diff --git a/Code Telecommande/src/include/inputs.h b/Code Telecommande/src/include/inputs.h
index f3ee373..ffe39e0 100644
--- a/Code Telecommande/src/include/inputs.h	
+++ b/Code Telecommande/src/include/inputs.h	
@@ -3,7 +3,7 @@
 
 #include <pico/types.h>
 
-#define ANGLE_PER_SECOND 45
+#define ANGLE_PER_SECOND 90
 
 typedef enum buttons_t {
     BUTTON_L,
@@ -31,7 +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;
+    float robot_angle;
     bool buttons_states[NB_BUTTONS];
 } inputs_buffer_t;
 
diff --git a/Code Telecommande/src/udp_server.c b/Code Telecommande/src/udp_server.c
index c7ecad1..02893cc 100644
--- a/Code Telecommande/src/udp_server.c	
+++ b/Code Telecommande/src/udp_server.c	
@@ -93,8 +93,8 @@ void udp_server_send(void)
 
     for(uint i = 0; i < 16; i++) data[i] = 0;
 
-    data[UDP_PAYLOAD_ANGLE_L_BYTE]      = controller.inputs_buffer.robot_angle & 0xff;
-    data[UDP_PAYLOAD_ANGLE_H_BYTE]      = (controller.inputs_buffer.robot_angle >> 8) & 0xff;
+    data[UDP_PAYLOAD_ANGLE_L_BYTE]      = ((int16_t)controller.inputs_buffer.robot_angle) & 0xff;
+    data[UDP_PAYLOAD_ANGLE_H_BYTE]      = (((int16_t)controller.inputs_buffer.robot_angle) >> 8) & 0xff;
     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.y_axis_speed;