diff --git a/arduino/arduino.ino b/arduino/arduino.ino
index c202a7b..8c73d10 100644
--- a/arduino/arduino.ino
+++ b/arduino/arduino.ino
@@ -66,60 +66,64 @@ void loop()
         bool codeInconnu = false;
 
         switch (lettre) {
-        case 'L': // Ouverture loquet
-            servoLoquet.write(100);
-            delay(500);
-            break;
-        case 'F': // Fermeture loquet
-            servoLoquet.write(0);
-            delay(500);
-            break;
-        case 'A': // Position attente balle
-            servoPositionBalle.write(70);
-            delay(500);
-            break;
-        case 'V': // Position évacuation balle
-            servoPositionBalle.write(0);
-           delay(500);
-            break;
-        case 'O': // Pousser balle
-            // Position basse
-            servoPoussoir.write(0);
-            //delay(500);
-            // Position haute
-            servoPoussoir.write(120);
-            delay(1000);
-            break;
-        case 'B': // Tourner barillet d'un cran
-            barilletUnCran();
-            delay(500);
-            break;
-        case 'H': // Tourner de deux crans
-            barilletDeuxCrans();
-            delay(500);
-            break;
-        case 'R': // Reset barillet
-            // ax12a.setEndless(ID, OFF);
-            ax12a.setEndless(ID, ON);
-            ax12a.turn(ID, LEFT, 0);
-            ax12a.setEndless(ID, OFF);
-            ax12a.move(ID, pos_initial);
-            delay(500);
-            break;
-        case 'T': // Propulsion on
-            digitalWrite(relai_IN1, HIGH);
-            digitalWrite(relai_IN2, LOW);
-            //delay(4000);
-            break;
-        case 'U': // Propulsion off
-            digitalWrite(relai_IN1, LOW);
-            digitalWrite(relai_IN2, HIGH);
-            //delay(4000);
-            break;
-        case 'P': // Ping
-            break;
-        default:
-            codeInconnu = true;
+            case 'L': // Ouverture loquet
+                servoLoquet.write(100);
+                delay(500);
+                break;
+            case 'F': // Fermeture loquet
+                servoLoquet.write(0);
+                delay(500);
+                break;
+            case 'A': // Position attente balle
+                servoPositionBalle.write(70);
+                delay(500);
+                break;
+            case 'V': // Position évacuation balle
+                servoPositionBalle.write(0);
+                delay(500);
+                break;
+            case 'J': // Position ejection balle
+                servoPositionBalle.write(180);
+                delay(500);
+                break;
+            case 'O': // Pousser balle
+                // Position basse
+                servoPoussoir.write(0);
+                delay(500);
+                // Position haute
+                servoPoussoir.write(120);
+                delay(1000);
+                break;
+            case 'B': // Tourner barillet d'un cran
+                barilletUnCran();
+                delay(500);
+                break;
+            case 'H': // Tourner de deux crans
+                barilletDeuxCrans();
+                delay(500);
+                break;
+            case 'R': // Reset barillet
+                // ax12a.setEndless(ID, OFF);
+                ax12a.setEndless(ID, ON);
+                ax12a.turn(ID, LEFT, 0);
+                ax12a.setEndless(ID, OFF);
+                ax12a.move(ID, pos_initial);
+                delay(500);
+                break;
+            case 'T': // Propulsion on
+                digitalWrite(relai_IN1, HIGH);
+                digitalWrite(relai_IN2, LOW);
+                //delay(4000);
+                break;
+            case 'U': // Propulsion off
+                digitalWrite(relai_IN1, LOW);
+                digitalWrite(relai_IN2, HIGH);
+                //delay(4000);
+                break;
+            case 'P': // Ping
+                break;
+            default:
+                codeInconnu = true;
         }
 
         if (codeInconnu) {
diff --git a/chef/src/position.c b/chef/src/position.c
index b551a15..9590e35 100644
--- a/chef/src/position.c
+++ b/chef/src/position.c
@@ -5,6 +5,7 @@
 #include <math.h>
 #include <stdio.h>
 #include <string.h>
+#include <time.h>
 #include <unistd.h>
 
 #include "debug.h"
@@ -29,14 +30,20 @@ void onF2CI_CODER()
     pthread_mutex_unlock(&posPolling);
 }
 
+struct timespec maxDelayDelta = { 0, 10000000 };
+
 void updateDelta()
 {
-    // Sending
+    int ret = -1;
     pthread_mutex_lock(&posPolling);
-    sendCF(F2CI_CODER, NULL, 0);
 
-    // Waiting for reception
-    pthread_mutex_lock(&posPolling);
+    while (ret != 0) {
+        // Sending
+        sendCF(F2CI_CODER, NULL, 0);
+        // Waiting for reception
+        ret = pthread_mutex_timedlock(&posPolling, &maxDelayDelta);
+    }
+
     pthread_mutex_unlock(&posPolling);
 }
 
diff --git a/chef/src/securite.c b/chef/src/securite.c
index 2db5fa8..4b715c1 100644
--- a/chef/src/securite.c
+++ b/chef/src/securite.c
@@ -19,15 +19,22 @@ void onF2CI_CAPT()
     pthread_mutex_unlock(&secPolling);
 }
 
+struct timespec maxDelaySecu = { 0, 10000000 };
+
 void* TaskSecurite(void* pData)
 {
     (void)pData;
 
     for (;;) {
+
+        int ret = -1;
         pthread_mutex_lock(&secPolling);
-        sendCF(F2CI_CAPT, NULL, 0);
-        // Waiting for reception
-        pthread_mutex_lock(&secPolling);
+        while (ret != 0) {
+            // Sending
+            sendCF(F2CI_CAPT, NULL, 0);
+            // Waiting for reception
+            ret = pthread_mutex_timedlock(&secPolling, &maxDelaySecu);
+        }
         pthread_mutex_unlock(&secPolling);
 
         pthread_mutex_lock(&secData);
@@ -54,8 +61,8 @@ void configureSecurite()
     pthread_mutex_init(&secPolling, NULL);
     pthread_mutex_init(&secData, NULL);
     registerRxHandlerCF(F2CI_CAPT, onF2CI_CAPT);
-    registerDebugVar("secFront", ld, &secFront);
-    registerDebugVar("secBack", ld, &secBack);
+    registerDebugVar("secFront", f, &secFront);
+    registerDebugVar("secBack", f, &secBack);
     pthread_create(&tSecurite, NULL, TaskSecurite, NULL);
 }
 
@@ -63,4 +70,3 @@ void deconfigureSecurite()
 {
     pthread_cancel(tSecurite);
 }
-