diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp
index b5fbdce..60700fd 100644
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -66,8 +66,12 @@ void DiffBot::update(float dt) {
         	}
         	else if (isDelayPassedFrom(notMovedMaxTime, publishNotMoved)) {
         		// BUG : apres ca le robot ne s'arrete plus quand on le relance
+        		motor.stop(true);
+
         		targets[index].active = false;
 
+    			no_move = false;
+
         		if (action != 0) {
         			switch (action) {
         			case 1: // LEFT
@@ -109,8 +113,6 @@ void DiffBot::update(float dt) {
         			action = 0;
 
         			addTarget(0, 1, pos.x, pos.y, pos.theta);
-
-        			publishStatus();
         		}
         	}
     	}