Merci.
Voici mes codes:

#########################Processing###########################

import net.java.games.input.*;
import org.gamecontrolplus.*;
import org.gamecontrolplus.gui.*;
import java.util.*;
import java.nio.*;

import processing.serial.*;

ControlIO control;
Configuration config;
ControlDevice gpad;

//Boutons
boolean Start;
boolean Select;
boolean A;
boolean B;
boolean X;
boolean Y;
boolean LB;
boolean RB;
boolean L3;
boolean R3;

//Axes des joysticks
int X1;
int Y1;
int X2;
int Y2;
int Z;

int index;

//Mesure de temps
long start;
long end;
long dif;

Serial port;
########################Setup#################
void setup() {
  size(256, 150);
 
  index =0;
 
  control = ControlIO.getInstance(this); //Initialise the controlIO
  gpad = control.getMatchedDevice("gamepad"); //find device that match the configuration file
  if (gpad == null){
    println("No suitable device configurated");
    System.exit(-1); //End the program
  }

  println("Available serial ports:");
  println(Serial.list());
 
  port = new Serial(this, "COM3", 115200);
}
############################################
#####################Draw######################
void draw() {
  //index =10;
  start = System.currentTimeMillis();

  Start = gpad.getButton("Start").pressed();
  Select = gpad.getButton("Select").pressed();
  A = gpad.getButton("A").pressed();
  B = gpad.getButton("B").pressed();
  X = gpad.getButton("X").pressed();
  Y = gpad.getButton("Y").pressed();
  LB = gpad.getButton("LB").pressed();
  RB = gpad.getButton("RB").pressed();
  L3 = gpad.getButton("L3").pressed();
  R3 = gpad.getButton("R3").pressed();
 
  X1 = (int)(gpad.getSlider("Axe X").getValue()*100);
  Y1 = (int)(gpad.getSlider("Axe Y").getValue()*100);
  X2 = (int)(gpad.getSlider("Rotation X").getValue()*100);
  Y2 = (int)(gpad.getSlider("Rotation Y").getValue()*100);
 
  if (A){
    pA = true;
    if (index==0){
      port.write(0);
      pA = false;
    }
  }
  if (B && index==1){
    port.write(1);
  }
  if (X && index==2){
    port.write(2);
  }
  if (Y && index==3){
    port.write(3);
  }
  if (LB && index==4){
    port.write(4);
  }
  if (RB && index==5){
    port.write(5);
  }
  if (Select && index==6){
    port.write(6);
  }
  if (Start && index==7){
    port.write(7);
  }
  if (L3 && index==8){
    port.write(8);
  }
  if (R3 && index==9){
    port.write(9);
  }
  if (index==10){
    port.write(10);
    port.write(150+X1);
  }
  /*if (index==11){
    port.write(351+Y1);
  }
  if (index==12){
    port.write(552+X2);
  }
  if (index==13){
    port.write(753+Y2);
  }*/
 
  System.out.println("A="+A+" B="+B+" X="+X+" Y="+Y+" LB="+LB+" RB="+RB+" Select="+Select+" Start="+Start+" L3="+L3+" R3="+R3+" X1="+X1+" Y1="+Y1+" X2="+X2+" Y2="+Y2);
 
  index++;
  if (index>=13){
    index=0;
  }
  end = System.currentTimeMillis();
  dif = end - start;
 
  System.out.println(dif);
}

##############################################################

#####################Arduino###################################

#include <Wire.h> //bus I²C

#define MPU_9255 0x68//MPU-9255 I²C address

#define ACCEL_XOUT_H 0x3B//Accelerometer I²C address (read only)
#define ACCEL_XOUT_L 0x3C
#define ACCEL_YOUT_H 0x3D
#define ACCEL_YOUT_L 0x3E
#define ACCEL_ZOUT_H 0x3F
#define ACCEL_ZOUT_L 0x40

#define GYRO_XOUT_H 0x43//Gyroscope I²C address (read only)
#define GYRO_XOUT_L 0x44
#define GYRO_YOUT_H 0x45
#define GYRO_YOUT_L 0x46
#define GYRO_ZOUT_H 0x47
#define GYRO_ZOUT_L 0x48

