diff --git a/server/src/commande_auto.ino b/server/src/commande_auto.ino
index d57c769..e0ca843 100644
--- a/server/src/commande_auto.ino
+++ b/server/src/commande_auto.ino
@@ -1,19 +1,12 @@
-#include "config.h"
+// Libraries locales pour configurer et contrôler le robot.
+#include "config.h"   // Configuration des entrées/sorties et delais.
+#include "controls.h" // Fonctions pour se déplacer.
+#include "convert.h"  // Utilitaires pour convertir des mesures en steps.
 
 // Code exécuté au démarrage (paramétrage) :
 void setup()
 {
-  // On indique que les ports de controle des moteurs sont des sorties (output)
-  pinMode(IN1a, OUTPUT);
-  pinMode(IN2a, OUTPUT);
-  pinMode(IN3a, OUTPUT);
-  pinMode(IN4a, OUTPUT);
-
-  pinMode(IN1b, OUTPUT);
-  pinMode(IN2b, OUTPUT);
-  pinMode(IN3b, OUTPUT);
-  pinMode(IN4b, OUTPUT);
-
+  setupPins();          // Configure les pins de l'ESP32
   Serial.begin(115200); // Démarrage d'une communication Série avec l'ordinateur s'il est connecté
 }
 
@@ -30,191 +23,4 @@ void loop()
   {
     left();
   }
-}
-
-// Fonction pour convertir une longueur en cm vers un nombre de pas moteur.
-int convertLengthToSteps(float length)
-{
-  float result = length * 512 / (4 * 3.1415);
-  return int(result);
-}
-
-// fonction pour convertir une rotation en degrés vers un nombre de pas moteur
-int convertRotToSteps(int rotation)
-{
-  int result = convertLengthToSteps(rotation * 3.1415 / 180 * 7.8);
-  return result;
-}
-
-void forward()
-{
-  digitalWrite(IN4a, HIGH);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, HIGH);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, HIGH);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, HIGH);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, HIGH);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, HIGH);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, HIGH);
-  digitalWrite(IN4b, HIGH);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-}
-
-void backward()
-{
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, HIGH);
-  digitalWrite(IN4b, HIGH);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, HIGH);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, HIGH);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, HIGH);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, HIGH);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, HIGH);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, HIGH);
-  delay(DELAY_TIME);
-}
-
-void right()
-{
-  digitalWrite(IN4a, HIGH);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, HIGH);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, HIGH);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, HIGH);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, HIGH);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, HIGH);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, HIGH);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, HIGH);
-  delay(DELAY_TIME);
-}
-
-void left()
-{
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, HIGH);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, HIGH);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, HIGH);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, HIGH);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, HIGH);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, HIGH);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-  digitalWrite(IN4a, HIGH);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-  digitalWrite(IN4b, HIGH);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
-  delay(DELAY_TIME);
-}
-
-void stopMotors(void)
-{
-  digitalWrite(IN4a, LOW);
-  digitalWrite(IN3a, LOW);
-  digitalWrite(IN2a, LOW);
-  digitalWrite(IN1a, LOW);
-
-  digitalWrite(IN4b, LOW);
-  digitalWrite(IN3b, LOW);
-  digitalWrite(IN2b, LOW);
-  digitalWrite(IN1b, LOW);
-}
+}
\ No newline at end of file
diff --git a/server/src/commande_telephone.ino b/server/src/commande_telephone.ino
index 6100feb..b5f0804 100644
--- a/server/src/commande_telephone.ino
+++ b/server/src/commande_telephone.ino
@@ -2,7 +2,11 @@
 #include <AsyncTCP.h>
 #include <ESPAsyncWebServer.h>
 #include <WiFi.h>
-#include "config.h"
+
+// Libraries locales pour configurer et contrôler le robot.
+#include "config.h"   // Configuration des entrées/sorties et delais.
+#include "controls.h" // Fonctions pour se déplacer.
+#include "convert.h"  // Utilitaires pour convertir des mesures en steps.
