diff --git a/Core/Inc/functions.h b/Core/Inc/functions.h
index be757a6..d0a47be 100644
--- a/Core/Inc/functions.h
+++ b/Core/Inc/functions.h
@@ -5,11 +5,12 @@
  *      Author: CHAUVEAU Maxime
  */
 #include "main.h"
+#include "motors.h"
 
 #ifndef FUNCTIONS_H_
 #define FUNCTIONS_H_
 
-void Cppmain();
+void Cpploop(Motor *motor);
 
 
 #endif /* FUNCTIONS_H_ */
diff --git a/Core/Src/functions.cpp b/Core/Src/functions.cpp
index d6c9fcf..bc1b2b7 100644
--- a/Core/Src/functions.cpp
+++ b/Core/Src/functions.cpp
@@ -1,8 +1,6 @@
 #ifndef SRC_FUNCTIONS_C_
 #define SRC_FUNCTIONS_C_
 
-#include <cstdlib>  // Pour rand()
-#include <ctime>    // Pour time()
 #include "functions.h"
 #include "motors.h"
 
@@ -20,38 +18,16 @@ bool isDelayPassed(uint32_t delay) {
 }
 
 
-void Cppmain(){
+void Cpploop(Motor *motor){
 
 	GPIOC->ODR ^= (1<<10);
 
-	//Simulation de détection d'obstacle
-    static bool obstacleDetecte = false;
-    static uint32_t tempsDebutObstacle = 0;
 
-	Motor motor(TIM3);
-
-	motor.accelerer(626);
-
-	//On actualise toute les 10ms
+	//On actualise toute les 10ms et on effectue tous les controles périodiques
 	if(isDelayPassed(10)) {
-	    // Simulation aléatoire de détection d'obstacle
-	    if (!obstacleDetecte && (rand() % 100 < 5)) { // 5% de chance de détecter un obstacle
-	        obstacleDetecte = true;
-	        tempsDebutObstacle = HAL_GetTick(); // Récupération du temps actuel
-	        //On arrête les moteurs
-	        motor.stop();
-	    }
-	    // Vérifier si la détection dure depuis 3 secondes
-	    if (obstacleDetecte) {
-	        if (HAL_GetTick() - tempsDebutObstacle >= 3000) {
-	        	//Au bout de 3 secondes, on imagine que l'obstacle est parti pour les tests
-	        	//On redémarre les moteurs
-	            obstacleDetecte = false;
-	            motor.accelerer(626);
-	        }
-	    }
+
 		//On met à jour le statut des moteurs
-		motor.update();
+		motor->update();
 	}
 
 
diff --git a/Core/Src/main.cpp b/Core/Src/main.cpp
index f513966..8cc325c 100644
--- a/Core/Src/main.cpp
+++ b/Core/Src/main.cpp
@@ -1,26 +1,24 @@
 /* USER CODE BEGIN Header */
 /**
-  ******************************************************************************
-  * @file           : main.c
-  * @brief          : Main program body
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2025 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * @file           : main.c
+ * @brief          : Main program body
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2025 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
 /* USER CODE END Header */
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "functions.h"
-#include <cstdlib>  // Pour rand() et srand()
-#include <ctime>    // Pour time()
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -66,261 +64,251 @@ static void MX_TIM3_Init(void);
 /* USER CODE END 0 */
 
 /**
-  * @brief  The application entry point.
-  * @retval int
-  */
-int main(void)
-{
-  /* USER CODE BEGIN 1 */
+ * @brief  The application entry point.
+ * @retval int
+ */
+int main(void) {
+	/* USER CODE BEGIN 1 */
 
-  /* USER CODE END 1 */
+	/* USER CODE END 1 */
 
-  /* MCU Configuration--------------------------------------------------------*/
+	/* MCU Configuration--------------------------------------------------------*/
 
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-  HAL_Init();
+	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+	HAL_Init();
 
-  /* USER CODE BEGIN Init */
+	/* USER CODE BEGIN Init */
 
-  /* USER CODE END Init */
+	/* USER CODE END Init */
 
-  /* Configure the system clock */
-  SystemClock_Config();
+	/* Configure the system clock */
+	SystemClock_Config();
 
-  /* USER CODE BEGIN SysInit */
+	/* USER CODE BEGIN SysInit */
 
-  /* USER CODE END SysInit */
+	/* USER CODE END SysInit */
 
-  /* Initialize all configured peripherals */
-  MX_GPIO_Init();
-  MX_USART2_UART_Init();
-  MX_TIM3_Init();
-  /* USER CODE BEGIN 2 */
-    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
-    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
-    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
-    HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
-
-    srand(HAL_GetTick());
-
-  /* USER CODE END 2 */
-
-  /* Infinite loop */
-  /* USER CODE BEGIN WHILE */
-  while (1)
-  {
-    /* USER CODE END WHILE */
-
-    /* USER CODE BEGIN 3 */
-
-	  Cppmain();
+	/* Initialize all configured peripherals */
+	MX_GPIO_Init();
+	MX_USART2_UART_Init();
+	MX_TIM3_Init();
+	/* USER CODE BEGIN 2 */
+	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
+	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
+	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
+	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
 
