diff --git a/Carte électronique/#auto_saved_files# b/Carte électronique/#auto_saved_files#
deleted file mode 100644
index 4956e2a..0000000
--- a/Carte électronique/#auto_saved_files#	
+++ /dev/null
@@ -1 +0,0 @@
-/home/ulysse-cura/Documents/Robotique/2024-2025/Junior/Robot Principal/Carte électronique/_autosave-Carte électronique.kicad_sch
diff --git a/Carte électronique/Carte électronique.kicad_prl b/Carte électronique/Carte électronique.kicad_prl
index 4a1e149..7579d8c 100644
--- a/Carte électronique/Carte électronique.kicad_prl	
+++ b/Carte électronique/Carte électronique.kicad_prl	
@@ -1,7 +1,7 @@
 {
   "board": {
     "active_layer": 0,
-    "active_layer_preset": "",
+    "active_layer_preset": "All Layers",
     "auto_track_width": true,
     "hidden_nets": [],
     "high_contrast_mode": 0,
diff --git a/Carte électronique/Carte électronique.kicad_pro b/Carte électronique/Carte électronique.kicad_pro
index a18ec92..1485345 100644
--- a/Carte électronique/Carte électronique.kicad_pro	
+++ b/Carte électronique/Carte électronique.kicad_pro	
@@ -310,7 +310,7 @@
       "workbook_filename": ""
     },
     "page_layout_descr_file": "",
-    "plot_directory": "",
+    "plot_directory": ".",
     "spice_adjust_passive_values": false,
     "spice_external_command": "spice \"%I\"",
     "subpart_first_id": 65,
diff --git a/Carte électronique/Carte électronique.kicad_sch b/Carte électronique/Carte électronique.kicad_sch
index 98c3cb7..d412787 100644
--- a/Carte électronique/Carte électronique.kicad_sch	
+++ b/Carte électronique/Carte électronique.kicad_sch	
@@ -2,7 +2,7 @@
 
   (uuid bd07011f-ec2d-4a46-a9f2-cea1f0448707)
 
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+  (paper "A4")
 
