diff --git a/chef/Makefile b/chef/Makefile
index 1563198..c7a36d5 100644
--- a/chef/Makefile
+++ b/chef/Makefile
@@ -11,7 +11,7 @@ CFLAGS_CUSTOM += -g
 ## Générateurs de drapeaux pour les bibliothèques
 PKG_CONFIG=pkg-config
 ## Nom des objets communs
-OBJS=actionneurs buttons CA CF debug diagnostics i2c imu ihm lcd motor movement parcours points position securite
+OBJS=actionneurs buttons CA debug diagnostics fpga i2c imu ihm lcd motor movement parcours points position securite
 OBJS_O=$(addprefix obj/,$(addsuffix .o,$(OBJS)))
 
 # VARIABLES AUTOMATIQUES
@@ -32,7 +32,7 @@ default: bin/premier bin/local $(subst src,bin,$(subst .c,,$(wildcard src/test*.
 # Génération des fichiers éxecutables
 bin/%: obj/%.o $(OBJS_O)
 	$(CC) $(LDFLAGS) $(LDFLAGS_CUSTOM) $^ -o $@
-	$(OBJCOPY) --only-keep-debug $@ $@.debug
+	# $(OBJCOPY) --only-keep-debug $@ $@.debug
 	$(STRIP) --strip-debug --strip-unneeded $@
 
 # Binaires (dont il faut spécifier les objets explicitement)
diff --git a/chef/src/CF.c b/chef/src/CF.c
deleted file mode 100644
index 8d9aa86..0000000
--- a/chef/src/CF.c
+++ /dev/null
@@ -1,232 +0,0 @@
-#include "CF.h"
-#include <fcntl.h>   // O_*
-#include <stdio.h>   // printf...
-#include <stdlib.h>  // stuff
-#include <string.h>  // memcpy
-#include <strings.h> // bzero
-#include <unistd.h>  // read(), write()...
-
-int fpga;
-pthread_mutex_t sSendCF;
-pthread_t tReaderAF;
-
-rxHandler rxHandlersAF[256];
-bool pret;
-
-
-void printDataCF(void* data, size_t size)
-{
-    printf(" ");
-    unsigned char* p = data;
-    for (size_t i = 0; i < size; i++) {
-        if (*p >= ' ' && *p <= '~') {
-            printf("  %c", *p);
-        } else {
-            printf(" %02x", *p);
-        }
-        p++;
-    }
-    printf("\n");
-}
-
-void configureFpga()
-{
-    // Connection au port série
-    printf("Connexion à %s... ", FPGA_PORTNAME);
-    fflush(stdout);
-    fpga = open(FPGA_PORTNAME, O_RDWR | O_NOCTTY | O_NDELAY | O_NONBLOCK);
-    if (fpga < 0) {
-        printf("Échec !\n");
-        exit(1);
-    }
-
-    // Configuration du port série
-    fcntl(fpga, F_SETFL, O_RDWR);
-
-    struct termios cfg;
-
-    tcgetattr(fpga, &cfg);
-
-    cfmakeraw(&cfg);
-    cfsetispeed(&cfg, CF_BAUDRATE);
-    cfsetospeed(&cfg, CF_BAUDRATE);
-
-    cfg.c_cflag |= (CLOCAL | CREAD);
-    cfg.c_cflag &= ~PARENB;
-    cfg.c_cflag &= ~CSTOPB;
-    cfg.c_cflag &= ~CSIZE;
-    cfg.c_cflag |= CS8;
-    cfg.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
-    cfg.c_oflag &= ~OPOST;
-
-    cfg.c_cc[VMIN] = 0;
-    cfg.c_cc[VTIME] = 10;
-
-    if (tcsetattr(fpga, TCSANOW, &cfg) < 0) {
-        perror("serialConfig.tcsetattr");
-        exit(1);
-    }
-
-    int status;
-    ioctl(fpga, TIOCMGET, &status);
-
-    status |= TIOCM_DTR;
-    status |= TIOCM_RTS;
-
-    ioctl(fpga, TIOCMSET, &status);
-
-    usleep(10 * 1000);
-
-    // Flush
-    unsigned char trash[1024];
-    read(fpga, &trash, sizeof(trash));
-
-    printf("OK!\n");
-}
-
-void deconfigureFpga()
-{
-    close(fpga);
-    printf("Déconnecté\n");
-}
-
-void registerRxHandlerCF(unsigned char code, rxHandler handler)
-{
-    rxHandlersAF[code] = handler;
-}
-
-void* TaskReaderAF(void* pdata)
-{
-    (void)pdata;
-    unsigned char code;
-    for (;;) {
-        code = readByteCF();
-
-#ifdef PRINTRAWDATA
-        printf("↓");
-        printDataCF(&code, sizeof(code));
-#endif
-        rxHandler handler = rxHandlersAF[code];
-        if (handler != NULL) {
-            handler();
-        } else {
-            printf("Code inconnu: %x (%c)\n", code, code);
-        }
-    }
-    return NULL;
-}
-
-void onF2CD_ERR()
-{
-    struct F2CD_ERRs s;
-    readCF(&s, sizeof(struct F2CD_ERRs));
-    printf("Erreur reçue : %c (%2x)\n", s.code, s.code);
-}
-
-void setPretCF()
-{
-    pret = true;
-}
-
-void doNothingCF()
-{
-}
-
-void configureCF()
-{
-    configureFpga();
-    for (int i = 0; i < 256; i++) {
-        rxHandlersAF[i] = NULL;
-    }
-
-    pthread_mutex_init(&sSendCF, NULL);
-    pthread_create(&tReaderAF, NULL, TaskReaderAF, NULL);
-
-    printf("Attente de réponse du Fpga... ");
-    fflush(stdout);
-    // 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;
-    registerRxHandlerCF(C2FD_PING, setPretCF);
-    while (!pret) {
-        sendCF(C2FD_PING, NULL, 0);
-        usleep(100 * 1000);
-    }
-    registerRxHandlerCF(C2FD_PING, doNothingCF); // TODO
-    registerRxHandlerCF(C2FD_PING, NULL);
-    printf("OK !\n");
-
-    registerRxHandlerCF(F2CD_ERR, onF2CD_ERR);
-}
-
-void deconfigureCF()
-{
-    deconfigureFpga();
-}
-
-void sendByteCF(unsigned char data)
-{
-    write(fpga, &data, sizeof(data));
-
-#ifdef PRINTRAWDATA
-    printf("↑");
-    printDataCF(&data, sizeof(data));
-#endif
-}
-
-void sendCF(unsigned char code, void* data, size_t size)
-{
-    pthread_mutex_lock(&sSendCF);
-
-    sendByteCF(code);
-    if (size > 0) {
-        unsigned char* p = data;
-        for (size_t i = 0; i < size; i++) {
-            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(&sSendCF);
-
-#ifdef PRINTRAWDATA
-    if (size > 0) {
-        printf("↑");
-        printDataCF(data, size);
-    }
-#endif
-}
-
-unsigned char readByteCF()
-{
-    unsigned char c;
-
-    while (read(fpga, &c, sizeof(c)) < 1) {
-        sleep(0);
-    }
-    return c;
-
-#ifdef PRINTRAWDATA
-    printf("↓");
-    printDataCF(&c, sizeof(c));
-#endif
-}
-
-void readCF(void* data, size_t size)
-{
-    size_t remaining = size;
-    int justRead;
-    char* p = data;
-    do {
-        justRead = read(fpga, p, remaining);
-        if (justRead > 0) {
-            p += justRead;
-            remaining -= justRead;
-        }
-    } while (remaining > 0);
-
-#ifdef PRINTRAWDATA
-    printf("↓");
-    printDataCF(data, size);
-#endif
-}
diff --git a/chef/src/CF.h b/chef/src/CF.h
deleted file mode 100644
index c32c33e..0000000
--- a/chef/src/CF.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef __CF_H_
-#define __CF_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 B115200
-// #define PRINTRAWDATA
-
-typedef void (*rxHandler)(void);
-
-void registerRxHandlerCF(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
deleted file mode 100644
index bca450f..0000000
--- a/chef/src/CFsignals.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- * 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;
-};
-
-// Met à jour la PWM (pour ctrl moteur (EN, IN × 2) × 2)
-#define C2FD_PWM 'W'
-struct __attribute__ ((packed)) C2FD_PWMs { 
-    uint8_t ena;
-    uint8_t enb;
-    uint8_t in;
-};
-
-// Met à jour la PWM (pour ctrl moteur (EN × 2) × 2)
-#define C2FD_PWM2 'w'
-struct __attribute__ ((packed)) C2FD_PWM2s { 
-    uint8_t ena;
-    uint8_t enc;
-    uint8_t enb;
-    uint8_t end;
-};
-
-#endif
diff --git a/chef/src/diagnostics.c b/chef/src/diagnostics.c
index a20820f..da9e8fa 100644
--- a/chef/src/diagnostics.c
+++ b/chef/src/diagnostics.c
@@ -7,7 +7,7 @@
 #include "lcd.h"
 
