diff --git a/PercTeacher/Sources/Action.java b/PercTeacher/Sources/Action.java
new file mode 100644
index 0000000..b7b3455
--- /dev/null
+++ b/PercTeacher/Sources/Action.java
@@ -0,0 +1,88 @@
+
+
+public class Action {
+	public static final long DELAI_DEFAULT = 1000;
+	
+	private boolean endAction = true;
+	
+	private long deltaL = 0;
+	private long deltaR = 0;
+	
+	private long delaiL = DELAI_DEFAULT; // in us
+	private long delaiR = DELAI_DEFAULT; // in us
+	
+	public Action() {}
+	public Action(long deltaL, long deltaR) {
+		this.deltaL = deltaL;
+		this.deltaR = deltaR;
+		this.endAction = false;
+	}
+	public Action(long deltaL, long deltaR, long delaiL, long delaiR) {
+		this.deltaL = deltaL;
+		this.deltaR = deltaR;
+		this.delaiL = delaiL;
+		this.delaiR = delaiR;
+		this.endAction = false;
+	}
+
+	public void addDeltaL(long amount){this.deltaL += amount; endAction = false;}
+	public void addDeltaR(long amount){this.deltaR += amount; endAction = false;}
+	public void setDeltaL(long amount){this.deltaL = amount; endAction = false;}
+	public void setDeltaR(long amount){this.deltaR = amount; endAction = false;}
+	public long getDeltaL(){return this.deltaL;}
+	public long getDeltaR(){return this.deltaR;}
+	
+	public void setDelaiL(long delai){this.delaiL = delai; endAction = false;}
+	public void setDelaiR(long delai){this.delaiR = delai; endAction = false;}
+	public long getDelaiL(){return this.delaiL;}
+	public long getDelaiR(){return this.delaiR;}
+	
+	public boolean isEmpty() {return endAction;}
+	
+	public void calculateDelais(long microseconds) {
+		// left
+		double ticksL = (double) microseconds / (double) deltaL;
+		delaiL = (long) (ticksL / 2d); // 1 step = 1 "on state" + 1 "off state"
+		
+		// right
+		double ticksR = (double) microseconds / (double) deltaR;
+		delaiR = (long) (ticksR / 2d);
+		
+		// tests
+		if(delaiL < 50 || delaiR < 50)
+			System.out.println("Warning : delais are very small ! (< 50 us)");
+	}
+	
+	@Override
+	public String toString() {
+		if(endAction)
+			return "End sequence";
+		if(deltaL == 0 && deltaR == 0)
+			return "Pause for " + String.valueOf((double) delaiL / 1000d) + " miliseconds";
+		if(deltaL == 0) {
+			if(deltaR > 0)
+				return "Turning right forward for " + String.valueOf(deltaR) + " steps during " + String.valueOf((double) (deltaR * delaiR) / 1000d) + " miliseconds";
+			else
+				return "Turning right backward for " + String.valueOf(-deltaR) + " steps during " + String.valueOf((double) (-deltaR * delaiR) / 1000d) + " miliseconds";
+		} if(deltaR == 0) {
+			if(deltaL > 0)
+				return "Turning left forward for " + String.valueOf(deltaL) + " steps during " + String.valueOf((double) (deltaL * delaiL) / 1000d) + " miliseconds";
+			else
+				return "Turning left backward for " + String.valueOf(-deltaL) + " steps during " + String.valueOf((double) (-deltaL * delaiL) / 1000d) + " miliseconds";
+		} if(deltaR == deltaL) {
+			if(deltaL > 0)
+				return "Going forward for " + String.valueOf(deltaL) + " steps during " + String.valueOf((double) (deltaL * delaiL) / 1000d) + " miliseconds";
+			else
+				return "Going backward for " + String.valueOf(-deltaL) + " steps during " + String.valueOf((double) (deltaL * delaiL) / 1000d) + " miliseconds";
+		} if(deltaR == -deltaL) {
+			if(deltaL > 0)
+				return "Turning on the spot clockwise for " + String.valueOf(deltaL) + " steps during "
+					+ String.valueOf((double) (deltaL * delaiL) / 1000d) + " miliseconds";
