diff --git a/.devcontainer/nodered/flows.json b/.devcontainer/nodered/flows.json
index 8275ec1..e340979 100644
--- a/.devcontainer/nodered/flows.json
+++ b/.devcontainer/nodered/flows.json
@@ -144,7 +144,7 @@
         "page": "bb436fe040268d40",
         "width": "2",
         "height": 1,
-        "order": 2,
+        "order": 5,
         "showTitle": true,
         "className": "",
         "visible": "true",
@@ -172,7 +172,7 @@
         "page": "bb436fe040268d40",
         "width": "2",
         "height": 1,
-        "order": 4,
+        "order": 7,
         "showTitle": true,
         "className": "",
         "visible": "true",
@@ -186,7 +186,7 @@
         "page": "bb436fe040268d40",
         "width": "2",
         "height": 1,
-        "order": 3,
+        "order": 6,
         "showTitle": true,
         "className": "",
         "visible": "true",
@@ -200,7 +200,7 @@
         "page": "bb436fe040268d40",
         "width": "8",
         "height": 1,
-        "order": 6,
+        "order": 9,
         "showTitle": true,
         "className": "",
         "visible": "true",
@@ -214,7 +214,7 @@
         "page": "bb436fe040268d40",
         "width": "4",
         "height": 1,
-        "order": 5,
+        "order": 8,
         "showTitle": true,
         "className": "",
         "visible": "true",
@@ -228,7 +228,85 @@
         "page": "bb436fe040268d40",
         "width": "4",
         "height": 1,
-        "order": 7,
+        "order": 10,
+        "showTitle": true,
+        "className": "",
+        "visible": "true",
+        "disabled": "false",
+        "groupType": "default"
+    },
+    {
+        "id": "15d6d0a151981474",
+        "type": "ui-page",
+        "name": "Maquette 16",
+        "ui": "92537b03143c5e06",
+        "path": "/page16",
+        "icon": "home",
+        "layout": "grid",
+        "theme": "ea2bf5532fa513eb",
+        "breakpoints": [
+            {
+                "name": "Default",
+                "px": "0",
+                "cols": "3"
+            },
+            {
+                "name": "Tablet",
+                "px": "576",
+                "cols": "6"
+            },
+            {
+                "name": "Small Desktop",
+                "px": "768",
+                "cols": "9"
+            },
+            {
+                "name": "Desktop",
+                "px": "1024",
+                "cols": "12"
+            }
+        ],
+        "order": 2,
+        "className": "",
+        "visible": "true",
+        "disabled": "false"
+    },
+    {
+        "id": "6ba51f61417860c1",
+        "type": "ui-group",
+        "name": "R2",
+        "page": "bb436fe040268d40",
+        "width": "3",
+        "height": 1,
+        "order": 4,
+        "showTitle": true,
+        "className": "",
+        "visible": "true",
+        "disabled": "false",
+        "groupType": "default"
+    },
+    {
+        "id": "b7568fe107ccb2e6",
+        "type": "ui-group",
+        "name": "R1",
+        "page": "bb436fe040268d40",
+        "width": "3",
+        "height": 1,
+        "order": 3,
+        "showTitle": true,
+        "className": "",
+        "visible": "true",
+        "disabled": "false",
+        "groupType": "default"
+    },
+    {
+        "id": "0b9ca135d0b7313a",
+        "type": "ui-group",
+        "name": "R0",
+        "page": "bb436fe040268d40",
+        "width": "3",
+        "height": 1,
+        "order": 2,
         "showTitle": true,
         "className": "",
         "visible": "true",
@@ -239,10 +317,10 @@
         "id": "699fb0d470d36c5f",
         "type": "ui-button",
         "z": "86a34ee77bf6db10",
-        "group": "5fe915fcd26e78ae",
+        "group": "0b9ca135d0b7313a",
         "name": "",
         "label": "B0",
-        "order": 8,
+        "order": 6,
         "width": 0,
         "height": 0,
         "emulateClick": false,
@@ -278,7 +356,7 @@
         "id": "9f4dc1907c1e00dd",
         "type": "ui-button",
         "z": "86a34ee77bf6db10",
-        "group": "5fe915fcd26e78ae",
+        "group": "0b9ca135d0b7313a",
         "name": "",
         "label": "B1",
         "order": 7,
@@ -317,7 +395,7 @@
         "id": "79b179ce4b2341de",
         "type": "ui-button",
         "z": "86a34ee77bf6db10",
-        "group": "5fe915fcd26e78ae",
+        "group": "b7568fe107ccb2e6",
         "name": "",
         "label": "B2",
         "order": 6,
@@ -356,10 +434,10 @@
         "id": "66e9e7d8aa02074d",
         "type": "ui-button",
         "z": "86a34ee77bf6db10",
-        "group": "5fe915fcd26e78ae",
+        "group": "b7568fe107ccb2e6",
         "name": "",
         "label": "B3",
-        "order": 5,
+        "order": 7,
         "width": 0,
         "height": 0,
         "emulateClick": false,
@@ -932,7 +1010,7 @@
         "type": "function",
         "z": "86a34ee77bf6db10",
         "name": "reset",
-        "func": "flow.set(\"i0\", 0);\nflow.set(\"i1\", 0);\nflow.set(\"i2\", 0);\nflow.set(\"i3\", 0);\nflow.set(\"i4\", 0);\nflow.set(\"i5\", 0);\nflow.set(\"i6\", 0);\nflow.set(\"i7\", 0);\n\nglobal.set(\"a0\", 0);\nglobal.set(\"a1\", 0);\nglobal.set(\"a2\", 0);\nglobal.set(\"a3\", 0);\nglobal.set(\"a4\", 0);\nglobal.set(\"a5\", 0);\nglobal.set(\"a6\", 0);\nglobal.set(\"a7\", 0);\n\nglobal.set(\"m0\", 0);\nglobal.set(\"m1\", 0);\nglobal.set(\"m2\", 0);\nglobal.set(\"m3\", 0);\n\nglobal.set(\"p0\", 0);\n\nglobal.set(\"v0\", 0);\n\nglobal.set(\"c0\", 1);\nglobal.set(\"c1\", 0);\nglobal.set(\"c2\", 1);\nglobal.set(\"c3\", 0);\nglobal.set(\"c4\", 0);\nglobal.set(\"c5\", 0);\nglobal.set(\"c6\", 0);\nglobal.set(\"c7\", 0);\n\nglobal.set(\"s8\", 0);\nglobal.set(\"s9\", 0);\n\nglobal.set(\"flag0\", 0);\n\nmsg.payload = false;\n\nreturn msg;",
