diff --git a/.gitmodules b/.gitmodules
index 44d5887..d23d172 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,12 +1,6 @@
 [submodule "root/buildroot"]
         path = root/buildroot
         url = git://git.buildroot.net/buildroot
-[submodule "ardPince/Arduino-Makefile"]
-	path = ardPince/Arduino-Makefile
-	url = https://github.com/sudar/Arduino-Makefile
-[submodule "ardMoteur/Arduino-Makefile"]
-	path = ardMoteur/Arduino-Makefile
-	url = https://github.com/sudar/Arduino-Makefile
 [submodule "fpga/uart"]
 	path = fpga/uart
 	url = https://github.com/pabennett/uart.git
diff --git a/chef/Makefile b/chef/Makefile
index 12c05e2..af9aa89 100644
--- a/chef/Makefile
+++ b/chef/Makefile
@@ -5,7 +5,7 @@ CC=gcc
 # Bibliothèques
 LIBS=
 ## Drapeaux pour le linker
-LDFLAGS=-lpthread
+LDFLAGS_CUSTOM += -lpthread -lwiringPi
 ## Drapeaux pour le compilateur
 CFLAGS=
 ## Générateurs de drapeaux pour les bibliothèques
@@ -13,7 +13,7 @@ PKG_CONFIG=pkg-config
 
 # VARIABLES AUTOMATIQUES
 ifdef LIBS
-	LDFLAGS += $(shell $(PKG_CONFIG) --libs $(LIBS))
+	LDFLAGS_CUSTOM += $(shell $(PKG_CONFIG) --libs $(LIBS))
 	CFLAGS += $(shell $(PKG_CONFIG) --cflags $(LIBS))
 endif
 
@@ -25,7 +25,7 @@ CFLAGS += -Wall -Wextra -pedantic -g -DDEBUG
 
 # Génération des fichiers éxecutables
 bin/%: obj/%.o
-	$(CC) $(LDFLAGS) $^ -o $@
+	$(CC) $(LDFLAGS_CUSTOM) $^ -o $@
 # On enlève les symboles inutiles pour gagner en temps de chargement de l'éxecutable
 ifeq ($(DEBUG),no)
 	strip $@
@@ -34,12 +34,14 @@ endif
 # RÈGLES DE COMPILATION
 
 # Règle éxecutée par défaut (quand on fait juste `make`)
-default: bin/testpin bin/premier
+default: bin/testpin bin/premier bin/local
 
 # Binaires (dont il faut spécifier les objets explicitement)
-bin/premier: obj/CA.o obj/debug.o obj/movement.o
+bin/premier: obj/CF.o obj/movement.o obj/debug.o obj/position.o
 bin/testPin: obj/testPin.o
-	$(CC) $(LDFLAGS) $^ -lwiringPi -o $@
+
+bin/local: obj/local.o obj/CF.o obj/position.o
+	$(CC) -lpthread $^ -o $@
 
