diff --git a/Documentation/Pre-projet/Voiture RC/Code Arduino/Voiture_Finale/Voiture_Finale.ino b/Documentation/Pre-projet/Voiture RC/Code Arduino/Voiture_Finale/Voiture_Finale.ino
index 5750a1ddc00f00d127029469671d3da14bc2e422..03283ea4265df4910a8983424d7e42dd64fd8958 100644
--- a/Documentation/Pre-projet/Voiture RC/Code Arduino/Voiture_Finale/Voiture_Finale.ino	
+++ b/Documentation/Pre-projet/Voiture RC/Code Arduino/Voiture_Finale/Voiture_Finale.ino	
@@ -9,16 +9,20 @@
 #define DirPin 4
 // Droite 180 Gauche 850
 
-double Kp=3,Ki=0,Kd=0.3;//ces valeurs ne sont pas les bonnes
-
+//double Kp=3,Ki=0,Kd=0.3;//ces valeurs ne sont pas les bonnes
+//double Kp=0.97,Ki=1.3,Kd=0.0955; //marche bien pour discrétisation
+//double Kp=1.78,Ki=0.41,Kd=0.61; broida ok tier
+double Kp=1,Ki=0.2,Kd=0.133;
 int aggressif = 40;
-double Kpd=2.3,Kid=8,Kdd=0.2;//ces valeurs ne sont pas les bonnes
-
+//double Kpd=2.3,Kid=8,Kdd=0.2;//ces valeurs ne sont pas les bonnes
+double Kpd=1,Kid=0.2,Kdd=0.133;
+//double Kpd=0.5,Kid=0.1,Kdd=0;
 
 double Setpoint, Input, Output; //valeur visé pour les roues dans [-127,127], valeur réelle des roues dans [-127,127] et valeur de la commande des roues
 PID myPID(&Input, &Output, &Setpoint,Kp,Ki,Kd, DIRECT);
+//PID myPID(&Input, &Output, &Setpoint,1,0,0, DIRECT);
 bool turning;
-int zone_morte=10;
+int zone_morte=5;
 
 
 #define PontG 5
@@ -133,7 +137,7 @@ void loop() {
 
     radio.stopListening();
 
-    delay(10);
+    delay(0.2);
     
     bool report = radio.write(&sending,sizeof(sending));
     
@@ -172,14 +176,17 @@ void loop() {
       
       if ( abs(Input-Setpoint)<aggressif ) {
         myPID.SetTunings(Kpd, Kid, Kdd);
+        //myPID.SetTunings(1,0,0);
       }
       else
       {
-        myPID.SetTunings(Kp, Ki, Kd);        
+        myPID.SetTunings(Kp, Ki, Kd);
+        //myPID.SetTunings(1,0,0);     
       }
 
 
       myPID.Compute();//on calcul l'output pour notre PID
+    
     //si on tombe dans la zone morte et que le virage est presque fini, on s'arrête là
 //    if (abs(Output)<zone_morte && abs(Input-Setpoint)<marge) {
 //      turning = false;
@@ -188,21 +195,21 @@ void loop() {
 //    else if (abs(Output)<zone_morte) {
 //      Output = 1.2*zone_morte*sign(Output);
 //    }
-    
+
     //on applique la commande
     if (Output>0) {
+      Output = Output/255*(255-40)+40;
       droite(abs(Output));
     }
     else {
+      Output = Output/255*(255-40)-40;
       gauche(abs(Output));
     }
 
     }
     else
     {
-
-      stop_direction();
-      
+      stop_direction(); 
     }
   }
 
diff --git a/PAR 153/__pycache__/car_interface.cpython-310.pyc b/PAR 153/__pycache__/car_interface.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..61d0b4e01106754cc8dd164fcb30f7ff123cae81
Binary files /dev/null and b/PAR 153/__pycache__/car_interface.cpython-310.pyc differ
diff --git a/PAR 153/__pycache__/mesure_discret_to_adim.cpython-310.pyc b/PAR 153/__pycache__/mesure_discret_to_adim.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..aafdd84c24f60a389bac58474c15aac493406f0d
Binary files /dev/null and b/PAR 153/__pycache__/mesure_discret_to_adim.cpython-310.pyc differ
diff --git a/PAR 153/__pycache__/pid_controller.cpython-310.pyc b/PAR 153/__pycache__/pid_controller.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..51aaff3169579afb8e6a251cf9b1efe462d350db
Binary files /dev/null and b/PAR 153/__pycache__/pid_controller.cpython-310.pyc differ
diff --git a/PAR 153/__pycache__/track_2_generator.cpython-310.pyc b/PAR 153/__pycache__/track_2_generator.cpython-310.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..5ba7b0ff9a9a2e5c33d6a5e0d0106a8ca6473d87
Binary files /dev/null and b/PAR 153/__pycache__/track_2_generator.cpython-310.pyc differ
diff --git a/PAR 153/discretisation.py b/PAR 153/discretisation.py
index 62458cca93679df75fa2fee17610e7dd26a8a792..cbc2f71ea99f2836c559de08c7d1b6c73976f3d5 100644
--- a/PAR 153/discretisation.py	
+++ b/PAR 153/discretisation.py	
@@ -7,6 +7,7 @@ import track_2_generator as tg
 from pid_controller import PidController
 from mesure_discret_to_adim import pol2xy
 import json
+from math import cos, sin
 
 def update_pos(x,y,cp):
     m = tg.create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)]
@@ -17,12 +18,191 @@ def update_pos(x,y,cp):
     plt.plot([x for x,y in c], [y for x,y in c], 'ob')
     plt.plot([x for x,y in p], [y for x,y in p], '--r')
     plt.axis("equal")
-    plt.show()
+    #plt.show()
     return
 