+			else
+				return "Turning on the spot anti-clockwise for " + String.valueOf(deltaR) + " steps during "
+					+ String.valueOf((double) (deltaR * delaiR) / 1000d) + " miliseconds";
+		}
+		return "Custom curve dL:" + String.valueOf(deltaL) + "steps tL:" + String.valueOf((double) (deltaL * delaiL) / 1000d) + "ms | dR"
+			+ String.valueOf(deltaR) + "steps tR:" + String.valueOf((double) (deltaR * delaiR) / 1000d) + "ms";
+	}
+}
diff --git a/PercTeacher/Sources/ActionList.java b/PercTeacher/Sources/ActionList.java
new file mode 100644
index 0000000..de7b6fb
--- /dev/null
+++ b/PercTeacher/Sources/ActionList.java
@@ -0,0 +1,128 @@
+import java.util.ArrayList;
+
+public class ActionList {
+	private ArrayList<Action> actions;
+	
+	public ActionList() {
+		actions = new ArrayList<>();
+		actions.add(new Action());
+	}
+	public ActionList(long[] leftDeltaArray, long[] rightDeltaArray, long[] leftDelaiArray, long[] rightDelaiArray) {
+		if(leftDelaiArray.length != rightDelaiArray.length
+				|| leftDelaiArray.length != leftDelaiArray.length
+				|| leftDelaiArray.length != rightDelaiArray.length)
+			throw new InvalidActionListArrays();
+		actions = new ArrayList<>();
+		for(int i=0; i<leftDeltaArray.length; i++)
+			actions.add(new Action(leftDeltaArray[i], rightDeltaArray[i], leftDelaiArray[i], rightDelaiArray[i]));
+		actions.add(new Action());
+	}
+	
+	public void addToActionList(int i, int j, long step) {
+		switch (j * 10 + i) {
+		case 00: //ACTION_LEFT_PLUS;
+			addToLastAction(step, 0);
+			break;
+		case 02: //ACTION_LEFT_MINUS;
+			addToLastAction(-step, 0);
+			break;
+		case 20: //ACTION_RIGHT_PLUS;
+			addToLastAction(0, step);
+			break;
+		case 22: //ACTION_RIGHT_MINUS;
+			addToLastAction(0, -step);
+			break;
+		case 10: //ACTION_FORWARD;
+			addToLastAction(step, step);
+			break;
+		case 12: //ACTION_BACKWARD;
+			addToLastAction(-step, -step);
+			break;
+		case 01: //ACTION_CLOCKWISE;
+			addToLastAction(step, -step);
+			break;
+		case 21: //ACTION_ANTI_CLOCKWISE;
+			addToLastAction(-step, step);
+			break;
+		default:
+			throw new InvalidInputException();
+		}
+	}
+	
+	public void completeAction() {
+		if(!actions.get(actions.size() - 1).isEmpty())
+			actions.add(new Action());
+	}
+	
+	public void completeActionAndAddPause(long delai) {
+		if(actions.get(actions.size() - 1).isEmpty())
+			actions.set(actions.size() - 1, new Action(0, 0, delai, delai));
+		else
+			actions.add(new Action(0, 0, delai, delai));
+		completeAction();
+	}
+	
+	private void addToLastAction(long deltaL, long deltaR) {
+		actions.get(actions.size() - 1).addDeltaL(deltaL);
+		actions.get(actions.size() - 1).addDeltaR(deltaR);
+	}
+	
+	public void revertLastAction() {
+		if(actions.size() <= 0)
+			return;
+		if(actions.get(actions.size() - 1).isEmpty()) {
+			actions.remove(actions.size() - 1);
+			if(actions.size() != 0)
+				actions.set(actions.size() - 1, new Action());
+			else
+				actions.add(new Action());
+		} else {
+			actions.set(actions.size() - 1, new Action());
+		}
+	}
+	
+	public String getLeftDeltaArray() {
+		String str = "{";
+		for(Action action : actions) {
+			if(!action.isEmpty())
+				str += String.valueOf(action.getDeltaL()) + "L, ";
+		}
+		str = str.substring(0, str.length() - 2) + "}";
+		return str;
+	}
+	public String getRightDeltaArray() {
+		String str = "{";
+		for(Action action : actions) {
+			if(!action.isEmpty())
+				str += String.valueOf(action.getDeltaR()) + "L, ";
