diff --git a/Telecommande/lib_robot_maqueen.py b/Telecommande/lib_robot_maqueen.py
new file mode 100644
index 0000000000000000000000000000000000000000..96bc7d98b2be76281cb8f53737fa34a6154ada50
--- /dev/null
+++ b/Telecommande/lib_robot_maqueen.py
@@ -0,0 +1,152 @@
+import microbit as mb
+import machine
+import struct
+import time
+adr=0x10
+
+class MaqueenPlus:
+ def __init__(self):
+ mb.i2c.init(freq=100000,sda=mb.pin20,scl=mb.pin19)
+ # Motors
+ self.MT_L=0
+ self.MT_R=1
+
+ # ServoMotors
+ self.S1=1
+ self.S2=2
+ self.S3=3
+
+ # RGB LED
+ self.RGB_L=1
+ self.RGB_R=2
+ self.RGB_ALL=3
+ self.RED=1
+ self.GREEN=2
+ self.BLUE=4
+ self.YELLOW=3
+ self.PINK=5
+ self.CYAN=6
+ self.WHITE=7
+ self.OFF=8
+
+ # Linetrack sensors
+ self.patrol={
+ "L1":0x04,
+ "L2":0x02,
+ "L3":0x01,
+ "R1":0x08,
+ "R2":0x10,
+ "R3":0x20
+ }
+
+ def motorControl(self,mot,dir,spd):
+ buf=bytearray(3)
+ if mot==self.MT_L:
+ buf[0]=0x00
+ else:
+ buf[0]=0x02
+ buf[1]=dir
+ buf[2]=spd
+ mb.i2c.write(adr,buf)
+
+ def go(self,dL,sL,dR,sR):
+ self.motorControl(self.MT_L,dL,sL)
+ self.motorControl(self.MT_R,dR,sR)
+
+ def servo(self,num,angle):
+ buf=bytearray(3)
+ if num==self.S1:
+ buf[0]=0x14
+ elif num==self.S2:
+ buf[0]=0x15
+ else:
+ buf[0]=0x16
+ buf[1]=angle
+ mb.i2c.write(adr,buf)
+
+ def RGBLight(self,rgbshow,color):
+ buf=bytearray(3)
+ buf[0]=0x0B
+ buf[1]=color
+ if rgbshow==self.RGB_R:
+ buf[0]=0x0C
+ elif rgbshow==self.RGB_ALL:
+ buf[2]=color
+ mb.i2c.write(adr,buf)
+
+ def stop(self):
+ self.go(1,0,1,0)
+
+ def move(self,dir,spd):
+ if dir=="F":
+ self.go(1,spd,1,spd)
+ elif dir=="L":
+ self.go(1,0,1,spd)
+ elif dir=="R":
+ self.go(1,spd,1,0)
+ elif dir=="B":
+ self.go(2,spd,2,spd)
+
+ def goto(self,dir,spd,dst):
+ en=self.getEncoders()
+ goal=dst
+ if dir=="F":
+ goal+=en[0]
+ while en[0]<goal:
+ self.go(1,spd,1,spd)
+ en=self.getEncoders()
+ if dir=="L":
+ goal+=en[1]
+ while en[1]<goal:
+ self.go(1,0,1,spd)
+ en=self.getEncoders()
+ elif dir=="R":
+ goal+=en[0]
+ while en[0]<goal:
+ self.go(1,spd,1,0)
+ en=self.getEncoders()
+ self.stop()
+
+ def ultrasonic(self, maxDist=0.4):
+ # pins: trig=2, echo=8
+ mb.pin2.write_digital(1)
+ time.sleep_us(10)
+ mb.pin2.write_digital(0)
+ mb.pin8.read_digital()
+ timeOut=int(maxDist*2*1000000/340.29)
+ t2 = machine.time_pulse_us(mb.pin8, 1, timeOut)
+ if t2>0:
+ dst=340.29*(t2/(2*1000000))
+ else:
+ dst=maxDist
+ return dst
+
+ def getLine(self):
+ mb.i2c.write(adr,b'\x1D')
+ patrol_y=mb.i2c.read(adr,1)
+ sens={
+ "L1":-1,
+ "L2":-1,
+ "L3":-1,
+ "R1":-1,
+ "R2":-1,
+ "R3":-1
+ }
+ for x in self.patrol:
