diff --git a/Documentation/Pre-projet/Custom Dongle/Arduino code/GettingStarted/GettingStarted.ino b/Documentation/Pre-projet/Custom Dongle/Arduino code/GettingStarted/GettingStarted.ino
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@@ -0,0 +1,154 @@
+/*
+ * See documentation at https://nRF24.github.io/RF24
+ * See License information at root directory of this library
+ * Author: Brendan Doherty (2bndy5)
+ */
+
+/**
+ * A simple example of sending data from 1 nRF24L01 transceiver to another.
+ *
+ * This example was written to be used on 2 devices acting as "nodes".
+ * Use the Serial Monitor to change each node's behavior.
+ */
+#include <SPI.h>
+#include "printf.h"
+#include "RF24.h"
+
+// instantiate an object for the nRF24L01 transceiver
+RF24 radio(10, 9);  // using pin 7 for the CE pin, and pin 8 for the CSN pin
+
+// Let these addresses be used for the pair
+uint8_t address[][6] = { "1Node", "2Node" };
+// It is very helpful to think of an address as a path instead of as
+// an identifying device destination
+
+// to use different addresses on a pair of radios, we need a variable to
+// uniquely identify which address this radio will use to transmit
+bool radioNumber = 1;  // 0 uses address[0] to transmit, 1 uses address[1] to transmit
+
+// Used to control whether this node is sending or receiving
+bool role = false;  // true = TX role, false = RX role
+
+// For this example, we'll be using a payload containing
+// a single float number that will be incremented
+// on every successful transmission
+float payload = 0.0;
+
+void setup() {
+
+  Serial.begin(115200);
+  while (!Serial) {
+    // some boards need to wait to ensure access to serial over USB
+  }
+
+  // initialize the transceiver on the SPI bus
+  if (!radio.begin()) {
+    Serial.println(F("radio hardware is not responding!!"));
+    while (1) {}  // hold in infinite loop
+  }
+
+  // print example's introductory prompt
+  Serial.println(F("RF24/examples/GettingStarted"));
+
+  // To set the radioNumber via the Serial monitor on startup
+  Serial.println(F("Which radio is this? Enter '0' or '1'. Defaults to '0'"));
+  while (!Serial.available()) {
+    // wait for user input
+  }
+  char input = Serial.parseInt();
+  radioNumber = input == 1;
+  Serial.print(F("radioNumber = "));
+  Serial.println((int)radioNumber);
+
+  // role variable is hardcoded to RX behavior, inform the user of this
+  Serial.println(F("*** PRESS 'T' to begin transmitting to the other node"));
+
+  // Set the PA Level low to try preventing power supply related problems
+  // because these examples are likely run with nodes in close proximity to
+  // each other.
+  radio.setPALevel(RF24_PA_LOW);  // RF24_PA_MAX is default.
+
+  // save on transmission time by setting the radio to only transmit the
+  // number of bytes we need to transmit a float
+  radio.setPayloadSize(sizeof(payload));  // float datatype occupies 4 bytes
+
+  // set the TX address of the RX node into the TX pipe
+  radio.openWritingPipe(address[radioNumber]);  // always uses pipe 0
+
+  // set the RX address of the TX node into a RX pipe
+  radio.openReadingPipe(1, address[!radioNumber]);  // using pipe 1
+
+  // additional setup specific to the node's role
+  if (role) {
+    radio.stopListening();  // put radio in TX mode
+  } else {
+    radio.startListening();  // put radio in RX mode
+  }
+
+  // For debugging info
+  // printf_begin();             // needed only once for printing details
+  // radio.printDetails();       // (smaller) function that prints raw register values
+  // radio.printPrettyDetails(); // (larger) function that prints human readable data
+
+}  // setup
+
+void loop() {
+
+  if (role) {
+    // This device is a TX node
+
+    unsigned long start_timer = micros();                // start the timer
+    bool report = radio.write(&payload, sizeof(float));  // transmit & save the report
+    unsigned long end_timer = micros();                  // end the timer
+
+    if (report) {
+      Serial.print(F("Transmission successful! "));  // payload was delivered
+      Serial.print(F("Time to transmit = "));
+      Serial.print(end_timer - start_timer);  // print the timer result
+      Serial.print(F(" us. Sent: "));
+      Serial.println(payload);  // print payload sent
+      payload += 0.01;          // increment float payload
+    } else {
+      Serial.println(F("Transmission failed or timed out"));  // payload was not delivered
+    }
+
+    // to make this example readable in the serial monitor
+    delay(1000);  // slow transmissions down by 1 second
+
+  } else {
+    // This device is a RX node
+
+    uint8_t pipe;
+    if (radio.available(&pipe)) {              // is there a payload? get the pipe number that recieved it
+      uint8_t bytes = radio.getPayloadSize();  // get the size of the payload
+      radio.read(&payload, bytes);             // fetch payload from FIFO
+      Serial.print(F("Received "));
+      Serial.print(bytes);  // print the size of the payload
+      Serial.print(F(" bytes on pipe "));
+      Serial.print(pipe);  // print the pipe number
+      Serial.print(F(": "));
+      Serial.println(payload);  // print the payload's value
+    }
+  }  // role
+
+  if (Serial.available()) {
+    // change the role via the serial monitor
+
+    char c = toupper(Serial.read());
+    if (c == 'T' && !role) {
+      // Become the TX node
+
+      role = true;
+      Serial.println(F("*** CHANGING TO TRANSMIT ROLE -- PRESS 'R' TO SWITCH BACK"));
+      radio.stopListening();
+
+    } else if (c == 'R' && role) {
+      // Become the RX node
+
+      role = false;
+      Serial.println(F("*** CHANGING TO RECEIVE ROLE -- PRESS 'T' TO SWITCH BACK"));
+      radio.startListening();
+    }
+  }
+
+}  // loop
diff --git a/Documentation/Pre-projet/Custom Dongle/Wiring.png b/Documentation/Pre-projet/Custom Dongle/Wiring.png
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+\documentclass{EPSA-rap-template}
+
+\type{Présentation}
+
+\titresize{\LARGE} % ne pas hésiter a changer la taille :
+%\normalsize
+%\large
+%\Large
+%\LARGE
+%\huge
+%\Huge
+%\HUGE
+
+\titre{Dongle de contrôle}
+
+\departement{Recherche}
+
+\auteurs{Eymeric \textbf{Chauchat}}
+
+\version{V1.0}
+
+\versionnement{
+\ver{V1.0}{25 aout 2022}{ ECT }{Rédaction initiale.}{1}
+}
+
+\setuppack
+
+\begin{document}
+
+\fairepagedegarde
+\newpage
+\tableofcontents
+
+\section{Présentation}
+Ce document va présenter la réalisation du Dongle de contrôle de la voiture RC et du script permettant son arrêt d'urgence et sa commande si l'on choisit une intelligence déporté. 
+
+Le Dongle est composé d'une arduino Nano, d'une carte nrf24l01 et d'un bouton poussoir. Il va permettre de contrôler en temps réel la voiture et de récupérer des informations des différents capteurs.
+
+\section{Construction}
+
+
+Le câblage suit celui d'une carte nrf24l01 basique (Figure \ref{fig:wiring}). La carte se branche ensuite directement à l'ordinateur qui va la contrôler soit directement grâce à l'invité port série d'arduino ou au travers d'un script python. 
+
+\begin{figure}
+\centering
+\includegraphics[width=0.4\textwidth]{Wiring.png}
+\caption{Câblage possible d'une nrf24l01 avec une arduino nano}
+\label{fig:wiring}
+\end{figure}
+
+\section{Script de contrôle}
+
+
+
+
+\end{document}
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+++ b/Documentation/Pre-projet/Presentation projet/presentation-pae.tex	
@@ -0,0 +1,77 @@
+\documentclass{EPSA-rap-template}
+
+\type{Présentation}
+
+\titresize{\Large} % ne pas hésiter a changer la taille :
+%\normalsize
+%\large
+%\Large
+%\LARGE
+%\huge
+%\Huge
+%\HUGE
+
+\titre{ Démonstrateur FASTBOT-AutoDrive v1.0}
+
+\titresh{ Démonstrateur FASTBOT-AutoDrive}
+
+\departement{Direction Recherche \& Innovation EPSA}
+
+\departementsh{ R\& I}
+
+\auteurs{Eymeric \textbf{Chauchat}}
+
+\version{V1.0}
+
+\versionnement{
+\ver{V1.1}{4 Septembre 2022}{ ECT }{Changement de titre.}{2}
+\ver{V1.0}{31 août 2022}{ ECT }{Rédaction initiale.}{1}
+}
+
+\setuppack
+
+\begin{document}
+
+\fairepagedegarde
+\newpage
+\tableofcontents
+
+
+\section{Mise en contexte}
+
+En 2022 les règles du concours de formula student ont évolué et ont pour la première fois dans l'histoire du FS rendu obligatoire les épreuves driverless (conduite autonome) pour la catégorie de véhicule électrique.
+Ce changement à pour conséquence de donner un très fort malus aux équipes FS ne possèdent pas de Driverless sur leur véhicule (0 points sur le DV-skidpad et sur le DV-acceleration). L'EPSA faisant parti de cette catégorie, il faut trouver au plus vite une solution pour permettre de développer en parallèle de voiture FS un système de conduite autonome pour voiture.
+
+L'EPSA dans son projet principal à pour l'instant énormément de mal à réunir des élèves ingénieurs talentueux en électronique et en programmation du à sa propension à la réalisation mécanique et à son passé dans les FS thermiques.
+
+\section{Introduction}
+
+L'idée a donc émergé d'essayer d'organiser un Pae satellite composé exclusivement de passionné d'informatique pour permettre un travail sur le sujet. Les nouveaux membres de ce projet auront pour exclusif but de préparer un système de détection et un algorithme permettant la conduite autonome d'un véhicule radio commandé. 
+
+Ce véhicule radio commandé taille un seizième possède des performances se rapprochant à son échelle d'une Formula Student électrique.
+
+Pour bien sûre garder le lien total avec le Formula Student, la voiture devra être autonome uniquement et spécifiquement sur des répliques des épreuves de Formula Student à l'échelle un seizième.
+
+Sachant que le but du projet est de principalement programmer, la voiture va être pré-préparer pour être commandable par des cartes de contrôles modernes.