 #include "CA.h"
-#include "CF.h"
+#include "fpga.h"
 #include "actionneurs.h"
 #include "imu.h"
 #include "motor.h"
@@ -20,24 +20,6 @@ void setRecu()
     recu = true;
 }
 
-bool diagFPGA(void* arg)
-{
-    (void)arg;
-
-    recu = false;
-    registerRxHandlerCF(C2FD_PING, setRecu);
-    sendCF(C2FD_PING, NULL, 0);
-
-    for (int i = 0; i <= DIAGNOSTIC_SERIAL_TIMEOUT; i += DIAGNOSTIC_POLL_INTERVAL) {
-        if (recu) {
-            break;
-        }
-        usleep(DIAGNOSTIC_POLL_INTERVAL * 1000);
-    }
-    registerRxHandlerCF(C2FD_PING, NULL);
-    return recu;
-}
-
 bool diagArduino(void* arg)
 {
     (void)arg;
@@ -87,6 +69,12 @@ bool diagCodeuse(void* arg)
     }
 }
 
+bool diagFPGA(void* arg)
+{
+    (void)arg;
+    return connectedFPGA();
+}
+
 bool diagIMU(void* arg)
 {
     (void)arg;
diff --git a/chef/src/dimensions.h b/chef/src/dimensions.h
index 1ddc7bd..cf3905f 100644
--- a/chef/src/dimensions.h
+++ b/chef/src/dimensions.h
@@ -19,8 +19,8 @@
 #define MOTOR_SPEED_GAIN (MOTOR_SPEED_GAIN_RPMP_V / 60.0) // motor rev/s/V
 #define MOTOR_NOMINAL_TENSION 24.0 // V (from datasheet)
 #define MOTOR_CONTROLLER_ALIMENTATION 24.0 // V (from elec)
-#define MOTOR_CONTROLLER_REFERENCE 5 // V (from wiring)
-#define MOTOR_SATURATION_MIN 0 // V (from random)
+#define MOTOR_CONTROLLER_REFERENCE 5.0 // V (from wiring)
+#define MOTOR_SATURATION_MIN 0.0 // V (from random)
 #define MOTOR_SATURATION_MAX 3.0 // V (from testing)
 #define PWM_MAX 3.3 // V (from FPGA datasheet)
 #define CODER_RESOLUTION 370.0 // cycles/motor rev
@@ -42,5 +42,6 @@
 #define P 5.0
 #define I 0.0
 #define D 0.0
+#define M 0.0
 