+        "func": "const sarii = {\n    actionneurs: [0, 0, 0, 0, 0, 0, 0, 0],\n    moteurs: [0, 0, 0, 0],\n    niveaux: [0, 0, 0, 0]\n}\n\nflow.set(\"i0\", 0);\nflow.set(\"i1\", 0);\nflow.set(\"i2\", 0);\nflow.set(\"i3\", 0);\nflow.set(\"i4\", 0);\nflow.set(\"i5\", 0);\nflow.set(\"i6\", 0);\nflow.set(\"i7\", 0);\n\nglobal.set(\"a0\", 0);\nglobal.set(\"a1\", 0);\nglobal.set(\"a2\", 0);\nglobal.set(\"a3\", 0);\nglobal.set(\"a4\", 0);\nglobal.set(\"a5\", 0);\nglobal.set(\"a6\", 0);\nglobal.set(\"a7\", 0);\n\nglobal.set(\"m0\", 0);\nglobal.set(\"m1\", 0);\nglobal.set(\"m2\", 0);\nglobal.set(\"m3\", 0);\n\nglobal.set(\"p0\", 0);\nglobal.set(\"p1\", 0);\nglobal.set(\"p2\", 0);\nglobal.set(\"p3\", 0);\n\nglobal.set(\"v0\", 0);\n\nglobal.set(\"c0\", 0);\nglobal.set(\"c1\", 0);\nglobal.set(\"c2\", 0);\nglobal.set(\"c3\", 0);\nglobal.set(\"c4\", 0);\nglobal.set(\"c5\", 0);\nglobal.set(\"c6\", 0);\nglobal.set(\"c7\", 0);\n\nglobal.set(\"s8\", 0);\nglobal.set(\"s9\", 0);\n\nglobal.set(\"flag0\", 0);\n\nmsg.payload = false;\n\nreturn msg;",
         "outputs": 1,
         "timeout": 0,
         "noerr": 0,
@@ -960,10 +1038,10 @@
         "id": "94418b813e53bf2c",
         "type": "ui-button",
         "z": "86a34ee77bf6db10",
-        "group": "5fe915fcd26e78ae",
+        "group": "6ba51f61417860c1",
         "name": "",
         "label": "B4",
-        "order": 4,
+        "order": 6,
         "width": 0,
         "height": 0,
         "emulateClick": false,
@@ -999,10 +1077,10 @@
         "id": "b674f39795cf1427",
         "type": "ui-button",
         "z": "86a34ee77bf6db10",
-        "group": "5fe915fcd26e78ae",
+        "group": "6ba51f61417860c1",
         "name": "",
         "label": "B5",
-        "order": 3,
+        "order": 7,
         "width": 0,
         "height": 0,
         "emulateClick": false,
@@ -1290,7 +1368,7 @@
         "type": "function",
         "z": "86a34ee77bf6db10",
         "name": "format mqtt",
-        "func": "let i0 = Number(flow.get(\"i0\")) || 0;\nlet i1 = Number(flow.get(\"i1\")) || 0;\nlet i2 = Number(flow.get(\"i2\")) || 0;\nlet i3 = Number(flow.get(\"i3\")) || 0;\nlet i4 = Number(flow.get(\"i4\")) || 0;\nlet i5 = Number(flow.get(\"i5\")) || 0;\nlet i6 = Number(flow.get(\"i6\")) || 0;\nlet i7 = Number(flow.get(\"i7\")) || 0;\n\nlet v0 = Number(global.get(\"v0\")) || 0;\n\nif (typeof msg.payload[\"arret\"] === 'undefined') msg.payload[\"arret\"] = 1;\nif (typeof msg.payload[\"marche\"] === 'undefined') msg.payload[\"marche\"] = 0;\n\nif (typeof msg.payload[\"b0\"] === 'undefined') msg.payload[\"b0\"] = 0;\nif (typeof msg.payload[\"b1\"] === 'undefined') msg.payload[\"b1\"] = 0;\nif (typeof msg.payload[\"b2\"] === 'undefined') msg.payload[\"b2\"] = 0;\nif (typeof msg.payload[\"b3\"] === 'undefined') msg.payload[\"b3\"] = 0;\nif (typeof msg.payload[\"b4\"] === 'undefined') msg.payload[\"b4\"] = 0;\nif (typeof msg.payload[\"b5\"] === 'undefined') msg.payload[\"b5\"] = 0;\nif (typeof msg.payload[\"b6\"] === 'undefined') msg.payload[\"b6\"] = 0;\nif (typeof msg.payload[\"b7\"] === 'undefined') msg.payload[\"b7\"] = 0;\n\nmsg.payload[\"i0\"] = i0;\nmsg.payload[\"i1\"] = i1;\nmsg.payload[\"i2\"] = i2;\nmsg.payload[\"i3\"] = i3;\nmsg.payload[\"i4\"] = i4;\nmsg.payload[\"i5\"] = i5;\nmsg.payload[\"i6\"] = i6;\nmsg.payload[\"i7\"] = i7;\n\nmsg.payload[\"c0\"] = Number(global.get(\"c0\")) || 0;\nmsg.payload[\"c1\"] = Number(global.get(\"c1\")) || 0;\nmsg.payload[\"c2\"] = Number(global.get(\"c2\")) || 0;\nmsg.payload[\"c3\"] = Number(global.get(\"c3\")) || 0;\nmsg.payload[\"c4\"] = Number(global.get(\"c4\")) || 0;\nmsg.payload[\"c5\"] = Number(global.get(\"c5\")) || 0;\nmsg.payload[\"c6\"] = Number(global.get(\"c6\")) || 0;\nmsg.payload[\"c7\"] = Number(global.get(\"c7\")) || 0;\n\nmsg.payload[\"v0\"] = v0;\nmsg.payload[\"p0\"] =  Number(global.get(\"p0\")) || 0;\n\nreturn msg;",
+        "func": "let i0 = Number(flow.get(\"i0\")) || 0;\nlet i1 = Number(flow.get(\"i1\")) || 0;\nlet i2 = Number(flow.get(\"i2\")) || 0;\nlet i3 = Number(flow.get(\"i3\")) || 0;\nlet i4 = Number(flow.get(\"i4\")) || 0;\nlet i5 = Number(flow.get(\"i5\")) || 0;\nlet i6 = Number(flow.get(\"i6\")) || 0;\nlet i7 = Number(flow.get(\"i7\")) || 0;\n\nlet v0 = Number(global.get(\"v0\")) || 0;\n\nif (typeof msg.payload[\"arret\"] === 'undefined') msg.payload[\"arret\"] = 1;\nif (typeof msg.payload[\"marche\"] === 'undefined') msg.payload[\"marche\"] = 0;\n\nif (typeof msg.payload[\"b0\"] === 'undefined') msg.payload[\"b0\"] = 0;\nif (typeof msg.payload[\"b1\"] === 'undefined') msg.payload[\"b1\"] = 0;\nif (typeof msg.payload[\"b2\"] === 'undefined') msg.payload[\"b2\"] = 0;\nif (typeof msg.payload[\"b3\"] === 'undefined') msg.payload[\"b3\"] = 0;\nif (typeof msg.payload[\"b4\"] === 'undefined') msg.payload[\"b4\"] = 0;\nif (typeof msg.payload[\"b5\"] === 'undefined') msg.payload[\"b5\"] = 0;\nif (typeof msg.payload[\"b6\"] === 'undefined') msg.payload[\"b6\"] = 0;\nif (typeof msg.payload[\"b7\"] === 'undefined') msg.payload[\"b7\"] = 0;\n\nmsg.payload[\"i0\"] = i0;\nmsg.payload[\"i1\"] = i1;\nmsg.payload[\"i2\"] = i2;\nmsg.payload[\"i3\"] = i3;\nmsg.payload[\"i4\"] = i4;\nmsg.payload[\"i5\"] = i5;\nmsg.payload[\"i6\"] = i6;\nmsg.payload[\"i7\"] = i7;\n\nmsg.payload[\"c0\"] = Number(global.get(\"c0\")) || 0;\nmsg.payload[\"c1\"] = Number(global.get(\"c1\")) || 0;\nmsg.payload[\"c2\"] = Number(global.get(\"c2\")) || 0;\nmsg.payload[\"c3\"] = Number(global.get(\"c3\")) || 0;\nmsg.payload[\"c4\"] = Number(global.get(\"c4\")) || 0;\nmsg.payload[\"c5\"] = Number(global.get(\"c5\")) || 0;\nmsg.payload[\"c6\"] = Number(global.get(\"c6\")) || 0;\nmsg.payload[\"c7\"] = Number(global.get(\"c7\")) || 0;\n\nmsg.payload[\"v0\"] = v0;\n\nmsg.payload[\"p0\"] =  Number(global.get(\"p0\")) || 0;\nmsg.payload[\"p1\"] =  Number(global.get(\"p1\")) || 0;\nmsg.payload[\"p2\"] =  Number(global.get(\"p2\")) || 0;\nmsg.payload[\"p3\"] =  Number(global.get(\"p3\")) || 0;\n\nreturn msg;",
         "outputs": 1,
         "timeout": 0,
         "noerr": 0,
@@ -1772,7 +1850,9 @@
                 "c76542262137e660",
                 "3c5d996abc900e3d",
                 "6d425818a9a96be2",
-                "c613454bd48662e1"
+                "c613454bd48662e1",
+                "c45101b9ef3d5620",
+                "600315bb508c1e24"
             ]
         ]
     },
@@ -1823,90 +1903,10 @@
         "height": 0,
         "color": "",
         "className": "",
-        "x": 1680,
-        "y": 820,
+        "x": 1880,
