diff --git a/chef/Makefile b/chef/Makefile
index 4414d75..2572de1 100644
--- a/chef/Makefile
+++ b/chef/Makefile
@@ -10,6 +10,9 @@ LDFLAGS_CUSTOM += -lpthread -lwiringPi
 CFLAGS_CUSTOM += -g
 ## Générateurs de drapeaux pour les bibliothèques
 PKG_CONFIG=pkg-config
+## Nom des objets communs
+OBJS=CF debug i2c ihm lcd movement parcours points position
+OBJS_O=$(addprefix obj/,$(addsuffix .o,$(OBJS)))
 
 # VARIABLES AUTOMATIQUES
 ifdef LIBS
@@ -21,25 +24,20 @@ endif
 CFLAGS += -Wall -Wextra -pedantic -g -DDEBUG
 # buildroot se charge de remplacer ces flags avec des optimisations
 
-# RÈGLES AUTOMATIQUES DE COMPILATION
+# RÈGLES DE COMPILATION
+
+# Règle éxecutée par défaut (quand on fait juste `make`)
+default: bin/premier bin/local $(subst src,bin,$(subst .c,,$(wildcard src/test*.c)))
 
 # Génération des fichiers éxecutables
-bin/%: obj/%.o
+bin/%: obj/%.o $(OBJS_O)
 	$(CC) $(LDFLAGS) $(LDFLAGS_CUSTOM) $^ -o $@
 	$(OBJCOPY) --only-keep-debug $@ $@.debug
 	$(STRIP) --strip-debug --strip-unneeded $@
 
-# RÈGLES DE COMPILATION
-
-# Règle éxecutée par défaut (quand on fait juste `make`)
-default: bin/testpin bin/premier bin/local bin/testI2c
-
 # Binaires (dont il faut spécifier les objets explicitement)
-OBJS=CF movement debug position ihm lcd i2c points parcours
-bin/premier: $(addprefix obj/,$(addsuffix .o,$(OBJS)))
-bin/testPin: obj/testPin.o
-# TODO ↑ Enlever (remplacé par IHM)
-bin/testI2c: obj/testI2c.o obj/i2c.o obj/srf08.o obj/lcd.o
+bin/premier: obj/premier.o $(OBJS_O)
+bin/test%: obj/test%.o $(OBJS_O)
 
 # Programme de test sur PC, n'embarquant pas wiringPi
 bin/local: obj/local.o obj/debug.o
diff --git a/chef/run.sh b/chef/run.sh
deleted file mode 100644
index cd06716..0000000
--- a/chef/run.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/sh
-
-cd "$( dirname "${BASH_SOURCE[0]}" )"
-EXEC=bin/premier
-LOGFILE="${2:=run.log}"
-
-# Logging
-"$EXEC" 2>&1 | while read line; do
-    echo "$(cat /proc/uptime | cut -d ' ' -f 1) $line" >> "$LOGFILE"
-done
-
-sh lcdOff.sh
diff --git a/chef/src/CF.c b/chef/src/CF.c
index e2945cb..2791faa 100644
--- a/chef/src/CF.c
+++ b/chef/src/CF.c
@@ -114,7 +114,7 @@ void configureCF()
     pthread_mutex_init(&sSendCF, NULL);
     pthread_create(&tReaderAC, NULL, TaskReaderAC, NULL);
 
-    printf("Attente de réponse de l'Fpga... ");
+    printf("Attente de réponse du Fpga... ");
     fflush(stdout);
     struct timespec tim;
     tim.tv_sec = 0;
diff --git a/chef/src/debug.c b/chef/src/debug.c
index 2bda9a5..d30a9a0 100644
--- a/chef/src/debug.c
+++ b/chef/src/debug.c
@@ -20,7 +20,7 @@ void* TaskDebug(void* pdata)
     (void)pdata;
 
     clock_t debugStart;
-    debugStart = clock();
+    debugStart = clock(); // TODO struct timespec
 
     struct timespec tim; // 100 ms
     tim.tv_sec = 0;
diff --git a/chef/src/ihm.c b/chef/src/ihm.c
index 0a3b069..8f0636d 100644
--- a/chef/src/ihm.c
+++ b/chef/src/ihm.c
@@ -1,6 +1,5 @@
 #include <pthread.h>
 #include <signal.h>
-#include <stdbool.h>
 #include <stdio.h>
 #include <time.h>
 #include <wiringPi.h>
@@ -12,13 +11,13 @@
 