 #endif
diff --git a/chef/src/fpga.c b/chef/src/fpga.c
new file mode 100644
index 0000000..fb1df62
--- /dev/null
+++ b/chef/src/fpga.c
@@ -0,0 +1,21 @@
+#include <stdlib.h>
+#include <stdio.h>
+#include "fpga.h"
+
+int fpgaFd = -1;
+
+int fdFPGA()
+{
+    if (fpgaFd < 0) {
+        fpgaFd = openI2C(FPGA_ADDRESS);
+        if (fpgaFd < 0) {
+            perror("fdFPGA.openI2C");
+        }
+    }
+    return fpgaFd;
+}
+
+bool connectedFPGA()
+{
+    return readI2C(fdFPGA(), FPGA_WHO_AM_I) == FPGA_IDENTITY;
+}
diff --git a/chef/src/fpga.h b/chef/src/fpga.h
new file mode 100644
index 0000000..04e2802
--- /dev/null
+++ b/chef/src/fpga.h
@@ -0,0 +1,43 @@
+#ifndef __FPGA_H__
+#define __FPGA_H__
+
+#include <stdbool.h>
+#include "i2c.h"
+
+#define FPGA_ADDRESS 0x42
+
+
+#define FPGA_WHO_AM_I 0x00
+#define FPGA_IDENTITY 0x50
+
+// Read
+#define CODER_LEFT_H 0x10
+#define CODER_LEFT_L 0x11
+#define CODER_RIGHT_H 0x12
+#define CODER_RIGHT_L 0x13
+#define CAPT_FRONT_LEFT_H_RAW 0x20
+#define CAPT_FRONT_LEFT_L_RAW 0x21
+#define CAPT_FRONT_RIGHT_H_RAW 0x22
+#define CAPT_FRONT_RIGHT_L_RAW 0x23
+#define CAPT_BACK_LEFT_H_RAW 0x24
+#define CAPT_BACK_LEFT_L_RAW 0x25
+#define CAPT_BACK_RIGHT_H_RAW 0x26
+#define CAPT_BACK_RIGHT_L_RAW 0x27
+#define CAPT_FRONT_LEFT_H 0x30
+#define CAPT_FRONT_LEFT_L 0x31
+#define CAPT_FRONT_RIGHT_H 0x32
+#define CAPT_FRONT_RIGHT_L 0x33
+#define CAPT_BACK_LEFT_H 0x34
+#define CAPT_BACK_LEFT_L 0x35
+#define CAPT_BACK_RIGHT_H 0x36
+#define CAPT_BACK_RIGHT_L 0x37
+
+// Write
+#define MOTOR_IN 0x60
+#define MOTOR_ENA 0x61
+#define MOTOR_ENB 0x62
+
+int fdFPGA();
+bool connectedFPGA();
+
+#endif
diff --git a/chef/src/i2c.c b/chef/src/i2c.c
index 9bf4216..289b083 100644
--- a/chef/src/i2c.c
+++ b/chef/src/i2c.c
@@ -1,18 +1,25 @@
 #include <pthread.h>
 #include <stdio.h>
 #include <stdlib.h>
+#include <unistd.h>
+#include <stdbool.h>
 #include <wiringPiI2C.h>
 
 #include "i2c.h"
 
 pthread_mutex_t sI2C;
 
+bool i2cInited = false;
+
 void initI2C()
 {
-    pthread_mutex_init(&sI2C, NULL);
+    if (!i2cInited) {
+        pthread_mutex_init(&sI2C, NULL);
+        i2cInited = true;
+    }
 }
 
-int openI2C(int8_t address)
+int openI2C(uint8_t address)
 {
     lockI2C();
     int fd = wiringPiI2CSetup(address);
@@ -24,24 +31,24 @@ int openI2C(int8_t address)
     return fd;
 }
 
-int8_t readI2C(int fd, int8_t reg)
+uint8_t readI2C(int fd, uint8_t reg)
 {
     lockI2C();
-    int8_t res = wiringPiI2CReadReg8(fd, reg);
+    uint8_t res = wiringPiI2CReadReg8(fd, reg);
     unlockI2C();
     return res;
 }
 
-void writeI2C(int fd, int8_t reg, int8_t data)
+void writeI2C(int fd, uint8_t reg, uint8_t data)
 {
-
     lockI2C();
-    int res = wiringPiI2CWriteReg8(fd, reg, data);
-    unlockI2C();
-    if (res < 0) {
+    int delay = 1;
+    while (wiringPiI2CWriteReg8(fd, reg, data) < 0) {
         perror("wiringPiI2CWriteReg8");
-        exit(EXIT_FAILURE);
+        usleep(delay);
+        delay *= 2;
     }
+    unlockI2C();
 }
 
 void lockI2C()
diff --git a/chef/src/i2c.h b/chef/src/i2c.h
index b5b90be..9181be9 100644
--- a/chef/src/i2c.h
+++ b/chef/src/i2c.h
@@ -4,9 +4,9 @@
 #include <stdint.h>
 
 void initI2C();
-int openI2C(int8_t address);
-int8_t readI2C(int fd, int8_t reg);
-void writeI2C(int fd, int8_t reg, int8_t data);
+int openI2C(uint8_t address);
+uint8_t readI2C(int fd, uint8_t reg);
+void writeI2C(int fd, uint8_t reg, uint8_t data);
 
 // Get full control over the I2C communication
 // Note: Don't use methods from this library
diff --git a/chef/src/lcd.c b/chef/src/lcd.c
index 78d8478..a5cbc84 100644
--- a/chef/src/lcd.c
+++ b/chef/src/lcd.c
@@ -37,7 +37,7 @@ void eraseLCD()
 void onLCD()
 {
     digitalWrite(LCD_ON_PIN, LOW);
-    delay(100);
+    delay(50);
 
     // TODO More details
     sendLCD(0x33, LCD_MODE_CMD); // Initialise
@@ -47,13 +47,13 @@ void onLCD()
     sendLCD(0x28, LCD_MODE_CMD); // Data length, number of lines, font size
     eraseLCD();
 
-    delay(50);
+    delay(25);
 }
 
 void offLCD()
 {
     digitalWrite(LCD_ON_PIN, HIGH);
-    delay(100);
+    delay(50);
 }
 
 void resetLCD()
diff --git a/chef/src/motor.c b/chef/src/motor.c
index 29b773a..67ae91c 100644
--- a/chef/src/motor.c
+++ b/chef/src/motor.c
@@ -3,6 +3,7 @@
 #include "actionneurs.h"
 #include "debug.h"
 #include "motor.h"
+#include "fpga.h"
 
 float lVolt;
 float rVolt;
@@ -15,9 +16,6 @@ pthread_mutex_t motCons;
 pthread_t tMotor;
 enum motorState motState = braking;
 
-static struct C2FD_PWMs msgBrake = { 0, 0, UINT8_MAX };
-static struct C2FD_PWMs msgFree = { 0, 0, (1 << IN1) | (1 << IN2) | (1 << IN3) | (1 << IN4) };
-
 void configureMotor()
 {
     registerDebugVar("lVolt", f, &lVolt);
@@ -57,29 +55,33 @@ void setMoteurTensionRaw(float l, float r, bool lFor, bool rFor)
     lVolt = l;
     rVolt = r;
 
+    uint8_t enA = 0;
+    uint8_t enB = 0;
+    uint8_t in = 0;
+
 #ifdef INVERSE_L_MOTOR
     lFor = !lFor;
 #endif
-    static struct C2FD_PWMs msg;
-    msg.in = 0x00;
     if (l > 0) {
-        msg.in |= 1 << (lFor ? IN1 : IN2);
-        msg.ena = moteurTensionToPWM(l);
+        in |= 1 << (lFor ? IN1 : IN2);
+        enA = moteurTensionToPWM(l);
     } else {
-        // Nothing needs to be changed for this motor controller
+        // Stay at 0 : brake mode
     }
 
