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-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/hardware_vreg/vreg.i"
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-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/hardware_watchdog/watchdog.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/hardware_watchdog/watchdog.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/hardware_watchdog/watchdog.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/hardware_xip_cache/xip_cache.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/hardware_xip_cache/xip_cache.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/hardware_xip_cache/xip_cache.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/hardware_xosc/xosc.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/hardware_xosc/xosc.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/hardware_xosc/xosc.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_atomic/atomic.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_atomic/atomic.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_atomic/atomic.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_bit_ops/bit_ops_aeabi.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_bootrom/bootrom.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_bootrom/bootrom.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_bootrom/bootrom.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_bootrom/bootrom_lock.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_bootrom/bootrom_lock.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_bootrom/bootrom_lock.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_clib_interface/newlib_interface.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_clib_interface/newlib_interface.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_clib_interface/newlib_interface.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_crt0/crt0.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_cxx_options/new_delete.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_cxx_options/new_delete.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_cxx_options/new_delete.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_divider/divider_hardware.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_double/double_aeabi_rp2040.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_double/double_init_rom_rp2040.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_double/double_init_rom_rp2040.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_double/double_init_rom_rp2040.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_double/double_math.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_double/double_math.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_double/double_math.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_double/double_v1_rom_shim_rp2040.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_fix/rp2040_usb_device_enumeration/rp2040_usb_device_enumeration.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_fix/rp2040_usb_device_enumeration/rp2040_usb_device_enumeration.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_fix/rp2040_usb_device_enumeration/rp2040_usb_device_enumeration.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_flash/flash.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_flash/flash.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_flash/flash.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_float/float_aeabi_rp2040.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_float/float_init_rom_rp2040.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_float/float_init_rom_rp2040.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_float/float_init_rom_rp2040.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_float/float_math.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_float/float_math.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_float/float_math.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_float/float_v1_rom_shim_rp2040.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_int64_ops/pico_int64_ops_aeabi.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_malloc/malloc.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_malloc/malloc.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_malloc/malloc.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_mem_ops/mem_ops_aeabi.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_platform_common/common.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_platform_common/common.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_platform_common/common.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_platform_panic/panic.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_platform_panic/panic.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_platform_panic/panic.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_printf/printf.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_printf/printf.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_printf/printf.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime/runtime.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime/runtime.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime/runtime.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime_init/runtime_init.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime_init/runtime_init.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime_init/runtime_init.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime_init/runtime_init_clocks.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime_init/runtime_init_clocks.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime_init/runtime_init_clocks.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime_init/runtime_init_stack_guard.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime_init/runtime_init_stack_guard.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_runtime_init/runtime_init_stack_guard.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_standard_binary_info/standard_binary_info.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_standard_binary_info/standard_binary_info.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_standard_binary_info/standard_binary_info.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio/stdio.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio/stdio.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio/stdio.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_uart/stdio_uart.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_uart/stdio_uart.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_uart/stdio_uart.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_usb/reset_interface.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_usb/reset_interface.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_usb/reset_interface.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_usb/stdio_usb.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_usb/stdio_usb.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_usb/stdio_usb.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_usb/stdio_usb_descriptors.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_usb/stdio_usb_descriptors.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdio_usb/stdio_usb_descriptors.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdlib/stdlib.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdlib/stdlib.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_stdlib/stdlib.s"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_unique_id/unique_id.o"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_unique_id/unique_id.i"
-	@echo "... home/ulysse-cura/.local/share/pico-sdk/src/rp2_common/pico_unique_id/unique_id.s"
-	@echo "... src/i2c/gyro.o"
-	@echo "... src/i2c/gyro.i"
-	@echo "... src/i2c/gyro.s"
-	@echo "... src/i2c/i2c_master.o"
-	@echo "... src/i2c/i2c_master.i"
-	@echo "... src/i2c/i2c_master.s"
-	@echo "... src/i2c/mcp23017.o"
-	@echo "... src/i2c/mcp23017.i"
-	@echo "... src/i2c/mcp23017.s"
-	@echo "... src/i2c/motors.o"
-	@echo "... src/i2c/motors.i"
-	@echo "... src/i2c/motors.s"
-	@echo "... src/main.o"
-	@echo "... src/main.i"
-	@echo "... src/main.s"
-	@echo "... src/motion_control.o"
-	@echo "... src/motion_control.i"
-	@echo "... src/motion_control.s"
-	@echo "... src/robot.o"
-	@echo "... src/robot.i"
-	@echo "... src/robot.s"
-	@echo "... src/wifi/udp_client.o"
-	@echo "... src/wifi/udp_client.i"
-	@echo "... src/wifi/udp_client.s"
-	@echo "... src/wifi/udp_payload.o"
-	@echo "... src/wifi/udp_payload.i"
-	@echo "... src/wifi/udp_payload.s"
-	@echo "... src/wifi/wifi_operator.o"
-	@echo "... src/wifi/wifi_operator.i"
-	@echo "... src/wifi/wifi_operator.s"
-.PHONY : help
-
-
-
-#=============================================================================
-# Special targets to cleanup operation of make.
-
-# Special rule to run CMake to check the build system integrity.
-# No rule that depends on this can have commands that come from listfiles
-# because they might be regenerated.
-cmake_check_build_system:
-	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
-.PHONY : cmake_check_build_system
-
diff --git a/program/pico_sdk_import.cmake b/program/pico_sdk_import.cmake
index 28efe9e..d493cc2 100644
--- a/program/pico_sdk_import.cmake
+++ b/program/pico_sdk_import.cmake
@@ -3,6 +3,28 @@
 # This can be dropped into an external project to help locate this SDK
 # It should be include()ed prior to project()
 
+# Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd.
+#
+# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
+# following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
+# disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products
+# derived from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
 if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
     set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
     message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
@@ -18,9 +40,20 @@ if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_P
     message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
 endif ()
 
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
+    set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
+    message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
+endif ()
+
+if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
+  set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
+  message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
+endif()
+
 set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
 set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
 set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
 
 if (NOT PICO_SDK_PATH)
     if (PICO_SDK_FETCH_FROM_GIT)
@@ -32,11 +65,37 @@ if (NOT PICO_SDK_PATH)
         FetchContent_Declare(
                 pico_sdk
                 GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
-                GIT_TAG master
+                GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
         )
+
         if (NOT pico_sdk)
             message("Downloading Raspberry Pi Pico SDK")
-            FetchContent_Populate(pico_sdk)
+            # GIT_SUBMODULES_RECURSE was added in 3.17
+            if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
+                FetchContent_Populate(
+                        pico_sdk
+                        QUIET
+                        GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                        GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+                        GIT_SUBMODULES_RECURSE FALSE
+
+                        SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
+                        BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
+                        SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
+                )
+            else ()
+                FetchContent_Populate(
+                        pico_sdk
+                        QUIET
+                        GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                        GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+
+                        SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
+                        BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
+                        SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
+                )
+            endif ()
+
             set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
         endif ()
         set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
diff --git a/program/src/controller.c b/program/src/controller.c
index 318fe37..351509d 100644
--- a/program/src/controller.c
+++ b/program/src/controller.c
@@ -1,48 +1,33 @@
-#include "headers/robot.h"
+#include "headers/controller.h"
 
 #include <pico/stdlib.h>
 #include <pico/cyw43_arch.h>
 #include <time.h>
 #include <pico/mutex.h>
-#include "i2c/headers/i2c_master.h"
-#include "i2c/headers/mcp23017.h"
-#include "wifi/headers/udp_client.h"
+#include "wifi/headers/udp_server.h"
 #include "wifi/headers/wifi_operator.h"
 
