diff --git a/main.py b/main.py
index c4d3f59..81bf1e4 100644
--- a/main.py
+++ b/main.py
@@ -1,145 +1,214 @@
-# Programme voiture autonome a completer
-import pyb, time
-from pyb import delay, Timer
-
-class HBridge:
-    """ Control à H-Bridge. Also support PWM to control the speed (between 0 to 100%) """
-    PWM_FREQ = 100  # Frequency 100 Hz
-    (UNDEFINED,HALT,FORWARD,BACKWARD) = (-1, 0,1,2)
-
-    def __init__( self, input_pins, pwm = None ):
-        """:param input_pins: tuple with input1 and input 2 pins
-           :param pwm: dic with pin, timer and channel """
-        self.speed = 0
-        self.state = HBridge.UNDEFINED
-        
-        # Init HBridge control pins
-        self.p_input1 = pyb.Pin( input_pins[0], pyb.Pin.OUT_PP )
-        self.p_input2 = pyb.Pin( input_pins[1], pyb.Pin.OUT_PP )
-
-        # Init PWM Control for speed control (without PWM, the L293D's
-        #   Enable pin must be place to HIGH level)
-        self.has_pwm = (pwm != None)
-        if self.has_pwm: 
-            self._timer = pyb.Timer( pwm['timer'], freq=self.PWM_FREQ )
-            self._channel = self._timer.channel( pwm['channel'], Timer.PWM, pin=pwm['pin'], pulse_width_percent=100 )
-
-        self.halt()
-
-    def set_speed( self, speed ):
-        if not(0 <= speed <= 100):
-            raise ValueError( 'invalid speed' )
-        # Use PWM speed ?
-        if self.has_pwm:
-            self._channel.pulse_width_percent( speed )
-            self.speed = speed
-        else:
-            # Non PWM
-            self.speed = 0 if speed == 0 else 100
-            if self.speed == 0 and self.state != HBridge.HALT:
-                self.halt() # force motor to stop by manipulating input1 & input2
-                
-    
-    def halt( self ):
-        self.p_input1.low()
-        self.p_input2.low()
-        self.state = HBridge.HALT # Do not invert ...
-        self.set_speed( 0 )       #    thoses 2 lines
-
-    def forward(self, speed = 100 ):
-        # reconfigure HBridge
-        if self.state != HBridge.FORWARD :
-            self.halt()
-            self.p_input1.low()
-            self.p_input2.high()
-            self.state = HBridge.FORWARD
-        # Set speed
-        self.set_speed( speed )
-        
-    def backward(self, speed = 100 ):
-        # reconfigure HBridge
-        if self.state != HBridge.BACKWARD:
-            self.halt()
-            self.p_input1.high()
-            self.p_input2.low()
-            self.state = HBridge.BACKWARD
-        # Set speed 
-        self.set_speed( speed )
-        
-
-# Pont-H broches de commande Input 1 et Input 2
-MOT1_PINS = (pyb.Pin.board.X6, pyb.Pin.board.X5)
-# Commande PWM pont-H
-MOT1_PWM = {'pin' : pyb.Pin.board.Y9, 'timer' : 2, 'channel' : 3 }   
-
-# Pont-H broches de commande Input 3 et Input 4
-MOT2_PINS = (pyb.Pin.board.X7, pyb.Pin.board.X8)
-# Commande PWM pont-H
-#MOT2_PWM = {'pin' : pyb.Pin.board.X10, 'timer' : 5, 'channel' : 4 }
-MOT2_PWM = {'pin' : pyb.Pin.board.Y10, 'timer' : 2, 'channel' : 4 }
-# moteur droit h1 moteur gauche h2
-h1 = HBridge( MOT1_PINS, MOT1_PWM )
-h2 = HBridge( MOT2_PINS, MOT2_PWM )
-