+
+\section{Organisation Macro}
+
+Le projet bien que dirigé par l'EPSA sera de la forme d'un Pae classique centralien : il sera composé de 5-7 membres. Il possèdera en plus des revues centralienne, son propre système de jalonnement TOP avec de plus une liaison hebdomadaire avec la direction EPSA (lors de la séance de Pae).
+
+Un nouveau professeur référent a été cherché : M.Deveautour plus en lien direct avec la recherche et qui aura un rôle principal de conseiller stratégique du projet.
+
+\section{Déroulé macro de l'année}
+
+Le projet sera durant l'année séparé en groupe de travail qui bien que lié dans la finalité travailleront de manière semi-indépendante.
+
+
+Durant la première phase de l'année la première tâche sera de trouver pour la première équipe de trouver un moyen d'acquérir le flux vidéo sur l'intelligence (qui pourra être ou non embarqué) et pour l'autre de développer une simulation de comportement de la voiture pour pouvoir entrainer les différents algorithmes dessus (espace 3D où peut évoluer une réplique numérique de la voiture). (jusqu'à fin Octobre)
+
+
+La deuxième phase de l'année sera principalement axée sur le développement de la solution. La première équipe devra réussir à extraire du flux vidéo la position de la voiture dans l'espace et par rapport aux obstacles, tandis que la seconde mettra en place un algorithme qui permettra à partir de la position de la voiture par rapport aux obstacles, de la contrôler de manière autonome dans la simulation. (jusqu'à mi-février)
+
+
+La troisième phase du projet est la plus courte. Elle aura pour but de réunir les deux parties du projet pour pouvoir réaliser une série de test de l'algorithme de détection et de contrôle sur la voiture radio-commandé. C'est en ce sens que les deux groupes restent lié car il est nécessaire que à l'aube de la troisième phase le résultat de l'algorithme de détection soit l'entrée de l'algorithme de contrôle
+
+
+\end{document}
\ No newline at end of file
diff --git a/Documentation/Pre-projet/Presentation projet/presentation-pae.toc b/Documentation/Pre-projet/Presentation projet/presentation-pae.toc
new file mode 100644
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--- /dev/null
+++ b/Documentation/Pre-projet/Presentation projet/presentation-pae.toc	
@@ -0,0 +1,5 @@
+\babel@toc {french}{}\relax 
+\contentsline {section}{\numberline {1}Mise en contexte}{1}{section.1}%
+\contentsline {section}{\numberline {2}Introduction}{1}{section.2}%
+\contentsline {section}{\numberline {3}Organisation Macro}{2}{section.3}%
+\contentsline {section}{\numberline {4}Déroulé macro de l'année}{2}{section.4}%
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diff --git a/Documentation/Pre-projet/Resume/Wiring.png b/Documentation/Pre-projet/Resume/Wiring.png
new file mode 100644
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diff --git a/Documentation/Pre-projet/Resume/_minted-resume/8738AEBF99E5B84BD07FB03F4080BAFE101492748D21B1CFCE480A8C1C03A2DB.pygtex b/Documentation/Pre-projet/Resume/_minted-resume/8738AEBF99E5B84BD07FB03F4080BAFE101492748D21B1CFCE480A8C1C03A2DB.pygtex
new file mode 100644
index 0000000000000000000000000000000000000000..f7e1bc71bfb9589df924277d01e76e86213c921e
--- /dev/null
+++ b/Documentation/Pre-projet/Resume/_minted-resume/8738AEBF99E5B84BD07FB03F4080BAFE101492748D21B1CFCE480A8C1C03A2DB.pygtex
@@ -0,0 +1,156 @@
+\begin{Verbatim}[commandchars=\\\{\}]
+\PYG{c+cm}{/*}
+\PYG{c+cm}{ * See documentation at https://nRF24.github.io/RF24}
+\PYG{c+cm}{ * See License information at root directory of this library}
+\PYG{c+cm}{ * Author: Brendan Doherty (2bndy5)}
+\PYG{c+cm}{ */}
+
+\PYG{c+cm}{/**}
+\PYG{c+cm}{ * A simple example of sending data from 1 nRF24L01 transceiver to another.}
+\PYG{c+cm}{ *}
+\PYG{c+cm}{ * This example was written to be used on 2 devices acting as \PYGZdq{}nodes\PYGZdq{}.}
+\PYG{c+cm}{ * Use the Serial Monitor to change each node\PYGZsq{}s behavior.}
+\PYG{c+cm}{ */}
+\PYG{c+cp}{\PYGZsh{}include}\PYG{+w}{ }\PYG{c+cpf}{\PYGZlt{}SPI.h\PYGZgt{}}
+\PYG{c+cp}{\PYGZsh{}include}\PYG{+w}{ }\PYG{c+cpf}{\PYGZdq{}printf.h\PYGZdq{}}
+\PYG{c+cp}{\PYGZsh{}include}\PYG{+w}{ }\PYG{c+cpf}{\PYGZdq{}RF24.h\PYGZdq{}}
+
+\PYG{c+c1}{// instantiate an object for the nRF24L01 transceiver}
+\PYG{n}{RF24}\PYG{+w}{ }\PYG{n+nf}{radio}\PYG{p}{(}\PYG{l+m+mi}{10}\PYG{p}{,}\PYG{+w}{ }\PYG{l+m+mi}{9}\PYG{p}{);}\PYG{+w}{  }\PYG{c+c1}{// using pin 10 for the CE pin, and pin 9 for the CSN pin}
+
+\PYG{c+c1}{// Let these addresses be used for the pair}
+\PYG{k+kr}{uint8\PYGZus{}t}\PYG{+w}{ }\PYG{n}{address}\PYG{p}{[][}\PYG{l+m+mi}{6}\PYG{p}{]}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{p}{\PYGZob{}}\PYG{+w}{ }\PYG{l+s}{\PYGZdq{}1Node\PYGZdq{}}\PYG{p}{,}\PYG{+w}{ }\PYG{l+s}{\PYGZdq{}2Node\PYGZdq{}}\PYG{+w}{ }\PYG{p}{\PYGZcb{};}
+\PYG{c+c1}{// It is very helpful to think of an address as a path instead of as}
+\PYG{c+c1}{// an identifying device destination}
+
+\PYG{c+c1}{// to use different addresses on a pair of radios, we need a variable to}
+\PYG{c+c1}{// uniquely identify which address this radio will use to transmit}
+\PYG{k+kr}{bool}\PYG{+w}{ }\PYG{n}{radioNumber}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{l+m+mi}{1}\PYG{p}{;}\PYG{+w}{  }\PYG{c+c1}{// 0 uses address[0] to transmit, 1 uses address[1] to transmit}
+
+\PYG{c+c1}{// Used to control whether this node is sending or receiving}
+\PYG{k+kr}{bool}\PYG{+w}{ }\PYG{n}{role}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{k+kr}{false}\PYG{p}{;}\PYG{+w}{  }\PYG{c+c1}{// true = TX role, false = RX role}
+
+\PYG{c+c1}{// For this example, we\PYGZsq{}ll be using a payload containing}
+\PYG{c+c1}{// a single float number that will be incremented}
+\PYG{c+c1}{// on every successful transmission}
+\PYG{k+kr}{float}\PYG{+w}{ }\PYG{n}{payload}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{l+m+mf}{0.0}\PYG{p}{;}
+
+\PYG{k+kr}{void}\PYG{+w}{ }\PYG{n+nb}{setup}\PYG{p}{()}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+
+\PYG{+w}{  }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{begin}\PYG{p}{(}\PYG{l+m+mi}{115200}\PYG{p}{);}
+\PYG{+w}{  }\PYG{k}{while}\PYG{+w}{ }\PYG{p}{(}\PYG{o}{!}\PYG{n+nf}{Serial}\PYG{p}{)}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{c+c1}{// some boards need to wait to ensure access to serial over USB}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+
+\PYG{+w}{  }\PYG{c+c1}{// initialize the transceiver on the SPI bus}
+\PYG{+w}{  }\PYG{k}{if}\PYG{+w}{ }\PYG{p}{(}\PYG{o}{!}\PYG{n}{radio}\PYG{p}{.}\PYG{n+nf}{begin}\PYG{p}{())}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}radio hardware is not responding!!\PYGZdq{}}\PYG{p}{));}
+\PYG{+w}{    }\PYG{k}{while}\PYG{+w}{ }\PYG{p}{(}\PYG{l+m+mi}{1}\PYG{p}{)}\PYG{+w}{ }\PYG{p}{\PYGZob{}\PYGZcb{}}\PYG{+w}{  }\PYG{c+c1}{// hold in infinite loop}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+
+\PYG{+w}{  }\PYG{c+c1}{// print example\PYGZsq{}s introductory prompt}
+\PYG{+w}{  }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}RF24/examples/GettingStarted\PYGZdq{}}\PYG{p}{));}
+
+\PYG{+w}{  }\PYG{c+c1}{// To set the radioNumber via the Serial monitor on startup}
+\PYG{+w}{  }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}Which radio is this? Enter \PYGZsq{}0\PYGZsq{} or \PYGZsq{}1\PYGZsq{}. Defaults to \PYGZsq{}0\PYGZsq{}\PYGZdq{}}\PYG{p}{));}
+\PYG{+w}{  }\PYG{k}{while}\PYG{+w}{ }\PYG{p}{(}\PYG{o}{!}\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{available}\PYG{p}{())}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{c+c1}{// wait for user input}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+\PYG{+w}{  }\PYG{k+kr}{char}\PYG{+w}{ }\PYG{n}{input}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{parseInt}\PYG{p}{();}
+\PYG{+w}{  }\PYG{n}{radioNumber}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{n}{input}\PYG{+w}{ }\PYG{o}{==}\PYG{+w}{ }\PYG{l+m+mi}{1}\PYG{p}{;}
