diff --git a/CMakeLists.txt b/CMakeLists.txt
index 73af9c0..8994b12 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(Modelec COMPONENTS
 
 add_executable(GameController
         main.cpp
-        GameControllerHandler.h)
+        GameControllerHandler.cpp)
 
 target_link_libraries(GameController ${SDL2_LIBRARIES})
 target_link_libraries(GameController Modelec::TCPClient Modelec::Utils Modelec::CLParser)
diff --git a/GameControllerHandler.cpp b/GameControllerHandler.cpp
index 86b3f98..1dc9160 100644
--- a/GameControllerHandler.cpp
+++ b/GameControllerHandler.cpp
@@ -1 +1,129 @@
 #include "GameControllerHandler.h"
+
+GameControllerHandler::GameControllerHandler(const char *ip, int port) : TCPClient(ip, port), controller(nullptr) {}
+
+bool GameControllerHandler::init() {
+    if (SDL_Init(SDL_INIT_GAMECONTROLLER) != 0) {
+        std::cerr << "SDL initialization failed: " << SDL_GetError() << std::endl;
+        return false;
+    }
+    if (!SDL_IsGameController(0)) {
+        std::cerr << "No compatible controllers connected.\n";
+        return false;
+    }
+    controller = SDL_GameControllerOpen(0);
+    if (controller == nullptr) {
+        std::cerr << "Failed to open game controller: " << SDL_GetError() << std::endl;
+        return false;
+    }
+    return true;
+}
+
+void GameControllerHandler::start() {
+    TCPClient::start();
+
+    std::thread t(&GameControllerHandler::handleEvents, this);
+    t.detach();
+
+    this->sendMessage("gc;strat;ready;1\n");
+}
+
+void GameControllerHandler::handleMessage(const std::string &message) {
+    std::vector<std::string> tokens = Modelec::split(message, ";");
+
+    if (tokens[1] == "all" || tokens[1] == "lidar") {
+        if (tokens[2] == "set range") {
+            this->lidarDectectionDistance = stod(tokens[3]);
+        }
+    }
+
+    if (tokens[1] == "all" || tokens[1] == "gc") {
+        if (tokens[2] == "stop proximity") {
+            std::vector<std::string> args = Modelec::split(tokens[3], ",");
+            double distance = stod(args[0]);
+            Uint16 strength;
+
+            if (distance <= 100) {
+                strength = 0xFFFF;
+            } else if (distance <= 500) {
+                double factor = 1 - Modelec::mapValue(distance, 100.0, this->lidarDectectionDistance, 0.0, 1.0);
+                strength = static_cast<Uint16>(factor * 0xFFFF);
+            } else {
+                strength = 0;
+            }
+
+            if (SDL_GameControllerRumble(controller, strength, strength, 1000) != 0) {
+                std::cerr << "Erreur lors de l'activation de la vibration : " << SDL_GetError() << std::endl;
+            }
+        }
+
+        if (tokens[2] == "ready") {
+            this->sendMessage("gc;all;game mode;gc\n");
+        }
+    }
+}
+
+void GameControllerHandler::handleEvents() {
+    while (running) {
+        SDL_Event event;
+        while (SDL_PollEvent(&event)) {
+            switch (event.type) {
+                case SDL_QUIT:
+                    running = false;
+                    this->sendMessage("gc;strat;disconnect;1\n");
+                break;
+                case SDL_CONTROLLERAXISMOTION:
+                    if (event.caxis.axis == SDL_CONTROLLER_AXIS_TRIGGERLEFT) {
+                        // std::cout << "Trigger left moved to " << event.caxis.value << std::endl;
+                        this->sendMessage("gc;strat;trigger;0," + std::to_string(event.caxis.value) + "\n");
+                    } else if (event.caxis.axis == SDL_CONTROLLER_AXIS_TRIGGERRIGHT) {
+                        // std::cout << "Trigger right moved to " << event.caxis.value << std::endl;
+                        this->sendMessage("gc;strat;trigger;1," + std::to_string(event.caxis.value) + "\n");
+                    }
+                    else if (event.caxis.axis == SDL_CONTROLLER_AXIS_LEFTX) {
+                        // std::cout << "Left X axis moved to " << event.caxis.value << std::endl;
+                        this->sendMessage("gc;strat;axis;0," + std::to_string(event.caxis.value) + "\n");
+                    }
+                    else if (event.caxis.axis == SDL_CONTROLLER_AXIS_LEFTY) {
+                        std::cout << "Left Y axis moved to " << event.caxis.value << std::endl;
+                        this->sendMessage("gc;strat;axis;1," + std::to_string(event.caxis.value) + "\n");
+                    }
+                    else if (event.caxis.axis == SDL_CONTROLLER_AXIS_RIGHTX) {
+                        // std::cout << "Right X axis moved to " << event.caxis.value << std::endl;
+                        this->sendMessage("gc;strat;axis;2," + std::to_string(event.caxis.value) + "\n");
+                    }
+                    else if (event.caxis.axis == SDL_CONTROLLER_AXIS_RIGHTY) {
+                        // std::cout << "Right Y axis moved to " << event.caxis.value << std::endl;
+                        // this->sendMessage("gc;strat;axis;3," + std::to_string(event.caxis.value) + "\n");
+                    }
+                break;
+                case SDL_CONTROLLERBUTTONDOWN:
+                    // std::cout << "Button down " << static_cast<int>(event.cbutton.button) << std::endl;
+                    this->sendMessage("gc;strat;button down;" + std::to_string(event.cbutton.button) + "\n");
+                break;
+                case SDL_CONTROLLERBUTTONUP:
+                    // std::cout << "Button up " << static_cast<int>(event.cbutton.button) << std::endl;
+                    this->sendMessage("gc;strat;button up;" + std::to_string(event.cbutton.button) + "\n");
+                break;
+                default:
+                    break;
+            }
+        }
+    }
+}
+
+void GameControllerHandler::closeController() {
+    if (controller != nullptr) {
+        SDL_GameControllerClose(controller);
+        controller = nullptr;
+    }
+}
+
+void GameControllerHandler::close() {
+    closeController();
+}
+
+GameControllerHandler::~GameControllerHandler() {
+    close();
+    SDL_Quit();
+}
\ No newline at end of file
diff --git a/GameControllerHandler.h b/GameControllerHandler.h
index 33c43b3..789672f 100644
--- a/GameControllerHandler.h
+++ b/GameControllerHandler.h
@@ -8,131 +8,21 @@
 