 
 // Variables de commande :
 struct command_t
@@ -19,17 +23,7 @@ AsyncWebServer server(80);
 // Code exécuté au démarrage (paramétrage) :
 void setup()
 {
-  // On indique que les ports de contrôle des moteurs sont des sorties (output)
-  pinMode(IN1a, OUTPUT);
-  pinMode(IN2a, OUTPUT);
-  pinMode(IN3a, OUTPUT);
-  pinMode(IN4a, OUTPUT);
-
-  pinMode(IN1b, OUTPUT);
-  pinMode(IN2b, OUTPUT);
-  pinMode(IN3b, OUTPUT);
-  pinMode(IN4b, OUTPUT);
-
+  setupPins();          // Configure les pins de l'ESP32
   Serial.begin(115200); // Démarrage d'une communication Série avec l'ordinateur s'il est connecté
   connectWiFi();        // Connexion au wifi
   serverConfig();       // Configuration du serveur
@@ -100,20 +94,6 @@ void parseRequestParams(AsyncWebServerRequest *request, String &commandName, flo
   requestCheck(commandName, commandValue);
 }
 
-// Fonction pour convertir une longueur en cm vers un nombre de pas moteur.
-int convertLengthToSteps(float length)
-{
-  float result = length * 512 / (4 * 3.1415);
-  return int(result);
-}
-
-// fonction pour convertir une rotation en degrés vers un nombre de pas moteur
-int convertRotToSteps(int rotation)
-{
-  int result = convertLengthToSteps(rotation * 3.1415 / 180 * 7.8);
-  return result;
-}
-
 // Lorsqu'une commande arrive au serveur, cette fonction permet
 void requestCheck(String commandName, float commandValue)
 {
@@ -189,69 +169,4 @@ void chooseCommand()
   {
     backward();
   }
-}
-
-void writeMotor(uint8_t left, uint8_t right)
-{
-  digitalWrite(IN4a, left & 0b1000);
-  digitalWrite(IN3a, left & 0b0100);
-  digitalWrite(IN2a, left & 0b0010);
-  digitalWrite(IN1a, left & 0b0001);
-  digitalWrite(IN4b, right & 0b1000);
-  digitalWrite(IN3b, right & 0b0100);
-  digitalWrite(IN2b, right & 0b0010);
-  digitalWrite(IN1b, right & 0b0001);
-}
-
-void forward()
-{
-  writeMotor(0b1000, 0b0001);
-  delay(DELAY_TIME);
-  writeMotor(0b0100, 0b0010);
-  delay(DELAY_TIME);
-  writeMotor(0b0010, 0b0100);
-  delay(DELAY_TIME);
-  writeMotor(0b0001, 0b1000);
-  delay(DELAY_TIME);
-}
-
-void backward()
-{
-  writeMotor(0b0001, 0b1000);
-  delay(DELAY_TIME);
-  writeMotor(0b0010, 0b0100);
-  delay(DELAY_TIME);
-  writeMotor(0b0100, 0b0010);
-  delay(DELAY_TIME);
-  writeMotor(0b1000, 0b0001);
-  delay(DELAY_TIME);
-}
-
-void right()
-{
-  writeMotor(0b1000, 0b1000);
-  delay(DELAY_TIME);
-  writeMotor(0b0100, 0b0100);
-  delay(DELAY_TIME);
-  writeMotor(0b0010, 0b0010);
-  delay(DELAY_TIME);
-  writeMotor(0b0001, 0b0001);
-  delay(DELAY_TIME);
-}
-
-void left()
-{
-  writeMotor(0b0001, 0b0001);
-  delay(DELAY_TIME);
-  writeMotor(0b0010, 0b0010);
-  delay(DELAY_TIME);
-  writeMotor(0b0100, 0b0100);
-  delay(DELAY_TIME);
-  writeMotor(0b1000, 0b1000);
-  delay(DELAY_TIME);
-}
-
-void stopMotors(void)
-{
-  writeMotor(0b0000, 0b0000);
-}
+}
\ No newline at end of file
diff --git a/server/src/controls.h b/server/src/controls.h
new file mode 100644
index 0000000..695f7ee
--- /dev/null
+++ b/server/src/controls.h
@@ -0,0 +1,90 @@
+/*******************************************
+ Initialisation et fonctions de déplacement
+*******************************************/
+
+// Configure les ports de contrôle des moteurs sont des sorties (output)
+void setupPins()
+{
+    pinMode(IN1a, OUTPUT);
+    pinMode(IN2a, OUTPUT);
+    pinMode(IN3a, OUTPUT);
+    pinMode(IN4a, OUTPUT);
+
+    pinMode(IN1b, OUTPUT);
+    pinMode(IN2b, OUTPUT);
+    pinMode(IN3b, OUTPUT);
+    pinMode(IN4b, OUTPUT);
+}
+
+// Applique une configuration aux moteurs.
