diff --git a/chef/Makefile b/chef/Makefile
index 1747ef6..62fe483 100644
--- a/chef/Makefile
+++ b/chef/Makefile
@@ -40,8 +40,8 @@ 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
-	$(CC) $(CFLAGS) $(CFLAGS_CUSTOM) -lpthread $^ -o $@
+bin/local: obj/local.o obj/CF.o obj/debug.o obj/position.o
+	$(CC) $(CFLAGS) $(CFLAGS_CUSTOM) -lpthread -lm $^ -o $@
 
 # Génération des fichiers objets
 obj/%.o: src/%.c src/%.h
diff --git a/chef/src/debug.c b/chef/src/debug.c
index d8b58a7..3fe2d3a 100644
--- a/chef/src/debug.c
+++ b/chef/src/debug.c
@@ -111,7 +111,7 @@ void configureDebug()
     debugFd = fopen(path, "w");
     if (debugFd == NULL) {
         perror("fopen debug file");
-        return;
+        exit(EXIT_FAILURE);
     }
 
     fprintf(debugFd, "time");
diff --git a/chef/src/diagnostics.c b/chef/src/diagnostics.c
index 445f2ad..64d65e8 100644
--- a/chef/src/diagnostics.c
+++ b/chef/src/diagnostics.c
@@ -30,6 +30,7 @@ bool diagFPGA(void* arg)
         }
         usleep(DIAGNOSTIC_POLL_INTERVAL * 1000);
     }
+    registerRxHandler(C2FD_PING, NULL);
     return recu;
 }
 
diff --git a/chef/src/dimensions.h b/chef/src/dimensions.h
index f5d4139..d820d50 100644
--- a/chef/src/dimensions.h
+++ b/chef/src/dimensions.h
@@ -3,19 +3,35 @@
 
 #include <math.h>
 
-// TODO None of that is verified
+// Dimensions pistes
+#define M_PISTE_WIDTH 3000
+#define M_PISTE_HEIGHT 2000
+#define M_PISTE_ORIG_X 0
+#define M_PISTE_ORIG_Y 0
 
-// [mm]
-#define WHEEL_DIAMETER 80.0
-// [mm]
-#define WHEEL_PERIMETER WHEEL_DIAMETER * M_PI
-// [cycles/revolution]
-#define CODER_RESOLUTION 100
-// [increments/revolution]
-#define CODER_DATA_RESOLUTION CODER_RESOLUTION * 4
-// [mm]
-#define CODER_DELTA_DISTANCE WHEEL_PERIMETER / CODER_DATA_RESOLUTION
-// [mm]
-#define DISTANCE_BETWEEN_WHEELS 250.0
+// Dimensions robot
+#define WIDTH 250 // mm (from meca)
+#define HEIGHT 100 // mm (from random);
+#define DISTANCE_BETWEEN_WHEELS WIDTH // mm (from meca)
+#define WHEEL_DIAMETER 80 // mm (from meca)
+#define WHEEL_PERIMETER WHEEL_DIAMETER * M_PI // mm
+#define MOTOR_SPEED_GAIN_RPMP_V 233 // rpm/V (from datasheet)
+#define MOTOR_SPEED_GAIN MOTOR_SPEED_GAIN_RPMP_V / 60 // rev/s/V
+#define MOTOR_NOMINAL_TENSION 24 // V (from datasheet)
+#define CODER_RESOLUTION 100 // cycles/rev
+#define CODER_DATA_FACTOR 4 // increments/cycles
+#define CODER_DATA_RESOLUTION CODER_RESOLUTION * CODER_DATA_FACTOR // cycles/rev
+#define CRAN_REDUC_OUT 48 // nb crans (from meca)
+#define CRAN_REDUC_IN 12 // nb crans (from meca)
+#define REDUC_RATIO CRAN_REDUC_IN / CRAN_REDUC_OUT // reduction ratio
+
+// Constantes asservissement
+#define D_DIR_ECART_MIN 1 // mm
+#define D_DIR_ECART_MAX 5 // mm
+#define O_DIR_ECART_MIN 1 / 360 * 2 * M_PI // rad
+#define O_DIR_ECART_MAX 3 / 360 * 2 * M_PI // rad
+#define P 2
+#define I 0
+#define D 0
 
 #endif
diff --git a/chef/src/local.c b/chef/src/local.c
index df9a56c..10d120b 100644
--- a/chef/src/local.c
+++ b/chef/src/local.c
@@ -1,36 +1,35 @@
 #include <pthread.h>
+#include <signal.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <time.h>
+#include <time.h>   // random seed
 #include <unistd.h> // sleep
 