 class GameControllerHandler : public TCPClient {
 public:
-    explicit GameControllerHandler(const char* ip = "127.0.0.1", int port = 8080) : TCPClient(ip, port), controller(nullptr) {}
+    explicit GameControllerHandler(const char* ip = "127.0.0.1", int port = 8080);
 
-    bool init() {
-        if (SDL_Init(SDL_INIT_GAMECONTROLLER) != 0) {
-            std::cerr << "SDL initialization failed: " << SDL_GetError() << std::endl;
-            return false;
-        }
-        if (!SDL_IsGameController(0)) {
-            std::cerr << "No compatible controllers connected.\n";
-            return false;
-        }
-        controller = SDL_GameControllerOpen(0);
-        if (controller == nullptr) {
-            std::cerr << "Failed to open game controller: " << SDL_GetError() << std::endl;
-            return false;
-        }
-        return true;
-    }
+    bool init();
 
-    void start() {
-        TCPClient::start();
+    void start();
 
-        std::thread t(&GameControllerHandler::handleEvents, this);
-        t.detach();
-    }
+    void handleMessage(const std::string &message) override;
 
-    void handleMessage(const std::string &message) override {
-        std::vector<std::string> tokens = Modelec::split(message, ";");
+    void handleEvents();
 
-        if (tokens[1] == "all" || tokens[1] == "lidar") {
-            if (tokens[2] == "set range") {
-                this->lidarDectectionDistance = stod(tokens[3]);
-            }
-        }
+    void closeController();
 
-        if (tokens[1] == "all" || tokens[1] == "gc") {
-            if (tokens[2] == "stop proximity") {
-                std::vector<std::string> args = Modelec::split(tokens[3], ",");
-                double distance = stod(args[0]);
-                Uint16 strength;
+    void close();
 