+// Chaque configuration est sur 1 octet.
+// ex: writeMotor(0b0010, 0b1100);
+void writeMotor(uint8_t left, uint8_t right)
+{
+    digitalWrite(IN4a, left & 0b1000);
+    digitalWrite(IN3a, left & 0b0100);
+    digitalWrite(IN2a, left & 0b0010);
+    digitalWrite(IN1a, left & 0b0001);
+    digitalWrite(IN4b, right & 0b1000);
+    digitalWrite(IN3b, right & 0b0100);
+    digitalWrite(IN2b, right & 0b0010);
+    digitalWrite(IN1b, right & 0b0001);
+}
+
+// Commande pour faire avancer le robot.
+void forward()
+{
+    writeMotor(0b1000, 0b0001);
+    delay(DELAY_TIME);
+    writeMotor(0b0100, 0b0010);
+    delay(DELAY_TIME);
+    writeMotor(0b0010, 0b0100);
+    delay(DELAY_TIME);
+    writeMotor(0b0001, 0b1000);
+    delay(DELAY_TIME);
+}
+
+// Commande pour faire reculer le robot.
+void backward()
+{
+    writeMotor(0b0001, 0b1000);
+    delay(DELAY_TIME);
+    writeMotor(0b0010, 0b0100);
+    delay(DELAY_TIME);
+    writeMotor(0b0100, 0b0010);
+    delay(DELAY_TIME);
+    writeMotor(0b1000, 0b0001);
+    delay(DELAY_TIME);
+}
+
+// Commande pour faire tourner le robot à droite.
+void right()
+{
+    writeMotor(0b1000, 0b1000);
+    delay(DELAY_TIME);
+    writeMotor(0b0100, 0b0100);
+    delay(DELAY_TIME);
+    writeMotor(0b0010, 0b0010);
+    delay(DELAY_TIME);
+    writeMotor(0b0001, 0b0001);
+    delay(DELAY_TIME);
+}
+
+// Commande pour faire tourner le robot à gauche.
+void left()
+{
+    writeMotor(0b0001, 0b0001);
+    delay(DELAY_TIME);
+    writeMotor(0b0010, 0b0010);
+    delay(DELAY_TIME);
+    writeMotor(0b0100, 0b0100);
+    delay(DELAY_TIME);
+    writeMotor(0b1000, 0b1000);
+    delay(DELAY_TIME);
+}
+
+// Commande pour arrêter les  moteurs du robot.
+void stopMotors(void)
+{
+    writeMotor(0b0000, 0b0000);
+}
\ No newline at end of file
diff --git a/server/src/convert.h b/server/src/convert.h
new file mode 100644
index 0000000..d861e40
--- /dev/null
+++ b/server/src/convert.h
@@ -0,0 +1,23 @@
+/*********************************************
+ Utilitaires de conversions physique -> steps
+*********************************************/
+
+// Convertit une longueur en cm vers un nombre de pas moteur.
+// ex:
+// float distance = 22.3; //cm
+// int steps = convertLengthToSteps(distance);
+int convertLengthToSteps(float length)
+{
+    float result = length * 512 / (4 * 3.1415);
+    return int(result);
+}
+
+// Convertit une rotation en degrés vers un nombre de pas moteur.
+// ex:
+// float angle = 45; //deg
+// int steps = convertRotToSteps(angle);
+int convertRotToSteps(int rotation)
+{
+    int result = convertLengthToSteps(rotation * 3.1415 / 180 * 7.8);
+    return result;
+}
\ No newline at end of file