+\PYG{+w}{  }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{print}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}radioNumber = \PYGZdq{}}\PYG{p}{));}
+\PYG{+w}{  }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{((}\PYG{k+kr}{int}\PYG{p}{)}\PYG{n}{radioNumber}\PYG{p}{);}
+
+\PYG{+w}{  }\PYG{c+c1}{// role variable is hardcoded to RX behavior, inform the user of this}
+\PYG{+w}{  }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}*** PRESS \PYGZsq{}T\PYGZsq{} to begin transmitting to the other node\PYGZdq{}}\PYG{p}{));}
+
+\PYG{+w}{  }\PYG{c+c1}{// Set the PA Level low to try preventing power supply related problems}
+\PYG{+w}{  }\PYG{c+c1}{// because these examples are likely run with nodes in close proximity to}
+\PYG{+w}{  }\PYG{c+c1}{// each other.}
+\PYG{+w}{  }\PYG{n}{radio}\PYG{p}{.}\PYG{n}{setPALevel}\PYG{p}{(}\PYG{n}{RF24\PYGZus{}PA\PYGZus{}LOW}\PYG{p}{);}\PYG{+w}{  }\PYG{c+c1}{// RF24\PYGZus{}PA\PYGZus{}MAX is default.}
+
+\PYG{+w}{  }\PYG{c+c1}{// save on transmission time by setting the radio to only transmit the}
+\PYG{+w}{  }\PYG{c+c1}{// number of bytes we need to transmit a float}
+\PYG{+w}{  }\PYG{n}{radio}\PYG{p}{.}\PYG{n}{setPayloadSize}\PYG{p}{(}\PYG{k+kr}{sizeof}\PYG{p}{(}\PYG{n}{payload}\PYG{p}{));}\PYG{+w}{  }\PYG{c+c1}{// float datatype occupies 4 bytes}
+
+\PYG{+w}{  }\PYG{c+c1}{// set the TX address of the RX node into the TX pipe}
+\PYG{+w}{  }\PYG{n}{radio}\PYG{p}{.}\PYG{n}{openWritingPipe}\PYG{p}{(}\PYG{n}{address}\PYG{p}{[}\PYG{n}{radioNumber}\PYG{p}{]);}\PYG{+w}{  }\PYG{c+c1}{// always uses pipe 0}
+
+\PYG{+w}{  }\PYG{c+c1}{// set the RX address of the TX node into a RX pipe}
+\PYG{+w}{  }\PYG{n}{radio}\PYG{p}{.}\PYG{n}{openReadingPipe}\PYG{p}{(}\PYG{l+m+mi}{1}\PYG{p}{,}\PYG{+w}{ }\PYG{n}{address}\PYG{p}{[}\PYG{o}{!}\PYG{n}{radioNumber}\PYG{p}{]);}\PYG{+w}{  }\PYG{c+c1}{// using pipe 1}
+
+\PYG{+w}{  }\PYG{c+c1}{// additional setup specific to the node\PYGZsq{}s role}
+\PYG{+w}{  }\PYG{k}{if}\PYG{+w}{ }\PYG{p}{(}\PYG{n}{role}\PYG{p}{)}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{n}{radio}\PYG{p}{.}\PYG{n}{stopListening}\PYG{p}{();}\PYG{+w}{  }\PYG{c+c1}{// put radio in TX mode}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}\PYG{+w}{ }\PYG{k}{else}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{n}{radio}\PYG{p}{.}\PYG{n}{startListening}\PYG{p}{();}\PYG{+w}{  }\PYG{c+c1}{// put radio in RX mode}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+
+\PYG{+w}{  }\PYG{c+c1}{// For debugging info}
+\PYG{+w}{  }\PYG{c+c1}{// printf\PYGZus{}begin();             // needed only once for printing details}
+\PYG{+w}{  }\PYG{c+c1}{// radio.printDetails();       // (smaller) function that prints raw register values}
+\PYG{+w}{  }\PYG{c+c1}{// radio.printPrettyDetails(); // (larger) function that prints human readable data}
+
+\PYG{p}{\PYGZcb{}}\PYG{+w}{  }\PYG{c+c1}{// setup}
+
+\PYG{k+kr}{void}\PYG{+w}{ }\PYG{n+nb}{loop}\PYG{p}{()}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+
+\PYG{+w}{  }\PYG{k}{if}\PYG{+w}{ }\PYG{p}{(}\PYG{n}{role}\PYG{p}{)}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{c+c1}{// This device is a TX node}
+
+\PYG{+w}{    }\PYG{k+kr}{unsigned}\PYG{+w}{ }\PYG{k+kr}{long}\PYG{+w}{ }\PYG{n}{start\PYGZus{}timer}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{n+nf}{micros}\PYG{p}{();}\PYG{+w}{                }\PYG{c+c1}{// start the timer}
+\PYG{+w}{    }\PYG{k+kr}{bool}\PYG{+w}{ }\PYG{n}{report}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{n}{radio}\PYG{p}{.}\PYG{n+nf}{write}\PYG{p}{(}\PYG{o}{\PYGZam{}}\PYG{n}{payload}\PYG{p}{,}\PYG{+w}{ }\PYG{k+kr}{sizeof}\PYG{p}{(}\PYG{k+kr}{float}\PYG{p}{));}\PYG{+w}{  }\PYG{c+c1}{// transmit \PYGZam{} save the report}
+\PYG{+w}{    }\PYG{k+kr}{unsigned}\PYG{+w}{ }\PYG{k+kr}{long}\PYG{+w}{ }\PYG{n}{end\PYGZus{}timer}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{n+nf}{micros}\PYG{p}{();}\PYG{+w}{                  }\PYG{c+c1}{// end the timer}
+
+\PYG{+w}{    }\PYG{k}{if}\PYG{+w}{ }\PYG{p}{(}\PYG{n}{report}\PYG{p}{)}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{print}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}Transmission successful! \PYGZdq{}}\PYG{p}{));}\PYG{+w}{  }\PYG{c+c1}{// payload was delivered}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{print}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}Time to transmit = \PYGZdq{}}\PYG{p}{));}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{print}\PYG{p}{(}\PYG{n}{end\PYGZus{}timer}\PYG{+w}{ }\PYG{o}{\PYGZhy{}}\PYG{+w}{ }\PYG{n}{start\PYGZus{}timer}\PYG{p}{);}\PYG{+w}{  }\PYG{c+c1}{// print the timer result}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{print}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{} us. Sent: \PYGZdq{}}\PYG{p}{));}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{payload}\PYG{p}{);}\PYG{+w}{  }\PYG{c+c1}{// print payload sent}
+\PYG{+w}{      }\PYG{n}{payload}\PYG{+w}{ }\PYG{o}{+=}\PYG{+w}{ }\PYG{l+m+mf}{0.01}\PYG{p}{;}\PYG{+w}{          }\PYG{c+c1}{// increment float payload}
+\PYG{+w}{    }\PYG{p}{\PYGZcb{}}\PYG{+w}{ }\PYG{k}{else}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}Transmission failed or timed out\PYGZdq{}}\PYG{p}{));}\PYG{+w}{  }\PYG{c+c1}{// payload was not delivered}
+\PYG{+w}{    }\PYG{p}{\PYGZcb{}}
+
+\PYG{+w}{    }\PYG{c+c1}{// to make this example readable in the serial monitor}
+\PYG{+w}{    }\PYG{n+nf}{delay}\PYG{p}{(}\PYG{l+m+mi}{1000}\PYG{p}{);}\PYG{+w}{  }\PYG{c+c1}{// slow transmissions down by 1 second}
+
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}\PYG{+w}{ }\PYG{k}{else}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{c+c1}{// This device is a RX node}
+
+\PYG{+w}{    }\PYG{k+kr}{uint8\PYGZus{}t}\PYG{+w}{ }\PYG{n}{pipe}\PYG{p}{;}
+\PYG{+w}{    }\PYG{k}{if}\PYG{+w}{ }\PYG{p}{(}\PYG{n}{radio}\PYG{p}{.}\PYG{n+nf}{available}\PYG{p}{(}\PYG{o}{\PYGZam{}}\PYG{n}{pipe}\PYG{p}{))}\PYG{+w}{ }\PYG{p}{\PYGZob{}}\PYG{+w}{              }\PYG{c+c1}{// is there a payload? get the pipe number that recieved it}
+\PYG{+w}{      }\PYG{k+kr}{uint8\PYGZus{}t}\PYG{+w}{ }\PYG{n}{bytes}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{n}{radio}\PYG{p}{.}\PYG{n}{getPayloadSize}\PYG{p}{();}\PYG{+w}{  }\PYG{c+c1}{// get the size of the payload}
+\PYG{+w}{      }\PYG{n}{radio}\PYG{p}{.}\PYG{n+nf}{read}\PYG{p}{(}\PYG{o}{\PYGZam{}}\PYG{n}{payload}\PYG{p}{,}\PYG{+w}{ }\PYG{n}{bytes}\PYG{p}{);}\PYG{+w}{             }\PYG{c+c1}{// fetch payload from FIFO}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{print}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}Received \PYGZdq{}}\PYG{p}{));}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{print}\PYG{p}{(}\PYG{n}{bytes}\PYG{p}{);}\PYG{+w}{  }\PYG{c+c1}{// print the size of the payload}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{print}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{} bytes on pipe \PYGZdq{}}\PYG{p}{));}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{print}\PYG{p}{(}\PYG{n}{pipe}\PYG{p}{);}\PYG{+w}{  }\PYG{c+c1}{// print the pipe number}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{print}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}: \PYGZdq{}}\PYG{p}{));}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{payload}\PYG{p}{);}\PYG{+w}{  }\PYG{c+c1}{// print the payload\PYGZsq{}s value}
+\PYG{+w}{    }\PYG{p}{\PYGZcb{}}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}\PYG{+w}{  }\PYG{c+c1}{// role}
+
+\PYG{+w}{  }\PYG{k}{if}\PYG{+w}{ }\PYG{p}{(}\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{available}\PYG{p}{())}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{c+c1}{// change the role via the serial monitor}
+
+\PYG{+w}{    }\PYG{k+kr}{char}\PYG{+w}{ }\PYG{n}{c}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{n}{toupper}\PYG{p}{(}\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{read}\PYG{p}{());}