 # Génération des fichiers objets
 obj/%.o: src/%.c src/%.h
diff --git a/chef/log/.gitignore b/chef/log/.gitignore
new file mode 100644
index 0000000..d6b7ef3
--- /dev/null
+++ b/chef/log/.gitignore
@@ -0,0 +1,2 @@
+*
+!.gitignore
diff --git a/chef/src/ACsignals.h b/chef/src/ACsignals.h
deleted file mode 120000
index 3156691..0000000
--- a/chef/src/ACsignals.h
+++ /dev/null
@@ -1 +0,0 @@
-../../arduino/ACsignals.h
\ No newline at end of file
diff --git a/chef/src/AFsignals.h b/chef/src/AFsignals.h
deleted file mode 120000
index d3658b4..0000000
--- a/chef/src/AFsignals.h
+++ /dev/null
@@ -1 +0,0 @@
-../../arduino/AFsignals.h
\ No newline at end of file
diff --git a/chef/src/CA.h b/chef/src/CA.h
deleted file mode 100644
index 56b45d5..0000000
--- a/chef/src/CA.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef __AC_H_
-#define __AC_H_
-
-#include <sys/ioctl.h>
-#include <pthread.h>
-#include <termios.h> // baudrates
-#include <stdbool.h>
-
-#include "ACsignals.h"
-
-#define ARDUINO_PORTNAME "/dev/ttyACM0"
-#define CA_BAUDRATE B9600
-// #define PRINTRAWDATA
-
-int arduino;
-pthread_mutex_t sSendCA;
-pthread_t tReaderAC;
-
-typedef void (*rxHandler)(void);
-rxHandler rxHandlersAC[256];
-bool pret;
-
-void registerRxHandler(unsigned char code, rxHandler handler); // À utiliser après configureCA();
-void sendByteCA(unsigned char data); // Privé
-void sendCA(unsigned char code, void* data, size_t size);
-unsigned char readByteCA(); // À utiliser uniquement depuis un rxHandler
-void readCA(void* data, size_t size); // À utiliser uniquement depuis un rxHandler
-void configureCA();
-void deconfigureCA();
-
-#endif
diff --git a/chef/src/CA.c b/chef/src/CF.c
similarity index 62%
rename from chef/src/CA.c
rename to chef/src/CF.c
index 6538cf7..e2945cb 100644
--- a/chef/src/CA.c
+++ b/chef/src/CF.c
@@ -1,4 +1,4 @@
-#include "CA.h"
+#include "CF.h"
 #include <fcntl.h>   // O_*
 #include <stdio.h>   // printf...
 #include <stdlib.h>  // stuff
@@ -21,13 +21,13 @@ void printData(void* data, size_t size)
     printf("\n");
 }
 
-void configureArduino()
+void configureFpga()
 {
     // Connection au port série
-    printf("Connexion à %s... ", ARDUINO_PORTNAME);
+    printf("Connexion à %s... ", FPGA_PORTNAME);
     fflush(stdout);
-    arduino = open(ARDUINO_PORTNAME, O_RDWR | O_NOCTTY | O_NDELAY);
-    if (arduino < 0) {
+    fpga = open(FPGA_PORTNAME, O_RDWR | O_NOCTTY | O_NDELAY);
+    if (fpga < 0) {
         printf("Échec !\n");
         exit(1);
     }
@@ -35,13 +35,13 @@ void configureArduino()
     // Configuration du port série
     struct termios cfg;
     bzero(&cfg, sizeof(cfg));
-    cfg.c_cflag = CLOCAL | CREAD | CA_BAUDRATE | CS8;
+    cfg.c_cflag = CLOCAL | CREAD | CF_BAUDRATE | CS8;
     cfg.c_iflag = 0;
     cfg.c_oflag = 0;
     cfg.c_lflag = 0;     /* set input mode (non-canonical, no echo,...) */
     cfg.c_cc[VTIME] = 0; /* inter-character timer unused */
     cfg.c_cc[VMIN] = 1;  /* blocking read until 1 char received */
-    if (tcsetattr(arduino, TCSANOW, &cfg) < 0) {
+    if (tcsetattr(fpga, TCSANOW, &cfg) < 0) {
         perror("serialConfig.tcsetattr");
         exit(1);
     }
@@ -50,14 +50,14 @@ void configureArduino()
 
     // Flush
     unsigned char trash[1024];
-    read(arduino, &trash, sizeof(trash));
+    read(fpga, &trash, sizeof(trash));
 
     printf("OK!\n");
 }
 
-void deconfigureArduino()
+void deconfigureFpga()
 {
-    close(arduino);
+    close(fpga);
     printf("Déconnecté\n");
 }
 
@@ -71,7 +71,7 @@ void* TaskReaderAC(void* pdata)
     (void)pdata;
     unsigned char code;
     for (;;) {
-        code = readByteCA();
+        code = readByteCF();
 
 #ifdef PRINTRAWDATA
         printf("↓");
@@ -87,10 +87,10 @@ void* TaskReaderAC(void* pdata)
     return NULL;
 }
 
-void onA2CD_ERR()
+void onF2CD_ERR()
 {
-    struct A2CD_ERRs s;
-    readCA(&s, sizeof(struct A2CD_ERRs));
+    struct F2CD_ERRs s;
+    readCF(&s, sizeof(struct F2CD_ERRs));
     printf("Erreur reçue : %c (%2x)\n", s.code, s.code);
 }
 
@@ -104,56 +104,44 @@ void doNothing()
 
