diff --git a/Robot.py b/Robot.py
index 85763fe..f41571a 100644
--- a/Robot.py
+++ b/Robot.py
@@ -3,6 +3,8 @@ Controls = RobotCompletCode.MotorizedPlatform()
 class Robot:
     def init(self):
             Controls.init()
+    def set_range(self, name:str, mini:int, maxi:int):
+        Controls.set_range(name,mini,maxi)
     def translation(self, direction, vitesse):
         if direction == 'N':
             Controls.northTranslation(vitesse)
@@ -31,13 +33,18 @@ class Robot:
         else:
             print('error')
             return 'error'
+    def turbine(self, vitesse):
+        pass
+    def tuyau(self, axe, vitesse):
+        #axe : vertical / horizontal
+        pass
     def stop(self):
         Controls.stop()
     def easy(self, mode, direction, vitesse):
         if mode=='R':
             self.rotation(direction, vitesse)
         elif mode=='T':
-            self.translation(diretion, vitesse)
+            self.translation(direction, vitesse)
         else:
             print('error')
             return 'error'
diff --git a/RobotCompletCode.py b/RobotCompletCode.py
index f24b2d3..77387b0 100644
--- a/RobotCompletCode.py
+++ b/RobotCompletCode.py
@@ -32,7 +32,8 @@ class MotorizedPlatform:
         }
     }
     escSlotsList= [12,13,8,9]
-
+    def set_range(self, name:str, mini:int, maxi:int):
+        self.escMapping[name]['range'] = [mini,maxi]
     def init(self):
         if drive != None:
             for k,v in self.escMapping.items():
@@ -50,11 +51,13 @@ class MotorizedPlatform:
             self.set_esc_speed(k, value)
 
     def set_esc_speed(self, esc_name, value):
+        if value < 0:
+            value = value * 1.185
         drive.setPwm(
-            self.escMapping[esc_name]['slot'],
-            0,
-            self.convert_speed_to_esc(value, self.escMapping[esc_name]['range'])
-        )
+                self.escMapping[esc_name]['slot'],
+                0,
+                self.convert_speed_to_esc(value, self.escMapping[esc_name]['range'])
+                )
 
         # équivalent de la fonction map() de arduino
     def mappyt(self, x, inMin, inMax, outMin, outMax):
@@ -73,7 +76,7 @@ class MotorizedPlatform:
                       })
 
     def southTranslation(self, speed):
-        self.northTranslation(-speed)
+        self.northTranslation(-speed*1.1)
 
     def northTranslation(self, speed):
         self.setSpeed({
@@ -122,6 +125,52 @@ class MotorizedPlatform:
         self.northWestTranslation(-speed)
 
     def stop(self):
+        realescMapping = {
+            'frontLeft': {
+                'slot': 12, # 7
+                'range': [307, 410]
+            },
+            'frontRight': {
+                'slot': 13,
+                'range': [307, 410]
+            },
+            'backLeft': {
+                'slot': 8,
+                'range': [307, 410]
+            },
+            'backRight': {
+                'slot': 9,
+                'range': [307, 410]
+            }
+        }
+        motornamelist = ['frontLeft','frontRight','backLeft','backRight']
+        for i in range(len(motornamelist)):
+            esc_name = motornamelist[i]
+            drive.setPwm(
+                    realescMapping[esc_name]['slot'],
+                    0,
+                    self.convert_speed_to_esc(0, realescMapping[esc_name]['range'])
+            )
+
+    def oldstop(self):
+        self.escMapping = {
+            'frontLeft': {
+                'slot': 12, # 7
+                'range': [307, 410]
+            },
+            'frontRight': {
+                'slot': 13,
+                'range': [307, 410]
+            },
+            'backLeft': {
+                'slot': 8,
+                'range': [307, 410]
+            },
+            'backRight': {
+                'slot': 9,
+                'range': [307, 410]
+            }
+        }
         self.setSpeed({
                           'frontLeft': 0,
                           'frontRight': 0,
diff --git a/__pycache__/Container.cpython-39.pyc b/__pycache__/Container.cpython-39.pyc
new file mode 100644
index 0000000..385f0f2
Binary files /dev/null and b/__pycache__/Container.cpython-39.pyc differ
diff --git a/__pycache__/PWMDriver.cpython-39.pyc b/__pycache__/PWMDriver.cpython-39.pyc
new file mode 100644
index 0000000..deb33d4
Binary files /dev/null and b/__pycache__/PWMDriver.cpython-39.pyc differ
diff --git a/__pycache__/Robot.cpython-39.pyc b/__pycache__/Robot.cpython-39.pyc
new file mode 100644
index 0000000..fb3f111
Binary files /dev/null and b/__pycache__/Robot.cpython-39.pyc differ
diff --git a/__pycache__/RobotCompletCode.cpython-39.pyc b/__pycache__/RobotCompletCode.cpython-39.pyc
new file mode 100644
index 0000000..4265ef2
Binary files /dev/null and b/__pycache__/RobotCompletCode.cpython-39.pyc differ
diff --git a/server.py b/server.py
index 5ae9736..33e3946 100644
--- a/server.py
+++ b/server.py
@@ -49,7 +49,7 @@ class commandHandler:
         try:
             robot.rotation(arg,self.speed)
         except Exception as e:
-            return 'error'
+            raise e
     def set_speed(self,v):
         if v>=50:
             v = 50
@@ -57,6 +57,8 @@ class commandHandler:
             v=v
         self.speed=v
         return 'speed set to '+str(v)
+    def set_range(self, name:str, mini:int, maxi:int):
+        robot.set_range(name, mini, maxi)
 
 
 cmd_handler = commandHandler()
@@ -78,6 +80,8 @@ def commands(data):
             res= cmd_handler.set_rotation(data["args"]['rotation'])
         elif(data['cmd']=='stop_robot'):
             res=cmd_handler.stop()
+        elif(data['cmd']=='set_range'):
+            res=cmd_handler.set_range(data['args']['name'],data['args']['min'],data['args']['max'])
         elif(data['cmd']=='init'):
             res=cmd_handler.init()
         elif(data['cmd']=='set_speed'):