-                if (distance <= 100) {
-                    strength = 0xFFFF;
-                } else if (distance <= 500) {
-                    double factor = 1 - Modelec::mapValue(distance, 100.0, this->lidarDectectionDistance, 0.0, 1.0);
-                    strength = static_cast<Uint16>(factor * 0xFFFF);
-                } else {
-                    strength = 0;
-                }
-
-                if (SDL_GameControllerRumble(controller, strength, strength, 1000) != 0) {
-                    std::cerr << "Erreur lors de l'activation de la vibration : " << SDL_GetError() << std::endl;
-                }
-            }
-
-            if (tokens[2] == "ready") {
-                this->sendMessage("gc;all;game mode;gc\n");
-            }
-        }
-    }
-
-    void handleEvents() {
-        while (running) {
-            SDL_Event event;
-            while (SDL_PollEvent(&event)) {
-                switch (event.type) {
-                    case SDL_QUIT:
-                        running = false;
-                        this->sendMessage("gc;strat;disconnect;1\n");
-                    break;
-                    case SDL_CONTROLLERAXISMOTION:
-                        if (event.caxis.axis == SDL_CONTROLLER_AXIS_TRIGGERLEFT) {
-                            // std::cout << "Trigger left moved to " << event.caxis.value << std::endl;
-                            this->sendMessage("gc;strat;trigger;0," + std::to_string(event.caxis.value) + "\n");
-                        } else if (event.caxis.axis == SDL_CONTROLLER_AXIS_TRIGGERRIGHT) {
-                            // std::cout << "Trigger right moved to " << event.caxis.value << std::endl;
-                            this->sendMessage("gc;strat;trigger;1," + std::to_string(event.caxis.value) + "\n");
-                        }
-                        else if (event.caxis.axis == SDL_CONTROLLER_AXIS_LEFTX) {
-                            // std::cout << "Left X axis moved to " << event.caxis.value << std::endl;
-                            this->sendMessage("gc;strat;axis;0," + std::to_string(event.caxis.value) + "\n");
-                        }
-                        else if (event.caxis.axis == SDL_CONTROLLER_AXIS_LEFTY) {
-                            std::cout << "Left Y axis moved to " << event.caxis.value << std::endl;
-                            this->sendMessage("gc;strat;axis;1," + std::to_string(event.caxis.value) + "\n");
-                        }
-                        else if (event.caxis.axis == SDL_CONTROLLER_AXIS_RIGHTX) {
-                            // std::cout << "Right X axis moved to " << event.caxis.value << std::endl;
-                            this->sendMessage("gc;strat;axis;2," + std::to_string(event.caxis.value) + "\n");
-                        }
-                        else if (event.caxis.axis == SDL_CONTROLLER_AXIS_RIGHTY) {
-                            // std::cout << "Right Y axis moved to " << event.caxis.value << std::endl;
-                            // this->sendMessage("gc;strat;axis;3," + std::to_string(event.caxis.value) + "\n");
-                        }
-                    break;
-                    case SDL_CONTROLLERBUTTONDOWN:
-                        // std::cout << "Button down " << static_cast<int>(event.cbutton.button) << std::endl;
-                        this->sendMessage("gc;strat;button down;" + std::to_string(event.cbutton.button) + "\n");
-                    break;
-                    case SDL_CONTROLLERBUTTONUP:
-                        // std::cout << "Button up " << static_cast<int>(event.cbutton.button) << std::endl;
-                        this->sendMessage("gc;strat;button up;" + std::to_string(event.cbutton.button) + "\n");
-                    break;
-                    default:
-                        break;
-                }
-            }
-        }
-    }
-
-    void closeController() {
-        if (controller != nullptr) {
-            SDL_GameControllerClose(controller);
-            controller = nullptr;
-        }
-    }
-
-    void close() {
-        closeController();
-    }
-
-    ~GameControllerHandler() {
-        close();
-        SDL_Quit();
-    }
+    ~GameControllerHandler();
 
 private:
     SDL_GameController* controller;
diff --git a/main.cpp b/main.cpp
index 3874a43..8c680b2 100644
--- a/main.cpp
+++ b/main.cpp
@@ -27,8 +27,6 @@ int main(int argc, char* argv[]) {
 
     gameControllerHandler.start();
 
-    gameControllerHandler.sendMessage("gc;strat;ready;1\n");
-
     while (!shouldStop && !gameControllerHandler.shouldStop()) {
         usleep(500'000);
     }