diff --git a/MyDrivers/Timer.c b/MyDrivers/Timer.c
index b0b5cad..311e027 100644
--- a/MyDrivers/Timer.c
+++ b/MyDrivers/Timer.c
@@ -165,7 +165,62 @@ void Timer_conf(TIM_TypeDef * timer, int arr, int psc)
 /****************************************************************************
 	*																	PWM INPUT
 	***************************************************************************/
+void PWMi_conf(TIM_TypeDef * TIMx, int channel){
+	
+	//Periode à recuperer dans TIMx_CCR1, duty cycle dans TIMx_CCR2. Seul les 2 premiers channels peuvent être utilisés (cf 315).
+	
+	// Validation horloge locale
+	if (TIMx == TIM1) LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
+	else if (TIMx == TIM2) LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
+	else if (TIMx == TIM3) LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
+	else  LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
+	
+	
+	if (channel == 1) {
+		//
+		TIMx -> CCMR1 |= TIM_CCMR1_CC1S_0;
+		TIMx -> CCMR1 |= TIM_CCMR1_CC2S_1;
 
+		//TIM_CCMR1_IC1F_0; Potentiellement utile, à voir plus tard
+
+		//On met le channel principal en rising edge, le secondaire en falling edge
+		TIMx -> CCER &= ~TIM_CCER_CC1P; 	
+		TIMx -> CCER |= TIM_CCER_CC2P;
+		
+		TIMx -> SMCR |= TIM_SMCR_TS_0 | TIM_SMCR_TS_2; //101
+		TIMx -> SMCR |= TIM_SMCR_SMS_2; //100
+	}
+	
+	else {
+		TIMx -> CCMR1 |= TIM_CCMR1_CC1S_1;
+		TIMx -> CCMR1 |= TIM_CCMR1_CC2S_0;
+		
+		TIMx -> CCER |= TIM_CCER_CC1P; 	
+		TIMx -> CCER &= ~TIM_CCER_CC2P;
+
+		TIMx -> SMCR |= TIM_SMCR_TS_1 | TIM_SMCR_TS_2; //110
+		TIMx -> SMCR |= TIM_SMCR_SMS_2; //100
+	}
+	
+	//On met les prescalers à 0, on veut compter chaque transition
+	TIMx -> CCMR1 &= ~TIM_CCMR1_IC1PSC;
+	TIMx -> CCMR1 &= ~TIM_CCMR1_IC2PSC;
+	
+	TIMx -> CCER |= TIM_CCER_CC1E | TIM_CCER_CC2E;
+	
+	//TIMx -> DIER |= TIM_DIER_CC1IE; gestion des interrupts, probablement pas utile
+  //TIM_DIER_CC1DE_Pos; Probablement pas utile
+}
+
+int PWMi_getPeriod(TIM_TypeDef * TIMx) {
+	
+	return TIMx -> CCR1;
+}
+
+int PWMi_getDutyCycle(TIM_TypeDef * TIMx) {
+	
+	return TIMx -> CCR2;
+}
 
 /****************************************************************************
 	*																	PWM OUTPUT
diff --git a/MyDrivers/Timer.h b/MyDrivers/Timer.h
index cc484f7..f106812 100644
--- a/MyDrivers/Timer.h
+++ b/MyDrivers/Timer.h
@@ -61,7 +61,9 @@ void Timer_stop(TIM_TypeDef * timer);
 
 void PWMi_conf(TIM_TypeDef * timer, int channel);
 
-int PWMi_getDutyCycle(TIM_TypeDef * timer, int channel);
+int PWMi_getDutyCycle(TIM_TypeDef * timer);
+
+int PWMi_getPeriod(TIM_TypeDef * TIMx);
 
 /****************************************************************************
 	*																PWM OUTPUT
diff --git a/Services/DCMotor.c b/Services/DCMotor.c
index 4b7e7e9..f65bcc8 100644
--- a/Services/DCMotor.c
+++ b/Services/DCMotor.c
@@ -1 +1,32 @@
 #include "DCMotor.h"
+
+void DCMotor_conf() {
+	
+	//On règle la vitesse en valeur absolue, ici à 0
+	Timer_pwmo_conf(TIM2, LL_TIM_CHANNEL_CH2, 50, 0);
+	
+	//On règle le sens du moteur, ici sens direct (?)
+	GPIO_conf(GPIOA, LL_GPIO_PIN_2, LL_GPIO_MODE_OUTPUT, LL_GPIO_OUTPUT_OPENDRAIN, LL_GPIO_PULL_DOWN);
+	GPIO_setPin(GPIOA, LL_GPIO_PIN_2, 0);
+}
+
+void DCMotor_setSpeed(double speed) {
+	
+	double speedAbs = (speed > 0.) ? speed : -speed;
+	int sens = (speed > 0.) ? 1 : 0;
+	
+	Timer_pwmo_setDutyCycle(TIM2, LL_TIM_CHANNEL_CH2, speedAbs);
+	GPIO_setPin(GPIOA, LL_GPIO_PIN_2, sens);
+	
+}
+
+double DCMotor_getSpeed(){
+	
+	double speedAbs = Timer_pwmo_getDutyCycle(TIM2, LL_TIM_CHANNEL_CH2);
+	int sens = GPIO_readPin(GPIOA, LL_GPIO_PIN_2);
+	
+	double speed = (sens) ? speedAbs : -speedAbs;
+	
+	return speed;
+	
+}
diff --git a/Services/DCMotor.h b/Services/DCMotor.h
index 924b7d4..1305ee9 100644
--- a/Services/DCMotor.h
+++ b/Services/DCMotor.h
@@ -1,5 +1,13 @@
 #ifndef DCMOTOR_H
 #define DCMOTOR_H
 
