diff --git a/test/main.cpp b/test/main.cpp
new file mode 100644
index 0000000..3b3a3af
--- /dev/null
+++ b/test/main.cpp
@@ -0,0 +1,26 @@
+#include "Arduino.h"
+#include "motor_control.h"
+#include "tasks/motor_task.h"
+
+MotorTask motorTask;
+
+void setup()
+{
+    initMotors();
+    motorTask = MotorTask();
+}
+
+void loop()
+{
+    // Imaginons un obstacle
+    if (false)
+    {
+        motorTask.stop();
+    }
+    else if (!motorTask.isRunning())
+    {
+        motorTask.start();
+        motorTask.goForward(200, 20);
+    }
+    delay(20);
+}
diff --git a/test/tasks/motor_task.cpp b/test/tasks/motor_task.cpp
new file mode 100644
index 0000000..b917d4c
--- /dev/null
+++ b/test/tasks/motor_task.cpp
@@ -0,0 +1,37 @@
+#include "motor_task.h"
+#include "motor_control.h"
+
+MotorTask::MotorTask() : Task() {}
+
+MotorTask::~MotorTask()
+{
+    stop();
+}
+
+void MotorTask::start()
+{
+    Task::start();
+}
+
+void MotorTask::stop()
+{
+    Task::stop();
+    stopMotors();
+}
+
+void MotorTask::goForward(int speed, int delayTime)
+{
+    if (isRunning())
+    {
+        // Code pour accélérer vers l'avant
+        accelerateForward(speed, delayTime);
+    }
+}
+void MotorTask::goReverse(int speed, int delayTime)
+{
+    if (isRunning())
+    {
+        // Code pour accélérer en marche arrière
+        accelerateReverse(speed, delayTime);
+    }
+}
\ No newline at end of file
diff --git a/test/tasks/motor_task.h b/test/tasks/motor_task.h
new file mode 100644
index 0000000..207a545
--- /dev/null
+++ b/test/tasks/motor_task.h
@@ -0,0 +1,17 @@
+#ifndef MOTORTASK_H
+#define MOTORTASK_H
+
+#include "Task.h"
+
+class MotorTask : public Task
+{
+public:
+    MotorTask();
+    ~MotorTask();
+    void start();
+    void stop();
+    void goForward(int speed, int delayTime);
+    void goReverse(int speed, int delayTime);
+};
+
+#endif // MOTORTASK_H
\ No newline at end of file