diff --git a/main.c b/main.c
index 1b3815a..c6c1ed3 100644
--- a/main.c
+++ b/main.c
@@ -49,7 +49,7 @@ return ADCH;
 
 // For the I/O 
 void output_init(void){
-DDRB |= 0b00011111; // PIN 8-13 as output
+DDRB |= 0b00111111; // PIN 8-13 as output
 }
 
 void output_set(unsigned char value){
@@ -57,69 +57,119 @@ if(value==0) PORTB &= 0xfe; else PORTB |= 0x01;
 }
 
 void input_init(void){
-DDRD |= 0x7c;  // PIN 2-6 as input (Bouton Joystick + boutons)
+DDRD |= 0b01111100;  // PIN 2-6 as input (Bouton Joystick + boutons)
 DDRC |= 0x03;		// PIN 0-1 analogiques comme input (x et y joystick analogique)
 }
 
+/*
 unsigned char input_get(void){
 return ((PIND&0x04)!=0)?1:0;
 }
+*/
 
+/* Commande des LED */
 void commande_leds(){
 	unsigned char temp_serial, leds;
-	temp_serial = get_serial();
-			if (temp_serial !=0){
-				leds = temp_serial;
-				if (leds == 65) PORTB = PORTB | 0x01; 
-				if (leds == 66) PORTB = PORTB | 0x02;
-				if (leds == 67) PORTB = PORTB | 0x04;
-				if (leds == 68) PORTB = PORTB | 0x08;
-				if (leds == 69) PORTB = PORTB | 0x10;
-				if (leds == 70) PORTB = PORTB | 0x20;
-				
-				if (leds == 97) PORTB = PORTB & 0xfe;
-				if (leds == 98) PORTB = PORTB & 0xfd;
-				if (leds == 99) PORTB = PORT B & 0xfb;
-				if (leds == 100) PORTB = PORT B & 0xf7;
-				if (leds == 101) PORTB = PORT B & 0xef;
-				if (leds == 102) PORTB = PORT B & 0xdf;
-			}
+	temp_serial = UDR0;
+	if (temp_serial !=0){
+		leds = temp_serial;
+		// Allumer LED de 'A' à 'F'
+		if (leds == 65) PORTB = PORTB | 0x01; 
+		if (leds == 66) PORTB = PORTB | 0x02;
+		if (leds == 67) PORTB = PORTB | 0x04;
+		if (leds == 68) PORTB = PORTB | 0x08;
+		if (leds == 69) PORTB = PORTB | 0x10;
+		if (leds == 70) PORTB = PORTB | 0x20;
+		
+		// Eteindre LED de 'a' à 'f'
+		if (leds == 97) PORTB = PORTB & 0xfe;
+		if (leds == 98) PORTB = PORTB & 0xfd;
+		if (leds == 99) PORTB = PORTB & 0xfb;
+		if (leds == 100) PORTB = PORTB & 0xf7;
+		if (leds == 101) PORTB = PORTB & 0xef;
+		if (leds == 102) PORTB = PORTB & 0xdf;
+	}
 }
 
-// Dummy main
+/* Récupération de la valeur des boutons et mise en forme */
+int get_buttons(void){
+	unsigned boutons = ((PIND & 0x7C)>>2) | 0b00100000;
+	return(boutons);
+}
 
-int main(void){
-    init_serial(9600);
-    output_init();
-    input_init();
-    
-    unsigned char boutons, boutons_anc;
-    unsigned char joystick_x, joystick_x_anc;
-    unsigned char joystick_y, joystick_y_anc;
+/* Met en forme l'octet de l'axe pos du joystick */
+int shape_joy(unsigned char pos){
+	pos = (pos >> 3) | 0b00100000;
+	return(pos);
+}
 
+/* Récupération de la valeur de l'axe du joystick sur la chaîne channel du CAN */
+int get_joystick(int channel){
+	  unsigned char axis;
+	  ad_init(channel);
+    axis = ad_sample();
+    shape_joy(axis);
+    return(axis);
+}
+
+/* Dummy main */
+int main(void){
+  init_serial(9600);
+  output_init();
+  input_init();
+  
+  unsigned char boutons, boutons_anc;
+  unsigned char joystick_x, joystick_x_anc;
+  unsigned char joystick_y, joystick_y_anc;
+
+	//Récupération des valeurs des boutons et joystick, et mise en forme
+  boutons = get_buttons();
+  joystick_x = get_joystick(1);
+  joystick_y = get_joystick(0);
     
-    boutons_anc = PORTD & 0x7C;
-    ad_init(0);
-    joystick_x_anc = ad_sample();
-    ad_init(1);
-    joystick_y_anc = ad_sample();
+  //send_serial(boutons);
+  
+  while(1){
     
-    while(1){
-    	boutons = PORTD & 0x7C;	
-    	ad_init(1);
-    	joystick_x = ad_sample();
-    	ad_init(0);
-    	joystick_y = ad_sample();
+		boutons_anc = boutons;
+		joystick_x_anc = joystick_x;
+		joystick_y_anc = joystick_y;
     
-    	if (boutons_anc != boutons) send_serial(boutons);
-    	if ((joystick_x_anc != joystick_x) || (joystick_y_anc != joystick_y){
-    	  send_serial(joystick_x);
-    	  send_serial(joystick_y);
-			}
+   	//Récupération des valeurs des boutons et joystick, et mise en forme
+  	boutons = get_buttons();
+  	joystick_x = get_joystick(1);
+  	joystick_y = get_joystick(0);
+    	
+
+    send_serial(boutons+2);
+    //retour chariot
+    send_serial(0x0a);
+    send_serial(0x0d);
+    	
+    //Cas où aucun caractère n'est reçu
+    if ((UCSR0A & (1<<RXC0)) == 0){
+    	
+    	//if (boutons_anc != boutons){
+    	//if (joystick_y_anc != joystick_y){
+    	//if ((boutons_anc != boutons) || (joystick_x_anc != joystick_x) || (joystick_y_anc != joystick_y)){
+    		//send_serial(boutons);
+      	//send_serial(joystick_y);
+      	//send_serial(joystick_y);
+      	
+      	//send_serial('r');
+    	  	
+      	//retour chariot
+      	//send_serial(0x0a);
+      	//send_serial(0x0d);
+			//}
+		}
 			
-			commande_leds();
-    }
-    
+		else{
+		//Cas où un caractère attent d'être reçu
+		commande_leds();
+		}
+  }
+ 		  
 	return 0;
 }
 
--
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