+        "y": 680,
         "wires": []
     },
-    {
-        "id": "87bd077b61c6e623",
-        "type": "function",
-        "z": "86a34ee77bf6db10",
-        "name": "m0",
-        "func": "global.set(\"m0\", Number(msg.payload.m0));\nmsg.payload = msg.payload.m0 * 10;\nreturn msg;",
-        "outputs": 1,
-        "timeout": 0,
-        "noerr": 0,
-        "initialize": "",
-        "finalize": "",
-        "libs": [],
-        "x": 690,
-        "y": 1440,
-        "wires": [
-            [
-                "c7a24187c63a6f92"
-            ]
-        ]
-    },
-    {
-        "id": "17f45fa5a72be929",
-        "type": "function",
-        "z": "86a34ee77bf6db10",
-        "name": "m1",
-        "func": "global.set(\"m1\", Number(msg.payload.m1));\nmsg.payload = msg.payload.m1 * 10;\nreturn msg;",
-        "outputs": 1,
-        "timeout": 0,
-        "noerr": 0,
-        "initialize": "",
-        "finalize": "",
-        "libs": [],
-        "x": 690,
-        "y": 1480,
-        "wires": [
-            [
-                "fc11f649c39c46d2"
-            ]
-        ]
-    },
-    {
-        "id": "96a15b4c506aa11a",
-        "type": "function",
-        "z": "86a34ee77bf6db10",
-        "name": "m2",
-        "func": "global.set(\"m2\", Number(msg.payload.m2));\nmsg.payload = msg.payload.m2 * 10;\nreturn msg;",
-        "outputs": 1,
-        "timeout": 0,
-        "noerr": 0,
-        "initialize": "",
-        "finalize": "",
-        "libs": [],
-        "x": 690,
-        "y": 1520,
-        "wires": [
-            [
-                "8e5c745d23d5380c"
-            ]
-        ]
-    },
-    {
-        "id": "10a21959cbd3cc1e",
-        "type": "function",
-        "z": "86a34ee77bf6db10",
-        "name": "m3",
-        "func": "global.set(\"m3\", Number(msg.payload.m3));\nmsg.payload = msg.payload.m3 * 10;\nreturn msg;",
-        "outputs": 1,
-        "timeout": 0,
-        "noerr": 0,
-        "initialize": "",
-        "finalize": "",
-        "libs": [],
-        "x": 690,
-        "y": 1560,
-        "wires": [
-            [
-                "1f1e018651c474a0"
-            ]
-        ]
-    },
     {
         "id": "30d93ea6f5e8d0c1",
         "type": "function",
@@ -1920,7 +1920,7 @@
         "finalize": "",
         "libs": [],
         "x": 1490,
-        "y": 820,
+        "y": 680,
         "wires": [
             [
                 "8a9cc277cf3f445b",
@@ -2084,16 +2084,16 @@
         "id": "c7a24187c63a6f92",
         "type": "ui-gauge",
         "z": "86a34ee77bf6db10",
-        "name": "",
+        "name": "Moteur 0",
         "group": "6b44d4b22cd7b3dc",
         "order": 1,
-        "value": "payload",
-        "valueType": "msg",
+        "value": "sarii.moteurs[0]",
+        "valueType": "global",
         "width": "2",
         "height": "2",
         "gtype": "gauge-half",
         "gstyle": "needle",
-        "title": "gauge",
+        "title": "Moteur 0",
         "alwaysShowTitle": false,
         "floatingTitlePosition": "top-left",
         "units": "units",
@@ -2108,27 +2108,27 @@
                 "textType": "label"
             },
             {
-                "from": "4",
+                "from": "0.4",
                 "color": "#ffc800",
                 "text": "",
                 "textType": "label"
             },
             {
-                "from": "7",
+                "from": "0.7",
                 "color": "#ea5353",
                 "text": "",
                 "textType": "label"
             }
         ],
         "min": 0,
-        "max": 10,
+        "max": "1",
         "sizeThickness": 16,
         "sizeGap": 4,
         "sizeKeyThickness": 8,
         "styleRounded": true,
         "styleGlow": false,
         "className": "",
-        "x": 870,
+        "x": 880,
         "y": 1440,
         "wires": [
             []
@@ -2138,16 +2138,16 @@
         "id": "fc11f649c39c46d2",
         "type": "ui-gauge",
         "z": "86a34ee77bf6db10",
-        "name": "",
+        "name": "Moteur 1",
         "group": "6b44d4b22cd7b3dc",
         "order": 2,
-        "value": "payload",
-        "valueType": "msg",
+        "value": "sarii.moteurs[1]",
+        "valueType": "global",
         "width": "2",
         "height": "2",
         "gtype": "gauge-half",
         "gstyle": "needle",
-        "title": "gauge",
+        "title": "Moteur 1",
         "alwaysShowTitle": false,
         "floatingTitlePosition": "top-left",
         "units": "units",
@@ -2162,27 +2162,27 @@
                 "textType": "label"
             },
             {
-                "from": "4",
+                "from": "0.4",
                 "color": "#ffc800",
                 "text": "",
                 "textType": "label"
             },
             {
-                "from": "7",
+                "from": "0.7",
                 "color": "#ea5353",
                 "text": "",
                 "textType": "label"
             }
         ],
         "min": 0,
-        "max": 10,
+        "max": "1",
         "sizeThickness": 16,
         "sizeGap": 4,
         "sizeKeyThickness": 8,
         "styleRounded": true,
         "styleGlow": false,
         "className": "",
-        "x": 870,
+        "x": 880,
         "y": 1480,
         "wires": [
             []
@@ -2192,16 +2192,16 @@
         "id": "8e5c745d23d5380c",
         "type": "ui-gauge",
         "z": "86a34ee77bf6db10",
-        "name": "",
+        "name": "Moteur 2",
         "group": "6b44d4b22cd7b3dc",
         "order": 3,
-        "value": "payload",
-        "valueType": "msg",
+        "value": "sarii.moteurs[2]",
+        "valueType": "global",
         "width": "2",
         "height": "2",
         "gtype": "gauge-half",
         "gstyle": "needle",
-        "title": "gauge",
+        "title": "Moteur 2",
         "alwaysShowTitle": false,
         "floatingTitlePosition": "top-left",
         "units": "units",
@@ -2216,27 +2216,27 @@
                 "textType": "label"
             },
             {
-                "from": "4",
+                "from": "0.4",
                 "color": "#ffc800",