 
-  }
-  /* USER CODE END 3 */
+	Motor motor(TIM3);
+
+	//On fait accélérer les moteurs
+	motor.accelerer(626);
+
+	/* USER CODE END 2 */
+
+	/* Infinite loop */
+	/* USER CODE BEGIN WHILE */
+	while (1) {
+		/* USER CODE END WHILE */
+
+		/* USER CODE BEGIN 3 */
+
+		Cpploop(&motor);
+
+	}
+	/* USER CODE END 3 */
 }
 
 /**
-  * @brief System Clock Configuration
-  * @retval None
-  */
-void SystemClock_Config(void)
-{
-  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
-  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+ * @brief System Clock Configuration
+ * @retval None
+ */
+void SystemClock_Config(void) {
+	RCC_OscInitTypeDef RCC_OscInitStruct = { 0 };
+	RCC_ClkInitTypeDef RCC_ClkInitStruct = { 0 };
+	RCC_PeriphCLKInitTypeDef PeriphClkInit = { 0 };
 
-  /** Configure the main internal regulator output voltage
-  */
-  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+	/** Configure the main internal regulator output voltage
+	 */
+	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
 
-  /** Initializes the RCC Oscillators according to the specified parameters
-  * in the RCC_OscInitTypeDef structure.
-  */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
-  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
-  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
-  {
-    Error_Handler();
-  }
+	/** Initializes the RCC Oscillators according to the specified parameters
+	 * in the RCC_OscInitTypeDef structure.
+	 */
+	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
+	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
+	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
+		Error_Handler();
+	}
 
-  /** Initializes the CPU, AHB and APB buses clocks
-  */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
-  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
-  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
-  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+	/** Initializes the CPU, AHB and APB buses clocks
+	 */
+	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
+			| RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
+	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
+	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
+	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
 
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2;
-  PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
-  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
-  {
-    Error_Handler();
-  }
+	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK) {
+		Error_Handler();
+	}
+	PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2;
+	PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
+	if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK) {
+		Error_Handler();
+	}
 }
 
 /**
-  * @brief TIM3 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_TIM3_Init(void)
-{
+ * @brief TIM3 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_TIM3_Init(void) {
 
-  /* USER CODE BEGIN TIM3_Init 0 */
+	/* USER CODE BEGIN TIM3_Init 0 */
 
-  /* USER CODE END TIM3_Init 0 */
+	/* USER CODE END TIM3_Init 0 */
 
-  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
-  TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_OC_InitTypeDef sConfigOC = {0};
+	TIM_ClockConfigTypeDef sClockSourceConfig = { 0 };
+	TIM_MasterConfigTypeDef sMasterConfig = { 0 };
+	TIM_OC_InitTypeDef sConfigOC = { 0 };
 
-  /* USER CODE BEGIN TIM3_Init 1 */
+	/* USER CODE BEGIN TIM3_Init 1 */
 
-  /* USER CODE END TIM3_Init 1 */
-  htim3.Instance = TIM3;
-  htim3.Init.Prescaler = 0;
-  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim3.Init.Period = 639;
-  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
-  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
-  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
-  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
-  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
-  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  sConfigOC.OCMode = TIM_OCMODE_PWM1;
-  sConfigOC.Pulse = 0;
-  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
-  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
-  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIMEx_RemapConfig(&htim3, TIM3_TI1_GPIO|TIM3_TI4_GPIOC9_AF2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN TIM3_Init 2 */
+	/* USER CODE END TIM3_Init 1 */
+	htim3.Instance = TIM3;
+	htim3.Init.Prescaler = 0;
+	htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
+	htim3.Init.Period = 639;
+	htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+	htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
+	if (HAL_TIM_Base_Init(&htim3) != HAL_OK) {
+		Error_Handler();
+	}
+	sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+	if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK) {
+		Error_Handler();
+	}
+	if (HAL_TIM_PWM_Init(&htim3) != HAL_OK) {
+		Error_Handler();
+	}
+	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+	if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	sConfigOC.OCMode = TIM_OCMODE_PWM1;
+	sConfigOC.Pulse = 0;
+	sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+	sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+	if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	if (HAL_TIMEx_RemapConfig(&htim3, TIM3_TI1_GPIO | TIM3_TI4_GPIOC9_AF2)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4)
+			!= HAL_OK) {
+		Error_Handler();
+	}
+	/* USER CODE BEGIN TIM3_Init 2 */
 
-  /* USER CODE END TIM3_Init 2 */
-  HAL_TIM_MspPostInit(&htim3);
+	/* USER CODE END TIM3_Init 2 */
+	HAL_TIM_MspPostInit(&htim3);
 
 }
 
 /**
-  * @brief USART2 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_USART2_UART_Init(void)
-{
+ * @brief USART2 Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_USART2_UART_Init(void) {
 