+#include "GPIO.h"
+#include "Timer.h"
+
+void DCMotor_conf(void);
+
+void DCMotor_setSpeed(double speed);
+
+double DCMotor_getSpeed(void);
 
 #endif
diff --git a/Services/RFEmitter.c b/Services/RFEmitter.c
index e140be2..5c3f56d 100644
--- a/Services/RFEmitter.c
+++ b/Services/RFEmitter.c
@@ -1 +1,18 @@
 #include "RFEmitter.h"
+
+
+void RFEmitter_conf() {
+	
+	//On configure l'USART
+	Usart_conf(USART1);
+	
+	//On active l'USART
+	Usart_enable(USART1);
+	
+}
+
+void RFEmitter_send(char * message, int longueur) {
+	
+	Usart_send(USART1, message, longueur);
+	
+}
diff --git a/Services/RFEmitter.h b/Services/RFEmitter.h
index d76d926..3f092d7 100644
--- a/Services/RFEmitter.h
+++ b/Services/RFEmitter.h
@@ -1,4 +1,11 @@
 #ifndef RFEMITTER_H
 #define RFEMITTER_H
 
+#include "USART.h"
+
+void RFEmitter_conf(void);
+	
+void RFEmitter_send(char * message, int longueur);
+
 #endif
+
diff --git a/Services/RFReceiver.c b/Services/RFReceiver.c
index c560906..784dba2 100644
--- a/Services/RFReceiver.c
+++ b/Services/RFReceiver.c
@@ -1 +1,17 @@
 #include "RFReceiver.h"
+
+void RFReceiver_conf() {
+	
+	PWMi_conf(TIM4, 1);		
+	
+	}
+
+double RFReceiver_getData(){
+	
+	int duty_cycle = PWMi_getDutyCycle(TIM4);
+	int period = PWMi_getPeriod(TIM4);
+	double duree_impulsion = duty_cycle * period;
+	
+	return (duree_impulsion -1) * 200 - 100;
+	
+}
diff --git a/Services/RFReceiver.h b/Services/RFReceiver.h
index e14454b..d275b20 100644
--- a/Services/RFReceiver.h
+++ b/Services/RFReceiver.h
@@ -1,4 +1,10 @@
 #ifndef RFRECEIVER_H
 #define RFRECEIVER_H
 
+#include "Timer.h"
+
+void RFReceiver_conf(void);
+
+double RFReceiver_getData(void);
+	
 #endif
diff --git a/Services/Voltage.c b/Services/Voltage.c
index e47b4a9..b982d45 100644
--- a/Services/Voltage.c
+++ b/Services/Voltage.c
@@ -1 +1,21 @@
 #include "Voltage.h"
+
+
+void Voltage_conf() {
+	
+	//On configure le pin qui recevra le signal, ici PC2
+	GPIO_conf(GPIOC, LL_GPIO_PIN_2, LL_GPIO_MODE_ANALOG, 0, 0);
+	
+	//On configure l'ADC 
+	ADC_conf(ADC2, 12);
+	
+	//On démarre l'ADC
+	ADC_start(ADC2);
+	
+}
+
+double Voltage_getVoltage() {
+	
+	return ADC_readVolt(ADC2);
+	
+}
diff --git a/Services/Voltage.h b/Services/Voltage.h
index 141c358..bbb164f 100644
--- a/Services/Voltage.h
+++ b/Services/Voltage.h
@@ -1,4 +1,11 @@
 #ifndef VOLTAGE_H
 #define VOLTAGE_H
 
+#include "ADC.h"
+#include "GPIO.h"
+
+void Voltage_conf(void);
+
+double Voltage_getVoltage(void);
+
 #endif
diff --git a/Src/Orientation.c b/Src/Orientation.c
index 020f22b..ea05c7c 100644
--- a/Src/Orientation.c
+++ b/Src/Orientation.c
@@ -1 +1,19 @@
 #include "Orientation.h"
+#define SEUIL 30
+
+void Orientation_conf() {
+	
+	DCMotor_conf();
+	RFReceiver_conf();
+	
+}
+
+void Orientation_background(){
+	
+	double speed = RFReceiver_getData();
+	
+	//Si la vitesse (en valeur absolue) ne dépasse pas un certain seuil, on ne démarre pas le moteur
+	if (-SEUIL<speed && SEUIL>speed) DCMotor_setSpeed(0);
+	else DCMotor_setSpeed(speed);
+	
+}
diff --git a/Src/Orientation.h b/Src/Orientation.h
index d6c0abd..fdba2d4 100644
--- a/Src/Orientation.h
+++ b/Src/Orientation.h
@@ -1,4 +1,11 @@
 #ifndef ORIENTATION_H
 #define ORIENTATION_H
 
+#include "DCMotor.h"
+#include "RFReceiver.h"
+
+void Orientation_conf(void);
+
+void Orientation_background(void);
+
 #endif