diff --git a/Core/Inc/modelec.h b/Core/Inc/modelec.h
new file mode 100644
index 0000000..11688ef
--- /dev/null
+++ b/Core/Inc/modelec.h
@@ -0,0 +1,45 @@
+/*
+ * modelec.h
+ *
+ *  Created on: May 26, 2025
+ *      Author: maxch
+ */
+
+#ifndef INC_MODELEC_H_
+#define INC_MODELEC_H_
+
+
+
+#include "point.h"
+#include "pidPosition.h"
+#include "pidVitesse.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Fonctions accessibles
+void ModelecOdometrySetup(void **out_pid, void **out_pidG, void **out_pidD);
+void ModelecOdometryUpdate();
+void ModelecOdometryLoop(void* pid, void* pidG, void* pidD);
+void determinationCoefPosition(Point objectifPoint, Point pointActuel, PidPosition& pid, PidVitesse& pidG, PidVitesse& pidD, float vitGauche, float vitDroit);
+
+
+// Variables globales accessibles
+extern float x;
+extern float y;
+extern float theta;
+
+extern float vitesseLineaire;
+extern float vitesseAngulaire;
+extern float vitesseLeft;
+extern float vitesseRight;
+
+extern Point currentPoint;
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* INC_MODELEC_H_ */
diff --git a/Core/Src/CommCallbacks.cpp b/Core/Src/CommCallbacks.cpp
index 512a401..7651bc7 100644
--- a/Core/Src/CommCallbacks.cpp
+++ b/Core/Src/CommCallbacks.cpp
@@ -6,10 +6,10 @@
  */
 
 
-/*
+
 #include "CommCallbacks.hpp"
 #include "main.h"
-#include "modelec.cpp"
+#include "modelec.h"
 #include "motors.h"
 #include "pid.h"
 #include "pidPosition.h"
@@ -33,9 +33,10 @@ void Comm_GetSpeed(float* vx, float* vy, float* omega){
 }
 
 void Comm_GetPID(float* p, float* i, float* d) {
-    PIDController::getInstance().getCoefficients(*p, *i, *d);
+    //PIDController::getInstance().getCoefficients(*p, *i, *d);
 }
 
+/*
 void Comm_SetPID(float p, float i, float d) {
     PIDController::getInstance().setCoefficients(p, i, d);
 }
@@ -48,6 +49,6 @@ void Comm_StartOdometry(bool on) {
 void Comm_AddWaypoint(int id, int type, float x, float y, float theta) {
     Waypoint wp(id, type, x, y, theta);
     WaypointManager::getInstance().addWaypoint(wp);
-}
+}*/
+
 
-*/
diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp
index efb90e6..0963f6b 100644
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -14,6 +14,7 @@
 #include "pidPosition.h"
 #include "usbd_cdc_if.h"
 #include "commSTM.h"
+#include "modelec.h"
 
 extern "C" {
 
@@ -245,10 +246,6 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
 		determinationCoefPosition(targetPoint, currentPoint, *pidPosition, *pidVitesseG, *pidVitesseD, motor.getLeftCurrentSpeed(), motor.getRightCurrentSpeed());
 		//HAL_Delay(1000);
 		motor.update();
-
-
-
-
 	}
 
 	publishStatus();