+ if((patrol_y[0] & self.patrol[x])==self.patrol[x]):
+ sens[x]=1
+ else:
+ sens[x]=0
+ return sens
+
+ def getEncoders(self):
+ buf=bytearray(1)
+ buf[0]=0x04
+ mb.i2c.write(adr,buf)
+ return struct.unpack('>HH',mb.i2c.read(adr,4))
+
+ def clearEncoders(self):
+ buf=bytearray(5)
+ buf[0]=0x04
+ buf[1]=buf[2]=buf[3]=buf[4]=0x00
+ mb.i2c.write(adr,buf)
diff --git a/Telecommande/main.py b/Telecommande/main.py
new file mode 100644
index 0000000000000000000000000000000000000000..af3be78420c26740c8f6abc827b6aa6eba1cd414
--- /dev/null
+++ b/Telecommande/main.py
@@ -0,0 +1,66 @@
+'''
+Gestion télécommande Pour Micro:bit OC Robotique 2025
+Auteur·ice : Vincent Namy
+Version : 1.0
+Date : 3.2.25
+
+'''
+from math import *
+from microbit import *
+from protocole import *
+import lib_robot_maqueen as mqn
+display.off()
+
+# # CONSTANTES
+MOTOR_FORWARD = 0
+MOTOR_BACKWARD = 1
+SPEED = 70
+
+def run(x,y):
+ threshold = 0.2
+ motor = MOTOR_FORWARD
+ if abs(x) <= threshold and abs(y) <= threshold: # neutral
+ g = 0
+ d = 0
+ elif abs(x) <= threshold: # forward
+ g= int(SPEED)
+ d= int(SPEED)
+ motor = y < 0
+ elif abs(y) <= threshold: # right/left
+ g= int((x>0)*SPEED)
+ d= int((x<0)*SPEED)
+ else: # diag
+ g= int((0.1 + (x>0)*0.9) * SPEED)
+ d= int((0.1 + (x<0)*0.9) * SPEED)
+ motor = y < 0
+
+
+ print("Motors :", g*(-2*motor+1),d*(-2*motor+1))
+ robot.motorControl(robot.MT_L,motor, g)
+ robot.motorControl(robot.MT_R,motor, d)
+
+if __name__ == '__main__':
+
+ userId = 1
+ destId = 0
+ robot = mqn.MaqueenPlus()
+ lastMsgTime = running_time()
+ run(0,0)
+
+ # Main
+ while True:
+ sleep(10)
+
+
+ m = receive_msg(userId)
+ if m and m.msgId==73 :#and len(m.payload) == 3:
+ x = m.payload[0]*2 /255 - 1 # [0;255] --> [-1;1]
+ y = m.payload[1]*2 /255 - 1 # [0;255] --> [-1;1]
+ z = m.payload[2]
+ print("Joystick :", x,y,z)
+ run(x,y)
+ elif (lastMsgTime - running_time()) > 200:
+ run(0,0)
+
+
+
diff --git a/Telecommande/main_robot.py b/Telecommande/main_robot.py
deleted file mode 100644
index bf496a114b459de7b08287e17921098cef184490..0000000000000000000000000000000000000000
--- a/Telecommande/main_robot.py
+++ /dev/null
@@ -1,25 +0,0 @@
-'''
-Gestion télécommande Pour Micro:bit OC Robotique 2025
-Auteur·ice : Vincent Namy
-Version : 1.0
-Date : 3.2.25
-
-'''
-from microbit import *
-from protocole import *
-display.off()
-
-if __name__ == '__main__':
-
- userId = 1
- destId = 0
-
- # Main
- while True:
- sleep(10)
- m = receive_msg(userId)
- if m and m.msgId==73:
- print("x", m.payload[0]*4, "y", m.payload[1]*4, "z", m.payload[2])
-
-
-