 }
 
-void configureCA()
+void configureCF()
 {
-    configureArduino();
+    configureFpga();
     for (int i = 0; i < 256; i++) {
         rxHandlersAC[i] = NULL;
     }
 
-    pthread_mutex_init(&sSendCA, NULL);
+    pthread_mutex_init(&sSendCF, NULL);
     pthread_create(&tReaderAC, NULL, TaskReaderAC, NULL);
 
-    printf("Attente de réponse de l'Arduino... ");
+    printf("Attente de réponse de l'Fpga... ");
     fflush(stdout);
     struct timespec tim;
     tim.tv_sec = 0;
     tim.tv_nsec = 100000000L;
-    // Dans le cas où on aurait laissé l'Arduino en attente de donnée,
+    // Dans le cas où on aurait laissé l'Fpga en attente de donnée,
     // on envoie des pings en boucle jusqu'à ce qu'il nous réponde.
     pret = false;
-    registerRxHandler(C2AD_PING, setPret);
+    registerRxHandler(C2FD_PING, setPret);
     while (!pret) {
-        sendCA(C2AD_PING, NULL, 0);
+        sendCF(C2FD_PING, NULL, 0);
         nanosleep(&tim, NULL);
     }
-    registerRxHandler(C2AD_PING, doNothing);
-
-    // Dans le cas où les données de ping complèteraient une commande de déplacement,
-    // on envoie un STOP en préventif. Ça permet aussi d'attendre que les PING
-    // en trop aient été absorbés
-    pret = false;
-    registerRxHandler(C2AD_STOP, setPret);
-    sendCA(C2AD_STOP, NULL, 0);
-    while (!pret) {
-        nanosleep(&tim, NULL);
-    }
-
-    registerRxHandler(C2AD_STOP, NULL);
-    registerRxHandler(C2AD_PING, NULL);
+    registerRxHandler(C2FD_PING, doNothing); // TODO
+    registerRxHandler(C2FD_PING, NULL);
     printf("OK !\n");
 
-    registerRxHandler(A2CD_ERR, onA2CD_ERR);
+    registerRxHandler(F2CD_ERR, onF2CD_ERR);
 }
 
-void deconfigureCA()
+void deconfigureCF()
 {
-    deconfigureArduino();
+    deconfigureFpga();
 }
 
-void sendByteCA(unsigned char data)
+void sendByteCF(unsigned char data)
 {
-    write(arduino, &data, sizeof(data));
+    write(fpga, &data, sizeof(data));
 
 #ifdef PRINTRAWDATA
     printf("↑");
@@ -161,20 +149,20 @@ void sendByteCA(unsigned char data)
 #endif
 }
 
-void sendCA(unsigned char code, void* data, size_t size)
+void sendCF(unsigned char code, void* data, size_t size)
 {
-    pthread_mutex_lock(&sSendCA);
+    pthread_mutex_lock(&sSendCF);
 
-    sendByteCA(code);
+    sendByteCF(code);
     if (size > 0) {
         unsigned char* p = data;
         for (size_t i = 0; i < size; i++) {
-            write(arduino, p, sizeof(unsigned char));
+            write(fpga, p, sizeof(unsigned char));
             p++;
         }
         // Envoyer plus d'un octet d'un coup curieusement il aime pas ça du tout
     }
-    pthread_mutex_unlock(&sSendCA);
+    pthread_mutex_unlock(&sSendCF);
 
 #ifdef PRINTRAWDATA
     if (size > 0) {
@@ -184,11 +172,11 @@ void sendCA(unsigned char code, void* data, size_t size)
 #endif
 }
 
-unsigned char readByteCA()
+unsigned char readByteCF()
 {
     unsigned char c;
 
-    while (read(arduino, &c, sizeof(c)) < 1) {
+    while (read(fpga, &c, sizeof(c)) < 1) {
         sleep(0);
     }
     return c;
@@ -199,13 +187,13 @@ unsigned char readByteCA()
 #endif
 }
 