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@@ -103,6 +103,45 @@
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+        (effects (font (size 1.27 1.27)) hide)
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+        (effects (font (size 1.27 1.27)) hide)
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+        (effects (font (size 1.27 1.27)) hide)
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@@ -346,6 +385,68 @@
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+    (property "Références Inter-Feuilles" "${INTERSHEET_REFS}" (id 0) (at 165.2874 36.7506 0)
       (effects (font (size 1.27 1.27)) (justify right) hide)
     )
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     (uuid f9fa05a1-ed6e-496b-8e52-1648b8c62e7b)
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+    (property "Références Inter-Feuilles" "${INTERSHEET_REFS}" (id 0) (at 230.8921 121.9994 0)
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
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     (uuid 13bebfff-a765-4d51-ad29-27bbe40579ff)
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-    (property "Footprint" "" (id 2) (at 40.64 280.67 0)
+    (property "Value" "GNDPWR" (id 1) (at 123.063 151.13 0))
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       (effects (font (size 1.27 1.27)) hide)
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-    (property "Value" "GNDPWR" (id 1) (at 222.123 148.59 0))
-    (property "Footprint" "" (id 2) (at 222.25 144.78 0)
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       (effects (font (size 1.27 1.27)) hide)
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     (in_bom yes) (on_board yes) (fields_autoplaced)
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-    (property "Reference" "#PWR?" (id 0) (at 58.42 66.04 0)
+    (property "Reference" "#PWR?" (id 0) (at 58.42 59.69 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+12V" (id 1) (at 58.42 57.15 0))
-    (property "Footprint" "" (id 2) (at 58.42 62.23 0)
+    (property "Value" "+12V" (id 1) (at 58.42 50.8 0))
+    (property "Footprint" "" (id 2) (at 58.42 55.88 0)
       (effects (font (size 1.27 1.27)) hide)
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     (pin "1" (uuid bbc57329-bcdc-4e75-b022-c50edf9ea488))
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-  (symbol (lib_id "Driver_Motor:L293D") (at 55.88 163.83 0) (mirror y) (unit 1)
+  (symbol (lib_id "Driver_Motor:L293D") (at 55.88 157.48 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 28473b08-4ccc-468a-9a6b-37bc03d24ca4)
-    (property "Reference" "U?" (id 0) (at 61.1887 138.43 0)
+    (property "Reference" "U?" (id 0) (at 61.1887 132.08 0)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Value" "L293D" (id 1) (at 61.1887 135.89 0)
+    (property "Value" "L293D" (id 1) (at 61.1887 129.54 0)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Footprint" "Package_DIP:DIP-16_W7.62mm" (id 2) (at 49.53 182.88 0)
+    (property "Footprint" "Package_DIP:DIP-16_W7.62mm" (id 2) (at 49.53 176.53 0)
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
-    (property "Datasheet" "http://www.ti.com/lit/ds/symlink/l293.pdf" (id 3) (at 63.5 146.05 0)
+    (property "Datasheet" "http://www.ti.com/lit/ds/symlink/l293.pdf" (id 3) (at 63.5 139.7 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 4023e507-c0df-40a9-a949-60de89fa88d7))
@@ -1630,32 +1824,32 @@
     (pin "2" (uuid 428be290-2111-4ea7-890e-c6bc70f1f282))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_01x02") (at 33.02 77.47 0) (mirror y) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_01x02") (at 33.02 71.12 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 4fa9a2fd-7058-4007-bfc2-07836f7e5c2e)
-    (property "Reference" "J0" (id 0) (at 33.02 86.36 0))
-    (property "Value" "Conn_Moteur_1" (id 1) (at 33.02 83.82 0))
-    (property "Footprint" "" (id 2) (at 33.02 77.47 0)
+    (property "Reference" "J0" (id 0) (at 33.02 80.01 0))
+    (property "Value" "Conn_Moteur_1" (id 1) (at 33.02 77.47 0))
+    (property "Footprint" "" (id 2) (at 33.02 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 33.02 77.47 0)
+    (property "Datasheet" "~" (id 3) (at 33.02 71.12 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 3c51a5ef-ce42-4bee-9483-35572d3a9c81))
     (pin "2" (uuid c2bad632-a5a7-41b8-beb8-d3e1a9eac2c0))
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-  (symbol (lib_id "power:+5V") (at 222.25 138.43 0) (unit 1)
+  (symbol (lib_id "power:+5V") (at 219.71 88.9 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 5347591f-10f4-4c5a-9e8a-c18a5ad862c4)
-    (property "Reference" "#PWR?" (id 0) (at 222.25 142.24 0)
+    (property "Reference" "#PWR?" (id 0) (at 219.71 92.71 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+5V" (id 1) (at 222.25 133.35 0))
-    (property "Footprint" "" (id 2) (at 222.25 138.43 0)
+    (property "Value" "+5V" (id 1) (at 219.71 83.82 0))
+    (property "Footprint" "" (id 2) (at 219.71 88.9 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 222.25 138.43 0)
+    (property "Datasheet" "" (id 3) (at 219.71 88.9 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid dfb4dbd6-dc98-408f-a934-08ddd76303f8))
@@ -1709,67 +1903,82 @@
     (pin "3" (uuid 6fbab35b-efe3-491f-9317-8380fb16dc27))
   )
 
-  (symbol (lib_id "power:+5V") (at 53.34 62.23 0) (unit 1)
+  (symbol (lib_id "power:+5V") (at 53.34 55.88 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 6c24ff0e-1bda-4027-ab26-fd9bc8af4e27)
-    (property "Reference" "#PWR?" (id 0) (at 53.34 66.04 0)
+    (property "Reference" "#PWR?" (id 0) (at 53.34 59.69 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+5V" (id 1) (at 53.34 57.15 0))
-    (property "Footprint" "" (id 2) (at 53.34 62.23 0)
+    (property "Value" "+5V" (id 1) (at 53.34 50.8 0))
+    (property "Footprint" "" (id 2) (at 53.34 55.88 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 53.34 62.23 0)
+    (property "Datasheet" "" (id 3) (at 53.34 55.88 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 569f4013-6602-46c2-a2c4-2b46c82e1b30))
   )
 