+\PYG{+w}{    }\PYG{k}{if}\PYG{+w}{ }\PYG{p}{(}\PYG{n}{c}\PYG{+w}{ }\PYG{o}{==}\PYG{+w}{ }\PYG{l+s+sc}{\PYGZsq{}T\PYGZsq{}}\PYG{+w}{ }\PYG{o}{\PYGZam{}\PYGZam{}}\PYG{+w}{ }\PYG{o}{!}\PYG{n}{role}\PYG{p}{)}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{      }\PYG{c+c1}{// Become the TX node}
+
+\PYG{+w}{      }\PYG{n}{role}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{k+kr}{true}\PYG{p}{;}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}*** CHANGING TO TRANSMIT ROLE \PYGZhy{}\PYGZhy{} PRESS \PYGZsq{}R\PYGZsq{} TO SWITCH BACK\PYGZdq{}}\PYG{p}{));}
+\PYG{+w}{      }\PYG{n}{radio}\PYG{p}{.}\PYG{n}{stopListening}\PYG{p}{();}
+
+\PYG{+w}{    }\PYG{p}{\PYGZcb{}}\PYG{+w}{ }\PYG{k}{else}\PYG{+w}{ }\PYG{k}{if}\PYG{+w}{ }\PYG{p}{(}\PYG{n}{c}\PYG{+w}{ }\PYG{o}{==}\PYG{+w}{ }\PYG{l+s+sc}{\PYGZsq{}R\PYGZsq{}}\PYG{+w}{ }\PYG{o}{\PYGZam{}\PYGZam{}}\PYG{+w}{ }\PYG{n}{role}\PYG{p}{)}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{      }\PYG{c+c1}{// Become the RX node}
+
+\PYG{+w}{      }\PYG{n}{role}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{k+kr}{false}\PYG{p}{;}
+\PYG{+w}{      }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{F}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}*** CHANGING TO RECEIVE ROLE \PYGZhy{}\PYGZhy{} PRESS \PYGZsq{}T\PYGZsq{} TO SWITCH BACK\PYGZdq{}}\PYG{p}{));}
+\PYG{+w}{      }\PYG{n}{radio}\PYG{p}{.}\PYG{n}{startListening}\PYG{p}{();}
+\PYG{+w}{    }\PYG{p}{\PYGZcb{}}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+
+\PYG{p}{\PYGZcb{}}\PYG{+w}{  }\PYG{c+c1}{// loop}
+\end{Verbatim}
diff --git a/Documentation/Pre-projet/Resume/_minted-resume/953A0B2C4B8DD42FC38318DE0A83EE11101492748D21B1CFCE480A8C1C03A2DB.pygtex b/Documentation/Pre-projet/Resume/_minted-resume/953A0B2C4B8DD42FC38318DE0A83EE11101492748D21B1CFCE480A8C1C03A2DB.pygtex
new file mode 100644
index 0000000000000000000000000000000000000000..1e9b34baa1e368bcd09f90228b38d0c583f05bc6
--- /dev/null
+++ b/Documentation/Pre-projet/Resume/_minted-resume/953A0B2C4B8DD42FC38318DE0A83EE11101492748D21B1CFCE480A8C1C03A2DB.pygtex
@@ -0,0 +1,44 @@
+\begin{Verbatim}[commandchars=\\\{\}]
+\PYG{c+cp}{\PYGZsh{}define DirPin A6}
+\PYG{c+c1}{// Droite 176 Gauche 850}
+\PYG{c+cp}{\PYGZsh{}define PontG 5}
+\PYG{c+cp}{\PYGZsh{}define PontD 6}
+
+\PYG{k+kr}{int}\PYG{+w}{ }\PYG{n}{val}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{l+m+mi}{0}\PYG{p}{;}
+\PYG{k+kr}{int}\PYG{+w}{ }\PYG{n}{aim}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{l+m+mi}{500}\PYG{p}{;}
+
+\PYG{k+kr}{void}\PYG{+w}{ }\PYG{n+nb}{setup}\PYG{p}{()}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{  }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{begin}\PYG{p}{(}\PYG{l+m+mi}{9600}\PYG{p}{);}
+\PYG{p}{\PYGZcb{}}
+
+\PYG{k+kr}{void}\PYG{+w}{ }\PYG{n+nb}{loop}\PYG{p}{()}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+
+
+\PYG{+w}{  }\PYG{k}{if}\PYG{p}{(}\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{available}\PYG{p}{())\PYGZob{}}
+\PYG{+w}{    }\PYG{n}{aim}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{readString}\PYG{p}{().}\PYG{n}{toInt}\PYG{p}{();}
+\PYG{+w}{    }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{aim}\PYG{p}{);}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+
+\PYG{+w}{  }\PYG{k}{if}\PYG{p}{(}\PYG{n}{val}\PYG{+w}{ }\PYG{o}{\PYGZlt{}}\PYG{+w}{ }\PYG{n}{aim}\PYG{l+m+mi}{\PYGZhy{}50}\PYG{p}{)}
+\PYG{+w}{  }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{n+nf}{analogWrite}\PYG{p}{(}\PYG{n}{PontG}\PYG{p}{,}\PYG{l+m+mi}{100}\PYG{p}{);}
+\PYG{+w}{    }\PYG{n+nf}{analogWrite}\PYG{p}{(}\PYG{n}{PontD}\PYG{p}{,}\PYG{l+m+mi}{0}\PYG{p}{);}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+
+\PYG{+w}{    }\PYG{k}{else}\PYG{+w}{ }\PYG{k}{if}\PYG{p}{(}\PYG{n}{val}\PYG{+w}{ }\PYG{o}{\PYGZgt{}}\PYG{+w}{ }\PYG{n}{aim}\PYG{o}{+}\PYG{l+m+mi}{50}\PYG{p}{)}
+\PYG{+w}{  }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{n+nf}{analogWrite}\PYG{p}{(}\PYG{n}{PontD}\PYG{p}{,}\PYG{l+m+mi}{100}\PYG{p}{);}
+\PYG{+w}{    }\PYG{n+nf}{analogWrite}\PYG{p}{(}\PYG{n}{PontG}\PYG{p}{,}\PYG{l+m+mi}{0}\PYG{p}{);}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+\PYG{+w}{  }\PYG{k}{else}
+\PYG{+w}{  }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{n+nf}{analogWrite}\PYG{p}{(}\PYG{n}{PontD}\PYG{p}{,}\PYG{l+m+mi}{0}\PYG{p}{);}
+\PYG{+w}{    }\PYG{n+nf}{analogWrite}\PYG{p}{(}\PYG{n}{PontG}\PYG{p}{,}\PYG{l+m+mi}{0}\PYG{p}{);}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+
+
+\PYG{+w}{  }\PYG{n}{val}\PYG{o}{=}\PYG{+w}{ }\PYG{n+nf}{analogRead}\PYG{p}{(}\PYG{n}{DirPin}\PYG{p}{);}
+\PYG{+w}{  }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{val}\PYG{p}{);}
+
+\PYG{p}{\PYGZcb{}}
+\end{Verbatim}
diff --git a/Documentation/Pre-projet/Resume/_minted-resume/A27053242F9901AA52BB0C45E52D419D109BC8D619DBDEE45AC6AD3984E95C55.pygtex b/Documentation/Pre-projet/Resume/_minted-resume/A27053242F9901AA52BB0C45E52D419D109BC8D619DBDEE45AC6AD3984E95C55.pygtex
new file mode 100644
index 0000000000000000000000000000000000000000..97e34df2d0bd4b51862f4aa662527d50308f3238
--- /dev/null
+++ b/Documentation/Pre-projet/Resume/_minted-resume/A27053242F9901AA52BB0C45E52D419D109BC8D619DBDEE45AC6AD3984E95C55.pygtex
@@ -0,0 +1,40 @@
+\begin{Verbatim}[commandchars=\\\{\}]
+
+\PYG{c+cp}{\PYGZsh{}define PontHRouge 10}
+\PYG{c+cp}{\PYGZsh{}define PontHNoir 9}
+\PYG{k+kr}{int}\PYG{+w}{ }\PYG{n}{val}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{l+m+mi}{0}\PYG{p}{;}
+
+\PYG{k+kr}{void}\PYG{+w}{ }\PYG{n+nb}{setup}\PYG{p}{()}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+
+\PYG{+w}{  }\PYG{n+nf}{pinMode}\PYG{p}{(}\PYG{n}{PontHRouge}\PYG{p}{,}\PYG{k+kr}{OUTPUT}\PYG{p}{);}
+\PYG{+w}{  }\PYG{n+nf}{pinMode}\PYG{p}{(}\PYG{n}{PontHNoir}\PYG{p}{,}\PYG{k+kr}{OUTPUT}\PYG{p}{);}
+\PYG{+w}{  }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{begin}\PYG{p}{(}\PYG{l+m+mi}{115200}\PYG{p}{);}
+
+\PYG{+w}{  }\PYG{k}{while}\PYG{+w}{ }\PYG{p}{(}\PYG{o}{!}\PYG{n+nf}{Serial}\PYG{p}{)}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+\PYG{+w}{    }\PYG{c+c1}{// some boards need to wait to ensure access to serial over USB}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+
+\PYG{+w}{  }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{l+s}{\PYGZdq{}Test des commandes PWM voiture\PYGZdq{}}\PYG{p}{);}
+
+\PYG{p}{\PYGZcb{}}
+
+\PYG{k+kr}{void}\PYG{+w}{ }\PYG{n+nb}{loop}\PYG{p}{()}\PYG{+w}{ }\PYG{p}{\PYGZob{}}
+
+\PYG{+w}{  }\PYG{k}{if}\PYG{p}{(}\PYG{n}{val}\PYG{+w}{ }\PYG{o}{\PYGZgt{}=}\PYG{+w}{ }\PYG{l+m+mi}{0}\PYG{+w}{ }\PYG{p}{)}
+\PYG{+w}{  }\PYG{p}{\PYGZob{}}
+\PYG{+w}{     }\PYG{n+nf}{analogWrite}\PYG{p}{(}\PYG{n}{PontHRouge}\PYG{p}{,}\PYG{n+nf}{abs}\PYG{p}{(}\PYG{n}{val}\PYG{p}{));}
+\PYG{+w}{     }\PYG{n+nf}{analogWrite}\PYG{p}{(}\PYG{n}{PontHNoir}\PYG{p}{,}\PYG{n+nf}{abs}\PYG{p}{(}\PYG{n}{val}\PYG{p}{));}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+\PYG{+w}{  }\PYG{k}{if}\PYG{p}{(}\PYG{n}{val}\PYG{+w}{ }\PYG{o}{\PYGZlt{}}\PYG{+w}{ }\PYG{l+m+mi}{0}\PYG{p}{)}
+\PYG{+w}{  }\PYG{p}{\PYGZob{}}
+\PYG{+w}{     }\PYG{n+nf}{analogWrite}\PYG{p}{(}\PYG{n}{PontHNoir}\PYG{p}{,}\PYG{n+nf}{abs}\PYG{p}{(}\PYG{n}{val}\PYG{p}{));}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+
+\PYG{+w}{  }\PYG{k}{if}\PYG{p}{(}\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{available}\PYG{p}{())\PYGZob{}}
+
+\PYG{+w}{    }\PYG{n}{val}\PYG{+w}{ }\PYG{o}{=}\PYG{+w}{ }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{readString}\PYG{p}{().}\PYG{n}{toInt}\PYG{p}{();}
+\PYG{+w}{    }\PYG{n+nf}{Serial}\PYG{p}{.}\PYG{n+nf}{println}\PYG{p}{(}\PYG{n}{val}\PYG{p}{);}
+\PYG{+w}{  }\PYG{p}{\PYGZcb{}}
+\PYG{p}{\PYGZcb{}}
+
+\end{Verbatim}
diff --git a/Documentation/Pre-projet/Resume/_minted-resume/D39AAC58234C1264F11CFBFA0DA2541F101492748D21B1CFCE480A8C1C03A2DB.pygtex b/Documentation/Pre-projet/Resume/_minted-resume/D39AAC58234C1264F11CFBFA0DA2541F101492748D21B1CFCE480A8C1C03A2DB.pygtex