-void readCA(void* data, size_t size)
+void readCF(void* data, size_t size)
 {
     size_t remaining = size;
     int justRead;
     char* p = data;
     do {
-        justRead = read(arduino, p, remaining);
+        justRead = read(fpga, p, remaining);
         if (justRead > 0) {
             p += justRead;
             remaining -= justRead;
diff --git a/chef/src/CF.h b/chef/src/CF.h
new file mode 100644
index 0000000..bc10e8a
--- /dev/null
+++ b/chef/src/CF.h
@@ -0,0 +1,31 @@
+#ifndef __AC_H_
+#define __AC_H_
+
+#include <sys/ioctl.h>
+#include <pthread.h>
+#include <termios.h> // baudrates
+#include <stdbool.h>
+
+#include "CFsignals.h"
+
+#define FPGA_PORTNAME "/dev/ttyUSB0"
+#define CF_BAUDRATE B9600
+// #define PRINTRAWDATA
+
+int fpga;
+pthread_mutex_t sSendCF;
+pthread_t tReaderAC;
+
+typedef void (*rxHandler)(void);
+rxHandler rxHandlersAC[256];
+bool pret;
+
+void registerRxHandler(unsigned char code, rxHandler handler); // À utiliser après configureCF();
+void sendByteCF(unsigned char data); // Privé
+void sendCF(unsigned char code, void* data, size_t size);
+unsigned char readByteCF(); // À utiliser uniquement depuis un rxHandler
+void readCF(void* data, size_t size); // À utiliser uniquement depuis un rxHandler
+void configureCF();
+void deconfigureCF();
+
+#endif
diff --git a/chef/src/CFsignals.h b/chef/src/CFsignals.h
new file mode 100644
index 0000000..ee04968
--- /dev/null
+++ b/chef/src/CFsignals.h
@@ -0,0 +1,62 @@
+/*
+ * Définition des signaux échagés entre l'Arduino et le chef
+ */
+
+#ifndef __CFSIGNALS_H_
+#define __CFSIGNALS_H_
+
+#include <stdint.h>
+
+// Structures used everywhere
+
+// D: Direct
+// Sens naturel : Envoi de donnée
+// Sens inverse : Accusé de réception
+
+// I: Indirect
+// Sens inverse : Demande de donnée
+// Sens naturel : Envoi de donnée
+
+// T: Trigger
+// Sens inverse : Paramètrage du trigger
+// Sens naturel : Envoi de trigger
+
+// Arduino → FPGA
+
+// Pour le debug
+#define C2FD_PING 'P'
+
+// FPGA → Arduino
+
+// Erreur quelconque
+#define F2CD_ERR 'E'
+struct __attribute__ ((packed)) F2CD_ERRs {
+    unsigned char code;
+};
+
+#define ERR_UNKNOWN_CODE 'C'
+
+// Récupère les valeur des encodeurs
+#define F2CI_CODER 'D'
+struct __attribute__ ((packed)) F2CI_CODERs {
+    int16_t dL;
+    int16_t dR;
+};
+
+// Récupère les valeur des capteurs de distance
+#define F2CI_CAPT 'C'
+struct __attribute__ ((packed)) F2CI_CAPTs {
+    uint16_t front;
+    uint16_t back;
+};
+
+// Récupère les valeur des capteurs de distance (trigger au supérieur)
+#define F2CT_CAPT 'c'
+// /!\ Structure de la requête de trigger (A→F). Les données seront envoyées avec F2CI_CAPT 
+struct __attribute__ ((packed)) F2CT_CAPTs { 
+    uint16_t front;
+    uint16_t back;
+};
+
+
+#endif
diff --git a/chef/src/debug.c b/chef/src/debug.c
index 4431d4f..6c4e501 100644
--- a/chef/src/debug.c
+++ b/chef/src/debug.c
@@ -1,60 +1,69 @@
 #include "debug.h"
 #include <stdio.h>
 #include <unistd.h> // sleep
+#include <time.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <string.h>
+
+#include "position.h"
+
 
 void* TaskDebug(void* pdata)
 {
     (void)pdata;
-    struct timespec tim;
-    /* tim.tv_sec = 0; */
-    /* tim.tv_nsec = 100000000L; */
-    tim.tv_sec = 1;
-    tim.tv_nsec = 0;
+    struct timespec tim; // 100 ms
+    tim.tv_sec = 0;
+    tim.tv_nsec = 100000000L;
+    /* tim.tv_sec = 1; */
+    /* tim.tv_nsec = 0; */
+
+    char line[1024];
+    clock_t t;
 