 // Globales
 pthread_t tIHM;
+pthread_t tStdinIHM;
 
 // Fonctions
 void configureIHM()
 {
     initLCD();
-    gotoLCD(LCD_LINE_1);
-    printLCD("Demarrage...");
+    printToLCD(LCD_LINE_1, "Demarrage");
 }
 
 void startIHM()
@@ -31,6 +30,7 @@ void startIHM()
     pullUpDnControl(IHM_PIN_TIRETTE, PUD_UP);
 
     pthread_create(&tIHM, NULL, TaskIHM, NULL);
+    pthread_create(&tStdinIHM, NULL, TaskStdinIHM, NULL);
     pthread_join(tIHM, NULL);
 }
 
@@ -66,11 +66,35 @@ bool debunkButtonIHM(int pin)
     return true;
 }
 
+enum boutons stdinbutton = none;
+
+void* TaskStdinIHM(void* pdata)
+{
+    (void)pdata;
+
+    for (;;) {
+        char c = getchar();
+        if (c == '1') {
+            stdinbutton = jaune;
+        } else if (c == '2') {
+            stdinbutton = rouge;
+        }
+    }
+
+    return NULL;
+}
+
 enum boutons pressedIHM(int timeout)
 {
     bool block = timeout < 0;
     while (timeout > 0 || block) {
 
+        if (stdinbutton != none) {
+            enum boutons bout = stdinbutton;
+            stdinbutton = none;
+            return bout;
+        }
+
         if (debunkButtonIHM(IHM_PIN_JAUNE)) {
             return jaune;
         }
@@ -100,44 +124,33 @@ bool tirettePresente()
     return etat == LOW;
 }
 
-char tempLine[16];
 bool isDebug = false;
 bool isOrange = true;
 bool annuler = false;
 clock_t lastCalibrage = 0;
-clock_t parcoursStart = 0;
 pthread_t tParcours;
 
-void printCouleur()
+char* orangeStr = "Orange";
+char* vertStr = "Vert";
+
+char* getCouleur()
 {
-    if (isOrange) {
-        printLCD("Orange");
-    } else {
-        printLCD("Vert");
-    }
+    return isOrange ? orangeStr : vertStr;
 }
 
 void* TaskIHM(void* pdata)
 {
     (void)pdata;
 
-    gotoLCD(LCD_LINE_1 + 1);
-    printLCD("Niuh");
-
     enum boutons bout;
     for (;;) {
 
         // Debug
         for (;;) {
             clearLCD();
-            gotoLCD(LCD_LINE_1);
-            printLCD("Debug : ");
+            printfToLCD(LCD_LINE_1, "Debug : %s", isDebug ? "On" : "Off");
             if (isDebug) {
-                printLCD("On");
-                gotoLCD(LCD_LINE_2);
-                printLCD("192.168.0.0 TODO");
-            } else {
-                printLCD("Off");
+                printToLCD(LCD_LINE_2, "192.168.0.0 TODO");
             }
             bout = pressedIHM(IHM_REFRESH_INTERVAL);
 
@@ -151,9 +164,7 @@ void* TaskIHM(void* pdata)
         // Couleur
         for (;;) {
             clearLCD();
-            gotoLCD(LCD_LINE_1);
-            printLCD("Couleur : ");
-            printCouleur();
+            printfToLCD(LCD_LINE_1, "Couleur : %s", getCouleur());
             bout = pressedIHM(IHM_BLOCK);
 
             if (bout == rouge) {
@@ -166,27 +177,20 @@ void* TaskIHM(void* pdata)
         // Calibrage
         for (;;) {
             clearLCD();
-            gotoLCD(LCD_LINE_1);
             if (lastCalibrage != 0) {
-                printLCD("Calibre il y a");
-                gotoLCD(LCD_LINE_2);
-                sprintf(tempLine, "%ld secondes", (clock() - lastCalibrage) / CLOCKS_PER_SEC);
-                printLCD(tempLine);
+                printToLCD(LCD_LINE_1, "Calibre il y a");
+                printfToLCD(LCD_LINE_2, "%ld secondes", (clock() - lastCalibrage) / CLOCKS_PER_SEC);
             } else {
-                printLCD("Calibrer");
-                gotoLCD(LCD_LINE_2);
-                printLCD("(");
-                printCouleur();
-                printLCD(")");
+                printToLCD(LCD_LINE_1, "Calibrer");
+                printfToLCD(LCD_LINE_2, "(%s)", getCouleur());
             }
             bout = pressedIHM(IHM_REFRESH_INTERVAL);
 
