diff --git a/simulated_pcb/action.py b/simulated_pcb/action.py
index cb3a61f..d89a073 100644
--- a/simulated_pcb/action.py
+++ b/simulated_pcb/action.py
@@ -87,12 +87,12 @@ class SimulatedPCB:
         if category == "ASC":
             self.ascenseur_pos = data
             self.send_response(f"OK;{category};{data}")
-            time.sleep(2)
+            time.sleep(.5)
         elif category.startswith("SERVO") and data.startswith("POS"):
             sid = int(category[5:])
             pos_index = int(data[3:])
             if sid in self.servo_angles and pos_index in self.servo_angles[sid]:
-                time.sleep(0.5)
+                time.sleep(0.1)
                 self.servos[sid] = pos_index
                 self.send_response(f"OK;{category};{data}")
             else:
@@ -100,7 +100,7 @@ class SimulatedPCB:
         elif category.startswith("RELAY"):
             rid = int(category[5:])
             self.relais[rid] = 1 if data == "1" else 0
-            time.sleep(.2)
+            time.sleep(.1)
             self.send_response(f"OK;{category};{data}")
         else:
             self.send_response(f"KO;{category};{data}")
diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp
index 928ec6f..2bd04cb 100644
--- a/src/modelec_strat/src/missions/banner_mission.cpp
+++ b/src/modelec_strat/src/missions/banner_mission.cpp
@@ -29,19 +29,16 @@ namespace Modelec
     {
         if (status_ != MissionStatus::RUNNING)
         {
-            RCLCPP_INFO(node_->get_logger(), "Mission not running");
             return;
         }
 
         if (!action_executor_->IsActionDone())
         {
-            RCLCPP_INFO(node_->get_logger(), "Waiting for action to finish");
             return;
         }
 
         if (!nav_->HasArrived())
         {
-            RCLCPP_INFO(node_->get_logger(), "Waiting for navigation to finish");
             return;
         }
 
diff --git a/src/modelec_strat/src/missions/go_home_mission.cpp b/src/modelec_strat/src/missions/go_home_mission.cpp
index ae82e52..ea52d70 100644
--- a/src/modelec_strat/src/missions/go_home_mission.cpp
+++ b/src/modelec_strat/src/missions/go_home_mission.cpp
@@ -34,7 +34,10 @@ namespace Modelec
 
     void GoHomeMission::Update()
     {
-        if (!nav_->HasArrived()) return;
+        if (!nav_->HasArrived())
+        {
+            return;
+        }
 
         switch (step_)
         {
diff --git a/src/modelec_strat/src/missions/prepare_concert_mission.cpp b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
index 76339ee..9a28e9e 100644
--- a/src/modelec_strat/src/missions/prepare_concert_mission.cpp
+++ b/src/modelec_strat/src/missions/prepare_concert_mission.cpp
@@ -5,7 +5,8 @@
 namespace Modelec
 {
     PrepareConcertMission::PrepareConcertMission(const std::shared_ptr<NavigationHelper>& nav,
-                                                 const std::shared_ptr<ActionExecutor>& action_executor, bool two_floor) :
+                                                 const std::shared_ptr<ActionExecutor>& action_executor,
+                                                 bool two_floor) :
         step_(GO_TO_COLUMN),
         status_(MissionStatus::READY), nav_(nav), action_executor_(action_executor), two_floor_(two_floor)
     {
@@ -18,7 +19,8 @@ namespace Modelec
         if (two_floor_)
         {
             mission_score_ = Config::get<int>("config.mission_score.concert.niv_2", 0);
-        } else
+        }
+        else
         {
             mission_score_ = Config::get<int>("config.mission_score.concert.niv_1", 0);
         }
@@ -68,11 +70,20 @@ namespace Modelec
 
     void PrepareConcertMission::Update()
     {
-        if (status_ != MissionStatus::RUNNING) return;
+        if (status_ != MissionStatus::RUNNING)
+        {
+            return;
+        }
 
-        if (!nav_->HasArrived()) return;
+        if (!nav_->HasArrived())
+        {
+            return;
+        }
 
-        if (!action_executor_->IsActionDone()) return;
+        if (!action_executor_->IsActionDone())
+        {
+            return;
+        }
 
         switch (step_)
         {