 
+def simulation(n, pid=(100,0.1,10), plot=True):    
+    essai_number = n
+    
+    max_lap = 6
+    current_lap = -1
+
+    p,i,d = pid
+    """initilize PID"""
+    pid = PidController(p,i,d)
+    
+    """initialize CP"""
+    cp=0
+    
+    data = {"essai": essai_number, "PID": {"P":p,"I":i,"D":d}, 'run': []}
+    
+    """loop"""
+    t = True
+    while t:
+        step_data = {}
+        
+        """set new pos"""
+        l = input('cercle, r, theta, pas: ')
+        try:
+            c, r, theta, p = l.split(' ')
+        except:
+            c = "s"
+        #c = "d"
+        #c, r, theta = "d", "1.2", "0"
+        if c=="s":
+            break
+        
+        """loading communication"""
+        ser = get_ser()
+        start_ser(ser)
+        
+        r, theta,p = float(r), float(theta), float(p)
+        
+        step_data["input"] = {"cercle":c, "r":r, "theta":theta}
+        
+        #x,y = input("x,y: ").split(' ')
+        x,y = pol2xy(c, r, theta)
+        
+        step_data["pos"] = {"x":x, "y":y}
+        
+        
+        """get distance"""
+        current_cp = LineString(tg.checkpoints(cp))
+        n_cp=cp+1
+        if cp==5:
+            n_cp=0
+            
+        next_cp = LineString(tg.checkpoints(n_cp))
+        pos = Point(x,y)
+        d1 = current_cp.distance(pos)
+        d2 = next_cp.distance(pos)
+        d=d1
+        
+        forward = False
+        if d1>d2:
+            cp=n_cp
+            d = d2
+            if cp==0:
+                current_lap+=1
+                if max_lap<=current_lap:
+                    t = False
+            if cp==3 or cp==0:
+                pid.previous_error *= -1
+                pid.integrated_error *= -1
+
+                #forward = True
+            
+        
+        d = r-1.2
+        
+        step_data["dist"] = d
+        step_data["cp"] = cp
+        step_data["lap"] = current_lap
+        
+        if plot:
+            """display"""
+            update_pos(x,y,cp)
+        
+        """get new order"""
+        speed = 10
+        direction = pid.get_control(d)
+        g = tg.is_in_track(x, y)
+        if cp in [0,1,2]:
+            direction*=-1
+        #if not g:
+        #if 1.2-r>0:
+            #direction*=-1
+            
+        direction = int(direction)
+        
+        if direction>255:
+            direction = 255
+        elif direction<-255:
+            direction = -255
+        #print(f"PID direction: {direction}")
+        #print(f"PID direction integrated: {pid.integrated_error}")
+        #print(f"PID direction previous: {pid.previous_error}")
+        
+        if forward:
+            direction_ideal = 0
+        elif cp in [0,1,2]:
+            direction_ideal = 100
+        elif cp in [3,4,5]:
+            direction_ideal = -20
+        direction_correction = direction
+        
+        direction = direction_ideal+direction_correction
+        
+        if direction>127:
+            direction = 127
+        elif direction<-127:
+            direction = -127
+        
+        """passage au centre: dead zone"""
+        x0,y0 = 1.0,0.4
+        r=0.07
+        if plot:
+            xs,ys = [x0+r*cos(theta/50*2*3.1415) for theta in range(50)], [y0+r*sin(theta/50*2*3.1415) for theta in range(50)]
+            plt.plot(xs,ys, 'r-')
+            plt.show()
+            
+        #if (x-x0)**2+(y-y0)**2<r**2:
+        #    direction = (-30 + 100)/2
+        
+        step_data["order"] = {"speed":speed, "direction":direction}
+            
+        #direction = 100
+        print(f"direction: {direction}")
+        
+        """set new order"""
+        t_end = time() + 4
+        while time() < t_end:
+            a = send_infos(ser, 0, direction, 0)
+            
+            try:
+                direct = a.split(',')[0]
+            except:
+                direct = ''
+            print(f"capteurs1: {direct}->{direction}")
+            pass
+
+        t_end = time() + p
+        previous_print = time()
+        while time() < t_end:
+            a = send_infos(ser, speed, direction, 0)
+            
+            try:
+                direct = a.split(',')[0]
+            except:
+                direct = ''
+            print(f"capteurs2: {direct}->{direction}")
+            pass
+
+        """stop"""
+        t_end = time() + 2
+        while time() < t_end:
+            send_infos(ser, 0, direction, 0)
+            pass
+        
+        close_ser(ser)
+        
+        print(f"cp: {cp}")
+        
+        data["run"].append(step_data)
+          
+    return data
+
 if __name__=="__main__":
+    essai_number = input("Numero de l'essai : ")
+    #x = [1.12219182e+02, 4.92516610e-01, 7.51131752e+03]
+    x = [ 100,   0.2, 257]
+    data = simulation(essai_number, pid=x, plot=True)
+    
+    with open(f'essai_{essai_number}.json', 'w') as outfile:
+        json.dump(data, outfile, indent=4)
     
+    '''
     essai_number = input("Numero de l'essai")
     
     p,i,d = 1000,100,1000
@@ -120,6 +300,4 @@ if __name__=="__main__":
         data["run"].append(step_data)
         
