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IF (Mode_conduite = Global_tags.StructVehicle_mode.Manuel) THEN
	
	IF (Estop = FALSE) THEN	
			IF (rConsigne_vitesse_Pedalier > 0)THEN 
					IF (Sens_marche = 2) THEN 
						Consigne_vitesse := rConsigne_vitesse_Pedalier;
					ELSIF (Sens_marche = 1) THEN