-  (symbol (lib_id "power:+5V") (at 53.34 134.62 0) (unit 1)
+  (symbol (lib_id "power:+5V") (at 53.34 128.27 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 6f865fb1-e01e-48f3-bb94-cea5678b63ed)
-    (property "Reference" "#PWR?" (id 0) (at 53.34 138.43 0)
+    (property "Reference" "#PWR?" (id 0) (at 53.34 132.08 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+5V" (id 1) (at 53.34 129.54 0))
-    (property "Footprint" "" (id 2) (at 53.34 134.62 0)
+    (property "Value" "+5V" (id 1) (at 53.34 123.19 0))
+    (property "Footprint" "" (id 2) (at 53.34 128.27 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 53.34 134.62 0)
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       (effects (font (size 1.27 1.27)) hide)
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-  (symbol (lib_id "power:GNDPWR") (at 55.88 187.96 0) (unit 1)
+  (symbol (lib_id "Device:R") (at 134.62 41.91 90) (mirror x) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid 774c6079-838d-451f-ae23-5a5235a573e4)
+    (property "Reference" "R0" (id 0) (at 134.62 35.56 90))
+    (property "Value" "4.7K" (id 1) (at 134.62 38.1 90))
+    (property "Footprint" "" (id 2) (at 134.62 40.132 90)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (id 3) (at 134.62 41.91 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 8b6e245d-54f5-401b-a392-e81f7d463752))
+    (pin "2" (uuid 88d705fe-74ea-4287-97dc-4ec30086444b))
+  )
+
+  (symbol (lib_id "power:GNDPWR") (at 55.88 181.61 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 7a8897a9-b846-4cd0-ac6c-0a05b0667e49)
-    (property "Reference" "#PWR?" (id 0) (at 55.88 193.04 0)
+    (property "Reference" "#PWR?" (id 0) (at 55.88 186.69 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GNDPWR" (id 1) (at 55.753 193.04 0))
-    (property "Footprint" "" (id 2) (at 55.88 189.23 0)
+    (property "Value" "GNDPWR" (id 1) (at 55.753 186.69 0))
+    (property "Footprint" "" (id 2) (at 55.88 182.88 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 55.88 189.23 0)
+    (property "Datasheet" "" (id 3) (at 55.88 182.88 0)
       (effects (font (size 1.27 1.27)) hide)
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     (pin "1" (uuid a9afd163-d160-4d58-8266-22e2c766cb70))
   )
 
-  (symbol (lib_id "Driver_Motor:L293D") (at 55.88 91.44 0) (mirror y) (unit 1)
+  (symbol (lib_id "Driver_Motor:L293D") (at 55.88 85.09 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 7d8cf6da-0e46-46d9-a203-ff2f6acb872b)
-    (property "Reference" "U?" (id 0) (at 61.1887 66.04 0)
+    (property "Reference" "U?" (id 0) (at 61.1887 59.69 0)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Value" "L293D" (id 1) (at 61.1887 63.5 0)
+    (property "Value" "L293D" (id 1) (at 61.1887 57.15 0)
       (effects (font (size 1.27 1.27)) (justify right))
     )
-    (property "Footprint" "Package_DIP:DIP-16_W7.62mm" (id 2) (at 49.53 110.49 0)
+    (property "Footprint" "Package_DIP:DIP-16_W7.62mm" (id 2) (at 49.53 104.14 0)
       (effects (font (size 1.27 1.27)) (justify left) hide)
     )
-    (property "Datasheet" "http://www.ti.com/lit/ds/symlink/l293.pdf" (id 3) (at 63.5 73.66 0)
+    (property "Datasheet" "http://www.ti.com/lit/ds/symlink/l293.pdf" (id 3) (at 63.5 67.31 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 80e0f999-4743-4e02-bc5b-e977f32008e2))
@@ -1790,79 +1999,79 @@
     (pin "9" (uuid 47a9ce85-e9e5-46e0-8f81-54a8080451e8))
   )
 