         #close_ser(ser)
-            
-    with open(f'essai_{essai_number}.json', 'w') as outfile:
-        json.dump(data, outfile)
\ No newline at end of file
+    '''
\ No newline at end of file
diff --git a/PAR 153/essai_1.json b/PAR 153/essai_1.json
new file mode 100644
index 0000000000000000000000000000000000000000..d76ed134a8ec42811dcaa7e20a13043ac7da81dc
--- /dev/null
+++ b/PAR 153/essai_1.json	
@@ -0,0 +1 @@
+{"essai": "1", "PID": {"P": 54.11317513, "I": 0.522774415, "D": 257.9071004}, "run": [{"input": {"cercle": "d", "r": 1.18, "theta": 70.0}, "pos": {"x": 1.3318400961982129, "y": 0.03798446144692841}, "dist": -0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 94}}, {"input": {"cercle": "d", "r": 1.13, "theta": 50.0}, "pos": {"x": 1.1973541671059211, "y": 0.13932074136481454}, "dist": -0.07000000000000006, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 84}}, {"input": {"cercle": "d", "r": 1.1, "theta": 25.0}, "pos": {"x": 1.0846089309415354, "y": 0.3062999633688461}, "dist": -0.09999999999999987, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 87}}, {"input": {"cercle": "d", "r": 1.1, "theta": 10.0}, "pos": {"x": 1.0486297798694046, "y": 0.42041125190265694}, "dist": -0.09999999999999987, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 95}}, {"input": {"cercle": "g", "r": 1.32, "theta": 10.0}, "pos": {"x": 1.0416442641567145, "y": 0.5955064977168116}, "dist": 0.1200000000000001, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -63}}, {"input": {"cercle": "g", "r": 1.15, "theta": 30.0}, "pos": {"x": 0.9149705059800435, "y": 0.7395833333333333}, "dist": -0.050000000000000044, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -54}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_11.json b/PAR 153/essai_11.json
new file mode 100644
index 0000000000000000000000000000000000000000..485cda07608bbe11376162c974c985b93ec88012
--- /dev/null
+++ b/PAR 153/essai_11.json	
@@ -0,0 +1 @@
+{"essai": "11", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.2, "theta": 0.0}, "pos": {"x": 1.0, "y": 0.5}, "dist": 0.0, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 90}}, {"input": {"cercle": "d", "r": 1.16, "theta": -20.0}, "pos": {"x": 1.045815233286811, "y": 0.6653097359407398}, "dist": -0.040000000000000036, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 76}}, {"input": {"cercle": "d", "r": 1.16, "theta": -35.0}, "pos": {"x": 1.1040765119269873, "y": 0.7772286109030055}, "dist": -0.040000000000000036, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 86}}, {"input": {"cercle": "d", "r": 1.19, "theta": -55.0}, "pos": {"x": 1.2156016836426065, "y": 0.9061628886266251}, "dist": -0.010000000000000009, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 96}}, {"input": {"cercle": "d", "r": 1.23, "theta": -70.0}, "pos": {"x": 1.3247146765455948, "y": 0.9815924681527781}, "dist": 0.030000000000000027, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 103}}, {"input": {"cercle": "d", "r": 1.25, "theta": -85.0}, "pos": {"x": 1.4546063839855947, "y": 1.0188514052561175}, "dist": 0.050000000000000044, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 100}}, {"input": {"cercle": "d", "r": 1.28, "theta": -100.0}, "pos": {"x": 1.5926123614223628, "y": 1.025230801606511}, "dist": 0.08000000000000007, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 105}}, {"input": {"cercle": "d", "r": 1.3, "theta": -115.0}, "pos": {"x": 1.7289182251095454, "y": 0.9909167179781855}, "dist": 0.10000000000000009, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 105}}, {"input": {"cercle": "d", "r": 1.31, "theta": -130.0}, "pos": {"x": 1.8508549036205695, "y": 0.9181325918691089}, "dist": 0.1100000000000001, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 103}}, {"input": {"cercle": "d", "r": 1.33, "theta": -140.0}, "pos": {"x": 1.924516295561767, "y": 0.8562114670346239}, "dist": 0.13000000000000012, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 108}}, {"input": {"cercle": "d", "r": 1.35, "theta": -150.0}, "pos": {"x": 1.9871392896287468, "y": 0.78125}, "dist": 0.15000000000000013, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 110}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_18.json b/PAR 153/essai_18.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f2125eeda45d27a616f834aee258534fae6631
--- /dev/null
+++ b/PAR 153/essai_18.json	
@@ -0,0 +1 @@
+{"essai": "18", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": []}
\ No newline at end of file
diff --git a/PAR 153/essai_19.json b/PAR 153/essai_19.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a5647c881c075c067998927affd169d38b43ba2
--- /dev/null
+++ b/PAR 153/essai_19.json	
@@ -0,0 +1 @@
+{"essai": "19", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.2, "theta": 65.0}, "pos": {"x": 1.2886908691296504, "y": 0.04684610648167503}, "dist": 0.0, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 90}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_2.json b/PAR 153/essai_2.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dcc4255a93cc7715877d91ac3bb9b130a74e0ab
--- /dev/null
+++ b/PAR 153/essai_2.json	
@@ -0,0 +1 @@
+{"essai": "2", "PID": {"P": 54.11317513, "I": 0.522774415, "D": 257.9071004}, "run": [{"input": {"cercle": "d", "r": 1.12, "theta": 45.0}, "pos": {"x": 1.1700168354462779, "y": 0.17001683544627777}, "dist": -0.07999999999999985, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 66}}, {"input": {"cercle": "d", "r": 1.12, "theta": 25.0}, "pos": {"x": 1.0770563660495633, "y": 0.30277814452100693}, "dist": -0.07999999999999985, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 86}}, {"input": {"cercle": "d", "r": 1.14, "theta": 15.0}, "pos": {"x": 1.0411852325126927, "y": 0.37706095357630265}, "dist": -0.06000000000000005, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 91}}, {"input": {"cercle": "g", "r": 1.24, "theta": 5.0}, "pos": {"x": 1.0147005940140685, "y": 0.5450304670862901}, "dist": 0.040000000000000036, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -27}}, {"input": {"cercle": "g", "r": 1.12, "theta": 15.0}, "pos": {"x": 0.9507653856015652, "y": 0.6207822210478431}, "dist": -0.07999999999999985, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": 15}}, {"input": {"cercle": "g", "r": 1.08, "theta": 40.0}, "pos": {"x": 0.8447199994035401, "y": 0.7892544243589428}, "dist": -0.11999999999999988, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -4}}, {"input": {"cercle": "g", "r": 1.1, "theta": 50.0}, "pos": {"x": 0.7946109877729972, "y": 0.8511037030961983}, "dist": -0.09999999999999987, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -20}}, {"input": {"cercle": "g", "r": 1.16, "theta": 70.0}, "pos": {"x": 0.6653097359407399, "y": 0.9541847667131891}, "dist": -0.040000000000000036, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -33}}, {"input": {"cercle": "g", "r": 1.17, "theta": 90.0}, "pos": {"x": 0.5, "y": 0.9875}, "dist": -0.030000000000000027, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -20}}, {"input": {"cercle": "g", "r": 1.19, "theta": 110.0}, "pos": {"x": 0.33041501226768927, "y": 0.965930924473013}, "dist": -0.010000000000000009, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -24}}, {"input": {"cercle": "g", "r": 1.22, "theta": 125.0}, "pos": {"x": 0.2084319781882184, "y": 0.9164022891802376}, "dist": 0.020000000000000018, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -28}}, {"input": {"cercle": "g", "r": 1.23, "theta": 135.0}, "pos": {"x": 0.1376077746418944, "y": 0.8623922253581057}, "dist": 0.030000000000000027, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -23}}, {"input": {"cercle": "g", "r": 1.25, "theta": 155.0}, "pos": {"x": 0.027964694251744804, "y": 0.7201136779899476}, "dist": 0.050000000000000044, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -27}}, {"input": {"cercle": "g", "r": 1.25, "theta": 165.0}, "pos": {"x": -0.003086367858889716, "y": 0.6348015859908964}, "dist": 0.050000000000000044, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -22}}, {"input": {"cercle": "g", "r": 1.26, "theta": 180.0}, "pos": {"x": -0.025000000000000022, "y": 0.5000000000000001}, "dist": 0.06000000000000005, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -25}}, {"input": {"cercle": "g", "r": 1.25, "theta": -170.0}, "pos": {"x": -0.01292070469385842, "y": 0.4095582407984738}, "dist": 0.050000000000000044, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -20}}, {"input": {"cercle": "g", "r": 1.22, "theta": -155.0}, "pos": {"x": 0.039293541589702996, "y": 0.2851690502818111}, "dist": 0.020000000000000018, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -14}}, {"input": {"cercle": "g", "r": 1.21, "theta": -145.0}, "pos": {"x": 0.08701084433763345, "y": 0.21082188000634744}, "dist": 0.010000000000000009, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -18}}, {"input": {"cercle": "g", "r": 1.2, "theta": -130.0}, "pos": {"x": 0.17860619515673032, "y": 0.116977778440511}, "dist": 0.0, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -18}}, {"input": {"cercle": "g", "r": 1.17, "theta": -115.0}, "pos": {"x": 0.29397359740140905, "y": 0.05817495381963311}, "dist": -0.030000000000000027, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -11}}, {"input": {"cercle": "g", "r": 1.16, "theta": -100.0}, "pos": {"x": 0.4160700474609837, "y": 0.024009586044099474}, "dist": -0.040000000000000036, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -16}}, {"input": {"cercle": "g", "r": 1.15, "theta": -85.0}, "pos": {"x": 0.5417621267332529, "y": 0.02265670716437196}, "dist": -0.050000000000000044, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -15}}, {"input": {"cercle": "g", "r": 115.0, "theta": -65.0}, "pos": {"x": 20.750458375075183, "y": -42.92724812883948}, "dist": 113.8, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -127}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_20.json b/PAR 153/essai_20.json