     for (;;) {
+
+        // Calculating time index
+        t = clock() - debugStart;
+
+        // Generating line
+        sprintf(line, "%ld,%d,%ld,%ld\n", t, nbCalcPos, lCodTot, rCodTot);
+
+        // Writing
+        write(debugFd, line, strlen(line));
+
+        // Sleeping
         nanosleep(&tim, NULL);
-        sendCA(A2CI_DBG, NULL, 0);
     }
 
     return NULL;
 }
 
-void printDebugInfos(struct A2CI_DBGs* debug)
-{
-    // 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("⇞ \n");
-    } else if (debug->movement == C2AD_FREE) {
-        printf("↕ \n");
-    } else {
-        printf("↑ % .6g; % .6g % .6g°\n", debug->destination.x, debug->destination.y, debug->destination.o);
-    }
-}
-
-void onA2CI_DBG()
-{
-    readCA(&debug, sizeof(struct A2CI_DBGs));
-    printDebugInfos(&debug);
-}
-
 void configureDebug()
 {
-    registerRxHandler(A2CI_DBG, onA2CI_DBG);
-#ifdef REGULARREPORTS
+    debugStart = clock();
+
+    // Génération du nom de fichier
+    char path[256];
+    time_t startTime;
+    time(&startTime);
+    sprintf(path, "log/%ld.csv", startTime);
+
+    // Open file
+    debugFd = open(path, O_WRONLY | O_APPEND | O_CREAT, S_IRUSR | S_IWUSR | S_IRGRP | S_IROTH);
+    if (debugFd < 0) {
+        fprintf(stderr, "Impossible d'ouvrir le fichier '%s', debug désactivé.\n", path);
+        return;
+    }
+
+    char header[] = "time,nbCalcPos,lCodTot,rCodTot\n";
+    write(debugFd, header, strlen(header));
+
     pthread_create(&tDebug, NULL, TaskDebug, NULL);
-#endif
 }
 
 void deconfigureDebug()
 {
-#ifdef REGULARREPORTS
     pthread_cancel(tDebug);
-#endif
+    close(debugFd);
 }
diff --git a/chef/src/debug.h b/chef/src/debug.h
index aac10a7..b5c26bb 100644
--- a/chef/src/debug.h
+++ b/chef/src/debug.h
@@ -2,14 +2,14 @@
 #define __DEBUG_H_
 
 #include <pthread.h>
-#include "CA.h"
-#define REGULARREPORTS
+#include <time.h>
+
+clock_t debugStart;
+int debugFd;
 
-struct A2CI_DBGs debug;
 pthread_t tDebug;
 
 void* TaskDebug(void *pdata);
-void onA2CI_DBG();
 void configureDebug();
 void deconfigureDebug();
 
diff --git a/chef/src/local.c b/chef/src/local.c
new file mode 100644
index 0000000..f85ca66
--- /dev/null
+++ b/chef/src/local.c
@@ -0,0 +1,29 @@
+#include <stdlib.h>
+#include <stdio.h>
+#include <pthread.h>
+#include <unistd.h> // sleep
+
+#include "CF.h"
+#include "position.h"
+
+#define TEMPSMAX 10
+
+int main()
+{
+
+    printf("Démarrage...\n");
+    configureCF();
+    configurePosition();
+    srand(time(NULL));
+
+    printf("C'est parti !\n");
+
+    sleep(TEMPSMAX);
+
+    printf("Fin des %d secondes\n", TEMPSMAX);
+
+
+    deconfigureCF();
+    return EXIT_SUCCESS;
+}
+
diff --git a/chef/src/movement.c b/chef/src/movement.c
index d248d53..a2166f6 100644
--- a/chef/src/movement.c
+++ b/chef/src/movement.c
@@ -1,70 +1,92 @@
 #include "movement.h"
-#include "CA.h"
 #include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <math.h>
 