new file mode 100644
index 0000000000000000000000000000000000000000..0e2f9222938cc4b87dc88bce8b7cb511ad64560f
--- /dev/null
+++ b/Documentation/Pre-projet/Resume/_minted-resume/D39AAC58234C1264F11CFBFA0DA2541F101492748D21B1CFCE480A8C1C03A2DB.pygtex
@@ -0,0 +1,3 @@
+\begin{Verbatim}[commandchars=\\\{\}]
+\PYG{n}{RF24}\PYG{+w}{ }\PYG{n+nf}{radio}\PYG{p}{(}\PYG{l+m+mi}{10}\PYG{p}{,}\PYG{+w}{ }\PYG{l+m+mi}{9}\PYG{p}{);}\PYG{+w}{ }
+\end{Verbatim}
diff --git a/Documentation/Pre-projet/Resume/_minted-resume/default.pygstyle b/Documentation/Pre-projet/Resume/_minted-resume/default.pygstyle
new file mode 100644
index 0000000000000000000000000000000000000000..211763d1d4e4c090ba3a286634a9a96c7fae303b
--- /dev/null
+++ b/Documentation/Pre-projet/Resume/_minted-resume/default.pygstyle
@@ -0,0 +1,101 @@
+
+\makeatletter
+\def\PYG@reset{\let\PYG@it=\relax \let\PYG@bf=\relax%
+    \let\PYG@ul=\relax \let\PYG@tc=\relax%
+    \let\PYG@bc=\relax \let\PYG@ff=\relax}
+\def\PYG@tok#1{\csname PYG@tok@#1\endcsname}
+\def\PYG@toks#1+{\ifx\relax#1\empty\else%
+    \PYG@tok{#1}\expandafter\PYG@toks\fi}
+\def\PYG@do#1{\PYG@bc{\PYG@tc{\PYG@ul{%
+    \PYG@it{\PYG@bf{\PYG@ff{#1}}}}}}}
+\def\PYG#1#2{\PYG@reset\PYG@toks#1+\relax+\PYG@do{#2}}
+
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+\documentclass{EPSA-rap-template}
+
+\usepackage{eurosym}
+\usepackage{amssymb}
+\usepackage{minted}
+
+\type{Rapport de travaux}
+
+\titresize{\large} % ne pas hésiter a changer la taille :
+%\normalsize
+%\large
+%\Large
+%\LARGE
+%\huge
+%\Huge
+%\HUGE
+
+\titre{Travail Préliminaire Démonstrateur AutoDrive V1.0}
+
+\titresh{ Travail Préliminaire AutoDrive}
+
+\departement{Direction Recherche \& Innovation EPSA}
+
+\departementsh{ R\& I}
+
+\auteurs{Eymeric \textbf{Chauchat}}
+
+\version{V1.0}
+
+\versionnement{
+\ver{V1.1}{4 Septembre 2022}{ ECT }{Changement de titre.}{2}
+\ver{V1.0}{27 aout 2022}{ ECT }{Rédaction initiale.}{1}
+}
+
+\setuppack
+
+\begin{document}
+
+\fairepagedegarde
+\newpage
+\tableofcontents
+
+\section{Introduction}
+
+Ce document a pour but de présenter tout le travail préliminaire qui a été fait pour pouvoir lancer le projet satellite epsa sur la conduite autonome. Il rend compte de la remise en l'état du véhicule ciblé pour le projet et du développement de cartes de contrôle.
+
+\newpage
+
+\section{Voiture RC}
+
+Cette partie va présenter la voiture radio commandé qui va être utilisé pour le projet de Pae cette année et la manière dont elle a été préparé. Pour permettre un contrôle par un ordinateur ou plus largement par n'importe quel type de microprocesseur ou processeur, nous avons remplacé la carte de réception par une arduino allié d'une nrf24l01 et de quelques composants annexes. 
+
+\bigskip
+{
+\centering
+\includegraphics[width=\textwidth]{carte-pae-6766.jpg}
+\par
+}
+
+\subsection{Fonctionnement de la voiture}
+
+La voiture possède deux systèmes principaux, la direction et la propulsion. La direction est composée d'une nappe de 6 câbles : 
+
+\begin{itemize}
+
+\item Noir : moteur -
+\item Orange : moteur +
+\item Vert pomme : Potentiomètre +
+\item Blanc : Potentiomètre signal
+\item Vert : Potentiomètre -
+\item Bleu : isolation unused
+
+\end{itemize}
+
+à savoir que moteur - et moteur + sont contrôlé grâce à l'intermédiaire d'un pont en H sur la nappe. Le contrôle de la partie direction se fait simplement à partir de la donnée en angle du potentiomètre et de la sortie moteur.
+
+le deuxième système, la propulsion est composé de 4 câbles : 
+
+\begin{itemize}
+\item Blanc : Ground
+\item Jaune : +8 V continu
+\item Noir : première entrée pont en H
+\item Rouge : deuxième entrée pont en H
+\end{itemize}
+
+Le contrôle de la propulsion se fait au travers du câble Rouge et Noir. Pour avancer il faut mettre un signal sur le câble noir et pour reculer il faut mettre un signal sur le câble rouge et le câble noir.
+
+\subsection{Montage électrique}
+
+la nrf24l01 est montée de manière analogue au dongle usb sur l'arduino de la voiture (Figure \ref{fig:wiringcar}). Cependant nous avons aussi besoin de connection avec la distribution en puissance de la voiture.
+\bigskip
+
+{
+\centering
+\includegraphics[width=0.45\textwidth]{carte-pae-6753.jpg}
+\includegraphics[width=0.45\textwidth]{carte-pae-6755.jpg}
+\par
+}
+
+On peut remarquer l'ajout d'un pont en H au dessus de l'arduino qui va nous permettre de contrôler le moteur de direction.
+
+\begin{figure}[hbt!]
+\centering
+\includegraphics[width=0.4\textwidth]{Arduino Nano scheme.png}
+\caption{Câblage de l'arduino nano}
+\label{fig:wiringcar}
+\end{figure}
+
+\subsection{Codes de test}
+
+Pour tester les différentes fonctions de la carte de contrôle, nous avons élaboré 3 codes.
+
+\subsubsection{Test Puissance}
+
+Un premier code a été écrit pour tester la communication avec le pont en H principal de la voiture. 
+
+\begin{minted}{Arduino}
+
+#define PontHRouge 10
+#define PontHNoir 9
+int val = 0;
+
+void setup() {
+  
+  pinMode(PontHRouge,OUTPUT);
+  pinMode(PontHNoir,OUTPUT);
+  Serial.begin(115200);
+  
+  while (!Serial) {
+    // some boards need to wait to ensure access to serial over USB
+  }
+
+  Serial.println("Test des commandes PWM voiture");
+
+}
+
+void loop() {
+  
+  if(val >= 0 )
+  {
+     analogWrite(PontHRouge,abs(val));
+     analogWrite(PontHNoir,abs(val));
+  }
+  if(val < 0)
+  {
+     analogWrite(PontHNoir,abs(val));
+  }
+
+  if(Serial.available()){
+
+    val = Serial.readString().toInt();
+    Serial.println(val);
+  }
+}
+
+\end{minted}
+
+\subsubsection{Test direction}
+
+De manière analogue, nous avons développé un script permettant de tester que la direction de la voiture marchait correctement. 
+
+\begin{minted}{arduino}
+#define DirPin A6
+// Droite 176 Gauche 850
+#define PontG 5
+#define PontD 6
+
+int val = 0;
+int aim = 500;
+
+void setup() {
+  Serial.begin(9600);
+}
+
+void loop() {
+
+
+  if(Serial.available()){
+    aim = Serial.readString().toInt();
+    Serial.println(aim);
+  }
+
+  if(val < aim-50)
+  {
+    analogWrite(PontG,100);
+    analogWrite(PontD,0);
+  }
+
+    else if(val > aim+50)
+  {
+    analogWrite(PontD,100);
+    analogWrite(PontG,0);
+  }
+  else
+  {
+    analogWrite(PontD,0);
+    analogWrite(PontG,0);
+  }
+
+  
+  val= analogRead(DirPin);
+  Serial.println(val);  
+
+}
+\end{minted}
+
+\newpage
+
+\section{Dongle de contrôle}
+Cette partie va présenter la réalisation du Dongle de contrôle de la voiture RC et du script permettant son arrêt d'urgence et sa commande si l'on choisit une intelligence déporté. 
+
+Le Dongle est composé d'une arduino Nano, d'une carte nrf24l01 et d'un bouton poussoir. Il va permettre de contrôler en temps réel la voiture et de récupérer des informations des différents capteurs :
+
+\bigskip
+
+{
+\centering
+\includegraphics[width=0.45\textwidth]{carte-pae-6770.jpg}
+\includegraphics[width=0.45\textwidth]{carte-pae-6771.jpg}
+\par
+}
+
+\subsection{Construction}
+
+
+Le câblage suit celui d'une carte nrf24l01 basique (Figure \ref{fig:wiringdongle}). La carte se branche ensuite directement à l'ordinateur qui va la contrôler soit directement grâce à l'invité port série d'arduino ou au travers d'un script python ou directement si on rajoute un contrôleur sur les ports vacants de la carte arduino. 
+
+\begin{figure}[hbt!]
+\centering
+\includegraphics[width=0.4\textwidth]{Wiring.png}
+\caption{Câblage possible d'une nrf24l01 avec une arduino nano}
+\label{fig:wiringdongle}
+\end{figure}
+
+\subsection{Script de contrôle}
+
+Pour tester le branchement de la carte nous avons pour l'instant uniquement télé-verser un code permettant de tester que la nrf24l01+ est bien branchée. (Section \ref{sec:nrf24l01}) à savoir que nous avons initialiser les pins radio de la manière suivantes : \mint{arduino}|RF24 radio(10, 9); | \noindent 10 pour le pin CE et 9 pour le pin CSN.
