diff --git a/Code Telecommande/CMakeLists.txt b/Code Telecommande/CMakeLists.txt
index 4d5b3ae..29d3f72 100644
--- a/Code Telecommande/CMakeLists.txt	
+++ b/Code Telecommande/CMakeLists.txt	
@@ -18,6 +18,8 @@ pico_sdk_init()
 
 add_executable(controller
   src/main.c
+  src/controller.c
+  src/inputs.c
   src/wifi_operator.c
   src/udp_server.c
 )
diff --git a/Code Telecommande/src/controller.c b/Code Telecommande/src/controller.c
new file mode 100644
index 0000000..9d160e2
--- /dev/null
+++ b/Code Telecommande/src/controller.c	
@@ -0,0 +1,73 @@
+#include "include/controller.h"
+
+#include <pico/stdio.h>
+#include <pico/cyw43_arch.h>
+#include <pico/mutex.h>
+#include "include/wifi_operator.h"
+#include "include/udp_server.h"
+
+auto_init_mutex(wifi_mutex);
+
+int controller_init(void)
+{
+    stdio_init_all();
+
+    sleep_ms(1000);
+
+    inputs_init();
+
+    if(cyw43_arch_init())
+    {
+        return -1;
+    }
+
+    mutex_enter_blocking(&wifi_mutex);
+    cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
+    mutex_exit(&wifi_mutex);
+
+    wifi_operator_init_ap_mode();
+    udp_server_init();
+
+    controller.is_running = true;
+}
+
+static inline void update_time(void)
+{
+    static bool led_state = false;
+    static double last_time = 0.0;
+    double start_time = (double)clock() * 1000.0 / (double)CLOCKS_PER_SEC;
+    controller.delta_time_ms = start_time - last_time;
+    last_time = start_time;
+
+    static double elapsed_time = 0.0;
+    elapsed_time += controller.delta_time_ms;
+
+    if(elapsed_time >= 1000)
+    {
+        elapsed_time = 0;
+
+        mutex_enter_blocking(&wifi_mutex);
+        cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
+        mutex_exit(&wifi_mutex);
+
+        led_state = !led_state;
+    }
+}
+
+void controller_handle_inputs_outputs(void)
+{
+    update_time();
+
+    get_inputs();
+
+    mutex_enter_blocking(&wifi_mutex);
+    udp_server_send();
+    mutex_exit(&wifi_mutex);
+
+    tight_loop_contents();
+}
+
+void controller_deinit(void)
+{
+    udp_server_exit();
+}
diff --git a/Code Telecommande/src/include/controller.h b/Code Telecommande/src/include/controller.h
new file mode 100644
index 0000000..360f32e
--- /dev/null
+++ b/Code Telecommande/src/include/controller.h	
@@ -0,0 +1,23 @@
+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+#include <stdbool.h>
+#include "inputs.h"
+
+typedef struct controller_t {
+    inputs_buffer_t inputs_buffer;
+
+    double delta_time_ms;
+    bool is_running;
+} controller_t;
+
+extern controller_t controller;
+
+// Init all controller's components
+int controller_init(void);
+// Handle all inputs and outputs
+void controller_handle_inputs_outputs(void);
+// Deinit controller's components
+void controller_deinit(void);
+
+#endif // CONTROLLER_H
\ No newline at end of file
diff --git a/Code Telecommande/src/include/inputs.h b/Code Telecommande/src/include/inputs.h
new file mode 100644
index 0000000..33df35d
--- /dev/null
+++ b/Code Telecommande/src/include/inputs.h	
@@ -0,0 +1,40 @@
+#ifndef INPUTS_H
+#define INPUTS_H
+
+#include <pico/types.h>
+
+typedef enum buttons_t {