new file mode 100644
index 0000000000000000000000000000000000000000..b88b0efabae930fc5b11a983c9f175e2f284ba13
--- /dev/null
+++ b/PAR 153/essai_20.json	
@@ -0,0 +1 @@
+{"essai": "20", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.19, "theta": 60.0}, "pos": {"x": 1.2520833333333332, "y": 0.07059573729021584}, "dist": -0.010000000000000009, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 87}}, {"input": {"cercle": "d", "r": 1.18, "theta": 40.0}, "pos": {"x": 1.1233614821331692, "y": 0.18396275857078487}, "dist": -0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 86}}, {"input": {"cercle": "d", "r": 1.23, "theta": 25.0}, "pos": {"x": 1.0355172591437167, "y": 0.2834081408578915}, "dist": 0.030000000000000027, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 105}}, {"input": {"cercle": "d", "r": 1.27, "theta": 5.0}, "pos": {"x": 0.9728469722597847, "y": 0.4538800861293642}, "dist": 0.07000000000000006, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 15}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_21.json b/PAR 153/essai_21.json
new file mode 100644
index 0000000000000000000000000000000000000000..3175eb5b759cc09155466561d10e6507127c0605
--- /dev/null
+++ b/PAR 153/essai_21.json	
@@ -0,0 +1 @@
+{"essai": "21", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.18, "theta": 95.0}, "pos": {"x": 1.5428515735175987, "y": 0.010204273438225109}, "dist": -0.020000000000000018, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 83}}, {"input": {"cercle": "d", "r": 1.18, "theta": 80.0}, "pos": {"x": 1.4146229793137592, "y": 0.01580285476899773}, "dist": -0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 88}}, {"input": {"cercle": "d", "r": 1.21, "theta": 60.0}, "pos": {"x": 1.2479166666666666, "y": 0.06337885892534556}, "dist": 0.010000000000000009, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 98}}, {"input": {"cercle": "d", "r": 1.24, "theta": 40.0}, "pos": {"x": 1.1042103710551947, "y": 0.16789306832862133}, "dist": 0.040000000000000036, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 101}}, {"input": {"cercle": "d", "r": 1.27, "theta": 20.0}, "pos": {"x": 1.0027459881674567, "y": 0.31901434082350033}, "dist": 0.07000000000000006, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 104}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_22.json b/PAR 153/essai_22.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d539e4b2568067dfb409d84e14d64016ed9f7f
--- /dev/null
+++ b/PAR 153/essai_22.json	
@@ -0,0 +1 @@
+{"essai": "22", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.18, "theta": 95.0}, "pos": {"x": 1.5428515735175987, "y": 0.010204273438225109}, "dist": -0.020000000000000018, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 93}}, {"input": {"cercle": "d", "r": 1.17, "theta": 80.0}, "pos": {"x": 1.4153465133873715, "y": 0.019906220406548603}, "dist": -0.030000000000000027, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 95}}, {"input": {"cercle": "d", "r": 1.17, "theta": 60.0}, "pos": {"x": 1.2562499999999999, "y": 0.07781261565508618}, "dist": -0.030000000000000027, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 97}}, {"input": {"cercle": "d", "r": 1.19, "theta": 35.0}, "pos": {"x": 1.093837111373375, "y": 0.21560168364260635}, "dist": -0.010000000000000009, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 104}}, {"input": {"cercle": "d", "r": 1.19, "theta": 15.0}, "pos": {"x": 1.0210617777983368, "y": 0.3716688901366668}, "dist": -0.010000000000000009, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 15}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_23.json b/PAR 153/essai_23.json
new file mode 100644
index 0000000000000000000000000000000000000000..8836f86afd1482145f98a42ee68c03a2c9ee51e5
--- /dev/null
+++ b/PAR 153/essai_23.json	
@@ -0,0 +1 @@
+{"essai": "23", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.18, "theta": 95.0}, "pos": {"x": 1.5428515735175987, "y": 0.010204273438225109}, "dist": -0.020000000000000018, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 93}}, {"input": {"cercle": "d", "r": 1.14, "theta": 75.0}, "pos": {"x": 1.3770609535763025, "y": 0.04118523251269257}, "dist": -0.06000000000000005, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 84}}, {"input": {"cercle": "d", "r": 1.18, "theta": 55.0}, "pos": {"x": 1.2179915854607357, "y": 0.09725024489124573}, "dist": -0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 108}}, {"input": {"cercle": "d", "r": 1.22, "theta": 40.0}, "pos": {"x": 1.1105940747478529, "y": 0.17324963174267588}, "dist": 0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 112}}, {"input": {"cercle": "d", "r": 1.22, "theta": 20.0}, "pos": {"x": 1.022322917767163, "y": 0.3261397604761184}, "dist": 0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 101}}, {"input": {"cercle": "d", "r": 1.21, "theta": 0.0}, "pos": {"x": 0.9958333333333333, "y": 0.5}, "dist": 0.010000000000000009, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": 35.0}}, {"input": {"cercle": "g", "r": 1.2, "theta": 15.0}, "pos": {"x": 0.9829629131445341, "y": 0.6294095225512604}, "dist": 0.0, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -28}}, {"input": {"cercle": "g", "r": 1.18, "theta": 40.0}, "pos": {"x": 0.8766385178668308, "y": 0.8160372414292152}, "dist": -0.020000000000000018, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -23}}, {"input": {"cercle": "g", "r": 1.18, "theta": 60.0}, "pos": {"x": 0.7458333333333333, "y": 0.9257958235273489}, "dist": -0.020000000000000018, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -28}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_24.json b/PAR 153/essai_24.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3861d42f3739bd3fd23635420c754abdbae90e
--- /dev/null
+++ b/PAR 153/essai_24.json	
@@ -0,0 +1 @@
+{"essai": "24", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "g", "r": 1.2, "theta": -100.0}, "pos": {"x": 0.41317591116653485, "y": 0.00759612349389599}, "dist": 0.0, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -30}}, {"input": {"cercle": "g", "r": 1.1, "theta": -80.0}, "pos": {"x": 0.5795887480973431, "y": 0.048629779869404643}, "dist": -0.09999999999999987, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": 5}}, {"input": {"cercle": "g", "r": 1.08, "theta": -20.0}, "pos": {"x": 0.9228616793536588, "y": 0.34609093550344905}, "dist": -0.11999999999999988, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -13}}, {"input": {"cercle": "g", "r": 1.17, "theta": -40.0}, "pos": {"x": 0.8734466660205018, "y": 0.18664104027781214}, "dist": -0.030000000000000027, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -50}}, {"input": {"cercle": "g", "r": 1.19, "theta": -10.0}, "pos": {"x": 0.9883005108685532, "y": 0.41389944524014705}, "dist": -0.010000000000000009, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": 35.0}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_25.json b/PAR 153/essai_25.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1a13cc0e889fce326bc2673b41f6729f437d3e5
--- /dev/null
+++ b/PAR 153/essai_25.json	
@@ -0,0 +1 @@
+{"essai": "25", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "g", "r": 1.2, "theta": -100.0}, "pos": {"x": 0.41317591116653485, "y": 0.00759612349389599}, "dist": 0.0, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -30}}, {"input": {"cercle": "g", "r": 1.13, "theta": -85.0}, "pos": {"x": 0.5410358288770224, "y": 0.03095832964846984}, "dist": -0.07000000000000006, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -6}}, {"input": {"cercle": "g", "r": 1.13, "theta": -65.0}, "pos": {"x": 0.6989827649029127, "y": 0.07328008360357735}, "dist": -0.07000000000000006, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -23}}, {"input": {"cercle": "g", "r": 1.18, "theta": -45.0}, "pos": {"x": 0.8476608340833859, "y": 0.15233916591661412}, "dist": -0.020000000000000018, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -40}}, {"input": {"cercle": "g", "r": 1.15, "theta": -20.0}, "pos": {"x": 0.9502693807932477, "y": 0.33611534798978376}, "dist": -0.050000000000000044, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -18}}, {"input": {"cercle": "g", "r": 1.16, "theta": 0.0}, "pos": {"x": 0.9833333333333334, "y": 0.5}, "dist": -0.040000000000000036, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": 35.0}}, {"input": {"cercle": "d", "r": 1.26, "theta": -20.0}, "pos": {"x": 1.006661374087398, "y": 0.6795605752459761}, "dist": 0.06000000000000005, "cp": 0, "lap": 0, "order": {"speed": 10, "direction": 127}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_26.json b/PAR 153/essai_26.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3be12c0b83136cba012bd729db1ebc38fea979f
--- /dev/null
+++ b/PAR 153/essai_26.json	
@@ -0,0 +1 @@