+
+
+
+\newpage
+
+\section{Solution caméra}
+
+En plus du contrôle à distance de la voiture (qui est obligatoire pour permettre un arrêt d'urgence), le projet nécessite que l'on traite des données vidéos pour permettre la conduite autonome de la voiture. En ce sens plusieurs solutions s'offrent à nous pour permettre l'acquisition et le traitement de ces données. (ce travail préliminaire a été fait pour soulager les membres du projet qui vont devoir trancher la solution rapidement pour ne pas s'éterniser sur le choix de concept )
+
+\subsection{Description des solutions}
+
+L'intelligence de la voiture peut se trouver à deux endroits :
+
+\begin{itemize}
+\item A l'intérieur de la voiture télécommandée
+\item sur l'ordinateur qui possède le dongle d'arret d'urgence / commande
+\end{itemize}
+
+Ces deux possibilités ouvrent un grand champ d'alternative pour arriver à faire l'acquisition vidéo et le traitement / commande. 
+
+\subsection{Intelligence embarqué}
+
+Dans le cas d'une intelligence embarquée, l'acquisition vidéo se fera directement grâce à des caméras branchées sur la carte de contrôle.
+
+La question est alors : quelle doit être la plateforme qui va nous permettre de faire les calculs et en déduire la commande de notre voiture ?
+
+La plateforme choisit doit être robuste (résistante au probable choc sur le corps de la voiture), doit permettre une liaison avec l'arduino de contrôle de la voiture et doit avoir une assez grande puissance de calcul pour traiter les images (qui peuvent provenir de différentes caméras HD).
+
+A savoir que toute les plateformes se rapprochant de Arduino, Rasberry Pi, ou tournant sur ATmega328P, PIC ou autre microprocesseur cadencé en dessous du gigahertz ne pourra pas convenir dû au manque de puissance de calcul que nécessite le traitement vidéo.
+
+Voici alors une première liste de plateforme :
+
+
+\begin{itemize}
+
+\item Téléphone Android haut de gamme : 
+
+\textbf{Avantages : }
+\begin{itemize}
+\item disponible auprès des membres du Pae
+\item Aucun coût
+\item Pas de consommation
+\item Puissance suffisante
+\item taille petite
+\end{itemize}
+
+\textbf{Inconvénients : }
+\begin{itemize}
+\item Obligation de développement en .apk
+\item Puissance de calcul limité
+\item difficulté pour gérer les différentes entrée vidéo
+\end{itemize}
+
+\item  \href{https://www.nvidia.com/fr-be/autonomous-machines/jetson-store/}{Nvidia Jetson}
+
+\textbf{Avantages : }
+\begin{itemize}
+\item très forte puissance de calcul
+\item basse consommation
+\item Carte qui pourrait être intégré sur le véhicule à grande échelle
+\item architecture faite pour le calcul d'IA
+\item Programmation en CUDA / C++
+\end{itemize}
+\textbf{Inconvénients : }
+\begin{itemize}
+\item prix 109 \euro{}
+\item besoin de fournir une protection
+\item Assez encombrant sur la voiture (103mm x 90.5mm x 34mm)
+\end{itemize}
+
+\end{itemize}
+
+\subsection{Intelligence déporté}
+
+La deuxième solution est donc de déporter le calcul et la commande à l'extérieur de la voiture sur un ordinateur distant. Il faut alors trouver un moyen de recevoir le flux vidéo de plusieurs caméras à distance. La réception doit être de bonne qualité et avec une faible latence ($\leqslant 500ms$).
+
+On ne peut donc pas utiliser de système analogique (beaucoup de bruit à cause de la nature analogique du transfert). Il faut alors trouver un système numérique peu onéreux ($\leqslant 200 $\euro{}) qui permettent le transfert. 
+
+Voici la liste préliminaire des solutions : 
+
+\begin{itemize}
+
+\item ESP32-CAM
+
+\textbf{Avantages : }
+
+\begin{itemize}
+\item Système compact
+\item Système autonome
+\item Bon marché ($30$\euro{})
+\item faible latence ($\leqslant 100$ms)
+\item Petit encombrement
+\end{itemize}
+\textbf{Inconvénients : }
+
+\begin{itemize}
+\item Faible qualité vidéo (max 800x600 en 30 fps)
+\item multiplication des émissions wifi (comment gérer la réception)
+\end{itemize}
+
+
+\end{itemize}
+
+\newpage
+
+\section{Annexe}
+
+\subsection{Code de test nrf24l01+}
+\label{sec:nrf24l01}
+\begin{minted}{arduino}
+/*
+ * See documentation at https://nRF24.github.io/RF24
+ * See License information at root directory of this library
+ * Author: Brendan Doherty (2bndy5)
+ */
+
+/**
+ * A simple example of sending data from 1 nRF24L01 transceiver to another.
+ *
+ * This example was written to be used on 2 devices acting as "nodes".
+ * Use the Serial Monitor to change each node's behavior.
+ */
+#include <SPI.h>
+#include "printf.h"
+#include "RF24.h"
+
+// instantiate an object for the nRF24L01 transceiver
+RF24 radio(10, 9);  // using pin 10 for the CE pin, and pin 9 for the CSN pin
+
+// Let these addresses be used for the pair
+uint8_t address[][6] = { "1Node", "2Node" };
+// It is very helpful to think of an address as a path instead of as
+// an identifying device destination
+
+// to use different addresses on a pair of radios, we need a variable to
+// uniquely identify which address this radio will use to transmit
+bool radioNumber = 1;  // 0 uses address[0] to transmit, 1 uses address[1] to transmit
+
+// Used to control whether this node is sending or receiving
+bool role = false;  // true = TX role, false = RX role
+
+// For this example, we'll be using a payload containing
+// a single float number that will be incremented
+// on every successful transmission
+float payload = 0.0;
+
+void setup() {
+
+  Serial.begin(115200);
+  while (!Serial) {
+    // some boards need to wait to ensure access to serial over USB
+  }
+
+  // initialize the transceiver on the SPI bus
+  if (!radio.begin()) {
+    Serial.println(F("radio hardware is not responding!!"));
+    while (1) {}  // hold in infinite loop
+  }
+
+  // print example's introductory prompt
+  Serial.println(F("RF24/examples/GettingStarted"));
+
+  // To set the radioNumber via the Serial monitor on startup
+  Serial.println(F("Which radio is this? Enter '0' or '1'. Defaults to '0'"));
+  while (!Serial.available()) {
+    // wait for user input
+  }
+  char input = Serial.parseInt();
+  radioNumber = input == 1;
+  Serial.print(F("radioNumber = "));
+  Serial.println((int)radioNumber);
+
+  // role variable is hardcoded to RX behavior, inform the user of this
+  Serial.println(F("*** PRESS 'T' to begin transmitting to the other node"));
+
+  // Set the PA Level low to try preventing power supply related problems
+  // because these examples are likely run with nodes in close proximity to
+  // each other.
+  radio.setPALevel(RF24_PA_LOW);  // RF24_PA_MAX is default.
+
+  // save on transmission time by setting the radio to only transmit the
+  // number of bytes we need to transmit a float
+  radio.setPayloadSize(sizeof(payload));  // float datatype occupies 4 bytes
+
+  // set the TX address of the RX node into the TX pipe
+  radio.openWritingPipe(address[radioNumber]);  // always uses pipe 0
+
+  // set the RX address of the TX node into a RX pipe
+  radio.openReadingPipe(1, address[!radioNumber]);  // using pipe 1
+
+  // additional setup specific to the node's role
+  if (role) {
+    radio.stopListening();  // put radio in TX mode
+  } else {
+    radio.startListening();  // put radio in RX mode
+  }
+
+  // For debugging info
+  // printf_begin();             // needed only once for printing details
+  // radio.printDetails();       // (smaller) function that prints raw register values
+  // radio.printPrettyDetails(); // (larger) function that prints human readable data
+
+}  // setup
+
+void loop() {
+
+  if (role) {
+    // This device is a TX node
+
+    unsigned long start_timer = micros();                // start the timer
+    bool report = radio.write(&payload, sizeof(float));  // transmit & save the report
+    unsigned long end_timer = micros();                  // end the timer
+
+    if (report) {
+      Serial.print(F("Transmission successful! "));  // payload was delivered
+      Serial.print(F("Time to transmit = "));
+      Serial.print(end_timer - start_timer);  // print the timer result
+      Serial.print(F(" us. Sent: "));
+      Serial.println(payload);  // print payload sent
+      payload += 0.01;          // increment float payload
+    } else {
+      Serial.println(F("Transmission failed or timed out"));  // payload was not delivered
+    }
+
+    // to make this example readable in the serial monitor
+    delay(1000);  // slow transmissions down by 1 second
+
+  } else {
+    // This device is a RX node
+
+    uint8_t pipe;
+    if (radio.available(&pipe)) {              // is there a payload? get the pipe number that recieved it
+      uint8_t bytes = radio.getPayloadSize();  // get the size of the payload
+      radio.read(&payload, bytes);             // fetch payload from FIFO
+      Serial.print(F("Received "));
+      Serial.print(bytes);  // print the size of the payload
+      Serial.print(F(" bytes on pipe "));
+      Serial.print(pipe);  // print the pipe number
+      Serial.print(F(": "));
+      Serial.println(payload);  // print the payload's value
+    }
+  }  // role
+
+  if (Serial.available()) {
+    // change the role via the serial monitor
+
+    char c = toupper(Serial.read());
+    if (c == 'T' && !role) {
+      // Become the TX node
+
+      role = true;
+      Serial.println(F("*** CHANGING TO TRANSMIT ROLE -- PRESS 'R' TO SWITCH BACK"));
+      radio.stopListening();
+
+    } else if (c == 'R' && role) {
+      // Become the RX node
+
+      role = false;
+      Serial.println(F("*** CHANGING TO RECEIVE ROLE -- PRESS 'T' TO SWITCH BACK"));
+      radio.startListening();
+    }
+  }
+
+}  // loop
+\end{minted}
+
+
+\end{document}
\ No newline at end of file
diff --git a/Documentation/Pre-projet/Resume/resume.toc b/Documentation/Pre-projet/Resume/resume.toc
new file mode 100644
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+\babel@toc {french}{}\relax 
+\contentsline {section}{\numberline {1}Introduction}{1}{section.1}%