-auto_init_mutex(wifi_mutex);
-
-void robot_init(void)
+void controller_init(void)
 {
-    robot.is_running = true;
+    controller.is_running = true;
 
     stdio_init_all();
 
-    if(cyw43_arch_init())
-        robot.is_running = false;
+    if(cyw43_arch_init_with_country(CYW43_COUNTRY_FRANCE))
+        controller.is_running = false;
 
-    mutex_enter_blocking(&wifi_mutex);
     cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, true);
-    mutex_exit(&wifi_mutex);
 
-    //i2c_master_init();
+    if(init_wifi_operator())
+        controller.is_running = false;
 
-    //mcp23017_init();
-
-    //gyro_init();
-
-    //gyro_calibrate();
-
-    //init_motion_control();
-
-    init_wifi_operator();
-    udp_client_init();
+    if(udp_server_init())
+        controller.is_running = false;
 
     // Initialisation ended
     for(uint i = 0, led_state = true; i < 5; i++)
     {
-        mutex_enter_blocking(&wifi_mutex);
         cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
-        mutex_exit(&wifi_mutex);
 
         sleep_ms(100);
 
@@ -54,46 +39,33 @@ static inline void update_time(void)
 {
     static float last_time = 0.0;
     float start_time = (float)clock() * 1000.0f / (float)CLOCKS_PER_SEC;
-    robot.delta_time_ms = start_time - last_time;
+    controller.delta_time_ms = start_time - last_time;
     last_time = start_time;
 
     static float elapsed_time = 0.0f;
-    elapsed_time += robot.delta_time_ms;
+    elapsed_time += controller.delta_time_ms;
 
     static bool led_state = false;
     if(elapsed_time >= 1000.0f)
     {
         elapsed_time = 0.0f;
 
-        mutex_enter_blocking(&wifi_mutex);
         cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_state);
-        mutex_exit(&wifi_mutex);
 
         led_state = !led_state;
     }
 }
 
-void robot_handle_inputs_outputs(void)
+void controller_handle_inputs_outputs(void)
 {
-    mutex_enter_blocking(&wifi_mutex);
     cyw43_arch_poll();
-    mutex_exit(&wifi_mutex);
 
     update_time();
 
-    //gyro_update();
-
-    //i2c_update_motion_control();
-
-    //i2c_update_servo_motors();
-
-    //mcp23017_update();
-
     tight_loop_contents();
 }
 
-void robot_deinit(void)
+void controller_deinit(void)
 {
-    udp_client_deinit();
-    //i2c_master_deinit();
+    udp_server_deinit();
 }
diff --git a/program/src/headers/controller.h b/program/src/headers/controller.h
index 4563f77..cba8078 100644
--- a/program/src/headers/controller.h
+++ b/program/src/headers/controller.h
@@ -3,18 +3,18 @@
 
 #include <stdbool.h>
 
-typedef struct robot_t {
+typedef struct controller_t {
     bool is_running;
     float delta_time_ms;
-} robot_t;
+} controller_t;
 
-extern robot_t robot;
+extern controller_t controller;
 
-// Init all robot's components
-void robot_init(void);
+// Init all controller's components
+void controller_init(void);
 // Handle inputs and outputs
-void robot_handle_inputs_outputs(void);
-// Deinit all robot's components
-void robot_deinit(void);
+void controller_handle_inputs_outputs(void);
+// Deinit all controller's components
+void controller_deinit(void);
 
 #endif // ROBOT_H
\ No newline at end of file
diff --git a/program/src/main.c b/program/src/main.c
index e844c31..e7165a3 100644
--- a/program/src/main.c
+++ b/program/src/main.c
@@ -8,20 +8,20 @@
 *   Ce Pico est un maitre pilotant le gyroscope, l'internet et le motion controller.*
 \* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
 
-#include "headers/robot.h"
+#include "headers/controller.h"
 
-robot_t robot;
+controller_t controller;
 
 int main(void)
 {
-    robot_init();
+    controller_init();
 
