diff --git a/Services/DCMotor.c b/Services/DCMotor.c
index bf33cd8..f65bcc8 100644
--- a/Services/DCMotor.c
+++ b/Services/DCMotor.c
@@ -1,16 +1,13 @@
 #include "DCMotor.h"
 
-void DCMotor_conf(double speed) {
+void DCMotor_conf() {
 	
-	double speedAbs = (speed > 0.) ? speed : -speed;
-	int sens = (speed > 0.) ? 1 : 0;
+	//On règle la vitesse en valeur absolue, ici à 0
+	Timer_pwmo_conf(TIM2, LL_TIM_CHANNEL_CH2, 50, 0);
 	
-	//On règle la vitesse en valeur absolue
-	Timer_pwmo_conf(TIM2, LL_TIM_CHANNEL_CH2, 50, speedAbs);
-	
-	//On règle le sens du moteur
+	//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, sens);
+	GPIO_setPin(GPIOA, LL_GPIO_PIN_2, 0);
 }
 
 void DCMotor_setSpeed(double speed) {
diff --git a/Services/DCMotor.h b/Services/DCMotor.h
index 417a320..1305ee9 100644
--- a/Services/DCMotor.h
+++ b/Services/DCMotor.h
@@ -4,7 +4,7 @@
 #include "GPIO.h"
 #include "Timer.h"
 
-void DCMotor_conf(double duty_cycle);
+void DCMotor_conf(void);
 
 void DCMotor_setSpeed(double speed);
 
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