public void decoder(int[] octets_data){
		if (taille ==5) {
			vitesseXhigh = octets_data[0];
			vitesseYhigh = octets_data[1];
			vitesseXlow = octets_data[2];
			vitesseYlow = octets_data[4];
			arret_obst = (octets_data[5] & 0x10) >>> 4;
			etat_capt_av_ar = (octets_data[5] & 0x6) >>> 2;
			sens_deplacement = (octets_data[5] & 0x3);	
		}
	}