+{"essai": "26", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "g", "r": 1.2, "theta": -100.0}, "pos": {"x": 0.41317591116653485, "y": 0.00759612349389599}, "dist": 0.0, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -30}}, {"input": {"cercle": "g", "r": 1.2, "theta": -80.0}, "pos": {"x": 0.5868240888334653, "y": 0.00759612349389599}, "dist": 0.0, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -30}}, {"input": {"cercle": "g", "r": 1.17, "theta": -60.0}, "pos": {"x": 0.74375, "y": 0.07781261565508618}, "dist": -0.030000000000000027, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -20}}, {"input": {"cercle": "g", "r": 1.21, "theta": -45.0}, "pos": {"x": 0.8564996688482177, "y": 0.1435003311517823}, "dist": 0.010000000000000009, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -41}}, {"input": {"cercle": "g", "r": 1.21, "theta": -20.0}, "pos": {"x": 0.9737616963128954, "y": 0.327564844406642}, "dist": 0.010000000000000009, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -30}}, {"input": {"cercle": "g", "r": 1.2, "theta": 0.0}, "pos": {"x": 1.0, "y": 0.5}, "dist": 0.0, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": 35.0}}, {"input": {"cercle": "d", "r": 1.36, "theta": -30.0}, "pos": {"x": 1.009252271188818, "y": 0.7833333333333333}, "dist": 0.16000000000000014, "cp": 0, "lap": 0, "order": {"speed": 10, "direction": 127}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_27.json b/PAR 153/essai_27.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4e50a76c5a14318281997deaa7304bfc0ebf9ca
--- /dev/null
+++ b/PAR 153/essai_27.json	
@@ -0,0 +1 @@
+{"essai": "27", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.1, "theta": -35.0}, "pos": {"x": 1.124555313034212, "y": 0.7628891999942294}, "dist": -0.09999999999999987, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 65}}, {"input": {"cercle": "d", "r": 1.16, "theta": -50.0}, "pos": {"x": 1.1893193219848393, "y": 0.8702548141741727}, "dist": -0.040000000000000036, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 111}}, {"input": {"cercle": "d", "r": 1.24, "theta": -80.0}, "pos": {"x": 1.410281774872086, "y": 1.0088173390563075}, "dist": 0.040000000000000036, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 124}}, {"input": {"cercle": "d", "r": 1.28, "theta": -95.0}, "pos": {"x": 1.5464830627987511, "y": 1.0313038389822644}, "dist": 0.08000000000000007, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 118}}, {"input": {"cercle": "d", "r": 1.25, "theta": -110.0}, "pos": {"x": 1.6781354913154525, "y": 0.9894232399926607}, "dist": 0.050000000000000044, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 98}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_28.json b/PAR 153/essai_28.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8dd8aa06f30dbd26dc78c2ca05624185403c013
--- /dev/null
+++ b/PAR 153/essai_28.json	
@@ -0,0 +1 @@
+{"essai": "28", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 120.0, "theta": 0.0}, "pos": {"x": -48.5, "y": 0.5}, "dist": 118.8, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 127}}, {"input": {"cercle": "d", "r": 110.0, "theta": -16.0}, "pos": {"x": -42.55782773050628, "y": 13.13337880827913}, "dist": 108.8, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 127}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_29.json b/PAR 153/essai_29.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7ee4df20b4275b3709b8985f48a89a525b1b341
--- /dev/null
+++ b/PAR 153/essai_29.json	
@@ -0,0 +1 @@
+{"essai": "29", "PID": {"P": 100, "I": 0.2, "D": 257}, "run": [{"input": {"cercle": "d", "r": 1.2, "theta": 0.0}, "pos": {"x": 1.0, "y": 0.5}, "dist": 0.0, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 35.0}}, {"input": {"cercle": "d", "r": 1.25, "theta": -15.0}, "pos": {"x": 0.9969136321411102, "y": 0.6348015859908962}, "dist": 0.050000000000000044, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 117}}, {"input": {"cercle": "d", "r": 1.28, "theta": -34.0}, "pos": {"x": 1.0578466279706444, "y": 0.7982362151843984}, "dist": 0.08000000000000007, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 115}}, {"input": {"cercle": "d", "r": 1.27, "theta": -51.0}, "pos": {"x": 1.1669846264027943, "y": 0.9112397379376471}, "dist": 0.07000000000000006, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 104}}, {"input": {"cercle": "d", "r": 1.25, "theta": -72.0}, "pos": {"x": 1.3390536487630482, "y": 0.9953419355703925}, "dist": 0.050000000000000044, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 100}}, {"input": {"cercle": "d", "r": 1.22, "theta": -84.0}, "pos": {"x": 1.4468646978389428, "y": 1.005548630145539}, "dist": 0.020000000000000018, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 95}}, {"input": {"cercle": "d", "r": 1.19, "theta": -95.0}, "pos": {"x": 1.5432147224457138, "y": 0.9939465378038239}, "dist": -0.010000000000000009, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 92}}, {"input": {"cercle": "d", "r": 1.18, "theta": -107.0}, "pos": {"x": 1.6437494214886788, "y": 0.9701831716818258}, "dist": -0.020000000000000018, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 96}}, {"input": {"cercle": "d", "r": 1.19, "theta": -120.0}, "pos": {"x": 1.7479166666666666, "y": 0.9294042627097843}, "dist": -0.010000000000000009, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 101}}, {"input": {"cercle": "d", "r": 1.18, "theta": -135.0}, "pos": {"x": 1.8476608340833858, "y": 0.8476608340833859}, "dist": -0.020000000000000018, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 96}}, {"input": {"cercle": "d", "r": 1.2, "theta": -145.0}, "pos": {"x": 1.9095760221444957, "y": 0.7867882181755232}, "dist": 0.0, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 105}}, {"input": {"cercle": "d", "r": 1.2, "theta": -158.0}, "pos": {"x": 1.9635919272833937, "y": 0.6873032967079561}, "dist": 0.0, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 100}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_3.html b/PAR 153/essai_3.html
new file mode 100644
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--- /dev/null
+++ b/PAR 153/essai_3.html	
@@ -0,0 +1,224 @@
+<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
+<html><head>
+<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
+<meta name="qrichtext" content="1" /><style type="text/css">
+p, li { white-space: pre-wrap; }
+</style></head><body style=" font-family:'DejaVu Sans Mono'; font-size:9pt; font-weight:400; font-style:normal;">
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Python </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Type &quot;copyright&quot;, &quot;credits&quot; or &quot;license&quot; for more information.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">IPython  -- An enhanced Interactive Python.</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" color:#00ff00;">In [</span><span style=" font-weight:600; color:#00ff00;">1</span><span style=" color:#00ff00;">]:</span> runfile('C:/Users/MARTELET Tom Port/Documents/GitHub/epsa-pae-ai-self-driving/PAR 153/discretisation.py', wdir='C:/Users/MARTELET Tom Port/Documents/GitHub/epsa-pae-ai-self-driving/PAR 153')</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Numero de l'essai : 3</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">cercle, r, theta: d 1.2 0</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">0.5</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /> </p>
+<table border="0.5" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px;" align="center" width="90%" cellspacing="0" cellpadding="8">
+<tr>
+<td bgcolor="#ce4b01">
+<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600; background-color:#ce4b01;">Warning</span></p></td></tr>
+<tr>
+<td>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Figures now render in the Plots pane by default. To make them also appear inline in the Console, uncheck &quot;Mute Inline Plotting&quot; under the Plots pane options menu.</p></td></tr></table>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"> error: 0.0</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">PID direction: 0</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">direction: 90</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: angle commande output</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 117.52,90.00,-152.85</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 114.87,90.00,149.88</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 122.07,90.00,151.05</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 135.34,90.00,-158.48</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 113.35,90.00,-163.90</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 79.61,90.00,89.25</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 76.20,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 97.43,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 99.33,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 98.95,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 99.33,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 98.95,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 99.33,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 98.95,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 99.33,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 98.95,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 99.33,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 98.95,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 99.33,90.00,62.63</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">cercle, r, theta: Traceback <span style=" color:#00ffff;">(most recent call last)</span>:</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">  File <span style=" color:#006400;">~\AppData\Local\Programs\Python\Python310\lib\site-packages\spyder_kernels\py3compat.py:356</span> in <span style=" color:#9400d3;">compat_exec</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">    exec(code, globals, locals)</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">  File <span style=" color:#006400;">c:\users\martelet tom port\documents\github\epsa-pae-ai-self-driving\par 153\discretisation.py:171</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">    data = simulation(essai_number, pid=x, plot=True)</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">  File <span style=" color:#006400;">c:\users\martelet tom port\documents\github\epsa-pae-ai-self-driving\par 153\discretisation.py:45</span> in <span style=" color:#9400d3;">simulation</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">    c, r, theta = input('cercle, r, theta: ').split(' ')</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">  File <span style=" color:#006400;">~\AppData\Local\Programs\Python\Python310\lib\site-packages\ipykernel\kernelbase.py:1187</span> in <span style=" color:#9400d3;">raw_input</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">    return self._input_request(</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" color:#00ffff;">  File </span><span style=" color:#00ff00;">~\AppData\Local\Programs\Python\Python310\lib\site-packages\ipykernel\kernelbase.py:1230</span><span style=" color:#00ffff;"> in </span><span style=" color:#ff00ff;">_input_request</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" color:#ffff00;">    raise KeyboardInterrupt(msg) from None</span></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; color:#00ffff;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" color:#ff0000;">KeyboardInterrupt:</span> Interrupted by user</p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" color:#00ff00;">In [</span><span style=" font-weight:600; color:#00ff00;">2</span><span style=" color:#00ff00;">]:</span> runfile('C:/Users/MARTELET Tom Port/Documents/GitHub/epsa-pae-ai-self-driving/PAR 153/discretisation.py', wdir='C:/Users/MARTELET Tom Port/Documents/GitHub/epsa-pae-ai-self-driving/PAR 153')</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" text-decoration: underline; color:#a52a2a;">Reloaded modules</span><span style=" color:#a52a2a;">: car_interface, track_2_generator, pid_controller, mesure_discret_to_adim</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Numero de l'essai : 3</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">cercle, r, theta: d 1.2 0</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">0.5</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">error: 0.0</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">PID direction: 0</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">direction: 90</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 43.22,90.00,106.59</p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 93.64,90.00,166.05</p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 114.87,90.00,-114.16</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 110.70,90.00,-107.94</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 81.13,90.00,-131.01</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 76.20,90.00,178.56</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 100.46,90.00,101.11</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 109.56,90.00,-153.52</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 89.09,90.00,-105.71</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 76.96,90.00,157.36</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 95.53,90.00,69.74</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 106.91,90.00,-112.75</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">cercle, r, theta: d 1.17 50</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">0.4875</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">C:\Users\MARTELET Tom Port\AppData\Local\Programs\Python\Python310\lib\site-packages\shapely\measurement.py:74: RuntimeWarning: invalid value encountered in distance</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">  return lib.distance(a, b, **kwargs)</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">error: 0.030000000000000027</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">PID direction: -9</p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 32.98,81.00,104.68</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 51.94,81.00,43.07</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 95.53,81.00,-83.08</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 99.33,81.00,-58.52</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 70.89,81.00,73.10</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 68.24,81.00,57.57</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 89.47,81.00,88.54</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 90.23,81.00,88.54</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 90.23,81.00,88.54</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 90.99,81.00,88.54</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 89.47,81.00,88.54</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 89.47,81.00,88.54</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
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+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 90.23,81.00,88.54</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 90.61,81.00,88.54</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 90.61,81.00,88.54</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: 89.85,81.00,88.54</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">capteurs: </p>
+<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" color:#00ff00;">In [</span><span style=" font-weight:600; color:#00ff00;">3</span><span style=" color:#00ff00;">]:</span> runfile('C:/Users/MARTELET Tom Port/Documents/GitHub/epsa-pae-ai-self-driving/PAR 153/discretisation.py', wdir='C:/Users/MARTELET Tom Port/Documents/GitHub/epsa-pae-ai-self-driving/PAR 153')</p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" text-decoration: underline; color:#a52a2a;">Reloaded modules</span><span style=" color:#a52a2a;">: car_interface, track_2_generator, pid_controller, mesure_discret_to_adim</span></p>
+<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Numero de l'essai : 4</p></body></html>
\ No newline at end of file
diff --git a/PAR 153/essai_3.json b/PAR 153/essai_3.json
new file mode 100644
index 0000000000000000000000000000000000000000..069e61ec252011b14750235f15f86b687e6421d3
--- /dev/null
+++ b/PAR 153/essai_3.json	
@@ -0,0 +1 @@
+{"essai": "3", "PID": {"P": 54.11317513, "I": 0.522774415, "D": 257.9071004}, "run": [{"input": {"cercle": "d", "r": 1.2, "theta": 0.0}, "pos": {"x": 1.0, "y": 0.5}, "dist": 0.0, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 90}}, {"input": {"cercle": "d", "r": 1.17, "theta": 50.0}, "pos": {"x": 1.186641040277812, "y": 0.12655333397949825}, "dist": -0.030000000000000027, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 81}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_30.json b/PAR 153/essai_30.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e8c1902c8099c5585a68a429429fba39ab67e69
--- /dev/null
+++ b/PAR 153/essai_30.json	
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PAR 153/essai_31.json b/PAR 153/essai_31.json
new file mode 100644
index 0000000000000000000000000000000000000000..765976eedfa64562b75f082f7cdc3bdce7c8fc12
--- /dev/null
+++ b/PAR 153/essai_31.json	
@@ -0,0 +1,28 @@
+{
+    "essai": "31",
+    "PID": {
+        "P": 100,
+        "I": 0.2,
+        "D": 257
+    },
+    "run": [
+        {
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+            "cp": 2,
+            "lap": -1,
+            "order": {
+                "speed": 10,
+                "direction": 35.0
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/PAR 153/essai_32.json b/PAR 153/essai_32.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e8d87810014d404411dd704d72ba8ed44debe9b
--- /dev/null
+++ b/PAR 153/essai_32.json	
@@ -0,0 +1,28 @@
+{
+    "essai": "32",
+    "PID": {
+        "P": 100,
+        "I": 0.2,
+        "D": 257
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+    "run": [
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+                "direction": 107
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+        }
+    ]
+}
\ No newline at end of file
diff --git a/PAR 153/essai_33.json b/PAR 153/essai_33.json
new file mode 100644
index 0000000000000000000000000000000000000000..47cb3f95ede24be8f3e3650af2e24452327d5249
--- /dev/null
+++ b/PAR 153/essai_33.json	
@@ -0,0 +1,46 @@
+{
+    "essai": "33",
+    "PID": {
+        "P": 100,
+        "I": 0.2,
+        "D": 257
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+    "run": [
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+        },
+        {
+            "input": {
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+}
\ No newline at end of file
diff --git a/PAR 153/essai_34.json b/PAR 153/essai_34.json
new file mode 100644
index 0000000000000000000000000000000000000000..b17c1bd98acf86e30afb625988e370d0146426b5
--- /dev/null
+++ b/PAR 153/essai_34.json	
@@ -0,0 +1,118 @@
+{
+    "essai": "34",
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+        {
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+        {
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+    ]
+}
\ No newline at end of file
diff --git a/PAR 153/essai_35.json b/PAR 153/essai_35.json