+		}
+		str = str.substring(0, str.length() - 2) + "}";
+		return str;
+	}
+	public String getLeftDelaiArray() {
+		String str = "{";
+		for(Action action : actions) {
+			if(!action.isEmpty())
+				str += String.valueOf(action.getDeltaR()) + "L, ";
+		}
+		str = str.substring(0, str.length() - 2) + "}";
+		return str;
+	}
+	public String getRightDelaiArray() {
+		String str = "{";
+		for(Action action : actions) {
+			if(!action.isEmpty())
+				str += String.valueOf(action.getDeltaR()) + "L, ";
+		}
+		str = str.substring(0, str.length() - 2) + "}";
+		return str;
+	}
+	
+	@Override
+	public String toString() {
+		String str = "";
+		for(Action action : actions)
+			str += action.toString() + "\n";
+		return str;
+	}
+}
diff --git a/PercTeacher/Sources/ImportExport.java b/PercTeacher/Sources/ImportExport.java
new file mode 100644
index 0000000..9307a66
--- /dev/null
+++ b/PercTeacher/Sources/ImportExport.java
@@ -0,0 +1,65 @@
+import java.io.BufferedWriter;
+import java.io.File;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.nio.charset.Charset;
+import java.nio.file.Files;
+import java.nio.file.Paths;
+
+import javax.swing.JFileChooser;
+import javax.swing.JOptionPane;
+import javax.swing.filechooser.FileNameExtensionFilter;
+
+public class ImportExport {
+	public static void exportWithDialog(ActionList list) {
+		JFileChooser chooser = new JFileChooser();
+		FileNameExtensionFilter filter = new FileNameExtensionFilter("Array data", "adata");
+		chooser.setFileFilter(filter);
+		chooser.setApproveButtonText("Exporter");
+		int returnVal = chooser.showOpenDialog(null);
+		if(returnVal == JFileChooser.APPROVE_OPTION)
+			export(list, chooser.getSelectedFile().getPath());
+	}
+	private static void export(ActionList list, String path) {
+		String str = list.getLeftDeltaArray() + "\n" + list.getRightDeltaArray() + "\n" + list.getLeftDelaiArray() + "\n" + list.getRightDelaiArray();
+		
+		if(!path.endsWith(".adata"))
+			path += ".adata";
+		BufferedWriter bufferedWriter = null;
+		try {
+			File file = new File(path);
+			if (!file.exists())
+				file.createNewFile();
+			bufferedWriter = new BufferedWriter(new FileWriter(file));
+			bufferedWriter.write(str);
+			bufferedWriter.close();
+		} catch (IOException e) {
+			e.printStackTrace();
+		}
+	}
+	
+	public static ActionList importsWithDialog() {
+		JFileChooser chooser = new JFileChooser();
+		FileNameExtensionFilter filter = new FileNameExtensionFilter("Array data", "adata");
+		chooser.setFileFilter(filter);
+		chooser.setMultiSelectionEnabled(false);
+		chooser.setApproveButtonText("Importer");
+		int returnVal = chooser.showOpenDialog(null);
+		if(returnVal == JFileChooser.APPROVE_OPTION && chooser.getSelectedFile().exists() && chooser.getSelectedFile().isFile())
+			return imports(chooser.getSelectedFile().getPath());
+		if(returnVal == JFileChooser.APPROVE_OPTION)
+			JOptionPane.showMessageDialog(null, "You have to choose an exisiting file", "Import error", JOptionPane.ERROR_MESSAGE);
+		return null;
+	}
+	private static ActionList imports(String path) {
+		try {
+			byte[] encoded = Files.readAllBytes(Paths.get(path));
+			String str = new String(encoded, Charset.defaultCharset());
+			long[][] longList = Util.getArraysFromImport(str);
+			if(longList != null)
+				return new ActionList(longList[0], longList[1], longList[2], longList[3]);
+			JOptionPane.showMessageDialog(null, "The choosen file is invalid or currupted", "Import error", JOptionPane.ERROR_MESSAGE);
