diff --git a/PWMDriver.py b/PWMDriver.py
index e0e2528..e1dfc95 100644
--- a/PWMDriver.py
+++ b/PWMDriver.py
@@ -1,54 +1,51 @@
-from Adafruit_PCA9685 import PCA9685
-
-class PWMDriver:
-    def __init__(self):
-        self.driver = PCA9685()
-    self.driver.set_pwm_freq(50)
-    self.servoProfiles = {
-            'default': {'range': 180, 'min': 65, 'max': 530},
-            'lidar': {'range': 180, 'min': 75, 'max': 510},
-            'china': {'range': 180, 'min': 75, 'max': 510},
-            'flag': {'range': 180, 'min': 100, 'max': 480},
-            'rev': {'range': 270, 'min': 95, 'max': 600}, # 552
-            }
-
-
-    #définir la fréquence du signal de sortie à 50hz
-    def ini_esc(slot):
-        slef.driver.set_pwm(slot,0,307) #307 est le signal neutre sous 50 Hz (1.5 / 20 x 4096 = 307)
-        time.sleep(1)
-
-    def initialiser_esc():
-        HZ = 50     #fréquence du signal vers les ESC
-        self.driver.set_pwm_freq(HZ)
-        LESC = (1, 13, 8, 9) #liste des ESC (avant gauche, avant droit, arrière gauche, arrière droit)
-        ini_esc(LESC[0])
-        ini_esc(LESC[1]) 
-        ini_esc(LESC[2])
-        ini_esc(LESC[3])
-
-  def setAngle(self, slot, angle, profileName = 'default'):
-      profile = None
-    if type(profileName) is dict:
-        profile = profileName
-    if profile == None:
-        if profileName not in self.servoProfiles:
-            profileName = 'default'
-      profile = self.servoProfiles[profileName]
-    if 'range' not in profile:
-        profile['range'] = 180
-    if angle < 0 or angle > profile['range']:
-        print('PWMDriver: Invalid range passed ' + angle + ' but range is ' + profile['range'])
-    if slot > 15 or slot < 0:
-        print('> ERR!!! Invalid slot passed to setAngle!')
-      return
-  pulse = int(self.mappyt(angle, 0, profile['range'], profile['min'], profile['max']))
-    #print('setting slot', slot, 'to angle', angle, 'with profile', profileName, profile, pulse)
-    self.driver.set_pwm(slot, 0, pulse)
-
-  def setPwm(self, slot, off, on):
-      #self.driver.set_pwm(slot, off, on)
-    self.driver.set_pwm(slot, off,on)
-
-  def mappyt(self, x, inMin, inMax, outMin, outMax):
-      return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin
+from Adafruit_PCA9685 import PCA9685
+
+class PWMDriver:
+    def __init__(self):
+        self.driver = PCA9685()
+        self.driver.set_pwm_freq(50)
+        self.servoProfiles = {
+                'default': {'range': 180, 'min': 65, 'max': 530},
+                'lidar': {'range': 180, 'min': 75, 'max': 510},
+                'china': {'range': 180, 'min': 75, 'max': 510},
+                'flag': {'range': 180, 'min': 100, 'max': 480},
+                'rev': {'range': 270, 'min': 95, 'max': 600}, # 552
+                }
+
+
+    #définir la fréquence du signal de sortie à 50hz
+    def ini_esc(slot):
+        slef.driver.set_pwm(slot,0,307) #307 est le signal neutre sous 50 Hz (1.5 / 20 x 4096 = 307)
+        time.sleep(1)
+
+    def initialiser_esc():
+        HZ = 50     #fréquence du signal vers les ESC
+        self.driver.set_pwm_freq(HZ)
+        LESC = (1, 13, 8, 9) #liste des ESC (avant gauche, avant droit, arrière gauche, arrière droit)
+        ini_esc(LESC[0])
+        ini_esc(LESC[1]) 
+        ini_esc(LESC[2])
+        ini_esc(LESC[3])
+    def setAngle(self, slot, angle, profileName = 'default'):
+        profile = None
+        if type(profileName) is dict:
+            profile = profileName
+        if profile == None:
+            if profileName not in self.servoProfiles:
+                profileName = 'default'
+        profile = self.servoProfiles[profileName]
+        if 'range' not in profile:
+            profile['range'] = 180
+        if angle < 0 or angle > profile['range']:
+            print('PWMDriver: Invalid range passed ' + angle + ' but range is ' + profile['range'])
+        if slot > 15 or slot < 0:
+            print('> ERR!!! Invalid slot passed to setAngle!')
+            return
+        pulse = int(self.mappyt(angle, 0, profile['range'], profile['min'], profile['max']))
+        #print('setting slot', slot, 'to angle', angle, 'with profile', profileName, profile, pulse)
+        self.driver.set_pwm(slot, 0, pulse)
+    def setPwm(self, slot, off, on):
+        #self.driver.set_pwm(slot, off, on)
+        self.driver.set_pwm(slot, off,on)
+    def mappyt(self, x, inMin, inMax, outMin, outMax):
+        return (x - inMin) * (outMax - outMin) / (inMax - inMin) + outMin