diff --git a/program/main_controller/src/motion_control.c b/program/main_controller/src/motion_control.c
index dac2197..28d71f4 100644
--- a/program/main_controller/src/motion_control.c
+++ b/program/main_controller/src/motion_control.c
@@ -74,26 +74,29 @@ void motion_control_update(void)
     if(elapsed_time_ms >= MSG_DELAY_MS)
     {
         // Send motors speed via I2C
-        union {
-            struct {
-                uint8_t motor1_speed;
-                uint8_t motor2_speed;
-            } hard;
+        uint8_t data[5];
 
-            uint8_t raw[MSG_LEN];
-        } data;
+        data[0] = 0x00; /// registre
 
-        data.hard.motor1_speed = (uint8_t)abs((int)motor1_speed);
-        data.hard.motor2_speed = (uint8_t)abs((int)motor2_speed);
+        //data.motor1_speed = (uint8_t)abs((int)motor1_speed);
+        //data.motor2_speed = (uint8_t)abs((int)motor2_speed);
 
-        data.hard.motor1_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
-        data.hard.motor2_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
+        //data.motor1_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
+        //data.motor2_speed = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
+
+        data[1] = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
+        data[2] = (uint8_t)abs((int)robot.udp_client.data.hard.inputs.joystick_x);
 
         motor_set_dir(MOTOR1, (int16_t)robot.udp_client.data.hard.inputs.joystick_x);
         motor_set_dir(MOTOR2, (int16_t)robot.udp_client.data.hard.inputs.joystick_x);
 
         uint8_t reg = 0x00;
-
+        
+        if(i2c_write_blocking(I2C_MASTER_INSTANCE, I2C_MOTION_CONTROLLER_ADDRESS, data, 3, false) == PICO_ERROR_GENERIC)
+        {
+            puts("Motion controller not reachable");
+        }
+        /*
         if(i2c_write_blocking(I2C_MASTER_INSTANCE, I2C_MOTION_CONTROLLER_ADDRESS, &reg, 1, true) == PICO_ERROR_GENERIC)
         {
             puts("Motion controller not reachable");
@@ -102,6 +105,6 @@ void motion_control_update(void)
         if(i2c_write_blocking(I2C_MASTER_INSTANCE, I2C_MOTION_CONTROLLER_ADDRESS, data.raw, MSG_LEN, false) == PICO_ERROR_GENERIC)
         {
             puts("Motion controller not reachable");
-        }
+        }*/
     }
 }