-    while(robot.is_running)
+    while(controller.is_running)
     {
-        robot_handle_inputs_outputs();
+        controller_handle_inputs_outputs();
     }
 
-    robot_deinit();
+    controller_deinit();
 
     return 0;
 }
diff --git a/program/src/wifi/headers/lwipopts.h b/program/src/wifi/headers/lwipopts.h
index 91c3b05..3cc083c 100644
--- a/program/src/wifi/headers/lwipopts.h
+++ b/program/src/wifi/headers/lwipopts.h
@@ -21,18 +21,18 @@
 #endif
 #define MEM_ALIGNMENT               4
 #ifndef MEM_SIZE
-#define MEM_SIZE                    32768          // Augmenté pour plus de mémoire disponible
+#define MEM_SIZE                    4000
 #endif
 #define MEMP_NUM_TCP_SEG            32
 #define MEMP_NUM_ARP_QUEUE          10
-#define PBUF_POOL_SIZE              32              // Augmenté pour réduire les allocations
+#define PBUF_POOL_SIZE              24
 #define LWIP_ARP                    1
 #define LWIP_ETHERNET               1
 #define LWIP_ICMP                   1
 #define LWIP_RAW                    1
-#define TCP_WND                     (16 * TCP_MSS)  // Augmenté pour de meilleures performances
+#define TCP_WND                     (8 * TCP_MSS)
 #define TCP_MSS                     1460
-#define TCP_SND_BUF                 (8 * TCP_MSS)   // Augmenté pour de meilleures performances
+#define TCP_SND_BUF                 (8 * TCP_MSS)
 #define TCP_SND_QUEUELEN            ((4 * (TCP_SND_BUF) + (TCP_MSS - 1)) / (TCP_MSS))
 #define LWIP_NETIF_STATUS_CALLBACK  1
 #define LWIP_NETIF_LINK_CALLBACK    1
@@ -44,8 +44,7 @@
 #define LINK_STATS                  0
 // #define ETH_PAD_SIZE                2
 #define LWIP_CHKSUM_ALGORITHM       3
-#define LWIP_DHCP                   0
-#define LWIP_DHCP_SERVER            0
+#define LWIP_DHCP                   1
 #define LWIP_IPV4                   1
 #define LWIP_TCP                    1
 #define LWIP_UDP                    1
@@ -90,8 +89,4 @@
 #define SLIP_DEBUG                  LWIP_DBG_OFF
 #define DHCP_DEBUG                  LWIP_DBG_OFF
 
-#define SYS_LIGHTWEIGHT_PROT       1  // Protection pour le multicore
-#define MEMP_NUM_PBUF              32  // Augmenté pour les buffers
-#define ICMP_TTL                   255 // Augmenté pour la fiabilité
-
-#endif /* __LWIPOPTS_H__ */
\ No newline at end of file
+#endif /* __LWIPOPTS_H__ */
diff --git a/program/src/wifi/headers/udp_server.h b/program/src/wifi/headers/udp_server.h
index 7ab430a..6028e4b 100644
--- a/program/src/wifi/headers/udp_server.h
+++ b/program/src/wifi/headers/udp_server.h
@@ -4,25 +4,17 @@
 #include <stdint.h>
 #include <lwip/udp.h>
 
-#define UDP_CLIENT_PORT 4243
+#define UDP_SERVER_PORT 4242
 
-#define BUFFER_SIZE 1024
-
-// Message callback deffinition
-typedef void (*message_callback_t)(uint8_t *payload, uint16_t len, const ip_addr_t *addr, uint16_t port);
-
-// Data in here is used by the SDK
-typedef struct udp_client_t {
-    struct udp_pcb *pcb;                // like this
-    ip_addr_t local_addr;               // or this...
-    uint16_t local_port;                // So don't remove them, even if they are not used explicitely in the program
-    uint8_t recv_buffer[BUFFER_SIZE];   // Please (Do not even change their position)
-    message_callback_t message_callback;
-} udp_client_t;
+typedef struct udp_server_t {
+    struct udp_pcb *pcb;
+} udp_server_t;
 