-void onC2AD_STOP()
+void configureMovement()
 {
-    // On considère que l'arrêt se fait très rapidement pour ne pas
-    // avoir à attendre le signal de retour de C2AD_STOP
-    registerRxHandler(C2AD_STOP, NULL);
-}
-
-void stop()
-{
-    printf("→ Arrêt\n");
-    registerRxHandler(C2AD_STOP, onC2AD_STOP);
-    sendCA(C2AD_STOP, NULL, 0);
-}
-
-void onC2AD_BRAKE()
-{
-    // On considère que l'arrêt se fait très rapidement pour ne pas
-    // avoir à attendre le signal de retour de C2AD_BRAKE
-    registerRxHandler(C2AD_BRAKE, NULL);
-}
-
-void brake()
-{
-    printf("→ Frein\n");
-    registerRxHandler(C2AD_BRAKE, onC2AD_BRAKE);
-    sendCA(C2AD_BRAKE, NULL, 0);
-}
-
-// Inspiré de https://stackoverflow.com/a/1760819
-pthread_mutex_t reponseMutex = PTHREAD_MUTEX_INITIALIZER;
-pthread_cond_t reponseCond = PTHREAD_COND_INITIALIZER;
-bool attenteReponse = false;
-
-void onC2AD_GOTO()
-{
-    pthread_mutex_lock(&reponseMutex);
-    attenteReponse = false;
-    pthread_cond_signal(&reponseCond);
-    pthread_mutex_unlock(&reponseMutex);
-}
-
-void aller(struct position* pos)
-{
-    printf("→ Déplacement vers (%f; %f) (%f°)\n", pos->x, pos->y, pos->o);
-
-    if (attenteReponse) {
-        printf("Déjà en déplacement !\n");
+    if (wiringPiSetup() == -1) {
+        fprintf(stderr, "Impossible d'initialiser WiringPi\n");
         exit(EXIT_FAILURE);
     }
-    attenteReponse = true;
-
-    registerRxHandler(C2AD_GOTO, onC2AD_GOTO);
-    sendCA(C2AD_GOTO, (struct C2AD_GOTOs*)pos, sizeof(struct C2AD_GOTOs));
-
-    pthread_mutex_lock(&reponseMutex);
-    while (attenteReponse) {
-        pthread_cond_wait(&reponseCond, &reponseMutex);
-    }
-    pthread_mutex_unlock(&reponseMutex);
-
-    registerRxHandler(C2AD_GOTO, NULL);
-
-    printf("← Arrivé à destination\n");
+    pinMode(ENA, PWM_OUTPUT);
+    pinMode(ENB, PWM_OUTPUT);
+}
+
+void aller(struct position* pos);
+
+int dbg = 0;
+
+int changerMoteurs(float lVit, float rVit)
+{
+    // Gauche
+    bool lFor = lVit < 0;
+    float lVolt = fabs(lVit); // TODO Utiliser les vitesses
+    if (lVolt > MOT_MAX_V) {
+        lVolt = MOT_MAX_V;
+    }
+    if (lVolt < MOT_MIN_V) {
+        digitalWrite(IN1, LOW);
+        digitalWrite(IN2, LOW);
+        printf("x");
+
+    } else if (lFor) {
+        digitalWrite(IN1, HIGH);
+        digitalWrite(IN2, LOW);
+        printf("↑");
+    } else {
+        digitalWrite(IN1, LOW);
+        digitalWrite(IN2, HIGH);
+        printf("↓");
+    }
+    int lAbs = lVolt * PWM_MAX / PWM_MAX_V;
+    pwmWrite(ENA, lAbs);
+    printf("%6d", lAbs);
+
+    // Droite
+    bool rFor = rVit < 0;
+    float rVolt = fabs(rVit); // TODO Utiriser res vitesses
+    if (rVolt > MOT_MAX_V) {
+        rVolt = MOT_MAX_V;
+    }
+    if (rVolt < MOT_MIN_V) {
+        digitalWrite(IN3, LOW);
+        digitalWrite(IN4, LOW);
+        printf("x");
+
+    } else if (rFor) {
+        digitalWrite(IN3, HIGH);
+        digitalWrite(IN4, LOW);
+        printf("↑");
+    } else {
+        digitalWrite(IN3, LOW);
+        digitalWrite(IN4, HIGH);
+        printf("↓");
+    }
+    int rAbs = rVolt * PWM_MAX / PWM_MAX_V;
+    pwmWrite(ENB, rAbs);
+    printf("%6d", rAbs);
+    printf("\n");
+}
+
+int brake()
+{
+    digitalWrite(IN1, LOW);
+    digitalWrite(IN2, LOW);
+    digitalWrite(IN3, LOW);
+    digitalWrite(IN4, LOW);
+}
+
+int freewheel()
+{
+    digitalWrite(IN1, HIGH);
+    digitalWrite(IN2, HIGH);
+    digitalWrite(IN3, HIGH);
+    digitalWrite(IN4, HIGH);
+}
+
+void deconfigureMovement()
+{
+
 }
diff --git a/chef/src/movement.h b/chef/src/movement.h
index e54ac11..f5fbe63 100644
--- a/chef/src/movement.h
+++ b/chef/src/movement.h
@@ -1,8 +1,40 @@
+/*
+ * Fonctions de déplacment du robot
+ */
+
+#ifndef __MOVEMENT_H_
+#define __MOVEMENT_H_
+
+#include "position.h"
+
+#include <wiringPi.h>
+
+#define PWM_MAX 1023
+#define PWM_MAX_V 3.3
+#define MOT_MIN_V 0.1
+#define MOT_MAX_V 2.0
+
+// Pins definition
+// Physical 32
+#define ENA 26
+#define IN1 2
+#define IN2 3
+
+// Physical 33
+#define ENB 23
+#define IN3 4
+#define IN4 5
 