+		} catch (IOException ignored) {}
+		return null;
+	}
+}
diff --git a/PercTeacher/Sources/Interface.java b/PercTeacher/Sources/Interface.java
new file mode 100644
index 0000000..d320264
--- /dev/null
+++ b/PercTeacher/Sources/Interface.java
@@ -0,0 +1,230 @@
+import java.awt.BorderLayout;
+import java.awt.Color;
+import java.awt.Component;
+import java.awt.FlowLayout;
+import java.awt.Font;
+import java.awt.GridLayout;
+import java.awt.event.ActionEvent;
+import java.awt.event.ActionListener;
+import java.awt.event.FocusEvent;
+import java.awt.event.FocusListener;
+
+import javax.swing.BorderFactory;
+import javax.swing.BoxLayout;
+import javax.swing.ImageIcon;
+import javax.swing.JButton;
+import javax.swing.JFrame;
+import javax.swing.JLabel;
+import javax.swing.JOptionPane;
+import javax.swing.JPanel;
+import javax.swing.JScrollPane;
+import javax.swing.JSeparator;
+import javax.swing.JTextArea;
+import javax.swing.JTextField;
+import javax.swing.border.Border;
+
+public class Interface extends JFrame implements ActionListener, FocusListener {
+	private static final long serialVersionUID = 1L;
+	private static final Font titleFont = new Font(new JLabel().getFont().getName(), Font.BOLD, 14);
+	private static final Font defaultFont = new Font(new JLabel().getFont().getName(), Font.PLAIN, new JLabel().getFont().getSize());
+	private static final Border defaultJTextFieldBorder = new JTextField().getBorder();
+	
+	private JTextArea logs;
+	private JButton[][] moveButtons = new JButton[3][3];
+	private JTextField stepsField;
+	private JButton waitButton;
+	private JButton nextButton;
+	private JButton revertButton;
+	private JButton exportButton;
+	private JButton importButton;
+	
+	private ActionList actionList;
+
+	public Interface(ActionList actionList) {
+		super("PercTeacher");
+		this.actionList = actionList;
+		setResizable(false);
+		populateWindow();
+		pack();
+		setLocationRelativeTo(null); // center window
+	}
+	
+	private void populateWindow() {
+		JPanel mainPanel = new JPanel(new BorderLayout());
+		addLogPanel(mainPanel);
+		
+		JPanel centerPanel = new JPanel(new FlowLayout(FlowLayout.LEADING, 0, 0));
+		addMoveCommandsPanel(centerPanel);
+		JPanel optionCommandsPanel = new JPanel();
+		addOptionCommandsPanel(centerPanel, optionCommandsPanel);
+		addExportImportPanel(optionCommandsPanel);
+		
+		mainPanel.add(centerPanel, BorderLayout.CENTER);
+		add(mainPanel);
+		
+		updateLogs();
+	}
+	
+	private void addLogPanel(JPanel parent) {
+		JPanel logPanel = new JPanel(new BorderLayout());
+		logPanel.setBorder(BorderFactory.createMatteBorder(2, 0, 0, 0, Color.LIGHT_GRAY));
+		
+		JLabel loglabel = new JLabel("Actions");
+		loglabel.setFont(titleFont);
+		logPanel.add(loglabel, BorderLayout.NORTH);
+
+		logs = new JTextArea(6, 0);
+		logs.setEditable(false);
+		JScrollPane logScroll = new JScrollPane(logs, JScrollPane.VERTICAL_SCROLLBAR_ALWAYS, JScrollPane.HORIZONTAL_SCROLLBAR_AS_NEEDED);
+		logPanel.add(logScroll, BorderLayout.CENTER);
+		
+		parent.add(logPanel, BorderLayout.SOUTH);
+	}
+	
+	private void addMoveCommandsPanel(JPanel parent) {
+		JPanel moveCommandsPanel = new JPanel(new GridLayout(3, 3));
+		moveCommandsPanel.setBorder(BorderFactory.createMatteBorder(0, 0, 0, 2, Color.LIGHT_GRAY));
+		
+		for(int i=0; i<3; i++) {
+			for(int j=0; j<3; j++) {
+				if(i == 1 && j == 1) { // central component is an image of the robot