             if (bout == rouge) {
                 clearLCD();
-                gotoLCD(LCD_LINE_1);
-                printLCD("Calibrage...");
-                delay(3000); // TODO
-                lastCalibrage = clock();
+                printToLCD(LCD_LINE_1, "Calibrage...");
+                delay(3000);             // TODO
+                lastCalibrage = clock(); // TODO struct timespec
             } else if (bout == jaune) {
                 break;
             }
@@ -195,14 +199,12 @@ void* TaskIHM(void* pdata)
         // Diagnostics
         for (;;) {
             clearLCD();
-            gotoLCD(LCD_LINE_1);
-            printLCD("Diagnostiquer");
+            printToLCD(LCD_LINE_1, "Diagnostiquer");
             bout = pressedIHM(IHM_BLOCK);
 
             if (bout == rouge) {
                 clearLCD();
-                gotoLCD(LCD_LINE_1);
-                printLCD("Diagnostics...");
+                printToLCD(LCD_LINE_1, "Diagnostics...");
                 delay(3000); // TODO
             } else if (bout == jaune) {
                 break;
@@ -212,22 +214,16 @@ void* TaskIHM(void* pdata)
         // Parcours
         for (;;) {
             clearLCD();
-            gotoLCD(LCD_LINE_1);
-            printLCD("Lancer parcours");
-            gotoLCD(LCD_LINE_2);
-            printLCD("(");
-            printCouleur();
-            printLCD(")");
+            printToLCD(LCD_LINE_1, "Lancer parcours");
+            printfToLCD(LCD_LINE_2, "(%s)", getCouleur());
             bout = pressedIHM(IHM_BLOCK);
             if (bout == rouge) {
                 // No tirette
                 annuler = false;
                 while (!tirettePresente()) {
                     clearLCD();
-                    gotoLCD(LCD_LINE_1);
-                    printLCD("Inserez tirette");
-                    gotoLCD(LCD_LINE_2);
-                    printLCD("(ROUGE: ignorer)");
+                    printToLCD(LCD_LINE_1, "Inserez tirette");
+                    printToLCD(LCD_LINE_2, "(ROUGE: ignorer)");
                     bout = pressedIHM(IHM_REFRESH_INTERVAL);
                     if (bout == rouge) {
                         break;
@@ -277,14 +273,12 @@ void* TaskIHM(void* pdata)
         // RàZ
         for (;;) {
             clearLCD();
-            gotoLCD(LCD_LINE_1);
-            printLCD("Remettre a zero");
+            printToLCD(LCD_LINE_1, "Remettre a zero");
             bout = pressedIHM(IHM_BLOCK);
 
             if (bout == rouge) {
                 clearLCD();
-                gotoLCD(LCD_LINE_1);
-                printLCD("Remise a zero...");
+                printToLCD(LCD_LINE_1, "Remise a zero...");
                 delay(3000); // TODO
             } else if (bout == jaune) {
                 break;
@@ -296,6 +290,5 @@ void* TaskIHM(void* pdata)
 void deconfigureIHM()
 {
     clearLCD();
-    gotoLCD(LCD_LINE_1);
-    printLCD("Bye bye!");
+    printToLCD(LCD_LINE_1, "Bye bye!");
 }
diff --git a/chef/src/ihm.h b/chef/src/ihm.h
index d021f24..681cd27 100644
--- a/chef/src/ihm.h
+++ b/chef/src/ihm.h
@@ -1,6 +1,8 @@
 #ifndef __IHM_H_
 #define __IHM_H_
 
+#include <stdbool.h>
+
 #include "lcd.h"
 
 #define IHM_PIN_ROUGE 0
@@ -22,6 +24,8 @@ void deconfigureIHM();
 
 // Private
 void* TaskIHM(void *pdata);
+void* TaskStdinIHM(void *pdata);
 enum boutons pressedIHM(int timeout); // timeout: ms or -1
+bool debunkButtonIHM(int pin);
 
 #endif
diff --git a/chef/src/lcd.c b/chef/src/lcd.c
index 65d5a48..f7b8c67 100644
--- a/chef/src/lcd.c
+++ b/chef/src/lcd.c
@@ -1,4 +1,7 @@
 #include <pthread.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <string.h>
 #include <wiringPi.h>
 #include <wiringPiI2C.h>
 