-# bouton sur carte prototype
-btn = pyb.Pin( 'Y8', pyb.Pin.IN, pull=pyb.Pin.PULL_UP )
-# bouton sur la carte USR
-sw = pyb.Switch()
-# photoresistance
-ldr = pyb.ADC('X19')
-# accelerometre
-accel = pyb.Accel()
-x = accel.x()
-SENS = 3
-# led sur la carte
-myled = pyb.LED(1)
-xlights = (pyb.LED(3), pyb.LED(4))
-# servo direction
-sd = pyb.Servo(1)
-
-
-def dist_obstacle():
-    trigger = pyb.Pin(pyb.Pin.board.Y5, mode=pyb.Pin.OUT, pull=None)
-    trigger.low()
-    echo = pyb.Pin(pyb.Pin.board.Y6, mode=pyb.Pin.IN, pull=None)
-    trigger.high()
-    time.sleep(0.00001)
-    trigger.low()
-    while echo.value() == 0:
-        pass
-    start = time.ticks_us()
-    while echo.value() == 1:
-        pass
-    stop = time.ticks_us()
-    return round((stop-start)*34/2000,1)
-
-def lectension():
-    lecture = ldr.read()
-    tension = (lecture*3.3)/4095
-    pyb.delay(100)
-    return tension
-
-#15 speed min     
-def allSpeed(speed):
-    h1.forward(speed)
-    h2.forward(speed)
-    
-def vitesse():
-    if dist_obstacle() < 5:
-        speed = 0
-    elif dist_obstacle() < 15:
-        speed = 15
-    elif dist_obstacle() < 25:
-        speed = 20
-    elif dist_obstacle() < 40:
-        speed = 35
-    else:
-        speed = 50
-        
-    if 50 > x+5:
-        speed = 0
-    
-    return speed
-
-while True:
-    allSpeed(vitesse())
\ No newline at end of file
+# Programme voiture autonome a completer
+import pyb, time
+from pyb import delay, Timer
+
+class HBridge:
+    """ Control à H-Bridge. Also support PWM to control the speed (between 0 to 100%) """
+    PWM_FREQ = 100  # Frequency 100 Hz
+    (UNDEFINED,HALT,FORWARD,BACKWARD) = (-1, 0,1,2)
+
+    def __init__( self, input_pins, pwm = None ):
+        """:param input_pins: tuple with input1 and input 2 pins
+           :param pwm: dic with pin, timer and channel """
+        self.speed = 0
+        self.state = HBridge.UNDEFINED
+        
+        # Init HBridge control pins
+        self.p_input1 = pyb.Pin( input_pins[0], pyb.Pin.OUT_PP )
+        self.p_input2 = pyb.Pin( input_pins[1], pyb.Pin.OUT_PP )
+
+        # Init PWM Control for speed control (without PWM, the L293D's
+        #   Enable pin must be place to HIGH level)
+        self.has_pwm = (pwm != None)
+        if self.has_pwm: 
+            self._timer = pyb.Timer( pwm['timer'], freq=self.PWM_FREQ )
+            self._channel = self._timer.channel( pwm['channel'], Timer.PWM, pin=pwm['pin'], pulse_width_percent=100 )
+
+        self.halt()
+
+    def set_speed( self, speed ):
+        if not(0 <= speed <= 100):
+            raise ValueError( 'invalid speed' )
+        # Use PWM speed ?
+        if self.has_pwm:
+            self._channel.pulse_width_percent( speed )
+            self.speed = speed
+        else:
+            # Non PWM
+            self.speed = 0 if speed == 0 else 100
+            if self.speed == 0 and self.state != HBridge.HALT:
+                self.halt() # force motor to stop by manipulating input1 & input2
+                
+    
+    def halt( self ):
+        self.p_input1.low()
+        self.p_input2.low()
+        self.state = HBridge.HALT # Do not invert ...