 #ifdef INVERSE_R_MOTOR
     rFor = !rFor;
 #endif
     if (r > 0) {
-        msg.in |= 1 << (rFor ? IN3 : IN4);
-        msg.enb = moteurTensionToPWM(r);
+        in |= 1 << (rFor ? IN3 : IN4);
+        enB = moteurTensionToPWM(r);
     } else {
-        // Nothing needs to be changed for this motor controller
+        // Stay at 0 : brake mode
     }
 
-    sendCF(C2FD_PWM, &msg, sizeof(struct C2FD_PWMs));
+    writeI2C(fdFPGA(), MOTOR_IN, in);
+    writeI2C(fdFPGA(), MOTOR_ENA, enA);
+    writeI2C(fdFPGA(), MOTOR_ENB, enB);
 }
 
 void* TaskMotor(void* pData)
@@ -151,7 +153,6 @@ void* TaskMotor(void* pData)
             break;
         case freewheeling:
             rawFreewheel();
-            sendCF(C2FD_PWM, &msgFree, sizeof(struct C2FD_PWMs));
             break;
         }
 
@@ -165,13 +166,17 @@ void rawBrake()
 {
     lVolt = 0;
     rVolt = 0;
-    sendCF(C2FD_PWM, &msgBrake, sizeof(struct C2FD_PWMs));
+    writeI2C(fdFPGA(), MOTOR_IN, 0);
+    writeI2C(fdFPGA(), MOTOR_ENA, UINT8_MAX);
+    writeI2C(fdFPGA(), MOTOR_ENB, UINT8_MAX);
 }
 void rawFreewheel()
 {
     lVolt = 0;
     rVolt = 0;
-    sendCF(C2FD_PWM, &msgFree, sizeof(struct C2FD_PWMs));
+    writeI2C(fdFPGA(), MOTOR_IN, (1 << IN1) | (1 << IN2) | (1 << IN3) | (1 << IN4));
+    writeI2C(fdFPGA(), MOTOR_ENA, 0);
+    writeI2C(fdFPGA(), MOTOR_ENA, 0);
 }
 
 void setMoteurTension(float l, float r)
diff --git a/chef/src/motor.h b/chef/src/motor.h
index 3ce1683..2e1541b 100644
--- a/chef/src/motor.h
+++ b/chef/src/motor.h
@@ -3,8 +3,8 @@
 
 #include <math.h>
 #include <stdint.h>
+#include <stdbool.h>
 
-#include "CF.h"
 #include "dimensions.h"
 
 #define INVERSE_L_MOTOR
diff --git a/chef/src/movement.c b/chef/src/movement.c
index 15223d7..e2eab9e 100644
--- a/chef/src/movement.c
+++ b/chef/src/movement.c
@@ -38,7 +38,9 @@ void configureMovement()
     stop();
 
     configureMotor();
+#ifdef ENABLE_SECURITE
     configureSecurite();
+#endif
 
     nbCalcCons = 0;
 
@@ -123,8 +125,8 @@ void* TaskMovement(void* pData)
             yDiff = cons.y - connu.y;
             oDirEcart = angleGap(atan2(yDiff, xDiff), connu.o);
             float oErrRev = oDirEcart * DISTANCE_BETWEEN_WHEELS / WHEEL_PERIMETER;
-            float lVolt = -oErrRev * P;
-            float rVolt = oErrRev * P;
+            float lVolt = -oErrRev * P + (oErrRev > 0 ? -M : M);
+            float rVolt = oErrRev * P + (oErrRev > 0 ? M : -M);
             setMoteurTension(lVolt, rVolt);
 
             nbCalcCons++;
@@ -158,8 +160,8 @@ void* TaskMovement(void* pData)
 
             lErr = dErrRev - oErrRev;
             rErr = dErrRev + oErrRev;
-            float lVolt = lErr * P;
-            float rVolt = rErr * P;
+            float lVolt = lErr * P + (lErr > 0 ? M : -M);
+            float rVolt = rErr * P + (rErr > 0 ? M : -M);
             setMoteurTension(lVolt, rVolt);
 
             nbCalcCons++;
@@ -175,8 +177,8 @@ void* TaskMovement(void* pData)
                 lastPosCalc = getPositionNewer(&connu, lastPosCalc);
                 oDirEcart = angleGap(cons.o, connu.o);
                 float oErrRev = oDirEcart * DISTANCE_BETWEEN_WHEELS / WHEEL_PERIMETER;
-                float lVolt = -oErrRev * P;
-                float rVolt = oErrRev * P;
+                float lVolt = -oErrRev * P + (oErrRev > 0 ? -M : M);
+                float rVolt = oErrRev * P + (oErrRev > 0 ? M : -M);
                 setMoteurTension(lVolt, rVolt);
 
                 nbCalcCons++;
diff --git a/chef/src/parcours.c b/chef/src/parcours.c
index 468c232..e3b6111 100644
--- a/chef/src/parcours.c
+++ b/chef/src/parcours.c
@@ -112,28 +112,9 @@ void* TaskParcours(void* pdata)
 {
     (void)pdata;
 
-    float vitBase = 1.5;
-    float secuBase = 500;
-
-    for (int i = 0; i <= 3000; i++) {
-        float av, ar;
-        getDistance(&av, &ar);
-        if (av < secuBase || ar < secuBase) {
-            brake();
-        } else {
-            setMoteurTension(vitBase, vitBase);
-        }
-        usleep(1000);
-    }
-
-    return NULL;
-}
-
-void* TaskParcoursLoquet(void* pdata)
-{
-    (void)pdata;
-
-    gotoPoint(350, 0, 1.05*M_PI/3.0);
+    /* gotoPoint(350, 0, 1.05*M_PI/3.0); */
+    gotoPoint(500, 0, 0);
+    waitDestination();
     for (int i = 0; i < 5; i++) {
         setLoquet(false);
         setLoquet(true);
diff --git a/chef/src/position.c b/chef/src/position.c
index 9590e35..311d217 100644
--- a/chef/src/position.c
+++ b/chef/src/position.c
@@ -4,18 +4,18 @@
 
 #include <math.h>
 #include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
 #include <time.h>
 #include <unistd.h>
 
 #include "debug.h"
 #include "dimensions.h"
+#include "fpga.h"
 #include "position.h"
 
 // Globales
 struct position connu;
-struct F2CI_CODERs deltaCoders;
-pthread_mutex_t posPolling;
 pthread_mutex_t posConnu;
 pthread_cond_t newPos;
 pthread_t tPosition;
@@ -24,27 +24,18 @@ pthread_t tPosition;
 unsigned int nbCalcPos;
 long lCodTot, rCodTot;
 
