diff --git a/IO.hpp b/IO.hpp
index f70e42e..14ea13b 100644
--- a/IO.hpp
+++ b/IO.hpp
@@ -6,8 +6,8 @@
 
 #define PIN_TIRETTE 5
 #define PIN_BUTTON_COLOR 6
-#define PIN_MOTOR1 2
-#define PIN_MOTOR2 1
+#define PIN_MOTOR1 1
+#define PIN_MOTOR2 2
 #define PIN_SERVO 7
 
 #define DANCING_ACTION_DELTA_ANGLE 2
@@ -15,6 +15,8 @@
 #define GAIN_KD 100
 #define ANGULAR_SPEED 10 // °/s
 
+using std::abs;
+
 enum class Axes {
   X,
   Y,
@@ -120,7 +122,7 @@ class IO {
 
     Serial.printf("Angular Speed : %d\nStatic Cast : %d\nprev_time : %d\n millis : %d\n", angular_speed, static_cast<float>(millis() / 1000 - prev_time / 1000), prev_time, millis());
 
-    if(std::abs(err_dir) < angular_displacement)
+    if(abs(err_dir) < angular_displacement)
     {
       m_dir = dir;
     }
diff --git a/Main.ino b/Main.ino
index ce680fa..a2326ac 100644
--- a/Main.ino
+++ b/Main.ino
@@ -76,8 +76,8 @@ void loop()
   //Serial.printf("Is Selected Color Blue : %d\n", my_IO.isSelectedColorBlue());
   //Serial.printf("Is Tirette Pulled : %d\n", my_IO.isTirettePulled());
 
-  my_IO.setDirWithAngularSpeed(90);
-  my_IO.setSpeed(1024.0f);
+  my_IO.setDir(0);
+  my_IO.setSpeed(2048.0f);
 }
 
 #else