+        self.set_speed( 0 )       #    thoses 2 lines
+
+    def forward(self, speed = 100 ):
+        # reconfigure HBridge
+        if self.state != HBridge.FORWARD :
+            self.halt()
+            self.p_input1.low()
+            self.p_input2.high()
+            self.state = HBridge.FORWARD
+        # Set speed
+        self.set_speed( speed )
+        
+    def backward(self, speed = 100 ):
+        # reconfigure HBridge
+        if self.state != HBridge.BACKWARD:
+            self.halt()
+            self.p_input1.high()
+            self.p_input2.low()
+            self.state = HBridge.BACKWARD
+        # Set speed 
+        self.set_speed( speed )
+        
+
+# Pont-H broches de commande Input 1 et Input 2
+MOT1_PINS = (pyb.Pin.board.X6, pyb.Pin.board.X5)
+# Commande PWM pont-H
+MOT1_PWM = {'pin' : pyb.Pin.board.Y9, 'timer' : 2, 'channel' : 3 }   
+
+# Pont-H broches de commande Input 3 et Input 4
+MOT2_PINS = (pyb.Pin.board.X7, pyb.Pin.board.X8)
+# Commande PWM pont-H
+#MOT2_PWM = {'pin' : pyb.Pin.board.X10, 'timer' : 5, 'channel' : 4 }
+MOT2_PWM = {'pin' : pyb.Pin.board.Y10, 'timer' : 2, 'channel' : 4 }
+# moteur droit h1 moteur gauche h2
+h1 = HBridge( MOT1_PINS, MOT1_PWM )
+h2 = HBridge( MOT2_PINS, MOT2_PWM )
+
+# bouton sur carte prototype
+btn = pyb.Pin( 'Y8', pyb.Pin.IN, pull=pyb.Pin.PULL_UP )
+# bouton sur la carte USR
+sw = pyb.Switch()
+# photoresistance
+ldr = pyb.ADC('X19')
+# accelerometre
+accel = pyb.Accel()
+x = accel.x()
+SENS = 3
+# led sur la carte
+led_lum = pyb.LED(1)
+led_montee = pyb.LED(2)
+led_descente = pyb.LED(3)
+xlights = (pyb.LED(3), pyb.LED(4))
+# servo direction
+sd = pyb.Servo(1)
+
+def dist_obstacle():
+    trigger = pyb.Pin(pyb.Pin.board.Y5, mode=pyb.Pin.OUT, pull=None)
+    trigger.low()
+    echo = pyb.Pin(pyb.Pin.board.Y6, mode=pyb.Pin.IN, pull=None)
+    trigger.high()
+    time.sleep(0.00001)
+    trigger.low()
+    while echo.value() == 0:
+        pass
+    start = time.ticks_us()
+    while echo.value() == 1:
+        pass
+    stop = time.ticks_us()
+    return round((stop-start)*34/2000,1)
+
+def lectension():
+    lecture = ldr.read()
+    tension = (lecture*3.3)/4095
+    pyb.delay(100)
+    return tension
+
+#15 speed min     
+def allSpeed(speed):
+    if speed == 0:
+        forward = False
+        sd.angle(30)
+    else:
+        forward = True
+        sd.angle(0)
+        
+    if forward == True:
+        h1.forward(speed)
+        h2.forward(speed)
+    else:
+        h1.backward(speed)
+        h2.backward(speed)
+        
+def vitesse():
+    if accel.x() <= -1:
+        terrain = lst_terrain[0]
+        led_montee.off()
+        led_descente.on()
+        """descente"""
+        if dist_obstacle() < 10:
+            speed = 0
+        elif dist_obstacle() < 15:
+            speed = 1
+        elif dist_obstacle() < 25:
+            speed = 2
+        elif dist_obstacle() < 40:
+            speed = 4
+        else:
+            speed = 5
+            
+    elif accel.x() > 3:
+        terrain = lst_terrain[1]
+        led_descente.off()
+        led_montee.on()
+        """montee"""
+        if dist_obstacle() < 10:
+            speed = 0
+        elif dist_obstacle() < 15:
+            speed = 15
+        elif dist_obstacle() < 25:
+            speed = 20
+        elif dist_obstacle() < 40:
+            speed = 35
+        else:
+            speed = 50
+    else:
+        terrain = lst_terrain[2]
+        led_descente.off()
+        led_montee.off()
+        """plat"""
+        if dist_obstacle() < 5:
+            speed = 0
+        elif dist_obstacle() < 15:
+            speed = 15
+        elif dist_obstacle() < 25:
+            speed = 20
+        elif dist_obstacle() < 40:
+            speed = 35
+        else:
+            speed = 50
+    
+    return speed
+
+marche = True
+forward = True
+lst_terrain = ["descente", "montee", "plat"]
+sw = pyb.Switch()
+
+while True:
+    if lectension() < 1:
+        led_lum.on()
+    else:
+        led_lum.off()
+        
+    if sw():
+        marche = not marche
+        while sw():
+            pass
+    if marche:
+        print(forward)
+        if forward == True:
+            allSpeed(vitesse())
+        elif forward == False:
+            allSpeed(25)
+    else:
+        allSpeed(0)
+        
+allSpeed(0)
+    
\ No newline at end of file