new file mode 100644
index 0000000000000000000000000000000000000000..c45123d758fcc2f28d8840c452ab64a23183536e
--- /dev/null
+++ b/PAR 153/essai_35.json	
@@ -0,0 +1,442 @@
+{
+    "essai": "35",
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diff --git a/PAR 153/essai_36.json b/PAR 153/essai_36.json
new file mode 100644
index 0000000000000000000000000000000000000000..099ad27cb36f238f1e70444068bb58a7c17a3da9
--- /dev/null
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diff --git a/PAR 153/essai_37.json b/PAR 153/essai_37.json
new file mode 100644
index 0000000000000000000000000000000000000000..11246fcec0db4567b457f1c2a8d7970a6f9a0fbf
--- /dev/null
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diff --git a/PAR 153/essai_38.json b/PAR 153/essai_38.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f3e181e0ae4d7eb09c7c2f5b5f8667d6595322a
--- /dev/null
+++ b/PAR 153/essai_38.json	
@@ -0,0 +1,154 @@
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diff --git a/PAR 153/essai_39.json b/PAR 153/essai_39.json
new file mode 100644
index 0000000000000000000000000000000000000000..11e8976f54ed37be03ec57afcb60679f3e125f0e
--- /dev/null
+++ b/PAR 153/essai_39.json	
@@ -0,0 +1,64 @@
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diff --git a/PAR 153/essai_4.json b/PAR 153/essai_4.json
new file mode 100644
index 0000000000000000000000000000000000000000..e35b6629e5c02c4c142ca55c46b7a85e2fd41bef
--- /dev/null
+++ b/PAR 153/essai_4.json	
@@ -0,0 +1 @@
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diff --git a/PAR 153/essai_40.json b/PAR 153/essai_40.json
new file mode 100644
index 0000000000000000000000000000000000000000..a113b053139a816bc582c568d36711a376b0a19d
--- /dev/null
+++ b/PAR 153/essai_40.json	
@@ -0,0 +1,856 @@
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diff --git a/PAR 153/essai_41.json b/PAR 153/essai_41.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe19462b84f153285390348a57f0b85fe361af43
--- /dev/null
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diff --git a/PAR 153/essai_42.json b/PAR 153/essai_42.json
new file mode 100644
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diff --git a/PAR 153/essai_43.json b/PAR 153/essai_43.json
new file mode 100644
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diff --git a/PAR 153/essai_44.json b/PAR 153/essai_44.json
new file mode 100644
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diff --git a/PAR 153/essai_45.json b/PAR 153/essai_45.json
new file mode 100644
index 0000000000000000000000000000000000000000..00c0ee9521f194ae96a614fbd8ab95a0b8ca69aa
--- /dev/null
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diff --git a/PAR 153/essai_46.json b/PAR 153/essai_46.json
new file mode 100644
index 0000000000000000000000000000000000000000..7543d3526b977a2ce560ab4e8e0d3d1247988f1c
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diff --git a/PAR 153/essai_47.json b/PAR 153/essai_47.json
new file mode 100644
index 0000000000000000000000000000000000000000..4409af162ef3f7cf737d0bf1a4db276cd3fbd42d
--- /dev/null
+++ b/PAR 153/essai_47.json	
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diff --git a/PAR 153/essai_49.json b/PAR 153/essai_49.json
new file mode 100644
index 0000000000000000000000000000000000000000..14dcf13b2b355901e97583934b6d9f4d112310bc
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diff --git a/PAR 153/essai_5.json b/PAR 153/essai_5.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f654010a8505a5bedc0fcfccddfaa1bf3aab525
--- /dev/null
+++ b/PAR 153/essai_5.json	
@@ -0,0 +1 @@
+{"essai": "5", "PID": {"P": 54.11317513, "I": 0.522774415, "D": 257.9071004}, "run": [{"input": {"cercle": "d", "r": 1.19, "theta": 80.0}, "pos": {"x": 1.413899445240147, "y": 0.01169948913144686}, "dist": -0.010000000000000009, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 87}}, {"input": {"cercle": "d", "r": 1.18, "theta": 65.0}, "pos": {"x": 1.2922126879774893, "y": 0.05439867137364712}, "dist": -0.020000000000000018, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 87}}, {"input": {"cercle": "d", "r": 1.21, "theta": 50.0}, "pos": {"x": 1.1759279134497032, "y": 0.11378592659418191}, "dist": 0.010000000000000009, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 98}}, {"input": {"cercle": "d", "r": 1.23, "theta": 30.0}, "pos": {"x": 1.0561619805604752, "y": 0.24375000000000002}, "dist": 0.030000000000000027, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 96}}, {"input": {"cercle": "d", "r": 1.24, "theta": 20.0}, "pos": {"x": 1.0144921459272807, "y": 0.3232895926150712}, "dist": 0.040000000000000036, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 94}}, {"input": {"cercle": "d", "r": 1.27, "theta": 5.0}, "pos": {"x": 0.9728469722597847, "y": 0.4538800861293642}, "dist": 0.07000000000000006, "cp": 2, "lap": -1, "order": {"speed": 10, "direction": 101}}, {"input": {"cercle": "g", "r": 1.17, "theta": 10.0}, "pos": {"x": 0.9800937795934515, "y": 0.5846534866126285}, "dist": -0.030000000000000027, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": 27}}, {"input": {"cercle": "d", "r": 1.27, "theta": 20.0}, "pos": {"x": 1.0027459881674567, "y": 0.31901434082350033}, "dist": 0.07000000000000006, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -49}}, {"input": {"cercle": "g", "r": 1.32, "theta": 45.0}, "pos": {"x": 0.8889087296526013, "y": 0.8889087296526013}, "dist": 0.1200000000000001, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -39}}, {"input": {"cercle": "g", "r": 1.29, "theta": 60.0}, "pos": {"x": 0.76875, "y": 0.9654886545341359}, "dist": 0.09000000000000008, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -18}}, {"input": {"cercle": "g", "r": 1.23, "theta": 80.0}, "pos": {"x": 0.5889946910543018, "y": 1.0047139734187567}, "dist": 0.030000000000000027, "cp": 3, "lap": -1, "order": {"speed": 10, "direction": -7}}, {"input": {"cercle": "g", "r": 1.2, "theta": 100.0}, "pos": {"x": 0.41317591116653485, "y": 0.9924038765061041}, "dist": 0.0, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -13}}, {"input": {"cercle": "g", "r": 1.17, "theta": 115.0}, "pos": {"x": 0.29397359740140905, "y": 0.9418250461803669}, "dist": -0.030000000000000027, "cp": 4, "lap": -1, "order": {"speed": 10, "direction": -11}}, {"input": {"cercle": "g", "r": 1.14, "theta": 1.25}, "pos": {"x": 0.9748869628629568, "y": 0.5103620703914166}, "dist": -0.06000000000000005, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -10}}, {"input": {"cercle": "g", "r": 1.14, "theta": 140.0}, "pos": {"x": 0.1361288895184855, "y": 0.8053241146011063}, "dist": -0.06000000000000005, "cp": 5, "lap": -1, "order": {"speed": 10, "direction": -17}}]}
\ No newline at end of file
diff --git a/PAR 153/essai_9.json b/PAR 153/essai_9.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e30c494ee08a92a3678981d097c59ca7fd951e5
--- /dev/null
+++ b/PAR 153/essai_9.json	
@@ -0,0 +1 @@
+{"essai": "9", "PID": {"P": 54.11317513, "I": 0.222774415, "D": 257.9071004}, "run": [{"input": {"cercle": "d", "r": 1.19, "theta": 0.0}, "pos": {"x": 1.0041666666666667, "y": 0.5}, "dist": -0.010000000000000009, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 87}}, {"input": {"cercle": "d", "r": 1.18, "theta": -20.0}, "pos": {"x": 1.0379844614469285, "y": 0.6681599038017871}, "dist": -0.020000000000000018, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 87}}, {"input": {"cercle": "d", "r": 1.18, "theta": -35.0}, "pos": {"x": 1.0972502448912458, "y": 0.7820084145392643}, "dist": -0.020000000000000018, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 89}}, {"input": {"cercle": "d", "r": 1.2, "theta": -60.0}, "pos": {"x": 1.25, "y": 0.9330127018922193}, "dist": 0.0, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 95}}, {"input": {"cercle": "d", "r": 1.25, "theta": -75.0}, "pos": {"x": 1.3651984140091038, "y": 1.0030863678588897}, "dist": 0.050000000000000044, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 105}}, {"input": {"cercle": "d", "r": 1.3, "theta": -90.0}, "pos": {"x": 1.5, "y": 1.0416666666666667}, "dist": 0.10000000000000009, "cp": 0, "lap": -1, "order": {"speed": 10, "direction": 108}}, {"input": {"cercle": "d", "r": 1.3, "theta": -105.0}, "pos": {"x": 1.640193649430532, "y": 1.0232098225732456}, "dist": 0.10000000000000009, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 95}}, {"input": {"cercle": "d", "r": 1.32, "theta": -115.0}, "pos": {"x": 1.7324400439573846, "y": 0.9984692828701576}, "dist": 0.1200000000000001, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 101}}, {"input": {"cercle": "d", "r": 1.32, "theta": -125.0}, "pos": {"x": 1.8154670399930752, "y": 0.9505336243589457}, "dist": 0.1200000000000001, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 96}}, {"input": {"cercle": "d", "r": 1.32, "theta": -130.0}, "pos": {"x": 1.8535331853275967, "y": 0.921324443715438}, "dist": 0.1200000000000001, "cp": 1, "lap": -1, "order": {"speed": 10, "direction": 96}}]}
\ No newline at end of file
diff --git a/PAR 153/essais.zip b/PAR 153/essais.zip
new file mode 100644
index 0000000000000000000000000000000000000000..5d79b83a6e9298c3185e1953cc9c47c9218649a7
Binary files /dev/null and b/PAR 153/essais.zip differ
diff --git a/PAR 153/pid_controller.py b/PAR 153/pid_controller.py
index 74483f308415ef31a1bf51c068dc8cd413b9b2f4..051538994b5b0e5f3456729356947b4e000e73e5 100644
--- a/PAR 153/pid_controller.py	
+++ b/PAR 153/pid_controller.py	
@@ -12,6 +12,7 @@ class PidController:
 