-void onF2CI_CODER()
-{
-    readCF(&deltaCoders, sizeof(struct F2CI_CODERs));
-    pthread_mutex_unlock(&posPolling);
-}
-
-struct timespec maxDelayDelta = { 0, 10000000 };
+int16_t oldL, oldR;
+int16_t newL, newR;
+int16_t deltaL, deltaR;
 
 void updateDelta()
 {
-    int ret = -1;
-    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);
+    newL = (readI2C(fdFPGA(), CODER_LEFT_H) << 8 | readI2C(fdFPGA(), CODER_LEFT_L));
+    newR = (readI2C(fdFPGA(), CODER_RIGHT_H) << 8 | readI2C(fdFPGA(), CODER_RIGHT_L));
+    deltaL = (abs(oldL - newL) < UINT16_MAX/2) ? newL - oldL : UINT16_MAX - oldL + newL;
+    deltaR = (abs(oldR - newR) < UINT16_MAX/2) ? newR - oldR : UINT16_MAX - oldR + newR;
+    oldL = newL;
+    oldR = newR;
 }
 
 void* TaskPosition(void* pData)
@@ -55,6 +46,8 @@ void* TaskPosition(void* pData)
     nbCalcPos = 0;
     lCodTot = 0;
     rCodTot = 0;
+    oldL = 0;
+    oldR = 0;
 
     updateDelta();
 
@@ -64,16 +57,16 @@ void* TaskPosition(void* pData)
 
         // Calculation
 #ifdef INVERSE_L_CODER
-        deltaCoders.dL = -deltaCoders.dL;
+        deltaL = -deltaL;
 #endif
 #ifdef INVERSE_R_CODER
-        deltaCoders.dR = -deltaCoders.dR;
+        deltaR = -deltaR;
 #endif
-        lCodTot += deltaCoders.dL;
-        rCodTot += deltaCoders.dR;
+        lCodTot += deltaL;
+        rCodTot += deltaR;
 
-        float dR = deltaCoders.dR * AV_PER_CYCLE;
-        float dL = deltaCoders.dL * AV_PER_CYCLE;
+        float dR = deltaR * AV_PER_CYCLE;
+        float dL = deltaL * AV_PER_CYCLE;
 
         float deltaO = atan2(dR - dL, DISTANCE_BETWEEN_WHEELS);
         float deltaD = (dL + dR) / 2;
@@ -94,12 +87,12 @@ void* TaskPosition(void* pData)
 
 void configurePosition()
 {
-    pthread_mutex_init(&posPolling, NULL);
     pthread_mutex_init(&posConnu, NULL);
     pthread_cond_init(&newPos, NULL);
-    registerRxHandlerCF(F2CI_CODER, onF2CI_CODER);
     registerDebugVar("lCodTot", ld, &lCodTot);
     registerDebugVar("rCodTot", ld, &rCodTot);
+    registerDebugVar("newL", ld, &newL);
+    registerDebugVar("newR", ld, &newR);
     connu.x = 0;
     connu.y = 0;
     connu.o = 0;
diff --git a/chef/src/position.h b/chef/src/position.h
index f645949..544087c 100644
--- a/chef/src/position.h
+++ b/chef/src/position.h
@@ -5,9 +5,6 @@
 #ifndef __POSITION_H_
 #define __POSITION_H_
 
-#include "CF.h"
-#include <pthread.h>
-
 // #define INVERSE_L_CODER
 #define INVERSE_R_CODER
 
diff --git a/chef/src/premier.c b/chef/src/premier.c
index ef014e2..acac81d 100644
--- a/chef/src/premier.c
+++ b/chef/src/premier.c
@@ -6,7 +6,6 @@
 #include <unistd.h> // sleep
 #include <wiringPi.h>
 
-#include "CF.h"
 #include "actionneurs.h"
 #include "debug.h"
 #include "i2c.h"
@@ -35,7 +34,6 @@ int main()
 
     configureDebug();
     configureIHM();
-    configureCF();
     configureIMU();
     configureActionneurs();
     configurePosition();
@@ -55,7 +53,6 @@ int main()
     deconfigurePosition();
     deconfigureActionneurs();
     deconfigureIMU();
-    deconfigureCF();
     deconfigureIHM();
     deconfigureDebug();
     return EXIT_SUCCESS;
diff --git a/chef/src/securite.c b/chef/src/securite.c
index 4b715c1..4a16e16 100644
--- a/chef/src/securite.c
+++ b/chef/src/securite.c
@@ -4,42 +4,32 @@
 #include <unistd.h>
 
 #include "debug.h"
+#include "fpga.h"
 #include "securite.h"
 
 // Globales
 pthread_t tSecurite;
-pthread_mutex_t secPolling;
 pthread_mutex_t secData;
-struct F2CI_CAPTs secRaw;
+float secFrontL, secFrontR, secBackL, secBackR;
 float secFront, secBack;
 
-void onF2CI_CAPT()
-{
-    readCF(&secRaw, sizeof(struct F2CI_CAPTs));
-    pthread_mutex_unlock(&secPolling);
-}
-
-struct timespec maxDelaySecu = { 0, 10000000 };
-
 void* TaskSecurite(void* pData)
 {
     (void)pData;
 
     for (;;) {
 
-        int ret = -1;
-        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);
-        secFront = (float)secRaw.front * SOUND_MM_P_MS;
-        secBack = (float)secRaw.back * SOUND_MM_P_MS;
+        uint16_t secFrontLB = (readI2C(fdFPGA(), CAPT_FRONT_LEFT_H) << 8 | readI2C(fdFPGA(), CAPT_FRONT_LEFT_L));
+        uint16_t secFrontRB = (readI2C(fdFPGA(), CAPT_FRONT_RIGHT_H) << 8 | readI2C(fdFPGA(), CAPT_FRONT_RIGHT_L));
+        uint16_t secBackLB = (readI2C(fdFPGA(), CAPT_BACK_LEFT_H) << 8 | readI2C(fdFPGA(), CAPT_BACK_LEFT_L));
+        uint16_t secBackRB = (readI2C(fdFPGA(), CAPT_BACK_RIGHT_H) << 8 | readI2C(fdFPGA(), CAPT_BACK_RIGHT_L));
+        secFrontL = secFrontLB * SOUND_MM_P_MS;
+        secFrontR = secFrontRB * SOUND_MM_P_MS;
+        secBackL = secBackLB * SOUND_MM_P_MS;
+        secBackR = secBackRB * SOUND_MM_P_MS;
+        secFront = fmin(secFrontL, secFrontR);
+        secBack = fmin(secBackL, secBackR);
         pthread_mutex_unlock(&secData);
 
         usleep(SENSOR_SAMPLING_INTERVAL * 1000);
@@ -48,6 +38,16 @@ void* TaskSecurite(void* pData)
     return NULL;
 }
 