+    BUTTON_L,
+    BUTTON_R,
+    BUTTON_BLACK,
+    BUTTON_BLUE,
+    BUTTON_WHITE,
+    BUTTON_GREEN,
+
+    NB_BUTTONS
+} buttons_t;
+
+typedef struct button_def_t {
+    uint pin;
+} button_def_t;
+
+extern const button_def_t BUTTONS_DEFS[];
+
+#define JOYSTICK_X_AXIS_PIN 26
+#define JOYSTICK_Y_AXIS_PIN 27
+
+#define JOYSTICK_X_AXIS_ADC_INPUT 0
+#define JOYSTICK_Y_AXIS_ADC_INPUT 1
+
+typedef struct inputs_buffer_t {
+    int8_t x_axis_speed;
+    int8_t y_axis_speed;
+    bool buttons_states[NB_BUTTONS];
+} inputs_buffer_t;
+
+
+void inputs_init(void);
+
+void get_inputs(void);
+
+#endif // INPUTS_H
\ No newline at end of file
diff --git a/Code Telecommande/src/include/lwipopts.h b/Code Telecommande/src/include/lwipopts.h
new file mode 100644
index 0000000..91c3b05
--- /dev/null
+++ b/Code Telecommande/src/include/lwipopts.h	
@@ -0,0 +1,97 @@
+#ifndef _LWIPOPTS_EXAMPLE_COMMONH_H
+#define _LWIPOPTS_EXAMPLE_COMMONH_H
+
+
+// Common settings used in most of the pico_w examples
+// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html for details)
+
+// allow override in some examples
+#ifndef NO_SYS
+#define NO_SYS                      1
+#endif
+// allow override in some examples
+#ifndef LWIP_SOCKET
+#define LWIP_SOCKET                 0
+#endif
+#if PICO_CYW43_ARCH_POLL
+#define MEM_LIBC_MALLOC             1
+#else
+// MEM_LIBC_MALLOC is incompatible with non polling versions
+#define MEM_LIBC_MALLOC             0
+#endif
+#define MEM_ALIGNMENT               4
+#ifndef MEM_SIZE
+#define MEM_SIZE                    32768          // Augmenté pour plus de mémoire disponible
+#endif
+#define MEMP_NUM_TCP_SEG            32
+#define MEMP_NUM_ARP_QUEUE          10
+#define PBUF_POOL_SIZE              32              // Augmenté pour réduire les allocations
+#define LWIP_ARP                    1
+#define LWIP_ETHERNET               1
+#define LWIP_ICMP                   1
+#define LWIP_RAW                    1
+#define TCP_WND                     (16 * TCP_MSS)  // Augmenté pour de meilleures performances
+#define TCP_MSS                     1460
+#define TCP_SND_BUF                 (8 * TCP_MSS)   // Augmenté pour de meilleures performances
+#define TCP_SND_QUEUELEN            ((4 * (TCP_SND_BUF) + (TCP_MSS - 1)) / (TCP_MSS))
+#define LWIP_NETIF_STATUS_CALLBACK  1
+#define LWIP_NETIF_LINK_CALLBACK    1
+#define LWIP_NETIF_HOSTNAME         1
+#define LWIP_NETCONN                0
+#define MEM_STATS                   0
+#define SYS_STATS                   0
+#define MEMP_STATS                  0
+#define LINK_STATS                  0
+// #define ETH_PAD_SIZE                2
+#define LWIP_CHKSUM_ALGORITHM       3
+#define LWIP_DHCP                   0
+#define LWIP_DHCP_SERVER            0
+#define LWIP_IPV4                   1
+#define LWIP_TCP                    1
+#define LWIP_UDP                    1
+#define LWIP_DNS                    1
+#define LWIP_TCP_KEEPALIVE          1
+#define LWIP_NETIF_TX_SINGLE_PBUF   1
+#define DHCP_DOES_ARP_CHECK         0
+#define LWIP_DHCP_DOES_ACD_CHECK    0
+
+#ifndef NDEBUG
+#define LWIP_DEBUG                  1
+#define LWIP_STATS                  1
