diff --git a/Code Telecommande/src/include/inputs.h b/Code Telecommande/src/include/inputs.h
index e035cef..b675545 100644
--- a/Code Telecommande/src/include/inputs.h	
+++ b/Code Telecommande/src/include/inputs.h	
@@ -3,6 +3,8 @@
 
 #include <pico/types.h>
 
+#define ANGLE_PER_SECOND 45
+
 typedef enum buttons_t {
     BUTTON_L,
     BUTTON_R,
@@ -29,6 +31,7 @@ extern const button_def_t BUTTONS_DEFS[];
 typedef struct inputs_buffer_t {
     int8_t x_axis_speed;
     int8_t y_axis_speed;
+    int16_t robot_angle;
     bool buttons_states[NB_BUTTONS];
 } inputs_buffer_t;
 
diff --git a/Code Telecommande/src/inputs.c b/Code Telecommande/src/inputs.c
index d122ba7..d298af9 100644
--- a/Code Telecommande/src/inputs.c	
+++ b/Code Telecommande/src/inputs.c	
@@ -27,7 +27,13 @@ void inputs_init(void)
         gpio_init(BUTTON_DEF->pin);
         gpio_set_dir(BUTTON_DEF->pin, GPIO_OUT);
         gpio_pull_up(BUTTON_DEF->pin);
+
+        controller.inputs_buffer.buttons_states[actual_button] = 0;
     }
+
+    controller.inputs_buffer.x_axis_speed = 0;
+    controller.inputs_buffer.y_axis_speed = 0;
+    controller.inputs_buffer.robot_angle = 0;
 }
 
 void get_inputs(void)
@@ -47,4 +53,10 @@ void get_inputs(void)
 
         controller.inputs_buffer.buttons_states[actual_button] = gpio_get(BUTTON_DEF->pin);
     }
+
+    if(controller.inputs_buffer.buttons_states[BUTTON_L])
+        controller.inputs_buffer.robot_angle += controller.delta_time_ms / 1000.0f * ANGLE_PER_SECOND;
+
+    if(controller.inputs_buffer.buttons_states[BUTTON_R])
+        controller.inputs_buffer.robot_angle -= controller.delta_time_ms / 1000.0f * ANGLE_PER_SECOND;
 }