                 "text": "",
                 "textType": "label"
             },
             {
-                "from": "7",
+                "from": "0.7",
                 "color": "#ea5353",
                 "text": "",
                 "textType": "label"
             }
         ],
         "min": 0,
-        "max": 10,
+        "max": "1",
         "sizeThickness": 16,
         "sizeGap": 4,
         "sizeKeyThickness": 8,
         "styleRounded": true,
         "styleGlow": false,
         "className": "",
-        "x": 870,
+        "x": 880,
         "y": 1520,
         "wires": [
             []
@@ -2246,16 +2246,16 @@
         "id": "1f1e018651c474a0",
         "type": "ui-gauge",
         "z": "86a34ee77bf6db10",
-        "name": "",
+        "name": "Moteur 3",
         "group": "6b44d4b22cd7b3dc",
         "order": 4,
-        "value": "payload",
-        "valueType": "msg",
+        "value": "sarii.moteurs[3]",
+        "valueType": "global",
         "width": "2",
         "height": "2",
         "gtype": "gauge-half",
         "gstyle": "needle",
-        "title": "gauge",
+        "title": "Moteur 3",
         "alwaysShowTitle": false,
         "floatingTitlePosition": "top-left",
         "units": "units",
@@ -2270,27 +2270,27 @@
                 "textType": "label"
             },
             {
-                "from": "4",
+                "from": "0.4",
                 "color": "#ffc800",
                 "text": "",
                 "textType": "label"
             },
             {
-                "from": "7",
+                "from": "0.7",
                 "color": "#ea5353",
                 "text": "",
                 "textType": "label"
             }
         ],
         "min": 0,
-        "max": 10,
+        "max": "1",
         "sizeThickness": 16,
         "sizeGap": 4,
         "sizeKeyThickness": 8,
         "styleRounded": true,
         "styleGlow": false,
         "className": "",
-        "x": 870,
+        "x": 880,
         "y": 1560,
         "wires": [
             []
@@ -2300,9 +2300,9 @@
         "id": "3a4fc72ec7ac5e24",
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
-        "group": "b1bde11bdd78b9f1",
+        "group": "0b9ca135d0b7313a",
         "order": 3,
-        "width": "2",
+        "width": "1",
         "height": "1",
         "name": "",
         "label": "c0",
@@ -2324,9 +2324,9 @@
         "id": "f9dc47909191e3c8",
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
-        "group": "b1bde11bdd78b9f1",
+        "group": "0b9ca135d0b7313a",
         "order": 4,
-        "width": "2",
+        "width": "1",
         "height": "1",
         "name": "",
         "label": "c1",
@@ -2348,9 +2348,9 @@
         "id": "010deed59c85eb88",
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
-        "group": "b1bde11bdd78b9f1",
-        "order": 5,
-        "width": "2",
+        "group": "b7568fe107ccb2e6",
+        "order": 3,
+        "width": "1",
         "height": "1",
         "name": "",
         "label": "c2",
@@ -2432,9 +2432,9 @@
         "id": "ee9fdf6abaeac67b",
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
-        "group": "b1bde11bdd78b9f1",
-        "order": 6,
-        "width": "2",
+        "group": "b7568fe107ccb2e6",
+        "order": 4,
+        "width": "1",
         "height": "1",
         "name": "",
         "label": "c3",
@@ -2456,8 +2456,8 @@
         "id": "a6a2a869c90e9632",
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
-        "group": "6b44d4b22cd7b3dc",
-        "order": 8,
+        "group": "6ba51f61417860c1",
+        "order": 3,
         "width": "1",
         "height": "1",
         "name": "",
@@ -2480,14 +2480,14 @@
         "id": "67f154181e143217",
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
-        "group": "6b44d4b22cd7b3dc",
-        "order": 9,
+        "group": "6ba51f61417860c1",
+        "order": 4,
         "width": "1",
         "height": "1",
         "name": "",
         "label": "c5",
         "format": "{{msg.payload}}",
-        "layout": "row-right",
+        "layout": "row-left",
         "style": false,
         "font": "",
         "fontSize": 16,
@@ -2505,7 +2505,7 @@
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
         "group": "6b44d4b22cd7b3dc",
-        "order": 10,
+        "order": 5,
         "width": "1",
         "height": "1",
         "name": "",
@@ -2529,7 +2529,7 @@
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
         "group": "6b44d4b22cd7b3dc",
-        "order": 11,
+        "order": 6,
         "width": "1",
         "height": "1",
         "name": "",
@@ -2652,12 +2652,12 @@
         "id": "c219b897538f7dfd",
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
-        "group": "6b44d4b22cd7b3dc",
-        "order": 5,
-        "width": "2",
+        "group": "0b9ca135d0b7313a",
+        "order": 2,
+        "width": "1",
         "height": "1",
         "name": "",
-        "label": "Actionneur 0",
+        "label": "A0",
         "format": "{{msg.payload}}",
         "layout": "row-left",
         "style": false,
@@ -2668,7 +2668,7 @@
         "className": "",
         "value": "payload",
         "valueType": "msg",
-        "x": 890,
+        "x": 870,
         "y": 1920,
         "wires": []
     },
@@ -2676,12 +2676,12 @@
         "id": "74204db55792e5ad",
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
-        "group": "6b44d4b22cd7b3dc",
-        "order": 6,
-        "width": "2",
+        "group": "0b9ca135d0b7313a",
+        "order": 5,
+        "width": "1",
         "height": "1",
         "name": "",
-        "label": "Actionneur 1",
+        "label": "A1",
         "format": "{{msg.payload}}",
         "layout": "row-left",
         "style": false,
@@ -2692,7 +2692,7 @@
         "className": "",
         "value": "payload",
         "valueType": "msg",
-        "x": 890,
+        "x": 870,
         "y": 1960,
         "wires": []
     },
@@ -2700,12 +2700,12 @@
         "id": "8d5eb1827691bec4",
         "type": "ui-text",
         "z": "86a34ee77bf6db10",