+#define LWIP_STATS_DISPLAY          1
+#endif
+
+#define ETHARP_DEBUG                LWIP_DBG_OFF
+#define NETIF_DEBUG                 LWIP_DBG_OFF
+#define PBUF_DEBUG                  LWIP_DBG_OFF
+#define API_LIB_DEBUG               LWIP_DBG_OFF
+#define API_MSG_DEBUG               LWIP_DBG_OFF
+#define SOCKETS_DEBUG               LWIP_DBG_OFF
+#define ICMP_DEBUG                  LWIP_DBG_OFF
+#define INET_DEBUG                  LWIP_DBG_OFF
+#define IP_DEBUG                    LWIP_DBG_OFF
+#define IP_REASS_DEBUG              LWIP_DBG_OFF
+#define RAW_DEBUG                   LWIP_DBG_OFF
+#define MEM_DEBUG                   LWIP_DBG_OFF
+#define MEMP_DEBUG                  LWIP_DBG_OFF
+#define SYS_DEBUG                   LWIP_DBG_OFF
+#define TCP_DEBUG                   LWIP_DBG_OFF
+#define TCP_INPUT_DEBUG             LWIP_DBG_OFF
+#define TCP_OUTPUT_DEBUG            LWIP_DBG_OFF
+#define TCP_RTO_DEBUG               LWIP_DBG_OFF
+#define TCP_CWND_DEBUG              LWIP_DBG_OFF
+#define TCP_WND_DEBUG               LWIP_DBG_OFF
+#define TCP_FR_DEBUG                LWIP_DBG_OFF
+#define TCP_QLEN_DEBUG              LWIP_DBG_OFF
+#define TCP_RST_DEBUG               LWIP_DBG_OFF
+#define UDP_DEBUG                   LWIP_DBG_OFF
+#define TCPIP_DEBUG                 LWIP_DBG_OFF
+#define PPP_DEBUG                   LWIP_DBG_OFF
+#define SLIP_DEBUG                  LWIP_DBG_OFF
+#define DHCP_DEBUG                  LWIP_DBG_OFF
+
+#define SYS_LIGHTWEIGHT_PROT       1  // Protection pour le multicore
+#define MEMP_NUM_PBUF              32  // Augmenté pour les buffers
+#define ICMP_TTL                   255 // Augmenté pour la fiabilité
+
+#endif /* __LWIPOPTS_H__ */
\ No newline at end of file
diff --git a/Code Telecommande/src/include/udp_server.h b/Code Telecommande/src/include/udp_server.h
new file mode 100644
index 0000000..921259d
--- /dev/null
+++ b/Code Telecommande/src/include/udp_server.h	
@@ -0,0 +1,29 @@
+#ifndef UDP_SERVER_H
+#define UDP_SERVER_H
+
+#include <stdint.h>
+#include <lwip/udp.h>
+
+#define UDP_SERVER_PORT 4242
+
+#define UDP_SERVER_BUFFER_SIZE 16
+
+#define UDP_PAYLOAD_ANGLE_L_BYTE 0x00
+#define UDP_PAYLOAD_ANGLE_H_BYTE 0x01
+#define UDP_PAYLOAD_X_AXIS_SPEED_BYTE 0x02
+#define UDP_PAYLOAD_Y_AXIS_SPEED_BYTE 0x03
+
+#define UDP_CLIENT_IP "192.168.128.2"
+#define UDP_CLIENT_PORT 4243
+
+typedef struct udp_server_t {
+    struct udp_pcb *pcb;
+} udp_server_t;
+
+void udp_server_init(void);
+
+void udp_server_exit(void);
+// Send data depending of the data in inputs buffer
+void udp_server_send(void);
+
+#endif // UDP_SERVER_H
\ No newline at end of file
diff --git a/Code Telecommande/src/include/wifi_operator.h b/Code Telecommande/src/include/wifi_operator.h
new file mode 100644
index 0000000..c2db061
--- /dev/null
+++ b/Code Telecommande/src/include/wifi_operator.h	
@@ -0,0 +1,10 @@
+#ifndef WIFI_OPERATOR_H
+#define WIFI_OPERATOR_H
+
+#define WIFI_OPERATOR_SSID "RiombotiqueAP"
+#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
+#define WIFI_OPERATOR_CHANNEL 3
+
+void wifi_operator_init_ap_mode(void);
+
+#endif // WIFI_OPERATOR_H
\ No newline at end of file