-  (symbol (lib_id "power:+5V") (at 43.18 205.74 0) (unit 1)
+  (symbol (lib_id "power:+5V") (at 125.73 72.39 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 86e4d3c8-cb00-41dc-8685-3380f18bcdcb)
-    (property "Reference" "#PWR?" (id 0) (at 43.18 209.55 0)
+    (property "Reference" "#PWR?" (id 0) (at 125.73 76.2 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+5V" (id 1) (at 43.18 200.66 0))
-    (property "Footprint" "" (id 2) (at 43.18 205.74 0)
+    (property "Value" "+5V" (id 1) (at 125.73 67.31 0))
+    (property "Footprint" "" (id 2) (at 125.73 72.39 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 43.18 205.74 0)
+    (property "Datasheet" "" (id 3) (at 125.73 72.39 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 494b283c-a13e-4d63-a3d5-c1500f648e30))
   )
 
-  (symbol (lib_id "power:GNDPWR") (at 55.88 115.57 0) (unit 1)
+  (symbol (lib_id "power:GNDPWR") (at 55.88 109.22 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 8dc4aed7-eeb0-4177-9dbf-d6c67e8248d0)
-    (property "Reference" "#PWR?" (id 0) (at 55.88 120.65 0)
+    (property "Reference" "#PWR?" (id 0) (at 55.88 114.3 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GNDPWR" (id 1) (at 55.753 120.65 0))
-    (property "Footprint" "" (id 2) (at 55.88 116.84 0)
+    (property "Value" "GNDPWR" (id 1) (at 55.753 114.3 0))
+    (property "Footprint" "" (id 2) (at 55.88 110.49 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 55.88 116.84 0)
+    (property "Datasheet" "" (id 3) (at 55.88 110.49 0)
       (effects (font (size 1.27 1.27)) hide)
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     (pin "1" (uuid e3997f6b-f32c-4e9b-b64a-0e1be1cbd7ba))
   )
 
-  (symbol (lib_id "power:+5V") (at 434.34 140.97 0) (unit 1)
+  (symbol (lib_id "power:+5V") (at 220.98 24.13 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid 9623abef-e0a0-40ae-bdd1-389189e687dd)
-    (property "Reference" "#PWR?" (id 0) (at 434.34 144.78 0)
+    (property "Reference" "#PWR?" (id 0) (at 220.98 27.94 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+5V" (id 1) (at 434.34 135.89 0))
-    (property "Footprint" "" (id 2) (at 434.34 140.97 0)
+    (property "Value" "+5V" (id 1) (at 220.98 19.05 0))
+    (property "Footprint" "" (id 2) (at 220.98 24.13 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 434.34 140.97 0)
+    (property "Datasheet" "" (id 3) (at 220.98 24.13 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 2256f620-f894-4430-94b1-53dc1a99cbea))
   )
 
-  (symbol (lib_id "power:+12V") (at 58.42 134.62 0) (unit 1)
+  (symbol (lib_id "power:+12V") (at 58.42 128.27 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid a0eb64a8-92c3-4bfb-b32e-48311d57564c)
-    (property "Reference" "#PWR?" (id 0) (at 58.42 138.43 0)
+    (property "Reference" "#PWR?" (id 0) (at 58.42 132.08 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "+12V" (id 1) (at 58.42 129.54 0))
-    (property "Footprint" "" (id 2) (at 58.42 134.62 0)
+    (property "Value" "+12V" (id 1) (at 58.42 123.19 0))
+    (property "Footprint" "" (id 2) (at 58.42 128.27 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 58.42 134.62 0)
+    (property "Datasheet" "" (id 3) (at 58.42 128.27 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 2b023b16-7642-46d7-b6ec-0308a0129709))
   )
 