+					JLabel label = new JLabel(new ImageIcon(getClass().getResource("/icons/robot.png")));
+					moveButtons[i][j] = null;
+					moveCommandsPanel.add(label);
+				} else {
+					JButton button = new JButton(new ImageIcon(getClass().getResource("/icons/move" + String.valueOf(j) + String.valueOf(i) + ".png")));
+					moveButtons[i][j] = button;
+					button.addActionListener(this);
+					moveCommandsPanel.add(button);
+				}
+			} 	
+		}
+
+		parent.add(moveCommandsPanel, BorderLayout.CENTER);
+	}
+	
+	private void addOptionCommandsPanel(JPanel parent, JPanel optionCommandsPanel) {
+		optionCommandsPanel.setLayout(new BoxLayout(optionCommandsPanel, BoxLayout.PAGE_AXIS));
+		
+		// title
+		JLabel title = new JLabel("Options");
+		title.setFont(titleFont);
+		title.setAlignmentX(Component.LEFT_ALIGNMENT);
+		optionCommandsPanel.add(title);
+		
+		// steps
+		JPanel stepPanel = new JPanel(new FlowLayout(FlowLayout.LEADING, 0, 0));
+		stepPanel.setAlignmentX(Component.LEFT_ALIGNMENT);
+		
+		JLabel stepLabel = new JLabel("Steps : ");
+		stepLabel.setFont(defaultFont);
+		stepPanel.add(stepLabel);
+		
+		stepsField = new JTextField(10);
+		stepsField.setText("10");
+		stepsField.addFocusListener(this);
+		stepPanel.add(stepsField);
+		
+		optionCommandsPanel.add(stepPanel);
+
+		//buttons
+		JPanel buttonsPanel = new JPanel(new GridLayout(0, 1));
+		buttonsPanel.setAlignmentX(Component.LEFT_ALIGNMENT);
+		
+		// wait button
+		waitButton = new JButton("Add a pause");
+		waitButton.addActionListener(this);
+		buttonsPanel.add(waitButton);
+
+		// next action button
+		nextButton = new JButton("Next action");
+		nextButton.addActionListener(this);
+		buttonsPanel.add(nextButton);
+
+		// revert action button
+		revertButton = new JButton("Revert last action");
+		revertButton.addActionListener(this);
+		buttonsPanel.add(revertButton);
+		
+		optionCommandsPanel.add(buttonsPanel);
+		
+		// separator
+		JSeparator sep = new JSeparator();
+		sep.setForeground(Color.LIGHT_GRAY);
+		sep.setBackground(Color.LIGHT_GRAY);
+		optionCommandsPanel.add(sep);
+		
+		parent.add(optionCommandsPanel, BorderLayout.EAST);
+	}
+	
+	private void addExportImportPanel(JPanel parent) {
+		JPanel exportImportPanel = new JPanel(new GridLayout(0, 1));
+		exportImportPanel.setAlignmentX(Component.LEFT_ALIGNMENT);
+
+		// export
+		exportButton = new JButton("Export actions");
+		exportButton.addActionListener(this);
+		exportImportPanel.add(exportButton);
+		
+		// import
+		importButton = new JButton("Import actions");
+		importButton.addActionListener(this);
+		exportImportPanel.add(importButton);
+		
+		parent.add(exportImportPanel);
+	}
+
+	@Override
+	public void actionPerformed(ActionEvent e) {
+		for(int i=0; i<3; i++) {
+			for(int j=0; j<3; j++) {
+				if(e.getSource() == moveButtons[i][j]) {
+					String str = stepsField.getText();
+					try {
+						if(str != null && !str.equals("")) {
+							long step = Long.parseLong(str);
+							actionList.addToActionList(i, j, step);
+						}
+					} catch (NumberFormatException ignored) {
+						stepsField.setBorder(BorderFactory.createLineBorder(Color.RED));
+					}
+				}
+			}
+		}
+		if(e.getSource() == waitButton) {
+			String str = JOptionPane.showInputDialog(null, "Pause duration (in miliseconds) :");
+			try {
+				if(str != null && !str.equals("")) {
+					long delai = Long.parseLong(str) * 1000;
+					actionList.completeActionAndAddPause(delai);