 // Init udp client, set callback to NULL for the default callback
-void udp_client_init(void);
+int udp_server_init(void);
+// Send all data to robot
+void udp_server_send(void);
 // Exit udp client
-void udp_client_deinit(void);
+void udp_server_deinit(void);
 
 #endif // UDP_CLIENT_H
\ No newline at end of file
diff --git a/program/src/wifi/headers/wifi_operator.h b/program/src/wifi/headers/wifi_operator.h
index 78376a9..4c10558 100644
--- a/program/src/wifi/headers/wifi_operator.h
+++ b/program/src/wifi/headers/wifi_operator.h
@@ -1,11 +1,10 @@
 #ifndef WIFI_OPERATOR_H
 #define WIFI_OPERATOR_H
 
-//#define WIFI_OPERATOR_SSID "RiombotiqueAP"
-//#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
-#define WIFI_OPERATOR_SSID "thinkpad"
-#define WIFI_OPERATOR_PASSWORD "CDuKaka2000!"
+#define WIFI_OPERATOR_SSID "RiombotiqueAP"
+#define WIFI_OPERATOR_PASSWORD "x4ptSLpPuJFcpzbLEhDoZ5J7dz"
+#define WIFI_OPERATOR_CHANNEL 3
 
-void init_wifi_operator(void);
+int init_wifi_operator(void);
 
 #endif // WIFI_OPERATOR_H
\ No newline at end of file
diff --git a/program/src/wifi/udp_server.c b/program/src/wifi/udp_server.c
index 23ef3f7..f5385a5 100644
--- a/program/src/wifi/udp_server.c
+++ b/program/src/wifi/udp_server.c
@@ -2,69 +2,38 @@
 
 #include <stdio.h>
 
-udp_client_t udp_client;
+udp_server_t udp_server;
 
-static inline void handle_receive(struct pbuf *p, const ip_addr_t *addr, u16_t port)
+int udp_server_init(void)
 {
-    if(p->len >= 2)
+    udp_server.pcb = udp_new();
+    if(udp_server.pcb == NULL)
     {
-        uint8_t *payload = (uint8_t *)p->payload;
-        uint16_t len = p->len;
-
-        udp_client.message_callback(payload, len, addr, port);
+        puts("Error creating UDP server");
+        return -1;
     }
 
-    pbuf_free(p);
-}
-
-static void __not_in_flash_func(udp_receive_callback)(void *arg, struct udp_pcb *pcb, struct pbuf *p, const ip_addr_t *addr, u16_t port)
-{
-    udp_client_t *udp_client_received_data = (udp_client_t *)arg;
-    handle_receive(p, addr, port);
-}
-
-// Default callback func
-static void __not_in_flash_func(default_message_callback)(uint8_t *payload, uint16_t len, const ip_addr_t *addr, uint16_t port)
-{
-    printf("Received: len=%d from %s:%d\n", len, ipaddr_ntoa(addr), port);
-
-    for(uint i = 0; i < len; i++) printf("payload[%d]=%d | ", i, payload[i]);
-    puts("\n");
-
-    //printf(">Robot angle : %d\n", (int16_t)((payload[UDP_PAYLOAD_ANGLE_H_BYTE] << 8) | payload[UDP_PAYLOAD_ANGLE_L_BYTE]));
-    //printf(">Robot x speed : %d\n", (int8_t)payload[UDP_PAYLOAD_X_AXIS_SPEED_BYTE]);
-    //printf(">Robot y speed : %d\n", (int8_t)payload[UDP_PAYLOAD_Y_AXIS_SPEED_BYTE]);
-}
-
-void udp_client_init(void)
-{
-    //udp_client.message_callback = udp_client_message_handler;
-    udp_client.message_callback = default_message_callback;
-
-    udp_client.pcb = udp_new();
-    if(udp_client.pcb == NULL)
+    if(udp_bind(udp_server.pcb, IP_ADDR_ANY, UDP_SERVER_PORT))
     {
-        puts("Error creating UDP client");
-        return;
+        printf("Error bind UDP server");
+        return -1;
     }
 