+void getAllDistance(float* frontL, float* frontR, float* backL, float* backR)
+{
+    pthread_mutex_lock(&secData);
+    *frontR = secFrontR;
+    *frontL = secFrontL;
+    *backL = secBackL;
+    *backR = secBackR;
+    pthread_mutex_unlock(&secData);
+}
+
 void getDistance(float* front, float* back)
 {
     pthread_mutex_lock(&secData);
@@ -58,11 +58,13 @@ void getDistance(float* front, float* back)
 
 void configureSecurite()
 {
-    pthread_mutex_init(&secPolling, NULL);
-    pthread_mutex_init(&secData, NULL);
-    registerRxHandlerCF(F2CI_CAPT, onF2CI_CAPT);
     registerDebugVar("secFront", f, &secFront);
     registerDebugVar("secBack", f, &secBack);
+    registerDebugVar("secFrontL", f, &secFrontL);
+    registerDebugVar("secBackL", f, &secBackL);
+    registerDebugVar("secFrontR", f, &secFrontR);
+    registerDebugVar("secBackR", f, &secBackR);
+    pthread_mutex_init(&secData, NULL);
     pthread_create(&tSecurite, NULL, TaskSecurite, NULL);
 }
 
diff --git a/chef/src/securite.h b/chef/src/securite.h
index 11b51a7..f288630 100644
--- a/chef/src/securite.h
+++ b/chef/src/securite.h
@@ -1,7 +1,6 @@
 #ifndef __SECURITE_H_
 #define __SECURITE_H_
 
-#include "CF.h"
 #include <pthread.h>
 
 #define SOUND_MM_P_MS 0.3312
@@ -11,6 +10,7 @@
 void configureSecurite();
 void deconfigureSecurite();
 void getDistance(float* avant, float* arriere);
+void getAllDistance(float* frontL, float* frontR, float* backL, float* backR);
 
 #endif
 
diff --git a/chef/src/test1m.c b/chef/src/test1m.c
index 534edc2..6fc8dd4 100644
--- a/chef/src/test1m.c
+++ b/chef/src/test1m.c
@@ -6,7 +6,6 @@
 #include <unistd.h> // sleep
 #include <wiringPi.h>
 
-#include "CF.h"
 #include "actionneurs.h"
 #include "debug.h"
 #include "i2c.h"
@@ -35,7 +34,6 @@ int main()
     srand(time(NULL));
 
     configureDebug();
-    configureCF();
     configureIMU();
     configureActionneurs();
     configurePosition();
@@ -43,9 +41,7 @@ int main()
     startDebug();
 
     debugSetActive(true);
-    sleep(1);
-    /* struct position pos = {350, 0, -0.95*M_PI/3.0 }; */
-    struct position pos = {100000, 0, 0 };
+    struct position pos = {1000, 0, 0 };
     setDestination(&pos);
     waitDestination();
     for (;;) {
@@ -66,7 +62,6 @@ int main()
     deconfigurePosition();
     deconfigureActionneurs();
     deconfigureIMU();
-    deconfigureCF();
     deconfigureDebug();
     return EXIT_SUCCESS;
 }
diff --git a/chef/src/testAvance.c b/chef/src/testAvance.c
index 534edc2..e235dec 100644
--- a/chef/src/testAvance.c
+++ b/chef/src/testAvance.c
@@ -6,7 +6,6 @@
 #include <unistd.h> // sleep
 #include <wiringPi.h>
 
-#include "CF.h"
 #include "actionneurs.h"
 #include "debug.h"
 #include "i2c.h"
@@ -35,23 +34,16 @@ int main()
     srand(time(NULL));
 
     configureDebug();
-    configureCF();
-    configureIMU();
-    configureActionneurs();
     configurePosition();
     configureMovement();
     startDebug();
 
     debugSetActive(true);
     sleep(1);
-    /* struct position pos = {350, 0, -0.95*M_PI/3.0 }; */
     struct position pos = {100000, 0, 0 };
     setDestination(&pos);
     waitDestination();
-    for (;;) {
-        setLoquet(false);
-        setLoquet(true);
-    }
+    brake();
     printf("Done\n");
 
     // Bloque jusqu'à l'arrivée d'un signal
@@ -64,9 +56,6 @@ int main()
 
     deconfigureMovement();
     deconfigurePosition();
-    deconfigureActionneurs();
-    deconfigureIMU();
-    deconfigureCF();
     deconfigureDebug();
     return EXIT_SUCCESS;
 }
diff --git a/chef/src/testCodeuse.c b/chef/src/testCodeuse.c
index 8e1bd1e..dc34127 100644
--- a/chef/src/testCodeuse.c
+++ b/chef/src/testCodeuse.c
@@ -6,17 +6,14 @@
 #include <unistd.h> // sleep
 #include <wiringPi.h>
 
-#include "CF.h"
 #include "debug.h"
 #include "i2c.h"
-#include "ihm.h"
-#include "imu.h"
 #include "motor.h"
 #include "position.h"
 
 pthread_mutex_t sRunning;
 
-#define VIT 0
+#define VIT 1
 
 void endRunning(int signal)
 {
@@ -28,11 +25,13 @@ int main()
 {
 
     configureDebug();
-    configureCF();
     configurePosition();
     configureMotor();
+    startDebug();
+    debugSetActive(true);
 
-    setPWMTension(VIT, VIT);
+    setMoteurTension(VIT, VIT);
+    /* freewheel(); */
 
     long lCod, rCod;
     for (;;) {
diff --git a/chef/src/testForward.c b/chef/src/testForward.c
index ed7c734..7be54a8 100644
--- a/chef/src/testForward.c
+++ b/chef/src/testForward.c
@@ -8,45 +8,46 @@
 #include <wiringPiI2C.h>
 
 #include "lcd.h"
-#include "CF.h"
 #include "motor.h"
 #include "buttons.h"
 
-#define PATATE 2
-
 int main(int argc, char* argv[])
 {
 
     (void)argc;
     (void)argv;
 