-  (symbol (lib_id "MCU_RaspberryPi_and_Boards:Pico") (at 411.48 165.1 0) (unit 1)
+  (symbol (lib_id "MCU_RaspberryPi_and_Boards:Pico") (at 198.12 48.26 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid a3bb0e74-e2d5-402a-8fb9-17ff1937a88c)
-    (property "Reference" "U0" (id 0) (at 411.48 133.35 0))
-    (property "Value" "Main_Controller_Pico" (id 1) (at 411.48 135.89 0))
-    (property "Footprint" "RPi_Pico:RPi_Pico_SMD_TH" (id 2) (at 411.48 165.1 90)
+    (property "Reference" "U0" (id 0) (at 198.12 16.51 0))
+    (property "Value" "Main_Controller_Pico" (id 1) (at 198.12 19.05 0))
+    (property "Footprint" "RPi_Pico:RPi_Pico_SMD_TH" (id 2) (at 198.12 48.26 90)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 411.48 165.1 0)
+    (property "Datasheet" "" (id 3) (at 198.12 48.26 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 60fb501a-2ca3-4b38-9fe0-785022d4fa61))
@@ -1910,15 +2119,15 @@
     (pin "9" (uuid 8c40e585-bb26-4e8a-84d9-e5d22e77e453))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_01x03") (at 33.02 231.14 180) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_01x03") (at 115.57 97.79 180) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid ac183dbd-3413-4393-979d-8946bb4c9836)
-    (property "Reference" "J5" (id 0) (at 33.02 222.25 0))
-    (property "Value" "Conn_Servo2" (id 1) (at 33.02 224.79 0))
-    (property "Footprint" "" (id 2) (at 33.02 231.14 0)
+    (property "Reference" "J5" (id 0) (at 115.57 88.9 0))
+    (property "Value" "Conn_Servo2" (id 1) (at 115.57 91.44 0))
+    (property "Footprint" "" (id 2) (at 115.57 97.79 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 33.02 231.14 0)
+    (property "Datasheet" "~" (id 3) (at 115.57 97.79 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 5f9bb446-9b30-4966-9188-5b59b6d00dcf))
@@ -1926,6 +2135,45 @@
     (pin "3" (uuid beee8b0c-e15b-4dc8-8091-60743568adc0))
   )
 