-#define TEMPS_PARCOURS 10
+#include "CF.h"
+#include "debug.h"
+#include "movement.h"
 
-// t1 - t2
-void diffTimespec(const struct timespec* t1, const struct timespec* t2, struct timespec* td)
+pthread_mutex_t sRunning;
+
+void endRunning(int signal)
 {
-    if ((t1->tv_nsec - t2->tv_nsec) < 0) {
-        td->tv_sec = t1->tv_sec - t2->tv_sec - 1;
-        td->tv_nsec = t1->tv_nsec - t2->tv_nsec + 1000000000UL;
-    } else {
-        td->tv_sec = t1->tv_sec - t2->tv_sec;
-        td->tv_nsec = t1->tv_nsec - t2->tv_nsec;
-    }
+    (void)signal;
+    pthread_mutex_unlock(&sRunning);
 }
 
 int main()
 {
-    struct timespec start, now, diff;
-    clock_gettime(CLOCK_REALTIME, &start);
 
+    configureDebug();
+    configureCF();
+    configurePosition();
+
+    /* long lCod, rCod; */
     for (;;) {
-        clock_gettime(CLOCK_REALTIME, &now);
-        diffTimespec(&now, &start, &diff);
-        if (diff.tv_sec > TEMPS_PARCOURS) {
-            break;
-        }
-        printf("32 %ld %ld\n", diff.tv_sec, diff.tv_nsec);
+        sleep(1);
+        /* getCoders(&lCod, &rCod); */
+        /* printf("%ld %ld\n", lCod, rCod); */
+        /* usleep(100*1000); */
     }
 
-    return EXIT_SUCCESS;
 }
diff --git a/chef/src/parcours.c b/chef/src/parcours.c
index b73b537..fb3c81b 100644
--- a/chef/src/parcours.c
+++ b/chef/src/parcours.c
@@ -1,20 +1,19 @@
 #include <pthread.h>
 #include <stdio.h>
 #include <unistd.h>
-#include <wiringPi.h>
 
+#include "debug.h"
 #include "lcd.h"
 #include "movement.h"
 #include "parcours.h"
 #include "points.h"
 #include "position.h"
-#include "debug.h"
 
 pthread_t tParcours;
 bool isOrange;
 struct timespec tempsStart;
 struct timespec tempsNow;
-struct timespec tempsEcoule = {0, 0};
+struct timespec tempsEcoule = { 0, 0 };
 
 void configureParcours()
 {
@@ -93,24 +92,23 @@ void* TaskParcours(void* pdata)
         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);
+            usleep(1000 * 1);
         }
         addPoints(1);
         changerMoteurs(MOT_MAX_V, MOT_MAX_V);
-        delay(HIGH_TIME);
+        usleep(1000 * 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);
+            usleep(1000 * 1);
         }
         addPoints(1);
         changerMoteurs(0, 0);
-        delay(LOW_TIME);
+        usleep(1000 * LOW_TIME);
     }
 
     return NULL;
 }
-
diff --git a/chef/src/testCodeuse.c b/chef/src/testCodeuse.c
new file mode 100644
index 0000000..c63c897
--- /dev/null
+++ b/chef/src/testCodeuse.c
@@ -0,0 +1,43 @@
+#include <pthread.h>
+#include <signal.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>   // random seed
+#include <unistd.h> // sleep
+#include <wiringPi.h>
+
+#include "CF.h"
+#include "debug.h"
+#include "i2c.h"
+#include "ihm.h"
+#include "imu.h"
+#include "movement.h"
+#include "position.h"
+
+pthread_mutex_t sRunning;
+
+#define VIT 1
+
+void endRunning(int signal)
+{
+    (void)signal;
+    pthread_mutex_unlock(&sRunning);
+}
+
+int main()
+{
+
+    configureDebug();
+    configureCF();
+    configurePosition();
+
+    changerMoteurs(VIT, VIT);
+
+    long lCod, rCod;
+    for (;;) {
+        getCoders(&lCod, &rCod);
+        printf("%10ld %10ld\n", lCod, rCod);
+        usleep(100*1000);
+    }
+
+}
diff --git a/chef/src/testSlow.c b/chef/src/testSlow.c
new file mode 100644
index 0000000..66365bd
--- /dev/null
+++ b/chef/src/testSlow.c
@@ -0,0 +1,48 @@
+/* Teste si une broche est connecté à une autre */
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <wiringPi.h>
+#include <wiringPiI2C.h>
+
+#include "lcd.h"
+#include "CF.h"
+#include "movement.h"
+#include "buttons.h"
+
+#define VIT 0.40
+
+
+void changerMoteursWrapper(float l, float r) {
+    /* clearLCD(); */
+    printfToLCD(LCD_LINE_1, "L: %f", l);
+    printfToLCD(LCD_LINE_2, "R: %f", r);
+    changerMoteurs(l, r);
+}
+
+int main(int argc, char* argv[])
+{
+
+    (void)argc;
+    (void)argv;
+
+    wiringPiSetup();
+
+    initI2C();
+    initLCD();
+    configureCF();
+    configureButtons();
+    configureMovement();
+
+    changerMoteursWrapper(VIT, VIT);
+
+    for (;;) {
+        changerMoteursWrapper(VIT, VIT);
+        pressedButton(BUT_BLOCK);
+        brake();
+        pressedButton(BUT_BLOCK);
+    }
+
+}
diff --git a/fpga/hedm.vhd b/fpga/hedm.vhd
index 556ce4f..c71b007 100644
--- a/fpga/hedm.vhd
+++ b/fpga/hedm.vhd
@@ -1,9 +1,6 @@
 -- Process signals from HEDM-550X encoder
 -- and output the value read
 
