diff --git a/include/main.h b/include/main.h
index 13718c0..ea1c8b4 100644
--- a/include/main.h
+++ b/include/main.h
@@ -35,4 +35,9 @@ enum Direction
 #define TRIG_PIN 18
 #define ECHO_PIN 5
 
+// Constantes pour les roues
+#define WHEEL_DIAMETER 5.5     // cm
+#define STEPS_PER_REV 200 * 16 // microsteps
+#define WHEEL_BASE 7.2         // cm
+
 #endif // MAIN_H
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index 427da91..7a22fe0 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,5 +1,7 @@
 #include <Arduino.h>
 #include <TMCStepper.h>
+
+// Définitions des constantes dans main.h
 #include "main.h"
 
 // UART (bus unique)
@@ -52,17 +54,15 @@ void moveAsyncSteps(int32_t steps, int32_t speed, bool forwardDir)
   movementInProgress = true;
   lastDirection = forwardDir ? FORWARD : BACKWARD;
 }
+
 void rotateAsync(float angleDeg, int32_t speed, bool toRight)
 {
   // Informations sur les roues
-  const float wheelBase = 10.0;     // cm
-  const float wheelDiameter = 6.0;  // cm
-  const int stepsPerRev = 200 * 16; // microsteps
-  const float wheelCirc = PI * wheelDiameter;
+  const float wheelCirc = PI * WHEEL_DIAMETER;
 
-  float rotationCirc = PI * wheelBase;
+  float rotationCirc = PI * WHEEL_BASE;
   float distPerWheel = (angleDeg / 360.0) * rotationCirc;
-  int32_t steps = (distPerWheel / wheelCirc) * stepsPerRev;
+  int32_t steps = (distPerWheel / wheelCirc) * STEPS_PER_REV;
 
   // Le nombre de pas à faire
   steps_target = steps;
@@ -212,6 +212,7 @@ void setup()
 
   stopMotors();
   moveAsyncSteps(500, 200, false);
+  // rotateAsync(90, 200, true);
   Serial.println("Setup complete");
 }