diff --git a/Services/DCMotor.c b/Services/DCMotor.c
index 4b7e7e9..bf33cd8 100644
--- a/Services/DCMotor.c
+++ b/Services/DCMotor.c
@@ -1 +1,35 @@
 #include "DCMotor.h"
+
+void DCMotor_conf(double speed) {
+	
+	double speedAbs = (speed > 0.) ? speed : -speed;
+	int sens = (speed > 0.) ? 1 : 0;
+	
+	//On règle la vitesse en valeur absolue
+	Timer_pwmo_conf(TIM2, LL_TIM_CHANNEL_CH2, 50, speedAbs);
+	
+	//On règle le sens du moteur
+	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, sens);
+}
+
+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..417a320 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(double duty_cycle);
+
+void DCMotor_setSpeed(double speed);
+
+double DCMotor_getSpeed(void);
 
 #endif
diff --git a/Services/RFReceiver.c b/Services/RFReceiver.c
index 87a3d81..784dba2 100644
--- a/Services/RFReceiver.c
+++ b/Services/RFReceiver.c
@@ -14,4 +14,4 @@ double RFReceiver_getData(){
 	
 	return (duree_impulsion -1) * 200 - 100;
 	
-}
\ No newline at end of file
+}
diff --git a/Services/RFReceiver.h b/Services/RFReceiver.h
index ce84ce4..d275b20 100644
--- a/Services/RFReceiver.h
+++ b/Services/RFReceiver.h
@@ -1,7 +1,7 @@
 #ifndef RFRECEIVER_H
 #define RFRECEIVER_H
 
-#include "Timer.c"
+#include "Timer.h"
 
 void RFReceiver_conf(void);