+				}
+			} catch (NumberFormatException ignored) {}
+		} else if(e.getSource() == nextButton) {
+			actionList.completeAction();
+		} else if(e.getSource() == revertButton) {
+			actionList.revertLastAction();
+		} else if(e.getSource() == exportButton) {
+			ImportExport.exportWithDialog(actionList);
+		} else if(e.getSource() == importButton) {
+			ActionList newActionList = ImportExport.importsWithDialog();
+			if(newActionList != null)
+				actionList = newActionList;
+		}
+		updateLogs();
+	}
+	
+	private void updateLogs() {
+		if(actionList != null)
+			logs.setText(actionList.toString());
+	}
+
+	@Override
+	public void focusGained(FocusEvent e) {
+		if(e.getSource() == stepsField) {
+			stepsField.setBorder(defaultJTextFieldBorder);
+			stepsField.setCaretPosition(stepsField.getDocument().getLength());
+		}
+	}
+	@Override
+	public void focusLost(FocusEvent e) {}
+}
diff --git a/PercTeacher/Sources/InvalidActionListArrays.java b/PercTeacher/Sources/InvalidActionListArrays.java
new file mode 100644
index 0000000..7d8a642
--- /dev/null
+++ b/PercTeacher/Sources/InvalidActionListArrays.java
@@ -0,0 +1,8 @@
+
+public class InvalidActionListArrays extends RuntimeException {
+	private static final long serialVersionUID = 1L;
+
+	public InvalidActionListArrays() {
+		super("Arrays to initialise an ActionList must have an equal length");
+	}
+}
diff --git a/PercTeacher/Sources/InvalidInputException.java b/PercTeacher/Sources/InvalidInputException.java
new file mode 100644
index 0000000..a5bc625
--- /dev/null
+++ b/PercTeacher/Sources/InvalidInputException.java
@@ -0,0 +1,8 @@
+
+public class InvalidInputException extends RuntimeException {
+	private static final long serialVersionUID = 1L;
+
+	public InvalidInputException() {
+		super("Invalid Action");
+	}
+}
diff --git a/PercTeacher/Sources/Main.java b/PercTeacher/Sources/Main.java
new file mode 100644
index 0000000..004d9e3
--- /dev/null
+++ b/PercTeacher/Sources/Main.java
@@ -0,0 +1,15 @@
+import javax.swing.JFrame;
+
+/* TODO list :
+ *  - data to send to the arduino : do action, revert action
+ */
+
+public class Main {
+	public static void main(String[] args) {
+		ActionList actionList = new ActionList();
+		
+		Interface i = new Interface(actionList);
+		i.setVisible(true);
+		i.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
+	}
+}
diff --git a/PercTeacher/Sources/Util.java b/PercTeacher/Sources/Util.java
new file mode 100644
index 0000000..da9daff
--- /dev/null
+++ b/PercTeacher/Sources/Util.java
@@ -0,0 +1,27 @@
+
+public class Util {
+	public static long[][] getArraysFromImport(String str){
+		long[][] arrays = new long[4][];
+		String[] split = str.split("\n");
+		if(split.length < 4)
+			return null;
+		
+		for(int i=0; i<arrays.length; i++) {
+			arrays[i] = getArrayFromLine(split[i]);
+			if(arrays[i] == null)
+				return null;
+		}
+		return arrays;
+	}
+	private static long[] getArrayFromLine(String str) {
+		str = str.substring(1, str.length() - 2); // remove { and }
+		String[] longsStr = str.split("L, ");
+		try {
+			long[] longs = new long[longsStr.length];
+			for(int i=0; i<longs.length; i++)
+				longs[i] = Long.parseLong(longsStr[i]);
+			return longs;
+		} catch (NumberFormatException ignored) {}
+		return null;
+	}
+}
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diff --git a/PercTeacher/Sources/icons/robot.png b/PercTeacher/Sources/icons/robot.png
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