 
-int bouger(float vitL, float vitR);
+void configureMovement();
+void aller(struct position* pos);
+int changerMoteurs(float vitL, float vitR);
 // Vitesse en mm/s
 // Vitesse < 0 ⇒ sens inverse
 // Si vitesse < seuil ⇒ brake
 int brake();
+int stop();
 int freewheel();
+void deconfigureMovement();
+
+#endif
diff --git a/chef/src/position.c b/chef/src/position.c
new file mode 100644
index 0000000..2392fd0
--- /dev/null
+++ b/chef/src/position.c
@@ -0,0 +1,53 @@
+/*
+ * Fonctions de calcul de la position du robot
+ */
+
+#include "position.h"
+#include <stdio.h>
+
+void* TaskPosition(void* pData)
+{
+    (void)pData;
+
+    nbCalcPos = 0;
+    lCodTot = 0;
+    rCodTot = 0;
+
+    pthread_mutex_init(&posPolling, NULL);
+
+    for (;;) {
+
+        // Sending
+        pthread_mutex_lock(&posPolling);
+        sendCF(F2CI_CODER, NULL, 0);
+
+        // Waiting for reception
+        pthread_mutex_lock(&posPolling);
+        pthread_mutex_unlock(&posPolling);
+
+        // Calculation
+        nbCalcPos++;
+        lCodTot += deltaCoders.dL;
+        rCodTot += deltaCoders.dR;
+
+    }
+
+    return NULL;
+}
+
+void onF2CI_CODER()
+{
+    readCF(&deltaCoders, sizeof(struct F2CI_CODERs));
+    pthread_mutex_unlock(&posPolling);
+}
+
+void configurePosition()
+{
+    pthread_create(&tPosition, NULL, TaskPosition, NULL);
+    registerRxHandler(F2CI_CODER, onF2CI_CODER);
+}
+
+void deconfigurePosition()
+{
+    pthread_cancel(tPosition);
+}
diff --git a/chef/src/position.h b/chef/src/position.h
new file mode 100644
index 0000000..9966cab
--- /dev/null
+++ b/chef/src/position.h
@@ -0,0 +1,34 @@
+/*
+ * Fonctions de calcul de la position du robot
+ */
+
+#ifndef __POSITION_H_
+#define __POSITION_H_
+
+#include "CF.h"
+#include <pthread.h>
+
+
+struct __attribute__ ((packed)) position {
+    float x;
+    float y;
+    float o;
+};
+
+struct position actuel;
+struct F2CI_CODERs deltaCoders;
+
+// Debug
+unsigned int nbCalcPos;
+long lCodTot, rCodTot;
+
+// 
+pthread_mutex_t posPolling;
+pthread_t tPosition;
+
+// Fonctions
+void configurePosition();
+void deconfigurePosition();
+
+#endif
+
diff --git a/chef/src/premier.c b/chef/src/premier.c
index 417b7d6..52d349f 100644
--- a/chef/src/premier.c
+++ b/chef/src/premier.c
@@ -4,8 +4,9 @@
 #include <pthread.h>
 #include <unistd.h> // sleep
 