diff --git a/Code Telecommande/src/inputs.c b/Code Telecommande/src/inputs.c
new file mode 100644
index 0000000..d122ba7
--- /dev/null
+++ b/Code Telecommande/src/inputs.c	
@@ -0,0 +1,50 @@
+#include "include/inputs.h"
+
+#include <hardware/adc.h>
+#include "include/controller.h"
+
+#include <stdio.h>
+
+const button_def_t BUTTONS_DEFS[NB_BUTTONS] = {
+    {13},
+    {9},
+    {1},
+    {5},
+    {6},
+    {2}
+};
+
+void inputs_init(void)
+{
+    adc_init();
+    adc_gpio_init(JOYSTICK_X_AXIS_PIN);
+    adc_gpio_init(JOYSTICK_Y_AXIS_PIN);
+
+    for(buttons_t actual_button = BUTTON_L; actual_button < NB_BUTTONS; actual_button++)
+    {
+        const button_def_t *BUTTON_DEF = &BUTTONS_DEFS[actual_button];
+
+        gpio_init(BUTTON_DEF->pin);
+        gpio_set_dir(BUTTON_DEF->pin, GPIO_OUT);
+        gpio_pull_up(BUTTON_DEF->pin);
+    }
+}
+
+void get_inputs(void)
+{
+    adc_select_input(JOYSTICK_X_AXIS_ADC_INPUT);
+    uint16_t joystick_x_axis = adc_read();
+
+    adc_select_input(JOYSTICK_Y_AXIS_ADC_INPUT);
+    uint16_t joystick_y_axis = adc_read();
+
+    controller.inputs_buffer.x_axis_speed = (joystick_x_axis / 16) - 128;
+    controller.inputs_buffer.y_axis_speed = (joystick_y_axis / 16) - 128;
+
+    for(buttons_t actual_button = BUTTON_L; actual_button < NB_BUTTONS; actual_button++)
+    {
+        const button_def_t *BUTTON_DEF = &BUTTONS_DEFS[actual_button];
+
+        controller.inputs_buffer.buttons_states[actual_button] = gpio_get(BUTTON_DEF->pin);
+    }
+}
diff --git a/Code Telecommande/src/main.c b/Code Telecommande/src/main.c
new file mode 100644
index 0000000..9973084
--- /dev/null
+++ b/Code Telecommande/src/main.c	
@@ -0,0 +1,17 @@
+#include "include/controller.h"
+
+controller_t controller;
+
+int main(void)
+{
+    if(controller_init()) return -1;
+
+    while(controller.is_running)
+    {
+        controller_handle_inputs_outputs();
+    }
+
+    controller_deinit();
+
+    return 0;
+}
\ No newline at end of file
diff --git a/Code Telecommande/src/udp_server.c b/Code Telecommande/src/udp_server.c
new file mode 100644
index 0000000..3e49548
--- /dev/null
+++ b/Code Telecommande/src/udp_server.c	
@@ -0,0 +1,98 @@
+#include "udp_server.h"
+
+#include <stdio.h>
+#include <pico/cyw43_arch.h>
+#include <lwip/def.h>
+#include "include/controller.h"
+
+udp_server_t udp_server;
+
+void udp_server_init()
+{
+    udp_server.pcb = udp_new();
+    if(!udp_server.pcb)
+    {
+        puts("Error creating UDP server");
+        return;
+    }
+
+    err_t err = udp_bind(udp_server.pcb, IP_ADDR_ANY, UDP_SERVER_PORT);
+    if(err != ERR_OK)
+    {
+        printf("Error binding UDP server: %d\n", err);
+        return;
+    }
+}
+
+void udp_server_exit(void)
+{
+    if(udp_server.pcb)
+    {
+        udp_remove(udp_server.pcb);
+        udp_server.pcb = NULL;
+    }
+}
+
+static inline void udp_server_send_data(const uint8_t *data, size_t length)
+{
+    ip4_addr_t remote_addr;
+    ip4addr_aton(UDP_CLIENT_IP, &remote_addr);
+
+    // Nombre maximum de tentatives
+    const int MAX_RETRIES = 3;
+    uint tries = 0;
+
+    while(tries < MAX_RETRIES)
+    {
