32f1xx_ll_rcc.h" // utile dans la fonction SystemClock_Config
 #include "stm32f1xx_ll_utils.h"   // utile dans la fonction SystemClock_Config
 #include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
+#include "stm32f1xx_ll_bus.h" 
 
 #include "RFInput.h"
 #include "IncrEncoder.h"
+#include "DcMotor.h"
 
 void  SystemClock_Config(void);
 
@@ -33,7 +35,9 @@ void  SystemClock_Config(void);
   * @retval None
   */
 	
-
+int val = 0;
+int val2 = 0;
+int counter = 0;
 int main(void)
 {
 	
@@ -41,11 +45,18 @@ int main(void)
   SystemClock_Config();
 	
 	RF_INPUT_Init();
-
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+	LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
+	DC_MOTOR_Init();
+	
   /* Infinite loop */
   while (1)
   {
-
+		LL_mDelay(1000);
+		counter = (counter + 1) % 100;
+		DC_MOTOR_SetSpeed(counter);
+		val = RF_INPUT_GetValue1();
+		val2 = RF_INPUT_GetValue2();
   }
 }