+\contentsline {section}{\numberline {2}Voiture RC}{2}{section.2}%
+\contentsline {subsection}{\numberline {2.1}Fonctionnement de la voiture}{2}{subsection.2.1}%
+\contentsline {subsection}{\numberline {2.2}Montage électrique}{3}{subsection.2.2}%
+\contentsline {subsection}{\numberline {2.3}Codes de test}{3}{subsection.2.3}%
+\contentsline {subsubsection}{\numberline {2.3.1}Test Puissance}{4}{subsubsection.2.3.1}%
+\contentsline {subsubsection}{\numberline {2.3.2}Test direction}{5}{subsubsection.2.3.2}%
+\contentsline {section}{\numberline {3}Dongle de contrôle}{7}{section.3}%
+\contentsline {subsection}{\numberline {3.1}Construction}{7}{subsection.3.1}%
+\contentsline {subsection}{\numberline {3.2}Script de contrôle}{7}{subsection.3.2}%
+\contentsline {section}{\numberline {4}Solution caméra}{8}{section.4}%
+\contentsline {subsection}{\numberline {4.1}Description des solutions}{8}{subsection.4.1}%
+\contentsline {subsection}{\numberline {4.2}Intelligence embarqué}{8}{subsection.4.2}%
+\contentsline {subsection}{\numberline {4.3}Intelligence déporté}{9}{subsection.4.3}%
+\contentsline {section}{\numberline {5}Annexe}{11}{section.5}%
+\contentsline {subsection}{\numberline {5.1}Code de test nrf24l01+}{11}{subsection.5.1}%
diff --git "a/Documentation/Pre-projet/Solution cam\303\251ra/choix streaming camera.aux" "b/Documentation/Pre-projet/Solution cam\303\251ra/choix streaming camera.aux"
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index 0000000000000000000000000000000000000000..6c0ddb77aae342c1167b5b05f352df0f835109c4
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diff --git "a/Documentation/Pre-projet/Solution cam\303\251ra/choix streaming camera.log" "b/Documentation/Pre-projet/Solution cam\303\251ra/choix streaming camera.log"
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diff --git "a/Documentation/Pre-projet/Solution cam\303\251ra/choix streaming camera.tex" "b/Documentation/Pre-projet/Solution cam\303\251ra/choix streaming camera.tex"
new file mode 100644
index 0000000000000000000000000000000000000000..3c9e1421a8b987869dbddfe2d6c173ee48628b3c
--- /dev/null
+++ "b/Documentation/Pre-projet/Solution cam\303\251ra/choix streaming camera.tex"	
@@ -0,0 +1,135 @@
+\documentclass{EPSA-rap-template}
+
+\usepackage{eurosym}
+\usepackage{amssymb}
+
+\type{Présentation}
+
+\titresize{\LARGE} % ne pas hésiter a changer la taille :
+%\normalsize
+%\large
+%\Large
+%\LARGE
+%\huge
+%\Huge
+%\HUGE
+
+\titre{Intelligence embarqué}
+
+\departement{Recherche}
+
+\auteurs{Eymeric \textbf{Chauchat}}
+
+\version{V1.0}
+
+\versionnement{
+\ver{V1.0}{25 aout 2022}{ ECT }{Rédaction initiale.}{1}
+}
+
+\setuppack
+
+\begin{document}
+
+\fairepagedegarde
+\newpage
+\tableofcontents
+
+\section{Introduction}
+
+En plus du contrôle à distance de la voiture (qui est obligatoire pour permettre un arrêt d'urgence), le projet nécessite que l'on traite des données vidéos pour permettre la conduite autonome de la voiture. En ce sens plusieurs solutions s'offrent à nous pour permettre l'acquisition et le traitement de ces données. 
+
+\section{Description des solutions}
+
+L'intelligence de la voiture peut se trouver à deux endroits :
+
+\begin{itemize}
+\item A l'intérieur de la voiture télécommandée
+\item sur l'ordinateur qui possède le dongle d'arret d'urgence / commande
+\end{itemize}
+
+Ces deux possibilités ouvrent un grand champ d'alternative pour arriver à faire l'acquisition vidéo et le traitement / commande. 
+
+\subsection{Intelligence embarqué}
+
+Dans le cas d'une intelligence embarquée, l'acquisition vidéo se fera directement grâce à des caméras branchées sur la carte de contrôle.
+
+La question est alors : quelle doit être la plateforme qui va nous permettre de faire les calculs et en déduire la commande de notre voiture ?
+
+La plateforme choisit doit être robuste (résistante au probable choc sur le corps de la voiture), doit permettre une liaison avec l'arduino de contrôle de la voiture et doit avoir une assez grande puissance de calcul pour traiter les images (qui peuvent provenir de différentes caméras HD).
+
+A savoir que toute les plateformes se rapprochant de Arduino, Rasberry Pi, ou tournant sur ATmega328P, PIC ou autre microprocesseur cadencé en dessous du gigahertz ne pourra pas convenir dû au manque de puissance de calcul que nécessite le traitement vidéo.
+
+Voici alors une première liste de plateforme :
+
+
+\begin{itemize}
+
+\item Téléphone Android haut de gamme : 
+
+\textbf{Avantages : }
+\begin{itemize}
+\item disponible auprès des membres du Pae
+\item Aucun coût
+\item Pas de consommation
+\item Puissance suffisante
+\item taille petite
+\end{itemize}
+
+\textbf{Inconvénients : }
+\begin{itemize}
+\item Obligation de développement en .apk
+\item Puissance de calcul limité
+\item difficulté pour gérer les différentes entrée vidéo
+\end{itemize}
+
+\item  \href{https://www.nvidia.com/fr-be/autonomous-machines/jetson-store/}{Nvidia Jetson}
+
+\textbf{Avantages : }
+\begin{itemize}
+\item très forte puissance de calcul
+\item basse consommation
+\item Carte qui pourrait être intégré sur le véhicule à grande échelle
+\item architecture faite pour le calcul d'IA
+\item Programmation en CUDA / C++
+\end{itemize}
+\textbf{Inconvénients : }
+\begin{itemize}
+\item prix 109 \euro{}
+\item besoin de fournir une protection
+\item Assez encombrant sur la voiture (103mm x 90.5mm x 34mm)
+\end{itemize}
+
+\end{itemize}
+
+\subsection{Intelligence déporté}
+
+La deuxième solution est donc de déporter le calcul et la commande à l'extérieur de la voiture sur un ordinateur distant. Il faut alors trouver un moyen de recevoir le flux vidéo de plusieurs caméras à distance. La réception doit être de bonne qualité et avec une faible latence ($\leqslant 500ms$).
+
+On ne peut donc pas utiliser de système analogique (beaucoup de bruit à cause de la nature analogique du transfert). Il faut alors trouver un système numérique peu onéreux ($\leqslant 200 $\euro{}) qui permettent le transfert. 
+
+Voici la liste préliminaire des solutions : 
+
+\begin{itemize}
+
+\item ESP32-CAM
+
+\textbf{Avantages : }
+
+\begin{itemize}
+\item Système compact
+\item Système autonome
+\item Bon marché ($30$\euro{})
+\item faible latence ($\leqslant 100$ms)
+\item Petit encombrement
+\end{itemize}
+\textbf{Inconvénients : }
+
+\begin{itemize}
+\item Faible qualité vidéo (max 800x600 en 30 fps)
+\item multiplication des émissions wifi (comment gérer la réception)
+\end{itemize}
+
+
+\end{itemize}
+
+\end{document}
\ No newline at end of file
diff --git "a/Documentation/Pre-projet/Solution cam\303\251ra/choix streaming camera.toc" "b/Documentation/Pre-projet/Solution cam\303\251ra/choix streaming camera.toc"
new file mode 100644
index 0000000000000000000000000000000000000000..dac91c9d932446edc3bd112a1c141dfaa30c9374
--- /dev/null
+++ "b/Documentation/Pre-projet/Solution cam\303\251ra/choix streaming camera.toc"	
@@ -0,0 +1,5 @@
+\babel@toc {french}{}\relax 
+\contentsline {section}{\numberline {1}Introduction}{1}{section.1}%
+\contentsline {section}{\numberline {2}Description des solutions}{1}{section.2}%
+\contentsline {subsection}{\numberline {2.1}Intelligence embarqué}{1}{subsection.2.1}%
+\contentsline {subsection}{\numberline {2.2}Intelligence déporté}{2}{subsection.2.2}%
diff --git a/Documentation/Pre-projet/Voiture RC/Arduino Nano scheme.jpg b/Documentation/Pre-projet/Voiture RC/Arduino Nano scheme.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..62675312a3cf9c06d8fc77995a7538ffcc7a7a5f
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diff --git a/Documentation/Pre-projet/Voiture RC/Arduino Nano scheme.png b/Documentation/Pre-projet/Voiture RC/Arduino Nano scheme.png
new file mode 100644
index 0000000000000000000000000000000000000000..99b780602be86afab3b73a931358ecd9603a9d0c
Binary files /dev/null and b/Documentation/Pre-projet/Voiture RC/Arduino Nano scheme.png differ
diff --git a/Documentation/Pre-projet/Voiture RC/Arduino Nano scheme.psd b/Documentation/Pre-projet/Voiture RC/Arduino Nano scheme.psd
new file mode 100644
index 0000000000000000000000000000000000000000..069520fe5af68d947beba564bb88847f2aa044c4
Binary files /dev/null and b/Documentation/Pre-projet/Voiture RC/Arduino Nano scheme.psd differ
diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/Comande_preli/Comande_preli.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/Comande_preli/Comande_preli.ino
new file mode 100644
index 0000000000000000000000000000000000000000..aec7d420d47406fbeec706d7049c103567d6528d
--- /dev/null
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/Comande_preli/Comande_preli.ino	
@@ -0,0 +1,43 @@
+#define PontHRouge 10
+#define PontHNoir 9
+
+int val = 0;
+
+void setup() {
+  
+  pinMode(PontHRouge,OUTPUT);
+  pinMode(PontHNoir,OUTPUT);
+
+  Serial.begin(115200);
+
+  while (!Serial) {
+    // some boards need to wait to ensure access to serial over USB
+  }
+
+  Serial.println("Test des commandes PWM voiture");
+
+}
+
+void loop() {
+  
+  if(val >= 0 )
+  {
+     analogWrite(PontHRouge,abs(val));
+     analogWrite(PontHNoir,abs(val));
+  }
+  if(val < 0)
+  {
+     analogWrite(PontHNoir,abs(val));
+  }
+
+  if(Serial.available()){
+
+    val = Serial.readString().toInt();
+
+    Serial.println(val);
+  }
+
+  
+  
+
+}
diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/GettingStarted/GettingStarted.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/GettingStarted/GettingStarted.ino
new file mode 100644
index 0000000000000000000000000000000000000000..d2df72a44d8d2b5519c7c86461a3dc82c9cf83ce
--- /dev/null
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/GettingStarted/GettingStarted.ino	
@@ -0,0 +1,154 @@
+/*
+ * See documentation at https://nRF24.github.io/RF24
+ * See License information at root directory of this library
+ * Author: Brendan Doherty (2bndy5)
+ */
+
+/**
+ * A simple example of sending data from 1 nRF24L01 transceiver to another.