+        struct pbuf *p = pbuf_alloc(PBUF_TRANSPORT, length, PBUF_RAM);
+        if(p == NULL)
+        {
+            printf("Try %d - Error allocating pbuf\n", ++tries);
+            sleep_ms(100);  // Wait before retry
+            continue;
+        }
+
+        memcpy(p->payload, (char *)data, length);
+        err_t err = udp_sendto(udp_server.pcb, p, &remote_addr, UDP_CLIENT_PORT);
+        pbuf_free(p);
+
+        if (err == ERR_OK)
+        {
+            return;  // Succès
+        }
+        else
+        {
+            const char* error_msg;
+
+            switch(err)
+            {
+              case ERR_MEM:
+                error_msg = "Insuficient memory";
+                break;
+
+              case ERR_BUF:
+                error_msg = "Buffer full";
+                break;
+
+              default:
+                error_msg = "Unknown error";
+            }
+
+            printf("Try %d - Error send UDP: %d (%s)\n", ++tries, err, error_msg);
+
+            sleep_ms(100);  // Wait before retry
+        }
+    }
+
+    printf("Error sending data after %d tries...\n", tries);
+}
+
+void udp_server_send(void)
+{
+    uint8_t data[UDP_SERVER_BUFFER_SIZE];
+
+    data[UDP_PAYLOAD_X_AXIS_SPEED_BYTE] = *(uint8_t *)&controller.inputs_buffer.x_axis_speed;
+    data[UDP_PAYLOAD_Y_AXIS_SPEED_BYTE] = *(uint8_t *)&controller.inputs_buffer.x_axis_speed;
+
+    udp_server_send_data(data, UDP_SERVER_BUFFER_SIZE);
+}
\ No newline at end of file
diff --git a/Code Telecommande/src/wifi_operator.c b/Code Telecommande/src/wifi_operator.c
new file mode 100644
index 0000000..10d637c
--- /dev/null
+++ b/Code Telecommande/src/wifi_operator.c	
@@ -0,0 +1,50 @@
+#include "include/wifi_operator.h"
+
+#include <pico/cyw43_arch.h>
+#include <lwip/netif.h>
+#include <lwip/ip4_addr.h>
+
+void wifi_operator_init_ap_mode(void)
+{
+    // Configuration IP pour le mode AP
+    ip4_addr_t ip, netmask, gateway;
+    IP4_ADDR(&ip, 192, 168, 128, 1);
+    IP4_ADDR(&netmask, 255, 255, 255, 0);
+    IP4_ADDR(&gateway, 192, 168, 128, 1);
+
+    puts("Configuration WiFi en cours...");
+
+    // Désactiver le mode d'économie d'énergie
+    cyw43_wifi_pm(&cyw43_state, CYW43_NO_POWERSAVE_MODE);
+
+    // Activer le mode AP
+    cyw43_arch_enable_ap_mode(WIFI_OPERATOR_SSID, WIFI_OPERATOR_PASSWORD, CYW43_AUTH_WPA2_AES_PSK);
+
+    // Attendre que l'interface soit prête
+    int retry = 0;
+    while (netif_default == NULL && retry < 10)
+    {
+        sleep_ms(500);
+        retry++;
+    }
+
+    if (netif_default == NULL)
+    {
+        puts("Erreur: Interface réseau non initialisée");
+        return;
+    }
+
+    // Configuration du canal WiFi
+    cyw43_wifi_ap_set_channel(&cyw43_state, WIFI_OPERATOR_CHANNEL);
+
+    // Configuration de l'interface réseau
+    netif_set_up(netif_default);
+    netif_set_link_up(netif_default);
+    netif_set_addr(netif_default, &ip, &netmask, &gateway);
+
+    puts("Configuration IP terminée!");
+    puts("Point d'accès activé!");
+    printf("SSID:%s\n", WIFI_OPERATOR_SSID);
+    printf("Password:%s\n", WIFI_OPERATOR_PASSWORD);
+    printf("Channel:%d\n", WIFI_OPERATOR_CHANNEL);
+}