+  (symbol (lib_id "power:+5V") (at 146.05 34.29 0) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid b020729e-b369-4f89-9c15-b5228e18a1e0)
+    (property "Reference" "#PWR?" (id 0) (at 146.05 38.1 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "+5V" (id 1) (at 146.05 29.21 0))
+    (property "Footprint" "" (id 2) (at 146.05 34.29 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 146.05 34.29 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid e3314631-921e-4607-9dca-69fbe269c97c))
+  )
+
+  (symbol (lib_id "GYR03B_Library:GYR03B") (at 128.27 26.67 0) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid b304a161-edaa-4db3-87d2-702feab000f5)
+    (property "Reference" "U?" (id 0) (at 127.635 20.32 0))
+    (property "Value" "GYR03B" (id 1) (at 127.635 22.86 0))
+    (property "Footprint" "" (id 2) (at 128.27 26.67 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 128.27 26.67 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "0" (uuid 9ee0e842-ec44-487d-b593-103908ca6439))
+    (pin "1" (uuid af569803-8c4e-4d27-bd59-760dee4ce9d5))
+    (pin "2" (uuid ed50c106-6f8e-4508-97eb-2cfa92bc9433))
+    (pin "3" (uuid 0902d56f-5fba-4fd9-9dff-c322a4eab840))
+    (pin "4" (uuid e4da5e6f-f7c4-42ca-9e50-03d31678ab5a))
+    (pin "5" (uuid ad02d183-ba92-45ed-a95a-ae2e21dca3cb))
+    (pin "6" (uuid c2c7fc66-4b0e-4b85-b5b7-9bdc4cc952c3))
+    (pin "7" (uuid 97cb7349-86e0-46c8-826e-3cd1998ae46e))
+    (pin "8" (uuid 0fda91eb-7aae-482c-a015-77b719339c91))
+    (pin "9" (uuid ef082a85-9c59-40ed-9d5b-2e82f0d8e62f))
+  )
+
   (symbol (lib_id "power:+5V") (at 102.87 27.94 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid b46e457b-dd57-4780-bf03-25bcf9375273)
@@ -1942,30 +2190,30 @@
     (pin "1" (uuid 7715bd96-a7bf-470c-bc09-5350945e4092))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_01x02") (at 33.02 92.71 0) (mirror y) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_01x02") (at 33.02 86.36 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid b86994bf-01ab-4a39-b7cf-23226330cce3)
-    (property "Reference" "J1" (id 0) (at 33.02 101.6 0))
-    (property "Value" "Conn_Moteur_2" (id 1) (at 33.02 99.06 0))
-    (property "Footprint" "" (id 2) (at 33.02 92.71 0)
+    (property "Reference" "J1" (id 0) (at 33.02 95.25 0))
+    (property "Value" "Conn_Moteur_2" (id 1) (at 33.02 92.71 0))
+    (property "Footprint" "" (id 2) (at 33.02 86.36 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 33.02 92.71 0)
+    (property "Datasheet" "~" (id 3) (at 33.02 86.36 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid e4763687-f8c0-45e0-ab7f-46325f0838dd))
     (pin "2" (uuid 6be8b227-04cc-48db-aedc-370b442d0510))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_01x02") (at 33.02 149.86 0) (mirror y) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_01x02") (at 33.02 143.51 0) (mirror y) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid c1a57453-fccb-4a74-96f0-b3489fe76f50)
-    (property "Reference" "J2" (id 0) (at 33.02 158.75 0))
-    (property "Value" "Conn_Moteur_3" (id 1) (at 33.02 156.21 0))
-    (property "Footprint" "" (id 2) (at 33.02 149.86 0)
+    (property "Reference" "J2" (id 0) (at 33.02 152.4 0))
+    (property "Value" "Conn_Moteur_3" (id 1) (at 33.02 149.86 0))
+    (property "Footprint" "" (id 2) (at 33.02 143.51 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 33.02 149.86 0)
+    (property "Datasheet" "~" (id 3) (at 33.02 143.51 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid d1e30274-10f2-4ff3-b80a-08e9c5f52006))
@@ -1988,15 +2236,15 @@
     (pin "1" (uuid f00248bc-c903-4205-bf7c-ecdaa476ffa8))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_01x03") (at 33.02 251.46 180) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_01x03") (at 115.57 118.11 180) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid c6374257-9899-465d-bf06-a5e651c6031d)
-    (property "Reference" "J6" (id 0) (at 33.02 242.57 0))
-    (property "Value" "Conn_Servo3" (id 1) (at 33.02 245.11 0))
-    (property "Footprint" "" (id 2) (at 33.02 251.46 0)
+    (property "Reference" "J6" (id 0) (at 115.57 109.22 0))
+    (property "Value" "Conn_Servo3" (id 1) (at 115.57 111.76 0))
+    (property "Footprint" "" (id 2) (at 115.57 118.11 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 33.02 251.46 0)
+    (property "Datasheet" "~" (id 3) (at 115.57 118.11 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 7ae9f782-2aad-47c4-9f0f-6cc3c1f29b1a))
@@ -2004,46 +2252,62 @@
     (pin "3" (uuid b3962119-3983-45a7-9181-5b513e011a86))
   )
 