     def get_control(self, process_value):
         error = self.set_point - process_value
+        print(f"error: {error}")
         control = self.p_gain * error + self.i_gain * self.integrated_error + self.d_gain * (error - self.previous_error)
         self.previous_error = error
         self.integrated_error += error
diff --git a/PAR 153/test_communication/input.txt b/PAR 153/test_communication/input.txt
index 898c34153b43d8987702c4fa1650643717a1364f..0f16ef5782a90112ae37411d6e2ce9961400b1b9 100644
--- a/PAR 153/test_communication/input.txt	
+++ b/PAR 153/test_communication/input.txt	
@@ -1 +1 @@
-0 0 0
\ No newline at end of file
+10 0 0
\ No newline at end of file
diff --git a/PAR 153/track_2_generator.py b/PAR 153/track_2_generator.py
index a612e72ce4892beef32263275a930757ebcdf2ff..f16019d79ff8c0438e70c2f82e5e4d5d723c0880 100644
--- a/PAR 153/track_2_generator.py	
+++ b/PAR 153/track_2_generator.py	
@@ -76,13 +76,15 @@ def checkpoints(n):
     if n==0:
         return points[:11]
     elif n==1:
-        return points[11:29]
+        return points[10:29]
     elif n==2:
-        return points[29:47]
+        return points[28:38]
     elif n==3:
-        return points[47:65]
+        return points[37:47]
     elif n==4:
-        return points[65:]+points[1:11]
+        return points[46:65]
+    elif n==5:
+        return points[64:]
     return points
 
 def is_in_track(x,y):
@@ -92,7 +94,7 @@ def is_in_track(x,y):
 
 if __name__ =="__main__":
     points = create_track(0.5,0,0, (0,0))[:-1]+[(1,0.5)]
-    cp_points = checkpoints(1)
+    cp_points = checkpoints(5)
     plt.plot([x for x,y in cp_points], [y for x,y in cp_points], 'or')
     plt.plot([x for x,y in points], [y for x,y in points])
     """