@@ -7,6 +10,9 @@
 int lcdFd;
 pthread_mutex_t sLCD;
 
+char virtual[LCD_NB_TOTAL];
+uint8_t pos;
+
 void initLCD()
 {
     lcdFd = openI2C(LCD_ADDR);
@@ -17,23 +23,41 @@ void initLCD()
     sendLCD(0x06, LCD_MODE_CMD); // Cursor move direction
     sendLCD(0x0C, LCD_MODE_CMD); // Blink Off
     sendLCD(0x28, LCD_MODE_CMD); // Data length, number of lines, font size
-    sendLCD(0x01, LCD_MODE_CMD); // Clear display
+    clearLCD();
+
     delayMicroseconds(500);
 }
 
 void clearLCD()
 {
+    lockLCD();
     sendLCD(0x01, LCD_MODE_CMD);
     sendLCD(0x02, LCD_MODE_CMD);
+
+    for (int i = 0; i < LCD_NB_TOTAL; i++) {
+        virtual[i] = ' ';
+    }
+    unlockLCD();
 }
 
 void gotoLCD(uint8_t line)
 {
+    if (line >= LCD_LINE_2) {
+        pos = 1 * LCD_NB_CHARS + line - LCD_LINE_2;
+    } else if (line >= LCD_LINE_1) {
+        pos = 0 * LCD_NB_CHARS + line - LCD_LINE_1;
+    } else {
+        pos = LCD_NB_TOTAL;
+    }
     sendLCD(line, LCD_MODE_CMD);
 }
 
 void charLCD(char c)
 {
+    if (pos >= 0 && pos < LCD_NB_TOTAL) {
+        virtual[pos] = c;
+    }
+    pos++;
     sendLCD(c, LCD_MODE_CHR);
 }
 
@@ -45,6 +69,51 @@ void printLCD(char* s)
     }
 }
 
+void displayLCD()
+{
+    printf("\n┌");
+    for (int i = 0; i < LCD_NB_CHARS; i++) {
+        printf("─");
+    }
+    printf("┐\n");
+    for (int y = 0; y < LCD_NB_LINES; y++) {
+        printf("│");
+        for (int x = 0; x < LCD_NB_CHARS; x++) {
+            putchar(virtual[y * LCD_NB_CHARS + x]);
+        }
+        printf("│\n");
+    }
+    printf("└");
+    for (int i = 0; i < LCD_NB_CHARS; i++) {
+        printf("─");
+    }
+    printf("┘\n");
+}
+
+void printToLCD(uint8_t line, char* s)
+{
+    lockLCD();
+    gotoLCD(line);
+    printLCD(s);
+    displayLCD();
+    unlockLCD();
+}
+
+void printRightLCD(uint8_t line, char* s)
+{
+    printToLCD(line + LCD_NB_CHARS - strlen(s), s);
+}
+
+void printfToLCD(uint8_t line, char* s, ...)
+{
+    char buffer[LCD_NB_TOTAL];
+    va_list args;
+    va_start(args, s);
+    vsnprintf(buffer, LCD_NB_TOTAL, s, args);
+    va_end(args);
+    printToLCD(line, buffer);
+}
+
 void sendLCD(uint8_t bits, uint8_t mode)
 {
     lockI2C();
diff --git a/chef/src/lcd.h b/chef/src/lcd.h
index 949d6eb..f08562b 100644
--- a/chef/src/lcd.h
+++ b/chef/src/lcd.h
@@ -9,6 +9,11 @@
 #define LCD_MODE_CHR 1
 #define LCD_MODE_CMD 0
 
+#define LCD_NB_LINES 2
+#define LCD_NB_CHARS 16
+#define LCD_NB_TOTAL LCD_NB_LINES*LCD_NB_CHARS
+
+
 #define LCD_LINE_1 0x80 // 1st line
 #define LCD_LINE_2 0xC0 // 2nd line
 
@@ -21,15 +26,18 @@
 // Public
 void initLCD();
 void clearLCD();
-void gotoLCD(uint8_t line);
-void charLCD(char c);
-void printLCD(char* s);
-// Not necessary, but should be used when different threads use the display
-void lockLCD();
-void unlockLCD();
+void printToLCD(uint8_t line, char* s);
+void printRightLCD(uint8_t line, char* s);
+void printfToLCD(uint8_t line, char* s, ...);
 
