diff --git a/Connexions.md b/Connexions.md
new file mode 100644
index 0000000..2f44dbb
--- /dev/null
+++ b/Connexions.md
@@ -0,0 +1,15 @@
+# Connexions
+
+Ce document a pour but de recenser les connexions entre les différents composants du robot.
+
+## Liste des composants
+
+- Raspberry Pi 3 (RPi)
+- Arduino Mega 2560 (Ard)
+- Micronova Mercury FPGA (FPGA)
+- HEDM-550X Encodeur moteur gauche
+- HEDM-550X Encodeur moteur droit
+
+## Connexions de puissance
+
+## Connexions d'information
diff --git a/arduino/ACsignals.h b/arduino/ACsignals.h
index 75b6ee9..33668fe 100644
--- a/arduino/ACsignals.h
+++ b/arduino/ACsignals.h
@@ -5,6 +5,8 @@
 #ifndef __ACSIGNALS_H_
 #define __ACSIGNALS_H_
 
+#include "AFsignals.h"
+
 #define AC_BAUDRATE 9600UL
 
 // Structures used everywhere
@@ -62,6 +64,8 @@ struct __attribute__ ((packed)) A2CI_DBGs {
     struct position actuel;
     struct position destination;
     unsigned char movement;
+    struct F2AI_CODERs deltaCoder;
+    uint16_t nbCalcPos;
     // ...
 };
 
diff --git a/arduino/AFsignals.h b/arduino/AFsignals.h
index 0c7798d..8f4f074 100644
--- a/arduino/AFsignals.h
+++ b/arduino/AFsignals.h
@@ -41,8 +41,8 @@ struct __attribute__ ((packed)) F2AD_ERRs {
 // Récupère les valeur des encodeurs
 #define F2AI_CODER 'D'
 struct __attribute__ ((packed)) F2AI_CODERs {
-    int16_t left;
-    int16_t right;
+    int16_t dL;
+    int16_t dR;
 };
 
 // Récupère les valeur des capteurs de distance
diff --git a/arduino/debug.c b/arduino/debug.c
index af9650b..19287d0 100644
--- a/arduino/debug.c
+++ b/arduino/debug.c
@@ -13,7 +13,10 @@ void TaskDebug(void *pvParameters) {
         // Copie des valeurs à envoyer en debug
         memcpy((void*) &debug.actuel, (const void*) &actuel, (unsigned long) sizeof(actuel));
         memcpy((void*) &debug.destination, (const void*) &destination, (unsigned long) sizeof(destination));
+        memcpy((void*) &debug.deltaCoder, (const void*) &deltaCoder, (unsigned long) sizeof(deltaCoder));
         debug.movement = movement;
+        debug.nbCalcPos = nbCalcPos;
+        nbCalcPos = 0;
 
         // Envoi des valeurs
         sendAC(A2CI_DBG, &debug, sizeof(debug));
diff --git a/arduino/position.c b/arduino/position.c
index 8809e3a..6562f3c 100644
--- a/arduino/position.c
+++ b/arduino/position.c
@@ -1,25 +1,51 @@
 #include "position.h"
 #include "AC.h"
+#include "AF.h"
+#include "dimensions.h"
 
-void TaskPosition(void *pvParameters) {
-    (void) pvParameters;
-    TickType_t xLastWakeTime;
-    TickType_t xFrequency = 100 / portTICK_PERIOD_MS;
+void TaskPosition(void* pvParameters)
+{
+    (void)pvParameters;
+
+    const TickType_t xDelay = 500 / portTICK_PERIOD_MS;
 
-    ulTaskNotifyTake(pdFALSE, portMAX_DELAY); // TODO Dummy
-    xLastWakeTime = xTaskGetTickCount();
     for (;;) {
-        vTaskDelayUntil(&xLastWakeTime, xFrequency);
+        sendAF(F2AI_CODER, NULL, 0);
+
+        ulTaskNotifyTake(pdFALSE, portMAX_DELAY); // Wait until new information has arrived
+
+        nbCalcPos++;
+
+        float adjacent = DISTANCE_BETWEEN_WHEELS;
+        float opposite = deltaCoder.dR - deltaCoder.dL;
+        float deltaO = atan(opposite / adjacent);
+
+        float deltaD = (deltaCoder.dL + deltaCoder.dR) / 2;
+
+        actuel.o += deltaO;
+        float deltaX = deltaD * cos(actuel.o);
+        float deltaY = deltaD * sin(actuel.o);
+        actuel.x += deltaX;
+        actuel.y += deltaY;
+
+        vTaskDelay(xDelay);
     }
 }
 