-        "group": "6b44d4b22cd7b3dc",
-        "order": 7,
-        "width": "2",
+        "group": "b7568fe107ccb2e6",
+        "order": 5,
+        "width": "1",
         "height": "1",
         "name": "",
-        "label": "Actionneur 2",
+        "label": "A2",
         "format": "{{msg.payload}}",
         "layout": "row-left",
         "style": false,
@@ -2716,7 +2716,7 @@
         "className": "",
         "value": "payload",
         "valueType": "msg",
-        "x": 890,
+        "x": 870,
         "y": 2000,
         "wires": []
     },
@@ -2778,7 +2778,7 @@
             "e5da08ba69fe6fb8"
         ],
         "x": 665,
-        "y": 2100,
+        "y": 2260,
         "wires": []
     },
     {
@@ -2910,7 +2910,7 @@
         "type": "function",
         "z": "86a34ee77bf6db10",
         "name": "reset s",
-        "func": "msg.payload = {\n    sorties: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],\n    actionneurs: [0, 0, 0, 0, 0, 0, 0, 0],\n    \"m0\": 0,\n    \"m1\": 0,\n    \"m2\": 0,\n    \"m3\": 0\n}\n\nreturn msg;",
+        "func": "msg.payload = {\n    sorties: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],\n    actionneurs: [0, 0, 0, 0, 0, 0, 0, 0],\n    moteurs: [0, 0, 0, 0]\n}\n\nreturn msg;",
         "outputs": 1,
         "timeout": 0,
         "noerr": 0,
@@ -2931,7 +2931,7 @@
         "type": "function",
         "z": "86a34ee77bf6db10",
         "name": "nop",
-        "func": "return msg;",
+        "func": "global.set(\"sarii\", msg.payload);\nreturn msg;",
         "outputs": 1,
         "timeout": 0,
         "noerr": 0,
@@ -2950,10 +2950,6 @@
                 "3ceeaa9da55ccbb8",
                 "53e82b867be45c4a",
                 "4fe669c3987dcfe4",
-                "87bd077b61c6e623",
-                "17f45fa5a72be929",
-                "96a15b4c506aa11a",
-                "10a21959cbd3cc1e",
                 "1cd3d290f7f7d539",
                 "88310a9e40d564fc",
                 "b543660f60319f21",
@@ -2964,7 +2960,14 @@
                 "29d203e016b983f6",
                 "e41bd818da135c8c",
                 "e7b6444f18166784",
-                "c35fc0f16cdcd248"
+                "c35fc0f16cdcd248",
+                "c7a24187c63a6f92",
+                "fc11f649c39c46d2",
+                "8e5c745d23d5380c",
+                "1f1e018651c474a0",
+                "b9f7732fd7811477",
+                "6c540f4ab586805c",
+                "c2831f17dd8de1e7"
             ]
         ]
     },
@@ -2997,7 +3000,8 @@
         "links": [
             "978ded7ba3456f70",
             "5dac1387a71bc55e",
-            "ed71da98200376bd"
+            "ed71da98200376bd",
+            "154f1cf1b90cb211"
         ],
         "x": 1225,
         "y": 820,
@@ -3016,7 +3020,7 @@
         "statusVal": "",
         "statusType": "auto",
         "x": 380,
-        "y": 1620,
+        "y": 1660,
         "wires": []
     },
     {
@@ -3032,7 +3036,7 @@
         "finalize": "",
         "libs": [],
         "x": 1670,
-        "y": 760,
+        "y": 620,
         "wires": [
             [
                 "3ad77e23a54df2d0"
@@ -3044,11 +3048,11 @@
         "type": "ui-gauge",
         "z": "86a34ee77bf6db10",
         "name": "",
-        "group": "050148aff99031d4",
+        "group": "0b9ca135d0b7313a",
         "order": 1,
         "value": "payload",
         "valueType": "msg",
-        "width": "4",
+        "width": "2",
         "height": "5",
         "gtype": "gauge-tank",
         "gstyle": "needle",
@@ -3094,7 +3098,7 @@
         "styleGlow": false,
         "className": "",
         "x": 1870,
-        "y": 760,
+        "y": 620,
         "wires": [
             []
         ]
@@ -3180,7 +3184,7 @@
         "value": "payload",
         "valueType": "msg",
         "x": 870,
-        "y": 2060,
+        "y": 2220,
         "wires": []
     },
     {
@@ -3196,13 +3200,345 @@
         "finalize": "",
         "libs": [],
         "x": 690,
-        "y": 2060,
+        "y": 2220,
         "wires": [
             [
                 "5f29ee2b49dce0b4"
             ]
         ]
     },
+    {
+        "id": "c45101b9ef3d5620",
+        "type": "function",
+        "z": "86a34ee77bf6db10",
+        "name": "p1",
+        "func": "msg.payload = global.get(\"p1\");\nreturn msg;\n",
+        "outputs": 1,
+        "timeout": 0,
+        "noerr": 0,
+        "initialize": "",
+        "finalize": "",
+        "libs": [],
+        "x": 1490,
+        "y": 720,
+        "wires": [
+            [
+                "fb67d358e695b270"
+            ]
+        ]
+    },
+    {
+        "id": "600315bb508c1e24",
+        "type": "function",
+        "z": "86a34ee77bf6db10",
+        "name": "p2",
+        "func": "msg.payload = global.get(\"p2\");\nreturn msg;\n",
+        "outputs": 1,
+        "timeout": 0,
+        "noerr": 0,
+        "initialize": "",
+        "finalize": "",
+        "libs": [],
+        "x": 1490,
+        "y": 760,
+        "wires": [
+            [
+                "8c8826a7c7d67914"
+            ]
+        ]
+    },
+    {
+        "id": "7c11f7e0a46ac191",
+        "type": "ui-gauge",
+        "z": "86a34ee77bf6db10",
+        "name": "R2",
+        "group": "b7568fe107ccb2e6",
+        "order": 1,
+        "value": "payload",
+        "valueType": "msg",
+        "width": "2",
+        "height": "5",
+        "gtype": "gauge-tank",
+        "gstyle": "needle",
+        "title": "gauge",
+        "alwaysShowTitle": false,
+        "floatingTitlePosition": "top-left",
+        "units": "units",
+        "icon": "",
+        "prefix": "",
+        "suffix": "",
+        "segments": [
+            {
+                "from": "0",
+                "color": "#e01b24",
+                "text": "",
+                "textType": "label"
+            },
+            {
+                "from": "500",
+                "color": "#ff7800",
+                "text": "",
+                "textType": "label"
+            },
+            {
+                "from": "1000",
+                "color": "#f6d32d",
+                "text": "",
+                "textType": "label"
