diff --git a/Core/Inc/functions.h b/Core/Inc/functions.h
deleted file mode 100644
index 847805d..0000000
--- a/Core/Inc/functions.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/*
- * functions.h
- *
- *  Created on: Feb 17, 2025
- *      Author: CHAUVEAU Maxime
- */
-
-#ifndef FUNCTIONS_H_
-#define FUNCTIONS_H_
-
-#include "main.h"
-#include "motors.h"
-
-bool isDelayPassed(uint32_t delay);
-void handleEncoderProgression(uint16_t totalDistance, uint16_t newDistance, bool direction);
-
-
-#endif /* FUNCTIONS_H_ */
diff --git a/Core/Inc/motors.h b/Core/Inc/motors.h
index 7a2fda7..c07ec5d 100644
--- a/Core/Inc/motors.h
+++ b/Core/Inc/motors.h
@@ -23,6 +23,7 @@ public:
     void tournerDroite(int speed);
     void tournerGauche(int speed);
     void update();
+
 };
 
 
diff --git a/Core/Src/functions.cpp b/Core/Src/functions.cpp
deleted file mode 100644
index 5c50b87..0000000
--- a/Core/Src/functions.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef SRC_FUNCTIONS_C_
-#define SRC_FUNCTIONS_C_
-
-#include "functions.h"
-#include "motors.h"
-#include <cstdio>
-#include <cstring>
-
-extern UART_HandleTypeDef huart2;
-
-uint32_t lastTick = 0; // Variable pour mémoriser l'heure de la dernière action
-uint32_t delayTime = 0; // Variable pour définir le délai de la prochaine action
-
-// Fonction pour vérifier si le délai est passé (permet de ne pas bloquer l'exécution)
-bool isDelayPassed(uint32_t delay) {
-    if (HAL_GetTick() - lastTick >= delay) {
-        lastTick = HAL_GetTick();  // Met à jour lastTick
-        return true;
-    }
-    return false;
-}
-
-void handleEncoderProgression(uint16_t totalDistance, uint16_t newDistance, bool direction){
-	char msg[128];
-	if(direction == 0){
-		sprintf(msg, "Encodeur recule de %d mm, distance totale parcourue : %d mm.\r\n", newDistance, totalDistance);
-	} else if(direction == 1){
-		sprintf(msg, "Encodeur avance de %d mm, distance totale parcourue : %d mm.\r\n", newDistance, totalDistance);
-	}
-    HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
-}
-
-
-#endif /* SRC_FUNCTIONS_C_ */
diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp
index a99d7e9..7357ed9 100644
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -7,7 +7,6 @@
 
 
 #include "motors.h"
-#include "functions.h"
 #include "main.h"
 #include "stm32l0xx_hal.h"
 #include <cstdio>
@@ -37,6 +36,16 @@ extern "C" {
 	extern TIM_HandleTypeDef htim21;
 	extern UART_HandleTypeDef huart2;
 
+	uint32_t lastTick = 0; // Variable pour mémoriser l'heure de la dernière action
+	// Fonction pour vérifier si le délai est passé (permet de ne pas bloquer l'exécution)
+	bool isDelayPassed(uint32_t delay) {
+	    if (HAL_GetTick() - lastTick >= delay) {
+	        lastTick = HAL_GetTick();  // Met à jour lastTick
+	        return true;
+	    }
+	    return false;
+	}
+
 	// Fonction de setup appelee au debut du main.c
 	void ModelecOdometrySetup(){
 		HAL_UART_Transmit(&huart2, (uint8_t *)"SETUP COMPLETE\n", 15, HAL_MAX_DELAY);
diff --git a/Core/Src/motors.cpp b/Core/Src/motors.cpp
index 755431b..28df08d 100644
--- a/Core/Src/motors.cpp
+++ b/Core/Src/motors.cpp
@@ -27,6 +27,7 @@ void Motor::stop() {
 bool Motor::isStopped() {
 	return currentSpeed == 0;
 }
+
 void Motor::tournerDroite(int speed) {
 	targetSpeed = (speed <= 626) ? speed : 626;
 	isTurningRight = true;