diff --git a/Core/Inc/actio.h b/Core/Inc/actio.h
index 5317b76..5de9a17 100644
--- a/Core/Inc/actio.h
+++ b/Core/Inc/actio.h
@@ -22,8 +22,8 @@ typedef struct Actionneurs {
 	bool etatLedArmement;
 	bool enJeu;
 	uint16_t armementTirette;
-	uint16_t positionServo[NOMBRE_SERVOS];
-	uint16_t valeursPositionsServos[NOMBRE_SERVOS][NOMBRE_POSITIONS_SERVOS];
+	uint16_t angleServo[NOMBRE_SERVOS];
+	// uint16_t valeursPositionsServos[NOMBRE_SERVOS][NOMBRE_POSITIONS_SERVOS];
 	uint16_t positionAscenseur;
 	uint16_t valeursPositionsAscenseur[NOMBRE_POSITIONS_ASC];
 	GPIO_TypeDef * relayPorts[NOMBRE_RELAIS];
@@ -31,16 +31,15 @@ typedef struct Actionneurs {
 } Actionneurs;
 
 void initActionneurs();
-void setServoPosValue(uint16_t servoNum, uint16_t posNum, uint16_t val);
 void setAscPosValue(uint16_t posNum, uint16_t val);
 void PCA9685_ContinuousServoRun(uint8_t Channel);
 void PCA9685_ContinuousServoStop(uint8_t Channel);
 void PCA9685_LEDOn(uint8_t Channel);
 void PCA9685_LEDOff(uint8_t Channel);
-uint16_t getServoPos(uint16_t servoNum);
+float getServoAngle(uint16_t servoNum);
 uint16_t getRelayState(uint16_t relayNum);
 uint16_t getAscPos();
-void moveServo(uint16_t servoNum, uint16_t posNum);
+void moveServo(uint16_t servoNum, float angle);
 void moveRelay(uint16_t relayNum, uint16_t state);
 void moveAsc(uint16_t posNum);
 void armTirette();
diff --git a/Core/Src/actio.c b/Core/Src/actio.c
index 0a436cb..5c98328 100644
--- a/Core/Src/actio.c
+++ b/Core/Src/actio.c
@@ -182,10 +182,7 @@ void initActionneurs(){
 	act.armementTirette = 0;
 	act.enJeu = 0;
 	for(uint16_t servoId = 0; servoId < NOMBRE_SERVOS; servoId++){
-		act.positionServo[servoId] = 0;
-		for(uint16_t posId = 0; posId < NOMBRE_POSITIONS_SERVOS; posId++){
-			act.valeursPositionsServos[servoId][posId] = 0;
-		}
+		act.angleServo[servoId] = 0;
 	}
 	act.positionAscenseur = 0;
 	for(uint16_t posId = 0; posId < NOMBRE_POSITIONS_ASC; posId++){
@@ -199,16 +196,16 @@ void initActionneurs(){
 	act.relayPortsNumbers[2] = RELAY_3_PIN;
 }
 
-void setServoPosValue(uint16_t servoNum, uint16_t posNum, uint16_t val){
+/*void setServoPosValue(uint16_t servoNum, uint16_t posNum, uint16_t val){
 	act.valeursPositionsServos[servoNum][posNum] = val;
-}
+}*/
 
 void setAscPosValue(uint16_t posNum, uint16_t val){
 	act.valeursPositionsAscenseur[posNum] = val;
 }
 
-uint16_t getServoPos(uint16_t servoNum){
-	return act.positionServo[servoNum];
+float getServoAngle(uint16_t servoNum){
+	return act.angleServo[servoNum];
 }
 
 uint16_t getRelayState(uint16_t relayNum)
@@ -220,9 +217,9 @@ uint16_t getAscPos(){
 	return act.positionAscenseur;
 }
 