 // Private
 void sendLCD(uint8_t bits, uint8_t mode);
 void toggleEnableLCD(uint8_t bits);
+void gotoLCD(uint8_t line);
+void charLCD(char c);
+void printLCD(char* s);
+void displayLCD();
+void lockLCD();
+void unlockLCD();
 
 #endif
diff --git a/chef/src/movement.h b/chef/src/movement.h
index 7e5554d..f5d1f36 100644
--- a/chef/src/movement.h
+++ b/chef/src/movement.h
@@ -11,8 +11,8 @@
 #define PWM_MAX 1023
 #define PWM_MAX_V 3.3
 
-// #define TESTINATOR
-#define TLE5206
+#define TESTINATOR
+// #define TLE5206
 
 #ifdef TESTINATOR
 #define MOT_MIN_V 0.1
@@ -26,16 +26,14 @@
 
 // Pins definition
 // Left
-// Physical 32
 #define ENA 26
-#define IN1 2
-#define IN2 3
+#define IN1 21
+#define IN2 22
 
-// Physical 33
 // Right
 #define ENB 23
-#define IN3 4
-#define IN4 5
+#define IN3 24
+#define IN4 25
 
 
 void configureMovement();
diff --git a/chef/src/parcours.c b/chef/src/parcours.c
index 049cf54..cdb3a37 100644
--- a/chef/src/parcours.c
+++ b/chef/src/parcours.c
@@ -1,16 +1,15 @@
-#include <unistd.h>
 #include <pthread.h>
 #include <stdio.h>
+#include <unistd.h>
 
-#include "parcours.h"
-#include "movement.h"
-#include "position.h"
-#include "points.h"
 #include "lcd.h"
+#include "movement.h"
+#include "parcours.h"
+#include "points.h"
+#include "position.h"
 
 pthread_t tParcours;
 bool isOrange;
-char tempLine[16];
 struct timespec tempsStart;
 struct timespec tempsNow;
 struct timespec tempsEcoule;
@@ -19,35 +18,24 @@ void prepareParcours(bool orange)
 {
     isOrange = orange;
     clearLCD();
-    gotoLCD(LCD_LINE_1);
-    sprintf(tempLine, "--:--/%2d:%02d", TEMPS_PARCOURS / 60, TEMPS_PARCOURS % 60);
-    printLCD(tempLine);
-    gotoLCD(LCD_LINE_1 + 16 - 3);
-    printLCD("ATT");
+    printfToLCD(LCD_LINE_1, "--:--/%2d:%02d", TEMPS_PARCOURS / 60, TEMPS_PARCOURS % 60);
+    printRightLCD(LCD_LINE_1, "ATT");
 
     resetPoints();
     showPoints();
-    gotoLCD(LCD_LINE_2 + 16 - 3);
-    printLCD(isOrange ? "Org" : "Vrt");
+    printRightLCD(LCD_LINE_2, isOrange ? "Org" : "Vrt");
 }
 
 void startParcours()
 {
     clock_gettime(CLOCK_REALTIME, &tempsStart);
     pthread_create(&tParcours, NULL, TaskParcours, NULL); // TODO Start on mutex unlock
-    lockLCD();
-    gotoLCD(LCD_LINE_1 + 16 - 3);
-    printLCD("   ");
-    unlockLCD();
+    printRightLCD(LCD_LINE_1, "   ");
 }
 
 void updateTimeDisplay()
 {
-    lockLCD();
-    gotoLCD(LCD_LINE_1);
-    sprintf(tempLine, "%2ld:%02ld", tempsEcoule.tv_sec / 60, tempsEcoule.tv_sec % 60);
-    printLCD(tempLine);
-    unlockLCD();
+    printfToLCD(LCD_LINE_1, "%2ld:%02ld", tempsEcoule.tv_sec / 60, tempsEcoule.tv_sec % 60);
 }
 
 int updateParcours()
@@ -76,62 +64,43 @@ void stopParcours()
     stop();
 
     updateTimeDisplay();
-    gotoLCD(LCD_LINE_1 + 16 - 3);
-    printLCD("FIN");
+    printRightLCD(LCD_LINE_1, "FIN");
     showPoints();
 }
 
