diff --git a/main controller code/.vscode/c_cpp_properties.json b/main controller code/.vscode/c_cpp_properties.json
index 8c3afb1..d2b9c22 100644
--- a/main controller code/.vscode/c_cpp_properties.json	
+++ b/main controller code/.vscode/c_cpp_properties.json	
@@ -1,10 +1,11 @@
 {
     "env": {
         "myDefaultIncludePath": [
+            "${workspaceFolder}/src/include/",
             "${env:PICO_SDK_PATH}/src/**/include/",
+            "${workspaceFolder}/lib/*/src/",
             "${env:PICO_SDK_PATH}/lib/**/include/",
-            "${workspaceFolder}/build/generated/pico_base/",
-            "${workspaceFolder}/src/include/"
+            "${workspaceFolder}/build/generated/pico_base/"
         ],
         "myCompilerPath": "/usr/bin/arm-none-eabi-gcc"
     },
diff --git a/main controller code/.vscode/settings.json b/main controller code/.vscode/settings.json
index a0b6592..cb0aebb 100644
--- a/main controller code/.vscode/settings.json	
+++ b/main controller code/.vscode/settings.json	
@@ -12,6 +12,8 @@
         "udp_client.h": "c",
         "udp_payload.h": "c",
         "udp.h": "c",
-        "opt.h": "c"
+        "opt.h": "c",
+        "cyw43_arch.h": "c",
+        "wifi_operator.h": "c"
     }
 }
\ No newline at end of file
diff --git a/main controller code/src/include/lwipopts.h b/main controller code/src/include/lwipopts.h
index b5d3861..91c3b05 100644
--- a/main controller code/src/include/lwipopts.h	
+++ b/main controller code/src/include/lwipopts.h	
@@ -44,8 +44,8 @@
 #define LINK_STATS                  0
 // #define ETH_PAD_SIZE                2
 #define LWIP_CHKSUM_ALGORITHM       3
-#define LWIP_DHCP                   1
-#define LWIP_DHCP_SERVER            1
+#define LWIP_DHCP                   0
+#define LWIP_DHCP_SERVER            0
 #define LWIP_IPV4                   1
 #define LWIP_TCP                    1
 #define LWIP_UDP                    1
diff --git a/main controller code/src/robot.c b/main controller code/src/robot.c
index 36ba336..8b0ac25 100644
--- a/main controller code/src/robot.c	
+++ b/main controller code/src/robot.c	
@@ -12,6 +12,13 @@ int robot_init(void)
 {
     stdio_init_all();
 
+    if(cyw43_arch_init())
+    {
+        return -1;
+    }
+
+    cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
+
     udp_client_init();
     wifi_operator_init();
 
diff --git a/main controller code/src/wifi_operator.c b/main controller code/src/wifi_operator.c
index 7fc7328..17e32fc 100644
--- a/main controller code/src/wifi_operator.c	
+++ b/main controller code/src/wifi_operator.c	
@@ -9,14 +9,71 @@ void wifi_operator_init(void)
 {
     // Mode client
     cyw43_arch_enable_sta_mode();
-    cyw43_arch_wifi_connect_timeout_ms(WIFI_OPERATOR_SSID, WIFI_OPERATOR_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000);
-    puts("Connexion au réseau Wi-Fi...");
-    int status = cyw43_wifi_link_status(&cyw43_state, CYW43_ITF_STA);
-    while (status != CYW43_LINK_UP)
+
+    // Désactiver le mode d'économie d'énergie
+    cyw43_wifi_pm(&cyw43_state, CYW43_NO_POWERSAVE_MODE);
+
+    // Afficher les paramètres de connexion
+    printf("Tentative de connexion à: SSID='%s'\n", WIFI_OPERATOR_SSID);
+
+    // Configuration IP
+    ip4_addr_t ip, netmask, gateway;
+    IP4_ADDR(&ip, 192, 168, 128, 2);
+    IP4_ADDR(&netmask, 255, 255, 255, 0);
+    IP4_ADDR(&gateway, 192, 168, 128, 1);
+
+    // Configuration réseau avant connexion
+    netif_set_up(netif_default);
+    netif_set_addr(netif_default, &ip, &netmask, &gateway);
+
+    puts("Configuration IP effectuée");
+
+    int connect_result = 1;
+    // Tentative de connexion
+    puts("Attente avant connexion...");
+    sleep_ms(2000);  // Attendre 2 secondes que le WiFi soit bien initialisé
+
+    do
     {
-        sleep_ms(500);
-        puts("Connexion en cours...");
-        status = cyw43_wifi_link_status(&cyw43_state, CYW43_ITF_STA);
+        serialDebug("Tentative de connexion au réseau Wi-Fi...");
+        connect_result = cyw43_arch_wifi_connect_timeout_ms(ssid, password, CYW43_AUTH_WPA2_AES_PSK, 10000);
+
+        if(connect_result != 0)
+        {
+            char error_message[100];
+            snprintf(error_message, sizeof(error_message), "Échec de la connexion WiFi - Code d'erreur: %d", connect_result);
+            serialDebug(error_message);
+
+            const char *error_description;
+            switch (connect_result)
+            {
+                case -1:
+                error_description = "Erreur générale";
+                break;
+                case -2:
+                error_description = "Point d'accès non trouvé";
+                break;
+                case -3:
+                error_description = "Mot de passe incorrect";
+                break;
+                default:
+                error_description = "Erreur inconnue";
+            }
+            puts(error_description);
+        }
     }
-    puts("Connexion établie!");
+    while(connect_result);
+
+    // Configuration de l'interface réseau
+    if(!netif_default)
+    {
+        puts("Erreur: Interface réseau non disponible");
+        return;
+    }
+
+    netif_set_up(netif_default);
+    netif_set_link_up(netif_default);
+    netif_set_addr(netif_default, &ip, &netmask, &gateway);
+
+    puts("Connexion établie avec succès!");
 }