diff --git a/Core/Src/.idea/.gitignore b/Core/Src/.idea/.gitignore
new file mode 100644
index 0000000..13566b8
--- /dev/null
+++ b/Core/Src/.idea/.gitignore
@@ -0,0 +1,8 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
diff --git a/Core/Src/.idea/workspace.xml b/Core/Src/.idea/workspace.xml
index 2f75b62..94a600f 100644
--- a/Core/Src/.idea/workspace.xml
+++ b/Core/Src/.idea/workspace.xml
@@ -6,6 +6,9 @@
     <option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexedValue" value="true" type="bool" />
     <option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexRemoved" />
   </component>
+  <component name="CMakeProjectFlavorService">
+    <option name="flavorId" value="CMakePlainProjectFlavor" />
+  </component>
   <component name="ChangeListManager">
     <list default="true" id="9c5961ff-4964-42f5-a9a6-60421faaeed1" name="Changes" comment="" />
     <option name="SHOW_DIALOG" value="false" />
@@ -30,18 +33,19 @@
     <option name="hideEmptyMiddlePackages" value="true" />
     <option name="showLibraryContents" value="true" />
   </component>
-  <component name="PropertiesComponent">{
-  &quot;keyToString&quot;: {
-    &quot;RunOnceActivity.RadMigrateCodeStyle&quot;: &quot;true&quot;,
-    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
-    &quot;RunOnceActivity.cidr.known.project.marker&quot;: &quot;true&quot;,
-    &quot;RunOnceActivity.readMode.enableVisualFormatting&quot;: &quot;true&quot;,
-    &quot;cf.first.check.clang-format&quot;: &quot;false&quot;,
-    &quot;cidr.known.project.marker&quot;: &quot;true&quot;,
-    &quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
-    &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
+  <component name="PropertiesComponent"><![CDATA[{
+  "keyToString": {
+    "RunOnceActivity.RadMigrateCodeStyle": "true",
+    "RunOnceActivity.ShowReadmeOnStart": "true",
+    "RunOnceActivity.cidr.known.project.marker": "true",
+    "RunOnceActivity.readMode.enableVisualFormatting": "true",
+    "cf.first.check.clang-format": "false",
+    "cidr.known.project.marker": "true",
+    "last_opened_file_path": "C:/Users/doria/Desktop/Dev/C/Cours/TPs/DS_LISTE_CHAINE",
+    "nodejs_package_manager_path": "npm",
+    "vue.rearranger.settings.migration": "true"
   }
-}</component>
+}]]></component>
   <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
   <component name="TaskManager">
     <task active="true" id="Default" summary="Default task">
@@ -52,6 +56,7 @@
       <updated>1743082598937</updated>
       <workItem from="1743082600720" duration="8000" />
       <workItem from="1743082851630" duration="4000" />
+      <workItem from="1743173529460" duration="32000" />
     </task>
     <servers />
   </component>
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 87ef9dd..94771da 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -58,7 +58,8 @@ void SystemClock_Config(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-
+int counter1=0;
+int counter2=0;
 /* USER CODE END 0 */
 
 /**
diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp
index 5f0e213..6ea4df1 100644
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -22,7 +22,7 @@ extern UART_HandleTypeDef huart2;
 Motor motor(TIM3);
 
 // Données odométriques
-volatile int32_t lastPosRight = 0, lastPosLeft = 0;
+volatile int lastPosRight = 0, lastPosLeft = 0;
 volatile float totalDistance = 0.0f;
 volatile float posX = 0.0f, posY = 0.0f, theta = 0.0f;
 
@@ -42,11 +42,11 @@ void ModelecOdometrySetup() {
 }
 
 void ModelecOdometryUpdate() {
-    int32_t posRight = __HAL_TIM_GET_COUNTER(&htim2);
-    int32_t posLeft  = __HAL_TIM_GET_COUNTER(&htim21);
+    int posRight = __HAL_TIM_GET_COUNTER(&htim2);
+    int posLeft  = __HAL_TIM_GET_COUNTER(&htim21);
 
-    int32_t deltaP_right = posRight - lastPosRight;
-    int32_t deltaP_left  = posLeft - lastPosLeft;
+    int deltaP_right = posRight - lastPosRight;
+    int deltaP_left  = posLeft - lastPosLeft;
 
     if (deltaP_right > MAX_COUNT / 2) deltaP_right -= MAX_COUNT;
     if (deltaP_right < -MAX_COUNT / 2) deltaP_right += MAX_COUNT;
@@ -60,10 +60,18 @@ void ModelecOdometryUpdate() {
     //Calcul de l'angle theta
     float deltaTheta = (deltaS_right - deltaS_left) / WHEEL_BASE;
 
+    if (fabs(deltaP_right - deltaP_left) < 5) {  // Seulement si on est "presque" en ligne droite
+        if (fabs(deltaTheta) > 0.1) {
+            deltaTheta = 0;
+        }
+    }
+
     //On met à jour la distance parcourue totale
     totalDistance += fabs(deltaS);
 
     theta += deltaTheta;
+    // Normalisation de theta dans [-π, π]
+    theta = fmod(theta + M_PI, 2 * M_PI) - M_PI;
 
     float deltaX = deltaS * cos(theta);
     float deltaY = deltaS * sin(theta);
@@ -86,7 +94,7 @@ void ModelecOdometryLoop() {
     if (isDelayPassed(10)) {
         ModelecOdometryUpdate();
         motor.update();
-        if (totalDistance >= 150) {
+        if (posX >= 200) {
             motor.stop();
         }
     }