+#define UP_TIME 1000
+#define HIGH_TIME 30000
+#define DOWN_TIME 1000
+#define LOW_TIME 2000
+#define MAX_VIT MOT_MAX_V
+
 void* TaskParcours(void* pdata)
 {
     (void)pdata;
 
     for (;;) {
-        delay(250);
         addPoints(1);
+        for (int i = 0; i < UP_TIME; i++) {
+            float p = (float)i / (float)UP_TIME;
+            changerMoteurs(p * MOT_MAX_V, p * MOT_MAX_V);
+            delay(1);
+        }
+        addPoints(1);
+        changerMoteurs(MOT_MAX_V, MOT_MAX_V);
+        delay(HIGH_TIME);
+
+        addPoints(1);
+        for (int i = 0; i < DOWN_TIME; i++) {
+            float p = (float)i / (float)DOWN_TIME;
+            p = 1 - p;
+            changerMoteurs(p * MOT_MAX_V, p * MOT_MAX_V);
+            delay(1);
+        }
+        addPoints(1);
+        changerMoteurs(0, 0);
+        delay(LOW_TIME);
     }
-}
-
-void* TaskParcours2(void* pdata)
-{
-    (void)pdata;
-
-    /* struct position pos; */
-    /* for (;;) { */
-    /*     pos.x = (int) (rand()*200.0/RAND_MAX); */
-    /*     pos.y = (int) (rand()*100.0/RAND_MAX); */
-    /*     pos.o = (int) (rand()*360.0/RAND_MAX); */
-    /*     aller(&pos); */
-    /*     sleep(1); */
-    /*     brake(); */
-    /*     sleep(2); */
-    /* } */
-
-    struct timespec tim; // 10 ms
-    tim.tv_sec = 0;
-    tim.tv_nsec = 10000000L;
-
-#define RAMP_TIME 100
-#define MAX_VIT MOT_MAX_V
-
-    /* for (;;) { */
-    // ↗
-    for (int i = 0; i < RAMP_TIME; i++) {
-        float p = (float)i / (float)RAMP_TIME;
-        changerMoteurs(p * MOT_MAX_V, p * MOT_MAX_V);
-        nanosleep(&tim, NULL);
-    }
-    changerMoteurs(MOT_MAX_V, MOT_MAX_V);
-    // ↑
-    sleep(2);
-    /*     // ↘ */
-    /*     for (int i = 0; i < RAMP_TIME; i++) { */
-    /*         float p = (float) i / (float) RAMP_TIME; */
-    /*         p = 1 - p; */
-    /*         changerMoteurs(p * MOT_MAX_V, p * MOT_MAX_V); */
-    /*         nanosleep(&tim, NULL); */
-    /*     } */
-    /*     sleep(5); */
-    /* } */
 
     return NULL;
 }
+
diff --git a/chef/src/points.c b/chef/src/points.c
index c735552..903d0d1 100644
--- a/chef/src/points.c
+++ b/chef/src/points.c
@@ -3,7 +3,6 @@
 #include "lcd.h"
 
 int points;
-char tempLine[16];
 
 void resetPoints()
 {
@@ -17,11 +16,7 @@ int getPoints()
 
 void showPoints()
 {
-    sprintf(tempLine, "%d points", getPoints());
-    lockLCD();
-    gotoLCD(LCD_LINE_2);
-    printLCD(tempLine);
-    unlockLCD();
+    printfToLCD(LCD_LINE_2, "%d points", getPoints());
 }
 
 void addPoints(int pts)
diff --git a/chef/src/testForward.c b/chef/src/testForward.c
new file mode 100644
index 0000000..22144a4
--- /dev/null
+++ b/chef/src/testForward.c
@@ -0,0 +1,31 @@
+/* Teste si une broche est connecté à une autre */
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <wiringPiI2C.h>
+
+#include "lcd.h"
+#include "movement.h"
+
+int main(int argc, char* argv[])
+{
+
+    (void)argc;
+    (void)argv;
+
+    initI2C();
+
+    initLCD();
+    clearLCD();
+    printToLCD(LCD_LINE_1, "Forward");
+
+    configureMovement();
+
+    for (;;) {
+        changerMoteurs(1.5, 2);
+        sleep(1);
+    }
+
+}
diff --git a/chef/src/testI2c.c b/chef/src/testI2c.c
index 59cbef1..90fa9e8 100644
--- a/chef/src/testI2c.c
+++ b/chef/src/testI2c.c
@@ -6,7 +6,6 @@
 #include <unistd.h>
 #include <wiringPiI2C.h>
 
