diff --git a/README.md b/README.md
index f95521f7ab06473a7c53385e8b6895b9437d24fb..30b20ab0d4d352283c4dcac69368ff62fc275b70 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# Contrôle et systèmes
+# Contrôle et systèmes
 
 ## Description de l'équipe
 
@@ -36,3 +36,85 @@
 * [RobotRTS, quickstart](https://robomaster.github.io/RoboRTS-Tutorial/#/en/roborts)
 * [Infantry Setup, UBC](https://docs.google.com/document/d/19cvIZilfux3r4_W7IBOViRhD_JSUb53r_CtSJ3eYy1E/edit)
 
+### Set up du ESC C610 et M2006
+* Set up manuel: 
+	a. In the normal working state of the ESC, press the SET button for a short time to enter the independent setting ID mode.
+	 At this time, the indicator light is off.
+	b. In the independent setting ID mode, short press the SET button (no more than 8 times) is the set ID number. Each
+	 Press briefly, the indicator light flashes once.
+	c. If the SET button is not operated for 3 seconds, the ESC will automatically save the current setting ID number. ESC needs to set ID 
+	 Duplicate IDs cannot occur on the same bus, otherwise ESCs with conflicting IDs will warn and close the output
+* Set up automatique:
+	a. Under normal working conditions, short press the SET button of any C610 ESC on the bus once to enter the independent mode.
+	 After the ID setting mode, press and hold the SET button again. At this time, all ESCs on the bus will enter the quick setting ID mode.
+	 The ESC indicator is solid orange.
+	b. Manually rotate the rotor of the M2006 motor corresponding to the C610 ESC in turn according to the preset ID (rotate at least in any direction)
+	 More than half a circle), the ESC will automatically start numbering from 1 in turn according to the rotation order, the numbered ESCs need to be 
+	 powered on again.
+	 Can enter normal working conditions. 
+* Calibration:
+	 After the ESC motor is connected and powered on, the user calibrates the motor's position sensor parameters to ensure that the motor can
+	 Enough to work normally, the specific operation is as follows:
+	a. Press and hold the SET button until the indicator light flashes green quickly and release the SET button.
+	b. The motor enters the automatic calibration mode, and it will automatically exit the calibration mode after the calibration is completed. 
+
+* Procédure du CAN:
+CAN communication protocol
+
+1. ESC receive message format
+	Used to send a control instruction to the ESC to control the ESC's current output. The two identifiers (0x200 and 0x1FF) correspond
+	Control ESC for 4 IDs. Control torque current value range -10000 ~ 0 ~ 10000, corresponding to the torque current of ESC output
+
+	The range is -10 ~ 0 ~ 10A.
+	Identifier: 0x200 Frame format: DATA
+	Frame type: Standard frame DLC: 8 bytes
+
+	Data field	content					ESC ID
+	DATA [0]	8-bit higher control current value	1
+	DATA [1]	8-bit lower control current value	1
+
+	DATA [2]	8-bit higher control current value	2
+	DATA [3]	8-bit lower control current value	2
+
+	DATA [4]	8-bit higher control current value	3
+	DATA [5]	8-bit lower control current value	3
+
+	DATA [6]	8-bit higher control current value	4
+	DATA [7]	8-bit lower control current value	4
+
+	Identifier: 0x1FF Frame format: DATA
+	Frame type: Standard frame DLC: 8 bytes
+
+	Data field	content					ESC ID
+	DATA [0]	8-bit higher control current value	5
+	DATA [1]	8-bit lower control current value	5
+
+	DATA [2]	8-bit higher control current value	6
+	DATA [3]	8-bit lower control current value	6
+
+	DATA [4]	8-bit higher control current value	7
+	DATA [5]	8-bit lower control current value	7
+
+	DATA [6]	8-bit higher control current value	8
+	DATA [7]	8-bit lower control current value	8
+
+2. ESC feedback message format
+	The feedback data sent by the ESC to the bus.
+	Identifier: 0x200 + ESC ID (eg: ID is 1, this identifier is 0x201)
+	Frame format: DATA
+	Frame type: standard frame
+	DLC: 8 bytes 
+
+	Data field	content
+	DATA [0]	8-bit higher rotor mechanical angle
+	DATA [1]	8-bit lower mechanical rotor angle
+
+	DATA [2]	8-bit higher rotor speed
+	DATA [3]	8 digits lower rotor speed
+
+	DATA [4]	8 digits higher actual output torque
+	DATA [5]	8 digits lower actual output torque
+
+	DATA [6]	Null
+	DATA [7]	Null 
+