#define MAG_XOUT_H 0x03//Magnetometer I²C adress (read only)
#define MAG_XOUT_L 0x04
#define MAG_YOUT_H 0x05
#define MAG_YOUT_L 0x06
#define MAG_ZOUT_H 0x07
#define MAG_ZOUT_L 0x08

#define DATA 2 //serial read
#define WR 3
#define CS 4
#define CS2 5

const int motor1 = 11;//4 motors PWM output
const int motor2 = 10;
const int motor3 = 9;
const int motor4 = 6;
const int motor[4] = {motor1, motor2, motor3, motor4};

const int SDA0 = A4;//Serial Data Line I²C
const int SCL0 = A5;//Serial Clock Line I²C

int varList[35] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; //Valeurs des entrées

int ACC_X;
int ACC_Y;
int ACC_Z;

int GYRO_X;
int GYRO_Y;
int GYRO_Z;

int MAG_X;
int MAG_Y;
int MAG_Z;

byte wireBytes[8]; //I²C

int castByteStringToInt (byte Bytes[8]){//I²C
  int result = 0;
  for (int k=0; k<=7;k++){
    if (Bytes[k]==1){
      ACC_X=ACC_X+pow(2,k);
    }
  }
  return result;
}

unsigned long t;
unsigned long tList[36];
int indexNb;
int lastIndex[10];

long start;
long endd;
long diff;

String inString = "";

//##############################Setup####################################
void setup() {
 
  Serial.begin(115200);
  Wire.begin();
 
  analogWrite(motor1, 0);
  analogWrite(motor2, 0);
  analogWrite(motor3, 0);
  analogWrite(motor4, 0);

  ACC_X=0;
  ACC_Y=0;
  ACC_Z=0;

  GYRO_X=0;
  GYRO_Y=0;
  GYRO_Z=0;

  MAG_X=0;
  MAG_Y=0;
  MAG_Z=0;

  t = millis();
  for (int k=0; k<=35; k++){
    tList[k]=t;
  }

  indexNb = 0;

}
//########################################################################
//#############################loop#####################################
void loop() {

  start = millis();

  t = millis();

  byte proc;//data from pc
  if (Serial.available()){
    proc = Serial.read();


    if (proc==10){
      indexNb++;
      //Serial.println(indexNb);
    }

   
   
    for (int k=0; k<=9; k++){
      if (proc==k){
        varList[k] = 1;
        tList[k] = t;
        lastIndex[k]=indexNb;
        //analogWrite(motor1,k*20);
      }
      else if (indexNb-lastIndex[k]>1){
        varList[k] = 0;
      }
    }
    for (int k=10; k<=13; k++){
      if (50<int(proc)<250){
       
        varList[k] = max(0,int(proc) - 50);
        analogWrite(motor1,varList[10]);
      }
    }
/*//Test
    if (proc==0){
      analogWrite(motor1,255);
    }
    else{
      analogWrite(motor1,0);
    }
*/
    /*
    analogWrite(motor1,255*varList[0]);//Test boutons
    analogWrite(motor2,255*varList[1]);
    analogWrite(motor3,255*varList[2]);
    analogWrite(motor4,255*varList[3]);*/

    //analogWrite(motor1,(100+varList[10]);//Test axes joysticks
    /*analogWrite(motor2,(100+varList[11]));
    analogWrite(motor3,(100+varList[12]);
    analogWrite(motor4,(100+varList[13]);*/
   
    //analogWrite(motor1,10);//Test simple
   
  }
//Commandes du bus I2C
  Wire.beginTransmission(MPU_9255);
  Wire.write(ACCEL_XOUT_H);
  Wire.endTransmission(false);
  Wire.requestFrom(ACCEL_XOUT_H, 8);
  for (int k=0; k<=7; k++){
    wireBytes[k] = Wire.read();
  }
  ACC_X=castByteStringToInt(wireBytes);


  endd = millis();
  diff=endd-start;
  //Serial.println(diff);
}

#####################################################################