diff --git a/Main.ino b/Main.ino
index a2326ac..b646cc3 100644
--- a/Main.ino
+++ b/Main.ino
@@ -1,158 +1,163 @@
-#include "IO.hpp"
-#include "Ressources.hpp"
-
-// Unit tests activation
-#define UNIT_TESTS
-
-/*
-  Etapes :
-   - 1ere etape : avancer jusqu'a la montée / condition : si montée detecté : etape suivante
-   - 2eme etape : avancer j'usqua la fin de la montée / condition : si fin de montée detecté : etape suivante
-   - 3eme etape : tourner de 90* / condition : si action terminé : etape suivante
-   - 4eme etape : avancer jusqu'au bors du plateau / condition : si choc de fin detecté : etape suivante
-   - 5eme etape : faire tourner actionneurs pour figurine
-*/
-
-/*
-  Modules necessaires :
-   - angle          // Asservissement et control du robot
-   - choc           // Controle du robot (fin !)
-(?)- accelerometre  // Asservissement
- */
-
-// Movement states
-enum class State {
-  WaitingForTirette,
-  WaitingTimer,
-  ForwardToRamp,
-  ForwardToScene,
-  Turn90Blue, // If blue team
-  Turn90Yellow, // If yellow team => this is the only action where you have to do something different depending on your team
-  ForwardToSceneEdge,
-  Dancing
-};
-
-// CodeCell implementation
-CodeCell code_cell;
-IO my_IO {&code_cell};
-
-void setup()
-{
-  // Initialise serial
-  Serial.begin(115200);
-
-  Serial.println("Starting Initialisation");
-
-  // Initialise the CodeCell for angle and tap detectIOn
-  code_cell.Init(MOTION_ROTATION);
-
-  // Initialise IO
-  int nb_errors = my_IO.init();
-
-  if(nb_errors)
-  {
-    Serial.printf("%d errors occured during IO init.", nb_errors);
-    while(true);
-  }
-
-  my_IO.getScreen()->drawBitmap(38, 0, Res::Imgs::riombotique, 52, 64, WHITE);
-  //my_IO.getScreen()->drawBitmap(75, 0, Imgs::poivron_robotique, 52, 64, WHITE);
-
-  Serial.println("Initalisation Finished");
-
-  my_IO.motorControlOn();
-
-#ifdef UNIT_TESTS
-  Serial.println("UNIT_TESTS");
-#endif
-}
-
-#ifdef UNIT_TESTS
-
-void loop()
-{
-  my_IO.update();
-
-  //Serial.printf("Is Selected Color Blue : %d\n", my_IO.isSelectedColorBlue());
-  //Serial.printf("Is Tirette Pulled : %d\n", my_IO.isTirettePulled());
-
-  my_IO.setDir(0);
-  my_IO.setSpeed(2048.0f);
-}
-
-#else
-
-void loop()
-{
-  static State actual_state {State::ForwardToRamp};
-
-  switch(actual_state)
-  {
-    case State::WaitingForTirette:
-      if(my_IO.isTirettePulled())
-      {
-        actual_state = State::WaitingTimer;
-      }
-      break;
-
-    case State::WaitingTimer:
-      static unsigned long initial_time = millis();
-
-      if(millis() - initial_time >= 90000)
-      {
-        actual_state = State::ForwardToRamp;
-      }
-      break;
-    
-    case State::ForwardToRamp:
-      my_IO.forward();
-
-      if(my_IO.getAngle(Axes::Y) > 9)
-      {
-        actual_state = State::ForwardToScene;
-      }
-      break;
-
-    case State::ForwardToScene:
-      IO::motors.forward();
-
-      if(IO::gyro.getAngle(Axes::Y) < 2)
-      {
-        actual_state = IO::ext_controls.isSelectedColorBlue() ? State::Turn90Blue : State::Turn90Yellow;
-      }
-      break;
-
-    case State::Turn90Blue:
-      IO::motors.setDir(90);
-
-      if(IO::gyro.getAngle() > 90)
-      {
-        actual_state = State::ForwardToSceneEdge;
-      }
-      break;
-
-    case State::Turn90Yellow:
-      IO::motors.setAngle(-90);
-
-      if(IO::gyro.getAngle() < -90)
-      {
-        actual_state = State::ForwardToSceneEdge;
-      }
-      break;
-
-    case State::ForwardToSceneEdge:
-      IO::motors.forward();
-
-      if(IO::gyro.getAngle() < 0)
-      {
-        actual_state = State::Dancing;
-      }
-      break;
-
-    case State::Dancing:
-      IO::ext_controls.startSpecialAction();
-      break;
-  }
-}
-
-#endif
+/*
+  Copyright 2025
+              Thibaut Ferrand / Ulysse Cura
+                                           */
+
+#include "IO.hpp"
+#include "Ressources.hpp"
+
+// Unit tests activation
+#define UNIT_TESTS
+
+/*
+  Etapes :
+   - 1ere etape : avancer jusqu'a la montée / condition : si montée detecté : etape suivante
+   - 2eme etape : avancer j'usqua la fin de la montée / condition : si fin de montée detecté : etape suivante
+   - 3eme etape : tourner de 90* / condition : si action terminé : etape suivante
+   - 4eme etape : avancer jusqu'au bors du plateau / condition : si choc de fin detecté : etape suivante
+   - 5eme etape : faire tourner actionneurs pour figurine
+*/
+
+/*
+  Modules necessaires :
+   - angle          // Asservissement et control du robot
+   - choc           // Controle du robot (fin !)