-  (symbol (lib_id "power:GNDPWR") (at 434.34 146.05 0) (unit 1)
+  (symbol (lib_id "power:GNDPWR") (at 220.98 29.21 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid d89aa932-a6fb-4c5c-9805-0fcef86386c6)
-    (property "Reference" "#PWR?" (id 0) (at 434.34 151.13 0)
+    (property "Reference" "#PWR?" (id 0) (at 220.98 34.29 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Value" "GNDPWR" (id 1) (at 434.213 151.13 0))
-    (property "Footprint" "" (id 2) (at 434.34 147.32 0)
+    (property "Value" "GNDPWR" (id 1) (at 220.853 34.29 0))
+    (property "Footprint" "" (id 2) (at 220.98 30.48 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 434.34 147.32 0)
+    (property "Datasheet" "" (id 3) (at 220.98 30.48 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 97cc06cb-bbf2-499f-b260-443fbea6e107))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_01x02") (at 33.02 165.1 0) (mirror y) (unit 1)
+  (symbol (lib_id "power:GNDPWR") (at 146.05 39.37 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
-    (uuid e715e007-0349-413d-a439-04a0a15b22d2)
-    (property "Reference" "J3" (id 0) (at 33.02 173.99 0))
-    (property "Value" "Conn_Moteur_4" (id 1) (at 33.02 171.45 0))
-    (property "Footprint" "" (id 2) (at 33.02 165.1 0)
+    (uuid da418f28-6f3f-46f5-8d29-1b8e63b58eff)
+    (property "Reference" "#PWR?" (id 0) (at 146.05 44.45 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 33.02 165.1 0)
+    (property "Value" "GNDPWR" (id 1) (at 145.923 44.45 0))
+    (property "Footprint" "" (id 2) (at 146.05 40.64 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 146.05 40.64 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 0b8ab9d9-504a-45b4-a0a2-ae3f9cb20998))
+  )
+
+  (symbol (lib_id "Connector_Generic:Conn_01x02") (at 33.02 158.75 0) (mirror y) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid e715e007-0349-413d-a439-04a0a15b22d2)
+    (property "Reference" "J3" (id 0) (at 33.02 167.64 0))
+    (property "Value" "Conn_Moteur_4" (id 1) (at 33.02 165.1 0))
+    (property "Footprint" "" (id 2) (at 33.02 158.75 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (id 3) (at 33.02 158.75 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 31c3e375-66bf-489a-9c84-a2b71100ee6b))
     (pin "2" (uuid a8603c99-b0a7-4aed-a931-32177a0b0d81))
   )
 
-  (symbol (lib_id "MCU_RaspberryPi_and_Boards:Pico") (at 199.39 162.56 0) (unit 1)
+  (symbol (lib_id "MCU_RaspberryPi_and_Boards:Pico") (at 196.85 113.03 0) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid f191db5e-fa07-4c9b-88fa-394c4de1923c)
-    (property "Reference" "U1" (id 0) (at 199.39 130.81 0))
-    (property "Value" "Motion_Controller_Pico" (id 1) (at 199.39 133.35 0))
-    (property "Footprint" "RPi_Pico:RPi_Pico_SMD_TH" (id 2) (at 199.39 162.56 90)
+    (property "Reference" "U1" (id 0) (at 196.85 81.28 0))
+    (property "Value" "Motion_Controller_Pico" (id 1) (at 196.85 83.82 0))
+    (property "Footprint" "RPi_Pico:RPi_Pico_SMD_TH" (id 2) (at 196.85 113.03 90)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "" (id 3) (at 199.39 162.56 0)
+    (property "Datasheet" "" (id 3) (at 196.85 113.03 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 9dc4fc85-f59f-4a57-b7d6-15447dc0702b))
@@ -2091,15 +2355,15 @@
     (pin "9" (uuid 92455a32-ec10-4ced-ab52-27ea04c7ec7b))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_01x03") (at 33.02 212.09 180) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_01x03") (at 115.57 78.74 180) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid f218f098-258a-4e72-abaa-638e3805372d)
-    (property "Reference" "J4" (id 0) (at 33.02 203.2 0))
-    (property "Value" "Conn_Servo1" (id 1) (at 33.02 205.74 0))
-    (property "Footprint" "" (id 2) (at 33.02 212.09 0)
+    (property "Reference" "J4" (id 0) (at 115.57 69.85 0))
+    (property "Value" "Conn_Servo1" (id 1) (at 115.57 72.39 0))
+    (property "Footprint" "" (id 2) (at 115.57 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 33.02 212.09 0)
+    (property "Datasheet" "~" (id 3) (at 115.57 78.74 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 1ffb075f-eae1-4cfb-8b31-a154fe47b3fb))
@@ -2122,15 +2386,15 @@
     (pin "2" (uuid da3ae61b-0165-4dfd-b020-b009cb6a8474))
   )
 