--- TODO Quelques modifications apportées depuis test avec les vraies codeuses
--- un nouveau test sera nécessaire (vérifier notamment le sens de parcours)
-
 library IEEE;
 use IEEE.STD_LOGIC_1164.ALL;
 use ieee.numeric_std.all;
@@ -20,59 +17,63 @@ entity hedm is
 end hedm;
 
 architecture Behavioral of hedm is
+    signal counter : integer := 0;
+    signal oldCounter : integer := 0;
+    signal An, Bn : STD_LOGIC := '0'; -- Nouvelles valeurs de A et B stockées pour que les entrées soient lues une seule fois en début de cycle
     signal Ap, Bp : STD_LOGIC := '0'; -- Précédentes valeurs de A et B pour détecter les front montant
 begin
     processInput : process(clk, reset)
-        variable counter : integer := 0;
     begin
         if reset = '1' then
-            counter := 0;
-            counts <= 0;
+            counter <= 0;
+            An <= '0';
+            Bn <= '0';
             Ap <= '0';
             Bp <= '0';
         elsif rising_edge(clk) then
 
-            if zero = '1' then
-                counter := 0;
-            end if;
+            Ap <= An;
+            Bp <= Bn;
+
+            An <= chA;
+            Bn <= chB;
 
             -- On pourrait optimiser la logique avec un tableau de Karnaugh ou autres méthodes
             -- de simplification d'algèbre de Boole, mais le synthétiseur pour FPGA fera un
             -- tout aussi bon travail, on garde donc le code suivant pour la lisibilité
 
-            if (Ap = '0' and chA = '1') then -- Front montant A
-                if (chB = '0') then
-                    counter := counter + 1;
+            if (Ap = '0' and An = '1') then -- Front montant A
+                if (Bn = '0') then
+                    counter <= oldCounter + 1;
                 else
-                    counter := counter - 1;
+                    counter <= oldCounter - 1;
                 end if;
-            elsif (Ap = '1' and chA = '0') then -- Front descendant A
-                if (chB = '1') then
-                    counter := counter + 1;
+            elsif (Ap = '1' and An = '0') then -- Front descendant A
+                if (Bn = '1') then
+                    counter <= oldCounter + 1;
                 else
-                    counter := counter - 1;
+                    counter <= oldCounter - 1;
                 end if;
-            elsif (Bp = '0' and chB = '1') then -- Front montant B
-                if (chA = '1') then
-                    counter := counter + 1;
+            elsif (Bp = '0' and Bn = '1') then -- Front montant B
+                if (An = '1') then
+                    counter <= oldCounter + 1;
                 else
-                    counter := counter - 1;
+                    counter <= oldCounter - 1;
                 end if;
-            elsif (Bp = '1' and chB = '0') then -- Front descendant B
-                if (chA = '0') then
-                    counter := counter + 1;
+            elsif (Bp = '1' and Bn = '0') then -- Front descendant B
+                if (An = '0') then
+                    counter <= oldCounter + 1;
                 else
-                    counter := counter - 1;
+                    counter <= oldCounter - 1;
                 end if;
+            else
+                counter <= oldCounter;
             end if;
-
-            Ap <= chA;
-            Bp <= chB;
-
-            counts <= counter;
-
         end if;
     end process;
 