-    udp_recv(udp_client.pcb, udp_receive_callback, &udp_client);
+    puts("UDP client started");
 
-    err_t err = udp_bind(udp_client.pcb, IP_ADDR_ANY, UDP_CLIENT_PORT);
-    if(err != ERR_OK)
-    {
-        printf("Error bind UDP client: %d\n", err);
-        return;
-    }
-
-    printf("UDP client started on port %d\n", UDP_CLIENT_PORT);
+    return 0;
 }
 
-void udp_client_deinit(void)
+void udp_server_send(void)
 {
-    if(udp_client.pcb)
+
+}
+
+void udp_server_deinit(void)
+{
+    if(udp_server.pcb)
     {
-        udp_remove(udp_client.pcb);
-        udp_client.pcb = NULL;
+        udp_remove(udp_server.pcb);
+        udp_server.pcb = NULL;
     }
 }
diff --git a/program/src/wifi/wifi_operator.c b/program/src/wifi/wifi_operator.c
index b607682..d3052b3 100644
--- a/program/src/wifi/wifi_operator.c
+++ b/program/src/wifi/wifi_operator.c
@@ -5,70 +5,19 @@
 #include <lwip/netif.h>
 #include <lwip/ip4_addr.h>
 
-void init_wifi_operator(void)
+int init_wifi_operator(void)
 {
-    // Mode client
-    cyw43_arch_enable_sta_mode();
-
-    // Désactiver le mode d'économie d'énergie
-    cyw43_wifi_pm(&cyw43_state, CYW43_NO_POWERSAVE_MODE);
-
-    // 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("IP config done");
-    sleep_ms(300); // Wait for wifi to be initialized
-
-    // Tentativs de connexion
-    for(int error_code; !error_code;)
+    if(cyw43_wifi_pm(&cyw43_state, CYW43_NO_POWERSAVE_MODE))
     {
-        // Afficher les paramètres de connexion
-        printf("Trying to connect to '%s'\n", WIFI_OPERATOR_SSID);
-        error_code = cyw43_arch_wifi_connect_timeout_ms(WIFI_OPERATOR_SSID, WIFI_OPERATOR_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 10000);
-
-        if(error_code)
-        {
-            const char *error_description;
-
-            switch(error_code)
-            {
-              case -1:
-                error_description = "Error Generic";
-                break;
-
-              case -2:
-                error_description = "Acces point not found";
-                break;
-
-              case -3:
-                error_description = "Incorrect password";
-                break;
-
-              default:
-                error_description = "Unknow error";
-            }
-
-            printf("Error: WiFi can't be connected - Error code: %d - %s\n", error_code, error_description);
-        }
+        puts("CYW43 no powersave mode failed");
+        return -1;
     }
 
-    // Configuration de l'interface réseau
-    if(netif_default == NULL)
-    {
-        puts("Error: WiFi interface isn't accessible");
-        return;
-    }
+    cyw43_arch_enable_ap_mode(WIFI_OPERATOR_SSID, WIFI_OPERATOR_PASSWORD, CYW43_AUTH_WPA2_AES_PSK);
 
-    netif_set_up(netif_default);
-    netif_set_link_up(netif_default);
-    netif_set_addr(netif_default, &ip, &netmask, &gateway);
+    cyw43_wifi_ap_set_channel(&cyw43_state, WIFI_OPERATOR_CHANNEL);
 
-    puts("Connexion successfully etablished !");
+    puts("AP mode enabled");
+
+    return 0;
 }