+            },
+            {
+                "from": "1500",
+                "color": "#2397d1",
+                "text": "",
+                "textType": "label"
+            }
+        ],
+        "min": 0,
+        "max": "3000",
+        "sizeThickness": 16,
+        "sizeGap": 4,
+        "sizeKeyThickness": 8,
+        "styleRounded": true,
+        "styleGlow": false,
+        "className": "",
+        "x": 1850,
+        "y": 740,
+        "wires": [
+            []
+        ]
+    },
+    {
+        "id": "8e1d0abadbaf14be",
+        "type": "ui-gauge",
+        "z": "86a34ee77bf6db10",
+        "name": "",
+        "group": "6ba51f61417860c1",
+        "order": 1,
+        "value": "payload",
+        "valueType": "msg",
+        "width": "2",
+        "height": "5",
+        "gtype": "gauge-tank",
+        "gstyle": "needle",
+        "title": "gauge",
+        "alwaysShowTitle": false,
+        "floatingTitlePosition": "top-left",
+        "units": "units",
+        "icon": "",
+        "prefix": "",
+        "suffix": "",
+        "segments": [
+            {
+                "from": "0",
+                "color": "#e01b24",
+                "text": "",
+                "textType": "label"
+            },
+            {
+                "from": "500",
+                "color": "#ff7800",
+                "text": "",
+                "textType": "label"
+            },
+            {
+                "from": "1000",
+                "color": "#f6d32d",
+                "text": "",
+                "textType": "label"
+            },
+            {
+                "from": "1500",
+                "color": "#2397d1",
+                "text": "",
+                "textType": "label"
+            }
+        ],
+        "min": 0,
+        "max": "3000",
+        "sizeThickness": 16,
+        "sizeGap": 4,
+        "sizeKeyThickness": 8,
+        "styleRounded": true,
+        "styleGlow": false,
+        "className": "",
+        "x": 1830,
+        "y": 800,
+        "wires": [
+            []
+        ]
+    },
+    {
+        "id": "40c04a051789b7e2",
+        "type": "ui-text",
+        "z": "86a34ee77bf6db10",
+        "group": "b7568fe107ccb2e6",
+        "order": 2,
+        "width": "1",
+        "height": "1",
+        "name": "",
+        "label": "A3",
+        "format": "{{msg.payload}}",
+        "layout": "row-left",
+        "style": false,
+        "font": "",
+        "fontSize": 16,
+        "color": "#717171",
+        "wrapText": false,
+        "className": "",
+        "value": "payload",
+        "valueType": "msg",
+        "x": 870,
+        "y": 2040,
+        "wires": []
+    },
+    {
+        "id": "b9f7732fd7811477",
+        "type": "function",
+        "z": "86a34ee77bf6db10",
+        "name": "a3",
+        "func": "msg.payload = Number(msg.payload.actionneurs[3]) ? \"🟩\" : \"🟥\";\nreturn msg;",
+        "outputs": 1,
+        "timeout": 0,
+        "noerr": 0,
+        "initialize": "",
+        "finalize": "",
+        "libs": [],
+        "x": 690,
+        "y": 2040,
+        "wires": [
+            [
+                "40c04a051789b7e2"
+            ]
+        ]
+    },
+    {
+        "id": "f1a19858c359889e",
+        "type": "ui-text",
+        "z": "86a34ee77bf6db10",
+        "group": "6ba51f61417860c1",
+        "order": 2,
+        "width": "1",
+        "height": "1",
+        "name": "",
+        "label": "A4",
+        "format": "{{msg.payload}}",
+        "layout": "row-left",
+        "style": false,
+        "font": "",
+        "fontSize": 16,
+        "color": "#717171",
+        "wrapText": false,
+        "className": "",
+        "value": "payload",
+        "valueType": "msg",
+        "x": 870,
+        "y": 2080,
+        "wires": []
+    },
+    {
+        "id": "6c540f4ab586805c",
+        "type": "function",
+        "z": "86a34ee77bf6db10",
+        "name": "a4",
+        "func": "msg.payload = Number(msg.payload.actionneurs[4]) ? \"🟩\" : \"🟥\";\nreturn msg;",
+        "outputs": 1,
+        "timeout": 0,
+        "noerr": 0,
+        "initialize": "",
+        "finalize": "",
+        "libs": [],
+        "x": 690,
+        "y": 2080,
+        "wires": [
+            [
+                "f1a19858c359889e"
+            ]
+        ]
+    },
+    {
+        "id": "84022e91b5bc83b9",
+        "type": "ui-text",
+        "z": "86a34ee77bf6db10",
+        "group": "6ba51f61417860c1",
+        "order": 5,
+        "width": "1",
+        "height": "1",
+        "name": "",
+        "label": "A5",
+        "format": "{{msg.payload}}",
+        "layout": "row-left",
+        "style": false,
+        "font": "",
+        "fontSize": 16,
+        "color": "#717171",
+        "wrapText": false,
+        "className": "",
+        "value": "payload",
+        "valueType": "msg",
+        "x": 870,
+        "y": 2120,
+        "wires": []
+    },
+    {
+        "id": "c2831f17dd8de1e7",
+        "type": "function",
+        "z": "86a34ee77bf6db10",
+        "name": "a5",
+        "func": "msg.payload = Number(msg.payload.actionneurs[5]) ? \"🟩\" : \"🟥\";\nreturn msg;",
+        "outputs": 1,
+        "timeout": 0,
+        "noerr": 0,
+        "initialize": "",
+        "finalize": "",
+        "libs": [],
+        "x": 690,
+        "y": 2120,
+        "wires": [
+            [
+                "84022e91b5bc83b9"
+            ]
+        ]
+    },
+    {
+        "id": "fb67d358e695b270",
+        "type": "function",
+        "z": "86a34ee77bf6db10",
+        "name": "x30",
+        "func": "msg.payload = msg.payload * 30;\nreturn msg;",
+        "outputs": 1,
+        "timeout": 0,
+        "noerr": 0,
+        "initialize": "",
+        "finalize": "",
+        "libs": [],
+        "x": 1670,
+        "y": 740,
+        "wires": [
+            [
+                "7c11f7e0a46ac191"
+            ]
+        ]
+    },
+    {
+        "id": "8c8826a7c7d67914",
+        "type": "function",
+        "z": "86a34ee77bf6db10",
+        "name": "x30",
+        "func": "msg.payload = msg.payload * 30;\nreturn msg;",
+        "outputs": 1,