+    oldCounter <= 0 when zero = '1' else counter;
+    counts <= counter;
+
 end Behavioral;
 
diff --git a/fpga/hedm_tb.gtkw b/fpga/hedm_tb.gtkw
index 62f93c6..9e58619 100644
--- a/fpga/hedm_tb.gtkw
+++ b/fpga/hedm_tb.gtkw
@@ -1,10 +1,10 @@
 [*]
-[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
-[*] Tue Feb 27 08:32:01 2018
+[*] GTKWave Analyzer v3.3.89 (w)1999-2018 BSI
+[*] Sat May  5 22:58:30 2018
 [*]
 [dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/hedm_tb.ghw"
-[dumpfile_mtime] "Tue Feb 27 08:31:12 2018"
-[dumpfile_size] 4287
+[dumpfile_mtime] "Sat May  5 22:57:01 2018"
+[dumpfile_size] 5011
 [savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/hedm_tb.gtkw"
 [timestart] 0
 [size] 1600 862
@@ -13,7 +13,7 @@
 [treeopen] top.
 [treeopen] top.hedm_tb.
 [sst_width] 213
-[signals_width] 78
+[signals_width] 110
 [sst_expanded] 1
 [sst_vpaned_height] 244
 @28
@@ -33,10 +33,13 @@ top.hedm_tb.dut.bp
 top.hedm_tb.dut.an
 [color] 2
 top.hedm_tb.dut.bn
+@421
+[color] 7
+top.hedm_tb.dut.oldcounter
 @420
 [color] 1
 top.hedm_tb.dut.counts
-@8421
+@8420
 [color] 1
 top.hedm_tb.dut.counts
 [pattern_trace] 1
diff --git a/fpga/hedm_tb.vhd b/fpga/hedm_tb.vhd
index cb917b4..25714c7 100644
--- a/fpga/hedm_tb.vhd
+++ b/fpga/hedm_tb.vhd
@@ -112,7 +112,7 @@ begin
         wait for TbPeriod;
 
         wait for 5 * TbPeriod;
-        assert counts = 2 report "Zero en éxecution faux, reçu " & integer'image(counts) severity error;
+        assert counts = 3 report "Zero en éxecution faux, reçu " & integer'image(counts) severity error;
 
         zero <= '1';
         wait for TbPeriod;
diff --git a/raspberrypi/board/robotech/cdfprincipal/post-build.sh b/raspberrypi/board/robotech/cdfprincipal/post-build.sh
index 08ad1d2..dbdbf0a 100755
--- a/raspberrypi/board/robotech/cdfprincipal/post-build.sh
+++ b/raspberrypi/board/robotech/cdfprincipal/post-build.sh
@@ -10,7 +10,8 @@ then
     # Le ifup de Busybox ne supporte pas les options wpa-*, donc on utilisera les wpa_supplicant en direct
 
     # Network configuration
-    echo -e "
+    echo -e "# Interface configuration generated by raspberrypi/board/robotech/cdfprincipal/post-build.sh
+
 auto lo
 iface lo inet loopback
 
@@ -25,7 +26,7 @@ auto wlan0
 iface wlan0 inet dhcp
   pre-up wpa_supplicant -D wext -B -iwlan0 -c /etc/wpa_supplicant/wpa_supplicant.conf -P /var/run/wpa_supplicant.pid
   pre-down start-stop-daemon -K -q -p /var/run/wpa_supplicant.pid
-" >> ${TARGET_DIR}/etc/network/interfaces
+" > ${TARGET_DIR}/etc/network/interfaces
 
     # SSH configuration
     rm ${TARGET_DIR}/etc/dropbear &> /dev/null
diff --git a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile
index 32442d3..e626399 100644
--- a/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile
+++ b/raspberrypi/board/robotech/cdfprincipal/rootfs_overlay/root/.profile
@@ -1,4 +1,4 @@
-#/bin/bash
+#!/bin/sh
 
 alias la='ls -al'
 alias ll='ls -l'
@@ -15,4 +15,7 @@ export PS4="- "
 alias r="/etc/init.d/S50chef restart"
 alias s="/etc/init.d/S50chef stop"
 alias c="cd /opt/chef/"
-alias l="tail -f $(find /opt/chef/log | sort | tail -1)"
+l()
+{
+    tail -f $(find /opt/chef/log | sort | tail -1)
+}
diff --git a/raspberrypi/configs/cdfprincipal_defconfig b/raspberrypi/configs/cdfprincipal_defconfig
index 215c387..1a34ff8 100644
--- a/raspberrypi/configs/cdfprincipal_defconfig
+++ b/raspberrypi/configs/cdfprincipal_defconfig
@@ -76,6 +76,7 @@ BR2_PACKAGE_HTOP=y
 
 # Pour debugguer
 BR2_PACKAGE_GDB=y
+BR2_PACKAGE_MINICOM=y
 
 # Pour uploader sur le Arduino
 BR2_TOOLCHAIN_BUILDROOT_WCHAR=y