-
-
-void configurePosition() {
-    actuel.x = 0;
-    actuel.y = 0;
-    actuel.o = 90;
-
-    xTaskCreate(TaskPosition, "Position", 128, NULL, 2, &tPosition);;
+void onF2AI_CODER()
+{
+    readAF(&deltaCoder, sizeof(struct F2AI_CODERs));
+    vTaskNotifyGiveFromISR(tPosition, NULL);
 }
 
+void configurePosition()
+{
+    actuel.x = 0;
+    actuel.y = 0;
+    actuel.o = 0;
+
+    registerRxHandlerAF(F2AI_CODER, onF2AI_CODER);
+
+    xTaskCreate(TaskPosition, "Position", 128, NULL, 2, &tPosition);
+    ;
+}
diff --git a/arduino/position.h b/arduino/position.h
index 528f1f9..5fca31a 100644
--- a/arduino/position.h
+++ b/arduino/position.h
@@ -9,11 +9,15 @@
 #include <task.h>
 
 #include "ACsignals.h"
+#include "AFsignals.h"
 
 struct position actuel;
+struct F2AI_CODERs deltaCoder;
 
 TaskHandle_t tPosition;
 
+uint16_t nbCalcPos;
+
 void TaskPosition();
 void configurePosition();
 
diff --git a/chef/src/AFsignals.h b/chef/src/AFsignals.h
new file mode 120000
index 0000000..d3658b4
--- /dev/null
+++ b/chef/src/AFsignals.h
@@ -0,0 +1 @@
+../../arduino/AFsignals.h
\ No newline at end of file
diff --git a/chef/src/debug.c b/chef/src/debug.c
index 138e428..4431d4f 100644
--- a/chef/src/debug.c
+++ b/chef/src/debug.c
@@ -21,14 +21,20 @@ void* TaskDebug(void* pdata)
 
 void printDebugInfos(struct A2CI_DBGs* debug)
 {
-    printf("← Position actuelle (%f; %f) (%f°)", debug->actuel.x, debug->actuel.y, debug->actuel.o);
-    printf(", destination : ");
+    // Position
+    printf("← + % .6g; % .6g % .6g°", debug->actuel.x, debug->actuel.y, debug->actuel.o);
+    // Frequence de calcul de la position
+    printf(" % 5d☼", debug->nbCalcPos);
+    // Delta codeuses
+    printf(", %5d↿↾%-5d", debug->deltaCoder.dL, debug->deltaCoder.dR);
+    // Destination
+    printf(", ");
     if (debug->movement == C2AD_BRAKE) {
-        printf("ne pas bouger\n");
+        printf("⇞ \n");
     } else if (debug->movement == C2AD_FREE) {
-        printf("là où le vent l'emporte\n");
+        printf("↕ \n");
     } else {
-        printf("(%f; %f) (%f°)\n", debug->destination.x, debug->destination.y, debug->destination.o);
+        printf("↑ % .6g; % .6g % .6g°\n", debug->destination.x, debug->destination.y, debug->destination.o);
     }
 }
 
diff --git a/chef/src/premier.c b/chef/src/premier.c
index c2e79a2..417b7d6 100644
--- a/chef/src/premier.c
+++ b/chef/src/premier.c
@@ -8,7 +8,7 @@
 #include "movement.h"
 #include "debug.h"
 
-#define TEMPSMAX 10
+#define TEMPSMAX 60
 
 void* TaskParcours(void *pdata)
 {
@@ -42,8 +42,8 @@ int main()
     /* printf("En attente de la tirette...\n"); // TODO */
     printf("C'est parti !\n");
 
-    pthread_t tParcours;
-    pthread_create(&tParcours, NULL, TaskParcours, NULL);
+    /* pthread_t tParcours; */
+    /* pthread_create(&tParcours, NULL, TaskParcours, NULL); */
 
     sleep(TEMPSMAX);