-#include "srf08.h"
 #include "i2c.h"
 #include "lcd.h"
 
@@ -17,34 +16,9 @@ int main(int argc, char* argv[])
     (void)argv;
 
     initI2C();
-
-    // Adresse du SRF05
-    uint8_t address = atoi(argv[1]);
-
-    printf("Connecting to %d (0x%x)\n", address, address);
-
     initLCD();
     clearLCD();
     gotoLCD(LCD_LINE_1);
-    printLCD("Distance");
-
-    int front = openSRF08(address);
-
-    char line[16];
-    float l = 0;
-    for (;;) {
-        startSRF08(front);
-
-        gotoLCD(LCD_LINE_2);
-        printf("l = %3f\n", l);
-        sprintf(line, "%f mm", l);
-        printLCD(line);
-        printLCD("        ");
-
-        waitSRF08(front);
-        l = getSRF08(front);
-
-    }
-
+    printLCD("Bojour");
 
 }
diff --git a/raspberrypi/Makefile b/raspberrypi/Makefile
index c12c60e..b45cc08 100644
--- a/raspberrypi/Makefile
+++ b/raspberrypi/Makefile
@@ -91,7 +91,8 @@ upgrade-filesystem: sshconf configure
 # Met jour les overlays (une partie des fichiers)
 upgrade-overlays: sshconf
 	ssh -F sshconf principal true
-	rsync --rsh 'ssh -F sshconf' --archive --chown root:root robotech/chef/rootfs_overlay/ principal:/
+	chmod 700 board/robotech/cdfprincipal/rootfs_overlay/root
+	rsync --rsh 'ssh -F sshconf' --archive --chown root:root board/robotech/cdfprincipal/rootfs_overlay/ principal:/
 
 # ARDUINO
 upgrade-arduino:
@@ -116,6 +117,11 @@ upgrade-chef: chef
 	rsync --rsh 'ssh -F sshconf' --archive --chown root:root buildroot/output/target/opt/chef principal:/opt/
 
 run:
+	ssh -F sshconf principal true
+	ssh -F sshconf principal /etc/init.d/S50chef stop
+	ssh -F sshconf principal 'cd /opt/chef; bin/premier; /opt/chef/lcdOff.sh'
+
+restart:
 	ssh -F sshconf principal true
 	ssh -F sshconf principal /etc/init.d/S50chef restart
 
diff --git a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S30hardware b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S30hardware
index a97fd4a..d463989 100755
--- a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S30hardware
+++ b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S30hardware
@@ -8,7 +8,7 @@ start() {
 	modprobe pl2303 # USB↔Serial cable
 	modprobe i2c-bcm2708 # I2C
 	modprobe i2c-dev # I2C
-	/opt/chef/i2cOff.sh
+	/opt/chef/lcdOff.sh
 	echo "OK"
 }
 
diff --git a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S50chef b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S50chef
index 9e67faf..9f6e2de 100755
--- a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S50chef
+++ b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S50chef
@@ -3,19 +3,22 @@
 # Start main program
 #
 
-EXEC=$(which sh)
+SHELL=$(which sh)
+EXECDIR=/opt/chef
+EXECNAME=premier
+EXECPATH=bin/$EXECNAME
 PIDFILE=/var/run/chef.pid
-LOGFILE=/var/run/chef.log
 
 start() {
 	printf "Starting chef: "
-	start-stop-daemon -p "$PIDFILE" -x "$EXEC" -b -m -S -- "/opt/chef/run.sh" -l "$LOGFILE"
-echo "OK"
+	cd "$EXECDIR"; /sbin/start-stop-daemon -p "$PIDFILE" -x "$EXECPATH" -b -m -S
+	echo "OK"
 }
 
 stop() {
 	printf "Stopping chef: "
-	start-stop-daemon -p "$PIDFILE" -x "$EXEC" -K
+	/sbin/start-stop-daemon -x "$EXECPATH" -K
+	/opt/chef/lcdOff.sh
 	echo "OK"
 }
 
diff --git a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S90extra b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S90extra
index e0ec7cd..babae2c 100755
--- a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S90extra
+++ b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S90extra
@@ -5,10 +5,7 @@
 
 start() {
 	printf "Starting extra services: "
-	# if ! /opt/cdf/bin/testpin 0 1
-	# then
-		/etc/extra.d/rcS
-	# fi
+	/etc/extra.d/rcS
 	echo "OK"
 }