-  (symbol (lib_id "Connector_Generic:Conn_01x03") (at 33.02 274.32 180) (unit 1)
+  (symbol (lib_id "Connector_Generic:Conn_01x03") (at 115.57 140.97 180) (unit 1)
     (in_bom yes) (on_board yes) (fields_autoplaced)
     (uuid ff4fc5b4-b9df-4897-8475-2791fee78cb1)
-    (property "Reference" "J7" (id 0) (at 33.02 265.43 0))
-    (property "Value" "Conn_Servo4" (id 1) (at 33.02 267.97 0))
-    (property "Footprint" "" (id 2) (at 33.02 274.32 0)
+    (property "Reference" "J7" (id 0) (at 115.57 132.08 0))
+    (property "Value" "Conn_Servo4" (id 1) (at 115.57 134.62 0))
+    (property "Footprint" "" (id 2) (at 115.57 140.97 0)
       (effects (font (size 1.27 1.27)) hide)
     )
-    (property "Datasheet" "~" (id 3) (at 33.02 274.32 0)
+    (property "Datasheet" "~" (id 3) (at 115.57 140.97 0)
       (effects (font (size 1.27 1.27)) hide)
     )
     (pin "1" (uuid 7a15cf94-db98-4bfb-b56a-abac5612463c))
@@ -2185,6 +2449,9 @@
     (path "/a0eb64a8-92c3-4bfb-b32e-48311d57564c"
       (reference "#PWR?") (unit 1) (value "+12V") (footprint "")
     )
+    (path "/b020729e-b369-4f89-9c15-b5228e18a1e0"
+      (reference "#PWR?") (unit 1) (value "+5V") (footprint "")
+    )
     (path "/b46e457b-dd57-4780-bf03-25bcf9375273"
       (reference "#PWR?") (unit 1) (value "+5V") (footprint "")
     )
@@ -2194,6 +2461,9 @@
     (path "/d89aa932-a6fb-4c5c-9805-0fcef86386c6"
       (reference "#PWR?") (unit 1) (value "GNDPWR") (footprint "")
     )
+    (path "/da418f28-6f3f-46f5-8d29-1b8e63b58eff"
+      (reference "#PWR?") (unit 1) (value "GNDPWR") (footprint "")
+    )
     (path "/4fa9a2fd-7058-4007-bfc2-07836f7e5c2e"
       (reference "J0") (unit 1) (value "Conn_Moteur_1") (footprint "")
     )
@@ -2221,6 +2491,9 @@
     (path "/45a26a14-61c6-4b8f-b56b-4d74a56900ba"
       (reference "J8") (unit 1) (value "Conn_Power") (footprint "")
     )
+    (path "/774c6079-838d-451f-ae23-5a5235a573e4"
+      (reference "R0") (unit 1) (value "4.7K") (footprint "")
+    )
     (path "/fd761e09-89d3-4a5c-ac15-afc32203faa8"
       (reference "SW0") (unit 1) (value "ARU") (footprint "")
     )
@@ -2239,5 +2512,8 @@
     (path "/7d8cf6da-0e46-46d9-a203-ff2f6acb872b"
       (reference "U?") (unit 1) (value "L293D") (footprint "Package_DIP:DIP-16_W7.62mm")
     )
+    (path "/b304a161-edaa-4db3-87d2-702feab000f5"
+      (reference "U?") (unit 1) (value "GYR03B") (footprint "")
+    )
   )
 )
diff --git a/Carte électronique/Carte électronique.pdf b/Carte électronique/Carte électronique.pdf
new file mode 100644
index 0000000..c62a93a
Binary files /dev/null and b/Carte électronique/Carte électronique.pdf differ
diff --git a/Carte électronique/fp-info-cache b/Carte électronique/fp-info-cache
index 61f7334..bac3f3b 100644
--- a/Carte électronique/fp-info-cache	
+++ b/Carte électronique/fp-info-cache	
@@ -1,4 +1,4 @@
-20904023539841648
+20905770002964481
 Audio_Module
 Reverb_BTDR-1H
 Digital Reverberation Unit, http://www.belton.co.kr/inc/downfile.php?seq=17&file=pdf (footprint from http://www.uk-electronic.de/PDF/BTDR-1.pdf)
@@ -53500,6 +53500,13 @@ Fuse Fuseholder TR5 Littelfuse/Wickmann No. 460 No560
 0
 2
 2
+GYR03B_Library
+GYR03B
+
+
+0
+0
+0
 Heatsink
 Heatsink_35x26mm_1xFixation3mm_Fischer-SK486-35
 Heatsink, 35mm x 26mm, 1x Fixation 3mm, Fischer SK486-35