+    float patate = 2;
+    if (argc == 2) {
+        sscanf(argv[1], "%f", &patate);
+    }
+
     wiringPiSetup();
 
     initI2C();
     initLCD();
-    configureCF();
     configureButtons();
     configureMotor();
 
     for (;;) {
         clearLCD();
         printToLCD(LCD_LINE_1, "Forward");
-        setMoteurTension(PATATE, PATATE);
+        setMoteurTension(patate, patate);
         pressedButton(BUT_BLOCK);
 
         clearLCD();
         printToLCD(LCD_LINE_1, "Right");
-        setMoteurTension(-PATATE, PATATE);
+        setMoteurTension(-patate, patate);
         pressedButton(BUT_BLOCK);
 
         clearLCD();
         printToLCD(LCD_LINE_1, "Left");
-        setMoteurTension(PATATE, -PATATE);
+        setMoteurTension(patate, -patate);
         pressedButton(BUT_BLOCK);
 
         clearLCD();
         printToLCD(LCD_LINE_1, "Backward");
-        setMoteurTension(-PATATE, -PATATE);
+        setMoteurTension(-patate, -patate);
         pressedButton(BUT_BLOCK);
 
         clearLCD();
diff --git a/chef/src/testFree.c b/chef/src/testFree.c
index 2430937..b6ffd3b 100644
--- a/chef/src/testFree.c
+++ b/chef/src/testFree.c
@@ -2,7 +2,6 @@
 
 #include <stdlib.h>
 
-#include "CF.h"
 #include "motor.h"
 
 int main(int argc, char* argv[])
@@ -11,7 +10,8 @@ int main(int argc, char* argv[])
     (void)argc;
     (void)argv;
 
-    configureCF();
     configureMotor();
+
     freewheel();
+
 }
diff --git a/chef/src/testOrange.c b/chef/src/testOrange.c
deleted file mode 100644
index 22229eb..0000000
--- a/chef/src/testOrange.c
+++ /dev/null
@@ -1,71 +0,0 @@
-#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 "actionneurs.h"
-#include "debug.h"
-#include "i2c.h"
-#include "ihm.h"
-#include "imu.h"
-#include "movement.h"
-#include "motor.h"
-#include "position.h"
-
-pthread_mutex_t sRunning;
-
-void endRunning(int signal)
-{
-    (void)signal;
-    pthread_mutex_unlock(&sRunning);
-}
-
-int main()
-{
-
-    if (wiringPiSetup() < 0) {
-        fprintf(stderr, "Impossible d'initialiser WiringPi\n");
-        exit(EXIT_FAILURE);
-    }
-    initI2C();
-    srand(time(NULL));
-
-    configureDebug();
-    configureCF();
-    configureIMU();
-    configureActionneurs();
-    configurePosition();
-    configureMovement();
-    startDebug();
-
-    debugSetActive(true);
-    sleep(1);
-    struct position pos = {350, 0, -0.95*M_PI/3.0 };
-    setDestination(&pos);
-    sleep(3);
-    for (;;) {
-        setLoquet(false);
-        setLoquet(true);
-    }
-    printf("Done\n");
-
-    // Bloque jusqu'à l'arrivée d'un signal
-    pthread_mutex_init(&sRunning, NULL);
-    signal(SIGINT, endRunning);
-    signal(SIGTERM, endRunning);
-    signal(SIGQUIT, endRunning);
-    pthread_mutex_lock(&sRunning);
-    pthread_mutex_lock(&sRunning);
-
-    deconfigureMovement();
-    deconfigurePosition();
-    deconfigureActionneurs();
-    deconfigureIMU();
-    deconfigureCF();
-    deconfigureDebug();
-    return EXIT_SUCCESS;
-}
diff --git a/chef/src/testParcours.c b/chef/src/testParcours.c
deleted file mode 100644
index e6823c9..0000000
--- a/chef/src/testParcours.c
+++ /dev/null
@@ -1,55 +0,0 @@
-#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 "imu.h"
-#include "movement.h"
-#include "buttons.h"
-#include "parcours.h"
-#include "position.h"
-
-pthread_mutex_t sRunning;
-
-int main()
-{
-
-    if (wiringPiSetup() < 0) {
-        fprintf(stderr, "Impossible d'initialiser WiringPi\n");
-        exit(EXIT_FAILURE);
-    }
-    initI2C();
-    srand(time(NULL));
-
-    configureDebug();
-    configureCF();
-    configureIMU();
-    configurePosition();
-    configureMovement();
-    startDebug();
-
-    configureParcours();
-    prepareParcours(false);
-    startParcours();
-
-    int toWait;
-    while ((toWait = updateParcours()) >= 0) {
-        if (pressedButton(toWait) != none) {
-            break;
-        }
-    }
-    stopParcours();
-
-    deconfigureMovement();
-    deconfigurePosition();
-    deconfigureIMU();
-    deconfigureCF();
-    deconfigureDebug();
-    return EXIT_SUCCESS;
-}
diff --git a/chef/src/testPuissance.c b/chef/src/testPuissance.c
deleted file mode 100644
index 7a347ba..0000000
--- a/chef/src/testPuissance.c
+++ /dev/null
@@ -1,26 +0,0 @@
-#include <stdlib.h>
-#include <unistd.h>
-
-#include "CF.h"
-#include "motor.h"
-#include "debug.h"
-
-int main(int argc, char* argv[])
-{
-
-    (void)argc;
-    (void)argv;
-
-    configureDebug();
-    configureCF();
-    configureMotor();
-
-    setMoteurTension(24, 24);
-    sleep(10);
-    setMoteurTension(0, 0);
-    sleep(3);
-
-    deconfigureMotor();
-    deconfigureCF();
-    deconfigureDebug();
-}
diff --git a/chef/src/testRecule.c b/chef/src/testRecule.c
deleted file mode 100644
index 798d56a..0000000
--- a/chef/src/testRecule.c
+++ /dev/null
@@ -1,72 +0,0 @@
-#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 "actionneurs.h"
-#include "debug.h"
-#include "i2c.h"
-#include "ihm.h"
-#include "imu.h"
-#include "movement.h"
-#include "motor.h"
-#include "position.h"
-
-pthread_mutex_t sRunning;
-
-void endRunning(int signal)
-{
-    (void)signal;
-    pthread_mutex_unlock(&sRunning);
-}
-
-int main()
-{
-
-    if (wiringPiSetup() < 0) {
-        fprintf(stderr, "Impossible d'initialiser WiringPi\n");
-        exit(EXIT_FAILURE);
-    }
-    initI2C();
-    srand(time(NULL));
-
-    configureDebug();
-    configureCF();
-    configureIMU();
-    configureActionneurs();
-    configurePosition();
-    configureMovement();
-    startDebug();
-
-    debugSetActive(true);
-    sleep(1);
-    /* struct position pos = {350, 0, -0.95*M_PI/3.0 }; */
-    struct position pos = {-100000, 0, 0 };
-    setDestination(&pos);
-    waitDestination();
-    for (;;) {
-        setLoquet(false);
-        setLoquet(true);
-    }
-    printf("Done\n");
-
-    // Bloque jusqu'à l'arrivée d'un signal
-    pthread_mutex_init(&sRunning, NULL);
-    signal(SIGINT, endRunning);
-    signal(SIGTERM, endRunning);
-    signal(SIGQUIT, endRunning);
-    pthread_mutex_lock(&sRunning);
-    pthread_mutex_lock(&sRunning);
-
-    deconfigureMovement();
-    deconfigurePosition();
-    deconfigureActionneurs();
-    deconfigureIMU();
-    deconfigureCF();
-    deconfigureDebug();
-    return EXIT_SUCCESS;
-}
diff --git a/chef/src/testRot.c b/chef/src/testRot.c
deleted file mode 100644
index bf053bb..0000000
--- a/chef/src/testRot.c
+++ /dev/null
@@ -1,77 +0,0 @@
-#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 "actionneurs.h"
-#include "debug.h"
-#include "i2c.h"
-#include "ihm.h"
-#include "imu.h"
-#include "movement.h"
-#include "motor.h"
-#include "position.h"
-
-pthread_mutex_t sRunning;
-
-void endRunning(int signal)
-{
-    (void)signal;
-    pthread_mutex_unlock(&sRunning);
-}
-
-int main()
-{
-
-    if (wiringPiSetup() < 0) {
-        fprintf(stderr, "Impossible d'initialiser WiringPi\n");
-        exit(EXIT_FAILURE);
-    }
-    initI2C();
-    srand(time(NULL));
-
-    configureDebug();
-    configureCF();
-    configureIMU();
-    printf("40\n");
-    configureActionneurs();
-    printf("41\n");
-    configurePosition();
-    printf("44\n");
-    configureMovement();
-    printf("46\n");
-    startDebug();
-    printf("48\n");
-
-    debugSetActive(true);
-    sleep(1);
-    printf("46\n");
-    struct position pos = { 0, 0, M_PI_2 };
-    setDestination(&pos);
-    printf("50\n");
-    waitDestination();
-    printf("52\n");
-    printf("54\n");
-    brake();
-    printf("Done\n");
-
-    // Bloque jusqu'à l'arrivée d'un signal
-    pthread_mutex_init(&sRunning, NULL);
-    signal(SIGINT, endRunning);
-    signal(SIGTERM, endRunning);
-    signal(SIGQUIT, endRunning);
-    pthread_mutex_lock(&sRunning);
-    pthread_mutex_lock(&sRunning);
-
-    deconfigureMovement();
-    deconfigurePosition();
-    deconfigureActionneurs();
-    deconfigureIMU();
-    deconfigureCF();
-    deconfigureDebug();
-    return EXIT_SUCCESS;
-}
diff --git a/chef/src/testSecu.c b/chef/src/testSecu.c
index fadfe7a..fc0b797 100644
--- a/chef/src/testSecu.c
+++ b/chef/src/testSecu.c
@@ -3,7 +3,7 @@
 #include <unistd.h>
 #include <unistd.h>
 