-  /* USER CODE BEGIN USART2_Init 0 */
+	/* USER CODE BEGIN USART2_Init 0 */
 
-  /* USER CODE END USART2_Init 0 */
+	/* USER CODE END USART2_Init 0 */
 
-  /* USER CODE BEGIN USART2_Init 1 */
+	/* USER CODE BEGIN USART2_Init 1 */
 
-  /* USER CODE END USART2_Init 1 */
-  huart2.Instance = USART2;
-  huart2.Init.BaudRate = 115200;
-  huart2.Init.WordLength = UART_WORDLENGTH_8B;
-  huart2.Init.StopBits = UART_STOPBITS_1;
-  huart2.Init.Parity = UART_PARITY_NONE;
-  huart2.Init.Mode = UART_MODE_TX_RX;
-  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
-  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
-  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
-  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
-  if (HAL_UART_Init(&huart2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN USART2_Init 2 */
+	/* USER CODE END USART2_Init 1 */
+	huart2.Instance = USART2;
+	huart2.Init.BaudRate = 115200;
+	huart2.Init.WordLength = UART_WORDLENGTH_8B;
+	huart2.Init.StopBits = UART_STOPBITS_1;
+	huart2.Init.Parity = UART_PARITY_NONE;
+	huart2.Init.Mode = UART_MODE_TX_RX;
+	huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
+	huart2.Init.OverSampling = UART_OVERSAMPLING_16;
+	huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
+	huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+	if (HAL_UART_Init(&huart2) != HAL_OK) {
+		Error_Handler();
+	}
+	/* USER CODE BEGIN USART2_Init 2 */
 
-  /* USER CODE END USART2_Init 2 */
+	/* USER CODE END USART2_Init 2 */
 
 }
 
 /**
-  * @brief GPIO Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_GPIO_Init(void)
-{
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-/* USER CODE BEGIN MX_GPIO_Init_1 */
-/* USER CODE END MX_GPIO_Init_1 */
+ * @brief GPIO Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_GPIO_Init(void) {
+	GPIO_InitTypeDef GPIO_InitStruct = { 0 };
+	/* USER CODE BEGIN MX_GPIO_Init_1 */
+	/* USER CODE END MX_GPIO_Init_1 */
 
-  /* GPIO Ports Clock Enable */
-  __HAL_RCC_GPIOC_CLK_ENABLE();
-  __HAL_RCC_GPIOH_CLK_ENABLE();
-  __HAL_RCC_GPIOA_CLK_ENABLE();
+	/* GPIO Ports Clock Enable */
+	__HAL_RCC_GPIOC_CLK_ENABLE();
+	__HAL_RCC_GPIOH_CLK_ENABLE();
+	__HAL_RCC_GPIOA_CLK_ENABLE();
 
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
+	/*Configure GPIO pin Output Level */
+	HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
 
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_10, GPIO_PIN_RESET);
+	/*Configure GPIO pin Output Level */
+	HAL_GPIO_WritePin(GPIOC, GPIO_PIN_10, GPIO_PIN_RESET);
 
-  /*Configure GPIO pin : B1_Pin */
-  GPIO_InitStruct.Pin = B1_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
+	/*Configure GPIO pin : B1_Pin */
+	GPIO_InitStruct.Pin = B1_Pin;
+	GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : LD2_Pin */
-  GPIO_InitStruct.Pin = LD2_Pin;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
+	/*Configure GPIO pin : LD2_Pin */
+	GPIO_InitStruct.Pin = LD2_Pin;
+	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+	HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
 
-  /*Configure GPIO pin : PC10 */
-  GPIO_InitStruct.Pin = GPIO_PIN_10;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
+	/*Configure GPIO pin : PC10 */
+	GPIO_InitStruct.Pin = GPIO_PIN_10;
+	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+	GPIO_InitStruct.Pull = GPIO_NOPULL;
+	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+	HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-/* USER CODE BEGIN MX_GPIO_Init_2 */
-/* USER CODE END MX_GPIO_Init_2 */
+	/* USER CODE BEGIN MX_GPIO_Init_2 */
+	/* USER CODE END MX_GPIO_Init_2 */
 }
 
 /* USER CODE BEGIN 4 */
@@ -328,18 +316,16 @@ static void MX_GPIO_Init(void)
 /* USER CODE END 4 */
 
 /**
-  * @brief  This function is executed in case of error occurrence.
-  * @retval None
-  */
-void Error_Handler(void)
-{
-  /* USER CODE BEGIN Error_Handler_Debug */
-  /* User can add his own implementation to report the HAL error return state */
-  __disable_irq();
-  while (1)
-  {
-  }
-  /* USER CODE END Error_Handler_Debug */
+ * @brief  This function is executed in case of error occurrence.
+ * @retval None
+ */
+void Error_Handler(void) {
+	/* USER CODE BEGIN Error_Handler_Debug */
+	/* User can add his own implementation to report the HAL error return state */
+	__disable_irq();
+	while (1) {
+	}
+	/* USER CODE END Error_Handler_Debug */
 }
 
 #ifdef  USE_FULL_ASSERT