+(?)- accelerometre  // Asservissement
+ */
+
+// Movement states
+enum class State {
+  WaitingForTirette,
+  WaitingTimer,
+  ForwardToRamp,
+  ForwardToScene,
+  Turn90Blue, // If blue team
+  Turn90Yellow, // If yellow team => this is the only action where you have to do something different depending on your team
+  ForwardToSceneEdge,
+  Dancing
+};
+
+// CodeCell implementation
+CodeCell code_cell;
+IO my_IO {&code_cell};
+
+void setup()
+{
+  // Initialise serial
+  Serial.begin(115200);
+
+  Serial.println("Starting Initialisation");
+
+  // Initialise the CodeCell for angle and tap detectIOn
+  code_cell.Init(MOTION_ROTATION);
+
+  // Initialise IO
+  int nb_errors = my_IO.init();
+
+  if(nb_errors)
+  {
+    Serial.printf("%d errors occured during IO init.", nb_errors);
+    while(true);
+  }
+
+  my_IO.getScreen()->drawBitmap(38, 0, Res::Imgs::riombotique, 52, 64, WHITE);
+  //my_IO.getScreen()->drawBitmap(75, 0, Imgs::poivron_robotique, 52, 64, WHITE);
+
+  Serial.println("Initalisation Finished");
+
+  my_IO.motorControlOn();
+
+#ifdef UNIT_TESTS
+  Serial.println("UNIT_TESTS");
+#endif
+}
+
+#ifdef UNIT_TESTS
+
+void loop()
+{
+  my_IO.update();
+
+  //Serial.printf("Is Selected Color Blue : %d\n", my_IO.isSelectedColorBlue());
+  //Serial.printf("Is Tirette Pulled : %d\n", my_IO.isTirettePulled());
+
+  my_IO.setDir(0);
+  my_IO.setSpeed(2048.0f);
+}
+
+#else
+
+void loop()
+{
+  static State actual_state {State::ForwardToRamp};
+
+  switch(actual_state)
+  {
+    case State::WaitingForTirette:
+      if(my_IO.isTirettePulled())
+      {
+        actual_state = State::WaitingTimer;
+      }
+      break;
+
+    case State::WaitingTimer:
+      static unsigned long initial_time = millis();
+
+      if(millis() - initial_time >= 90000)
+      {
+        actual_state = State::ForwardToRamp;
+      }
+      break;
+    
+    case State::ForwardToRamp:
+      my_IO.forward();
+
+      if(my_IO.getAngle(Axes::Y) > 9)
+      {
+        actual_state = State::ForwardToScene;
+      }
+      break;
+
+    case State::ForwardToScene:
+      IO::motors.forward();
+
+      if(IO::gyro.getAngle(Axes::Y) < 2)
+      {
+        actual_state = IO::ext_controls.isSelectedColorBlue() ? State::Turn90Blue : State::Turn90Yellow;
+      }
+      break;
+
+    case State::Turn90Blue:
+      IO::motors.setDir(90);
+
+      if(IO::gyro.getAngle() > 90)
+      {
+        actual_state = State::ForwardToSceneEdge;
+      }
+      break;
+
+    case State::Turn90Yellow:
+      IO::motors.setAngle(-90);
+
+      if(IO::gyro.getAngle() < -90)
+      {
+        actual_state = State::ForwardToSceneEdge;
+      }
+      break;
+
+    case State::ForwardToSceneEdge:
+      IO::motors.forward();
+
+      if(IO::gyro.getAngle() < 0)
+      {
+        actual_state = State::Dancing;
+      }
+      break;
+
+    case State::Dancing:
+      IO::ext_controls.startSpecialAction();
+      break;
+  }
+}
+
+#endif