-#include "CA.h"
+#include "CF.h"
 #include "movement.h"
+#include "position.h"
 #include "debug.h"
 
 #define TEMPSMAX 60
@@ -14,15 +15,42 @@ void* TaskParcours(void *pdata)
 {
     (void) pdata;
 
-    struct position pos;
+    /* 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 (;;) {
-        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();
+        // ↗
+        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);
     }
 
     printf("Fin du parcours\n");
@@ -33,17 +61,17 @@ int main()
 {
 
     printf("Démarrage...\n");
-    configureCA();
+    configureCF();
     configureDebug();
+    configureMovement();
+    configurePosition();
     srand(time(NULL));
 
-    /* printf("Synchronisation avec le Raspberry Pi\n"); // TODO */
-
     /* 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);
 
@@ -51,9 +79,11 @@ int main()
     /* pthread_cancel(tParcours); */
 
 
-    stop();
+    /* stop(); */
 
+    deconfigureMovement();
+    deconfigurePosition();
     deconfigureDebug();
-    deconfigureCA();
+    deconfigureCF();
     return EXIT_SUCCESS;
 }
diff --git a/raspberrypi/Makefile b/raspberrypi/Makefile
index 2b2a3a7..180bab1 100644
--- a/raspberrypi/Makefile
+++ b/raspberrypi/Makefile
@@ -92,7 +92,6 @@ upgrade-fpga:
 
 # CHEF
 
-prog: chef
 chef:
 	make -C buildroot chef-rebuild
 
diff --git a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S30hardware b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S30hardware
new file mode 100755
index 0000000..6999dc0
--- /dev/null
+++ b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/etc/init.d/S30hardware
@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# Loads required hardware modules
+#
+
+start() {
+	printf "Starting hardware handling: "
+    modprobe pl2303 # USB↔Serial cable
+	echo "OK"
+}
+
+stop() {
+	printf "Stopping hardware handling: "
+    rmmod pl2303 # USB↔Serial cable
+	echo "OK"
+}
+
+case "$1" in
+	start)
+		start
+		;;
+	stop)
+		stop
+		;;
+	restart|reload)
+		stop
+		start
+		;;
+	*)
+		echo "Usage: $0 {start|stop|restart}"
+		exit 1
+esac
+
+exit $?
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 ef037ce..e0ec7cd 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 +5,10 @@
 
 start() {
 	printf "Starting extra services: "
-	if ! /opt/cdf/bin/testpin 0 1
-	then
+	# if ! /opt/cdf/bin/testpin 0 1
+	# then
 		/etc/extra.d/rcS
-	fi
+	# fi
 	echo "OK"
 }
 
diff --git a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile
index dfb5415..a7c2a1e 100644
--- a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile
+++ b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile
@@ -7,7 +7,7 @@ alias mv="mv -i"
 alias free='free -m'
 alias df='df -h'
 
-export PS1="[\u@\h \$] "
+export PS1="[\u@\h \W] "
 export PS2="> "
 export PS3="+ "
 export PS4="- "
diff --git a/raspberrypi/package/robotech/chef/chef.mk b/raspberrypi/package/robotech/chef/chef.mk
index 8b2a3bb..8f8404e 100644
--- a/raspberrypi/package/robotech/chef/chef.mk
+++ b/raspberrypi/package/robotech/chef/chef.mk
@@ -16,6 +16,7 @@ endef
 define CHEF_INSTALL_TARGET_CMDS
 	$(INSTALL) -d -m 0755 $(TARGET_DIR)/opt/chef/bin
 	$(INSTALL) -d -m 0755 $(TARGET_DIR)/opt/chef/com
+	$(INSTALL) -d -m 0755 $(TARGET_DIR)/opt/chef/log
 	$(INSTALL) -D -m 0755 $(@D)/bin/* $(TARGET_DIR)/opt/chef/bin
 	$(INSTALL) -D -m 0755 $(@D)/run.sh $(TARGET_DIR)/opt/chef
 endef