+ *
+ * This example was written to be used on 2 devices acting as "nodes".
+ * Use the Serial Monitor to change each node's behavior.
+ */
+#include <SPI.h>
+#include "printf.h"
+#include "RF24.h"
+
+// instantiate an object for the nRF24L01 transceiver
+RF24 radio(8, 7);  // using pin 7 for the CE pin, and pin 8 for the CSN pin
+
+// Let these addresses be used for the pair
+uint8_t address[][6] = { "1Node", "2Node" };
+// It is very helpful to think of an address as a path instead of as
+// an identifying device destination
+
+// to use different addresses on a pair of radios, we need a variable to
+// uniquely identify which address this radio will use to transmit
+bool radioNumber = 1;  // 0 uses address[0] to transmit, 1 uses address[1] to transmit
+
+// Used to control whether this node is sending or receiving
+bool role = false;  // true = TX role, false = RX role
+
+// For this example, we'll be using a payload containing
+// a single float number that will be incremented
+// on every successful transmission
+float payload = 0.0;
+
+void setup() {
+
+  Serial.begin(115200);
+  while (!Serial) {
+    // some boards need to wait to ensure access to serial over USB
+  }
+
+  // initialize the transceiver on the SPI bus
+  if (!radio.begin()) {
+    Serial.println(F("radio hardware is not responding!!"));
+    while (1) {}  // hold in infinite loop
+  }
+
+  // print example's introductory prompt
+  Serial.println(F("RF24/examples/GettingStarted"));
+
+  // To set the radioNumber via the Serial monitor on startup
+  Serial.println(F("Which radio is this? Enter '0' or '1'. Defaults to '0'"));
+  while (!Serial.available()) {
+    // wait for user input
+  }
+  char input = Serial.parseInt();
+  radioNumber = input == 1;
+  Serial.print(F("radioNumber = "));
+  Serial.println((int)radioNumber);
+
+  // role variable is hardcoded to RX behavior, inform the user of this
+  Serial.println(F("*** PRESS 'T' to begin transmitting to the other node"));
+
+  // Set the PA Level low to try preventing power supply related problems
+  // because these examples are likely run with nodes in close proximity to
+  // each other.
+  radio.setPALevel(RF24_PA_LOW);  // RF24_PA_MAX is default.
+
+  // save on transmission time by setting the radio to only transmit the
+  // number of bytes we need to transmit a float
+  radio.setPayloadSize(sizeof(payload));  // float datatype occupies 4 bytes
+
+  // set the TX address of the RX node into the TX pipe
+  radio.openWritingPipe(address[radioNumber]);  // always uses pipe 0
+
+  // set the RX address of the TX node into a RX pipe
+  radio.openReadingPipe(1, address[!radioNumber]);  // using pipe 1
+
+  // additional setup specific to the node's role
+  if (role) {
+    radio.stopListening();  // put radio in TX mode
+  } else {
+    radio.startListening();  // put radio in RX mode
+  }
+
+  // For debugging info
+  // printf_begin();             // needed only once for printing details
+  // radio.printDetails();       // (smaller) function that prints raw register values
+  // radio.printPrettyDetails(); // (larger) function that prints human readable data
+
+}  // setup
+
+void loop() {
+
+  if (role) {
+    // This device is a TX node
+
+    unsigned long start_timer = micros();                // start the timer
+    bool report = radio.write(&payload, sizeof(float));  // transmit & save the report
+    unsigned long end_timer = micros();                  // end the timer
+
+    if (report) {
+      Serial.print(F("Transmission successful! "));  // payload was delivered
+      Serial.print(F("Time to transmit = "));
+      Serial.print(end_timer - start_timer);  // print the timer result
+      Serial.print(F(" us. Sent: "));
+      Serial.println(payload);  // print payload sent
+      payload += 0.01;          // increment float payload
+    } else {
+      Serial.println(F("Transmission failed or timed out"));  // payload was not delivered
+    }
+
+    // to make this example readable in the serial monitor
+    delay(1000);  // slow transmissions down by 1 second
+
+  } else {
+    // This device is a RX node
+
+    uint8_t pipe;
+    if (radio.available(&pipe)) {              // is there a payload? get the pipe number that recieved it
+      uint8_t bytes = radio.getPayloadSize();  // get the size of the payload
+      radio.read(&payload, bytes);             // fetch payload from FIFO
+      Serial.print(F("Received "));
+      Serial.print(bytes);  // print the size of the payload
+      Serial.print(F(" bytes on pipe "));
+      Serial.print(pipe);  // print the pipe number
+      Serial.print(F(": "));
+      Serial.println(payload);  // print the payload's value
+    }
+  }  // role
+
+  if (Serial.available()) {
+    // change the role via the serial monitor
+
+    char c = toupper(Serial.read());
+    if (c == 'T' && !role) {
+      // Become the TX node
+
+      role = true;
+      Serial.println(F("*** CHANGING TO TRANSMIT ROLE -- PRESS 'R' TO SWITCH BACK"));
+      radio.stopListening();
+
+    } else if (c == 'R' && role) {
+      // Become the RX node
+
+      role = false;
+      Serial.println(F("*** CHANGING TO RECEIVE ROLE -- PRESS 'T' TO SWITCH BACK"));
+      radio.startListening();
+    }
+  }
+
+}  // loop
diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/Test_Direction/Test_Direction.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/Test_Direction/Test_Direction.ino
new file mode 100644
index 0000000000000000000000000000000000000000..8e496d04d02ae8871621a88b907e06e222785b57
--- /dev/null
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/Test_Direction/Test_Direction.ino	
@@ -0,0 +1,55 @@
+#define DirPin A6
+// Droite 176 Gauche 850
+
+#define PontG 5
+
+#define PontD 6
+
+
+
+int val = 0;
+
+int aim = 500;
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(9600);
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+if(Serial.available()){
+
+  aim = Serial.readString().toInt();
+    Serial.println(aim);
+}
+
+  if(val < aim-50)
+  {
+
+    analogWrite(PontG,100);
+    analogWrite(PontD,0);
+  }
+
+    else if(val > aim+50)
+  {
+
+    analogWrite(PontD,100);
+    analogWrite(PontG,0);
+  }
+  else
+  {
+    analogWrite(PontD,0);
+    analogWrite(PontG,0);
+  }
+
+  
+  val= analogRead(DirPin);
+  Serial.println(val);
+
+  //analogWrite(PontG,100);
+  
+
+}
diff --git a/Documentation/Pre-projet/Voiture RC/RC-presentation.tex b/Documentation/Pre-projet/Voiture RC/RC-presentation.tex
new file mode 100644
index 0000000000000000000000000000000000000000..e0ac49a9fbd393fbcf88bde63d00f349bb185d9b
--- /dev/null
+++ b/Documentation/Pre-projet/Voiture RC/RC-presentation.tex	
@@ -0,0 +1,85 @@
+\documentclass{EPSA-rap-template}
+
+\type{Présentation}
+
+\titresize{\LARGE} % ne pas hésiter a changer la taille :
+%\normalsize
+%\large
+%\Large
+%\LARGE
+%\huge
+%\Huge
+%\HUGE
+
+\titre{Voiture RC}
+
+\departement{Recherche}
+
+\auteurs{Eymeric \textbf{Chauchat}}
+
+\version{V1.0}
+
+\versionnement{
+\ver{V1.0}{26 aout 2022}{ ECT }{Rédaction initiale.}{1}
+}
+
+\setuppack
+
+\begin{document}
+
+\fairepagedegarde
+\newpage
+\tableofcontents
+
+\section{Introduction}
+
+Ce document va présenter la voiture radio commandé qui va être utilisé pour le projet de Pae cette année et la manière dont elle a été préparé. Pour permettre un contrôle par un ordinateur ou plus largement par n'importe quel type de microprocesseur ou processeur, nous avons remplacé la carte de réception par une arduino allié d'une nrf24l01 et de quelques composants annexes. 
+
+\section{Construction}
+
+
+\subsection{Montage électrique}
+
+la nrf24l01 est montée de manière analogue au dongle usb sur l'arduino de la voiture (Figure \ref{fig:wiring}). Cependant nous avons aussi besoin de connection avec la distribution en puissance de la voiture.
+
+\begin{figure}
+\centering
+\includegraphics[width=0.4\textwidth]{Arduino Nano scheme.jpg}
+\caption{Câblage de l'arduino nano}
+\label{fig:wiring}
+\end{figure}
+
+\section{Fonctionnement de la voiture}
+
+La voiture possède deux systèmes principaux, la direction et la propulsion. La direction est composée d'une nappe de 6 câbles : 
+
+\begin{itemize}
+
+\item Noir : moteur -
+\item Orange : moteur +
+\item Vert pomme : Potentiomètre +
+\item Blanc : Potentiomètre signal
+\item Vert : Potentiomètre -
+\item Bleu : isolation unused
+
+\end{itemize}
+
+à savoir que moteur - et moteur + sont contrôlé grâce à l'intermédiaire d'un pont en H sur la nappe. Le contrôle de la partie direction se fait simplement à partir de la donnée en angle du potentiomètre et de la sortie moteur.
+
+le deuxième système, la propulsion est composé de 4 câbles : 
+
+\begin{itemize}
+\item Blanc : Ground
+\item Jaune : +8 V continu
+\item Noir : première entrée pont en H
+\item Rouge : deuxième entrée pont en H
+\end{itemize}
+
+Le contrôle de la propulsion se fait au travers du câble Rouge et Noir. Pour avancer il faut mettre un signal sur le câble noir et pour reculer il faut mettre un signal sur le câble rouge et le câble noir.
+
+\section{Script de contrôle}
+
+
+
+
+\end{document}
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