+        "timeout": 0,
+        "noerr": 0,
+        "initialize": "",
+        "finalize": "",
+        "libs": [],
+        "x": 1670,
+        "y": 800,
+        "wires": [
+            [
+                "8e1d0abadbaf14be"
+            ]
+        ]
+    },
     {
         "id": "cefd0feeeaf4227c",
         "type": "function",
@@ -4222,6 +4558,7 @@
         "id": "ed71da98200376bd",
         "type": "link in",
         "z": "93dc5b41180d0746",
+        "d": true,
         "name": "link in 3",
         "links": [
             "c613454bd48662e1"
@@ -4239,7 +4576,7 @@
         "type": "function",
         "z": "93dc5b41180d0746",
         "name": "réservoir",
-        "func": "let p0 = Number(global.get(\"p0\")) || 0;\nlet v0 = Number(global.get(\"v0\")) || 0;\n\nif (global.get(\"m0\")) {\n    p0 += 0.3;\n}\n\nif (global.get(\"m2\")) {\n    p0 += 0.3;\n}\n\nif (global.get(\"m3\")) {\n    p0 += 0.3;\n}\n\nif (global.get(\"m4\")) {\n    p0 += 0.3;\n}\n\np0 = p0 - v0 / 100;\n\nif (p0 > 100) p0 = 100;\nif (p0 < 0) p0 = 0;\nglobal.set(\"p0\", p0);\nmsg.payload = p0;\n\nglobal.set(\"c0\", p0 > 15);\nglobal.set(\"c1\", p0 > 40);\nglobal.set(\"c2\", p0 > 60);\nglobal.set(\"c3\", p0 > 75);\n\nreturn msg;",
+        "func": "let p0 = Number(global.get(\"p0\")) || 0;\nlet v0 = Number(global.get(\"v0\")) || 0;\n\nconst sarii = global.get(\"sarii\");\n\nfor (let i = 0 ; i < 4 ; i++) {\n    if (sarii.moteurs[i]) {\n        p0 += 0.3;\n    }\n}\n\np0 = p0 - v0 / 100;\n\nif (p0 > 100) p0 = 100;\nif (p0 < 0) p0 = 0;\n\nglobal.set(\"p0\", p0);\nmsg.payload = p0;\n\nglobal.set(\"c0\", p0 > 15);\nglobal.set(\"c1\", p0 > 40);\nglobal.set(\"c2\", p0 > 60);\nglobal.set(\"c3\", p0 > 75);\n\nreturn msg;",
         "outputs": 1,
         "timeout": 0,
         "noerr": 0,
@@ -4251,5 +4588,39 @@
         "wires": [
             []
         ]
+    },
+    {
+        "id": "154f1cf1b90cb211",
+        "type": "link in",
+        "z": "93dc5b41180d0746",
+        "name": "link in 5",
+        "links": [
+            "c613454bd48662e1"
+        ],
+        "x": 105,
+        "y": 280,
+        "wires": [
+            [
+                "f44a82a1fa83049e"
+            ]
+        ]
+    },
+    {
+        "id": "f44a82a1fa83049e",
+        "type": "function",
+        "z": "93dc5b41180d0746",
+        "name": "cuves",
+        "func": "const sarii = global.get(\"sarii\");\n\nlet p0 = Number(global.get(\"p0\")) || 0;\n\nif (sarii.actionneurs[0]) {\n    p0 = p0 + 50 / 100;\n}\n\nif (sarii.actionneurs[1]) {\n    p0 = p0 - 50 / 100;\n}\n\nglobal.set(\"c0\", p0 >= 100);\nif (p0 >= 100) { \n    p0 = 100;\n}\n\nglobal.set(\"c1\", p0 <= 0);\nif (p0 <= 0) {\n    p0 = 0;\n}\n\nglobal.set(\"p0\", p0);\n\n\nlet p1 = Number(global.get(\"p1\")) || 0;\n\nif (sarii.actionneurs[2]) {\n    p1 = p1 + 50 / 100;\n}\n\nif (sarii.actionneurs[3]) {\n    p1 = p1 - 50 / 100;\n}\n\nglobal.set(\"c2\", p1 >= 100);\nif (p1 >= 100) {\n    p1 = 100;\n}\n\nglobal.set(\"c3\", p1 <= 0);\nif (p1 <= 0) {\n    p1 = 0;\n}\n\nglobal.set(\"p1\", p1);\n\n\n\nlet p2 = Number(global.get(\"p2\")) || 0;\n\nif (sarii.actionneurs[4]) {\n    p2 = p2 + 50 / 100;\n}\n\nif (sarii.actionneurs[5]) {\n    p2 = p2 - 50 / 100;\n}\n\nglobal.set(\"c4\", p2 >= 100);\nif (p2 >= 100) {\n    p2 = 100;\n}\n\nglobal.set(\"c5\", p2 <= 0);\nif (p2 <= 0) {\n    p2 = 0;\n}\n\nglobal.set(\"p2\", p2);\n\nreturn msg;",
+        "outputs": 1,
+        "timeout": 0,
+        "noerr": 0,
+        "initialize": "",
+        "finalize": "",
+        "libs": [],
+        "x": 290,
+        "y": 280,
+        "wires": [
+            []
+        ]
     }
 ]
\ No newline at end of file
diff --git a/43.md b/43.md
new file mode 100644
index 0000000..f46b14c
--- /dev/null
+++ b/43.md
@@ -0,0 +1,187 @@
+#include "main.hpp"
+#include "autom.cpp"
+#include <thread>
+#include <atomic>
+
+int marche_precedent = 0;
+int marche_frontmontant = 0;
+
+int arret_precedent = 1;
+int arret_frontdescedant = 0;
+
+int bouton_precedent[8];
+int bouton_frontmontant[8];
+int bouton_frontdescendant[8];
+
+int cycle = 0;
+long unsigned tempo = 0;
+
+int compteur[4];
+
+int sens = 1;
+
+int ci = 0;
+int mode_auto = 0;
+int mode_manu = 0;
+int etape = 0;
+int etape_2 = 0;
+
+int c7_frontdescendant = 0;
+int c7_precedent = 0;
+
+int moteur_plusutilise();
+int moteur_moinsutilise();
+
+int main()
+{
+  mqtt_open(&client);
+
+  std::atomic<bool> running{true};
+
+  while (running)
+  {
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+  }
+
+  mqtt_close();
+  return 0;
+}
+
+void process() {
+
+  // Détection des fronts
+  // front montant (état courant supérieur à l'état précédent)
+  // front descendant (état courant inférieur à l'état précédent)
+  // ****************************************************************
+  marche_frontmontant = marche > marche_precedent;
+  arret_frontdescedant = arret < arret_precedent;
+
+  for(int i = 0; i < 8 ; i++) {
+    bouton_frontmontant[i] = bouton[i] > bouton_precedent[i];
+    bouton_frontdescendant[i] = bouton[i] < bouton_precedent[i];
+  }
+
+  /* ****************************************************************
+     VOTRE PROGRAMME COMMENCE ICI
+     **************************************************************** */
+
+    if (etape == 0 && capteur[1] == 0) {
+      etape = 10;
+      tempo = millis();
+    }
+
+    // Etape 10 : 1 moteur allumé
+    if (etape == 10 && capteur[1] == 0 && millis() >= tempo + 2000)
+    {
+      etape = 12;
+      tempo = millis();
+    }
+
+
+    if (etape == 11 && capteur[2] == 1 && millis() >= tempo + 2000)
+    {
+      etape = 0;
+      tempo = millis();
+    }
+
+
+    // Etape 12 : 2 moteurs allumés
+    if (etape == 12 && capteur[1] == 0 && millis() >= tempo + 2000)
+    {
+      etape = 14;
+      tempo = millis();
+    }
+    if (etape == 12 && capteur[2] == 1)
+    {
+      etape = 11;
+    }
+    if (etape == 13 && capteur[2] == 1 && millis() >= tempo + 2000)
+    {
+      etape = 11;
+      tempo = millis();
+    }
+
+    // Etape 14 : 3 moteurs allumés
+    if (etape == 14 && capteur[1] == 0 && millis() >= tempo + 2000)
+    {