-#include "CF.h"
+#include "i2c.h"
 #include "securite.h"
 
 int main(int argc, char* argv[])
@@ -12,14 +12,14 @@ int main(int argc, char* argv[])
     (void)argc;
     (void)argv;
 
-    configureCF();
+    initI2C();
     configureSecurite();
 
-    float f, b;
+    float fl, fr, bl, br;
 
     for (;;) {
-        getDistance(&f, &b);
-        printf("Av: %6f Ar: %6f\n", f, b);
+        getAllDistance(&fl, &fr, &bl, &br);
+        printf("FL: %9f FR: %9f BL: %9f BR: %9f\n", fl, fr, bl, br);
         usleep(60 * 1000);
     }
 }
diff --git a/chef/src/testSlow.c b/chef/src/testSlow.c
deleted file mode 100644
index 9807f17..0000000
--- a/chef/src/testSlow.c
+++ /dev/null
@@ -1,48 +0,0 @@
-/* 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 "motor.h"
-#include "buttons.h"
-
-#define VIT 1
-#define VITL VIT
-#define VITR VIT
-
-
-void setPWMTensionWrapper(float l, float r) {
-    /* clearLCD(); */
-    printfToLCD(LCD_LINE_1, "L: %f", l);
-    printfToLCD(LCD_LINE_2, "R: %f", r);
-    setPWMTension(l, r);
-}
-
-int main(int argc, char* argv[])
-{
-
-    (void)argc;
-    (void)argv;
-
-    wiringPiSetup();
-
-    initI2C();
-    initLCD();
-    configureCF();
-    configureButtons();
-    configureMotor();
-
-    for (;;) {
-        setPWMTensionWrapper(VITL, VITR);
-        pressedButton(BUT_BLOCK);
-        brake();
-        pressedButton(BUT_BLOCK);
-    }
-
-}
diff --git a/chef/src/testStop.c b/chef/src/testStop.c
index 0bc7782..7b7f999 100644
--- a/chef/src/testStop.c
+++ b/chef/src/testStop.c
@@ -2,7 +2,6 @@
 
 #include <stdlib.h>
 
-#include "CF.h"
 #include "motor.h"
 
 int main(int argc, char* argv[])
@@ -11,8 +10,8 @@ int main(int argc, char* argv[])
     (void)argc;
     (void)argv;
 
-    configureCF();
     configureMotor();
-    stop();
+
+    brake();
 
 }
diff --git a/chef/src/testUpDown.c b/chef/src/testUpDown.c
index 4ed3700..9bc1734 100644
--- a/chef/src/testUpDown.c
+++ b/chef/src/testUpDown.c
@@ -8,15 +8,15 @@
 #include <wiringPiI2C.h>
 
 #include "lcd.h"
-#include "CF.h"
 #include "motor.h"
 #include "buttons.h"
+#include "dimensions.h"
 
 #define UP_TIME 1000
 #define HIGH_TIME 3000
 #define DOWN_TIME 1000
 #define LOW_TIME 2000
-#define MAXI 12
+#define MAXI MOTOR_SATURATION_MAX
 #define INTERVAL 10
 
 void changerMoteursWrapper(float l, float r) {
@@ -36,7 +36,6 @@ int main(int argc, char* argv[])
 
     initI2C();
     initLCD();
-    configureCF();
     configureButtons();
     configureMotor();