-void moveServo(uint16_t servoNum, uint16_t posNum){
-	PCA9685_SetServoAngle(servoNum, act.valeursPositionsServos[servoNum][posNum]);
-	act.positionServo[servoNum] = posNum;
+void moveServo(uint16_t servoNum, float angle){
+	PCA9685_SetServoAngle(servoNum, angle);
+	act.angleServo[servoNum] = angle;
 }
 
 void moveRelay(uint16_t relayNum, uint16_t state){
diff --git a/Core/Src/comm.c b/Core/Src/comm.c
index bf84dd3..c297d6a 100644
--- a/Core/Src/comm.c
+++ b/Core/Src/comm.c
@@ -94,10 +94,10 @@ void USBProtocol_ProcessCommand(char *cmd) {
                     break;
                 }
                 int servoId = atoi(servoIdStr);
-                int pos = getServoPos(servoId);
+                float angle = getServoAngle(servoId);
 
                 /* append \";id;pos\" for each servo, check remaining buffer */
-                int wrote = snprintf(response + off, sizeof(response) - off, ";%d;%d", servoId, pos);
+                int wrote = snprintf(response + off, sizeof(response) - off, ";%d;%.4f", servoId, angle);
                 if (wrote < 0 || (size_t)wrote >= sizeof(response) - off) {
                     success = 0;
                     break;
@@ -176,43 +176,6 @@ void USBProtocol_ProcessCommand(char *cmd) {
             }
             sprintf(response, "%s;%s;%s;%d\n", success ? "OK" : "KO", arg1, arg2, val);
             CDC_Transmit_FS((uint8_t*)response, strlen(response));
-        } else if (strcmp(arg1, "SERVO") == 0 && strcmp(arg2, "POS") == 0){
-            int n = atoi(arg3);
-            size_t off = 0;
-            off += snprintf(response + off, sizeof(response) - off, "%s;%s;%s;%d", "OK", arg1, arg2, n);
-
-            for (int i = 0; i < n; ++i) {
-                char *servoIdStr = strtok(NULL, ";");
-                char *posStr = strtok(NULL, ";");
-                char *angleStr = strtok(NULL, ";");
-                if (!servoIdStr || !posStr || !angleStr) {
-                    success = 0;
-                    break;
-                }
-                int servoId = atoi(servoIdStr);
-                int pos = atoi(posStr);
-                int angle = atoi(angleStr);
-                setServoPosValue(servoId, pos, angle);
-
-                int wrote = snprintf(response + off, sizeof(response) - off, ";%d;%d", servoId, pos);
-                if (wrote < 0 || (size_t)wrote >= sizeof(response) - off) {
-                    success = 0;
-                    break;
-                }
-                off += wrote;
-            }
-
-            if (!success) {
-                snprintf(response, sizeof(response), "KO;%s;%s\n", arg1, arg2);
-            } else {
-                if (off < sizeof(response) - 1) {
-                    response[off++] = '\n';
-                    response[off] = '\0';
-                } else {
-                    response[sizeof(response) - 1] = '\0';
-                }
-            }
-            CDC_Transmit_FS((uint8_t*)response, strlen(response));
         }
     } else if (strcmp(type, "MOV") == 0) {
         int success = 1;
@@ -223,16 +186,16 @@ void USBProtocol_ProcessCommand(char *cmd) {
 
             for (int i = 0; i < n; ++i) {
                 char *servoIdStr = strtok(NULL, ";");
-                char *posStr = strtok(NULL, ";");
-                if (!servoIdStr || !posStr) {
+                char *angleStr = strtok(NULL, ";");
+                if (!servoIdStr || !angleStr) {
                     success = 0;
                     break;
                 }
                 int servoId = atoi(servoIdStr);
-                int pos = atoi(posStr);
-                moveServo(servoId, pos);
+                float angle = atof(angleStr);
+                moveServo(servoId, angle);
 
-                int wrote = snprintf(response + off, sizeof(response) - off, ";%d;%d", servoId, pos);
+                int wrote = snprintf(response + off, sizeof(response) - off, ";%d;%.4f", servoId, angle);
                 if (wrote < 0 || (size_t)wrote >= sizeof(response) - off) {
                     success = 0;
                     break;