+      etape = 16;
+      tempo = millis();
+    }
+    if (etape == 14 && capteur[2] == 1) {
+      etape = 13;
+    }
+    if (etape == 15 && capteur[2] == 1 && millis() >= tempo + 2000)
+    {
+      etape = 13;
+      tempo = millis();
+    }
+
+    // Etape 13 : 4 moteurs allumés
+    if (etape == 16 && capteur[2] == 1)
+    {
+      etape = 15;
+      tempo = millis();
+    }
+
+    int moteur_precedent[4];
+    for (int i = 0 ; i < 4 ; i++) {
+      moteur_precedent[i] = moteur[i];
+    }
+
+    moteur[0] = (etape == 10 || etape == 11 || etape == 12 || etape == 13 || etape == 14 || etape == 15 || etape == 16);
+    moteur[1] = (etape == 12 || etape == 13 || etape == 14 || etape == 15 || etape == 16);
+    moteur[2] = (etape == 14 || etape == 15 || etape == 16);
+    moteur[3] = (etape == 16);
+
+    for (int i = 0; i < 4; i++)
+    {
+      if (moteur[i] > moteur_precedent[i])
+      {
+        compteur[i] = compteur[i] + 1;
+      }
+    }
+      std::cout << compteur[0] << " " << compteur[1] << " "
+                << compteur[2] << " " << compteur[3] << std::endl;
+
+      sortie[10] = etape;
+
+      // Prêt pour un nouveau cycle
+      // L'état courant devient l'état précédent
+      marche_precedent = marche;
+      arret_precedent = arret;
+      for (int i = 0; i < 8; i++)
+      {
+        bouton_precedent[i] = bouton[i];
+      }
+      c7_precedent = capteur[7];
+    }
+
+int moteur_plusutilise() {
+  int index = -1;
+  int max = 0;
+
+  for (int i = 0 ; i < 4 ; i++) {
+    if (compteur[i] > max) {
+      max = compteur[i];
+      index = i;  // Lequel est le maximum
+    }
+  }
+
+  return index;
+}
+
+int moteur_moinsutilise() {
+  int index = -1;
+  int min = INT32_MAX;
+
+  for (int i = 0; i < 4; i++)
+  {
+    if (compteur[i] < min)
+    {
+      min = compteur[i];
+      index = i; // Lequel est le maximum
+    }
+  }
+
+  return index;
+}
diff --git a/autom.cpp b/autom.cpp
index 198aee1..3260234 100644
--- a/autom.cpp
+++ b/autom.cpp
@@ -57,7 +57,7 @@ int i0, i1, i2, i3, i4, i5, i6, i7;
 int s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, s10, s11;
 int m0, m1, m2, m3;
 int v0;
-int p0;
+int p0, p1, p2, p3;
 
 int a0, a1, a2, a3, a4, a5, a6, a7;
 int c0, c1, c2, c3, c4, c5, c6, c7;
@@ -192,8 +192,28 @@ public:
 			if (j.contains("v0") && j["v0"].is_number())
 				v0 = j["v0"].get<int>();
 
-			if (j.contains("p0") && j["p0"].is_number())
+			if (j.contains("p0") && j["p0"].is_number()) {
 				p0 = j["p0"].get<int>();
+				niveau[0] = j["p0"].get<int>();
+			}
+
+			if (j.contains("p1") && j["p1"].is_number())
+			{
+				p1 = j["p1"].get<int>();
+				niveau[1] = j["p1"].get<int>();
+			}
+
+			if (j.contains("p2") && j["p2"].is_number())
+			{
+				p2 = j["p2"].get<int>();
+				niveau[2] = j["p2"].get<int>();
+			}
+
+			if (j.contains("p3") && j["p3"].is_number())
+			{
+				p3 = j["p3"].get<int>();
+				niveau[3] = j["p3"].get<int>();
+			}
 
 			process();
 			mqtt_send(&client);
diff --git a/main.cpp b/main.cpp
index a46e1f2..065d523 100644
--- a/main.cpp
+++ b/main.cpp
@@ -15,7 +15,9 @@ int bouton_frontdescendant[8];
 
 int cycle = 0;
 long unsigned tempo = 0;
-int compteur = 0;
+
+int compteur[4];
+
 int sens = 1;
 
 int ci = 0;
@@ -27,6 +29,7 @@ int etape_2 = 0;
 int c7_frontdescendant = 0;
 int c7_precedent = 0;
 
+
 int main()
 {
   mqtt_open(&client);
@@ -42,7 +45,8 @@ int main()
   return 0;
 }
 
-void process() {
+void process()
+{
 
   // Détection des fronts
   // front montant (état courant supérieur à l'état précédent)
@@ -50,25 +54,80 @@ void process() {
   // ****************************************************************
   marche_frontmontant = marche > marche_precedent;
   arret_frontdescedant = arret < arret_precedent;
-  for(int i = 0; i < 8 ; i++) {
+
+  for (int i = 0; i < 8; i++)
+  {
     bouton_frontmontant[i] = bouton[i] > bouton_precedent[i];
     bouton_frontdescendant[i] = bouton[i] < bouton_precedent[i];
   }
 
   /* ****************************************************************
+  VOTRE PROGRAMME COMMENCE ICI
+  **************************************************************** */
 
-     **************************************************************** */
+  if (etape == 0 && capteur[1] == 0) {
+    etape = 10;
+    tempo = millis();
+  }
 
-     m0 = i0;
-     m1 = i1;
-     m2 = i2;
-     m3 = i3;
+  // Etape 10 : 1 moteur allumé
+  if (etape == 10 && capteur[1] == 0 && millis() >= tempo + 2000) {
+    etape = 12;
+    tempo = millis();
+  }
+
+  if (etape == 10 && capteur[2] == 1 && millis() >= tempo + 2000) {
+    etape = 0;
+  }
+
+  // Etape 12 : 2 moteur allumés
+  if (etape == 12 && capteur[1] == 0 && millis() >= tempo + 2000) {
+    etape = 14;
+    tempo = millis();
+  }
+
+  if (etape == 12 && capteur[2] == 1 && millis() >= tempo + 2000) {
+    etape = 10;
+    tempo = millis();
+  }
+
+  // Etape 14 : 3 moteur allumés
+  if (etape == 14 && capteur[1] == 0 && millis() >= tempo + 2000) {
+    etape = 16;
+    tempo = millis();
+  }
+
+  if (etape == 14 && capteur[2] == 1 && millis() >= tempo + 2000) {
+    etape = 12;
+    tempo = millis();
+  }
+
+  // Etape 16 : 4 moteur allumés
+  if (etape == 16 && capteur[2] == 1) {
+    etape = 14;
+    tempo = millis();
+  }
+
+  /* ****************************************************************
+  LES ACTIONS
+  **************************************************************** */
+  moteur[0] = (etape == 10 || etape == 12 || etape == 14 || etape == 16);
+  moteur[1] = (etape == 12 || etape == 14 || etape == 16);
+  moteur[2] = (etape == 14 || etape == 16);
+  moteur[3] = (etape == 16);
+
+      /* ****************************************************************
+      VOTRE PROGRAMME S'ARRETE ICI
+      **************************************************************** */
+
+      sortie[10] = etape;
 
   // Prêt pour un nouveau cycle
   // L'état courant devient l'état précédent
   marche_precedent = marche;
   arret_precedent = arret;
-  for (int i = 0; i < 8; i++) {
+  for (int i = 0; i < 8; i++)
+  {
     bouton_precedent[i] = bouton[i];
   }
   c7_precedent = capteur[7];