diff --git a/adapter_ard.h b/adapter_ard.h
index fddd318..f9ef511 100644
--- a/adapter_ard.h
+++ b/adapter_ard.h
@@ -6,7 +6,10 @@ void loop();
 void setup();
 long millis();
 long micros();
+void delay(unsigned long milli);
 int abs(int in);
+double max(double a, double b);
+double min(double a, double b);
 void pinMode(int pin, int mode);
 int analogRead(int pin);
 void digitalWrite(int pin, int level);
@@ -21,6 +24,10 @@ class serial_c{
     void print(std::string txt);
     void println(int nb);
     void print(int nb);
+    void print(float nb);
+    void println(float nb);
+    void print(double nb);
+    void println(double nb);
 };
 
 extern serial_c Serial;
diff --git a/laby.py b/laby.py
index 6eaa439..d6ad512 100644
--- a/laby.py
+++ b/laby.py
@@ -22,7 +22,7 @@ class Laby:
     L17=0.20
     walls = [
         ((0,0),(0,L17)),
-        ((0,L17+L4),(0,L17+L4+L2)),
+        #((0,L17+L4),(0,L17+L4+L2)),
         ((0,0),(L8,0)),
         ((L8,0),(L8,L7)),
         ((L8,L7),(L8+L3,L7)),
diff --git a/main.cpp b/main.cpp
index 36eda96..17c28d9 100644
--- a/main.cpp
+++ b/main.cpp
@@ -43,11 +43,17 @@ int main(int argc, char** argv){
     }
     printf("$dt,%ld;", micros());
     loop();
+    delay(10);
     printf("*");
     fflush(stdout);
   }
 }
 
+void delay(unsigned long milli){
+  unsigned long end = millis() + milli;
+  while(millis() <= end);
+}
+
 long millis(){
   clock_gettime(CLOCK_MONOTONIC_RAW, &end);
   uint64_t milli = (end.tv_sec - start.tv_sec) * 1000 + (end.tv_nsec - start.tv_nsec) / 1000000;
@@ -66,6 +72,13 @@ int abs(int in){
   return abs(in);
 }
 
+double min(double a, double b){
+  return a<b?a:b;
+}
+double max(double a, double b){
+  return a>b?a:b;
+}
+
 void pinMode(int pin, int mode){
   printf("$pm,%d,%d;",pin, mode);
 }
@@ -99,6 +112,23 @@ void serial_c::print(int nb){
   printf("serial : %d", nb);
 }
 
+void serial_c::print(float nb){
+  printf("serial : %f", nb);
+}
+
+void serial_c::println(float nb){
+  this->print(nb);
+  printf("\n");
+}
+void serial_c::print(double nb){
+  printf("serial : %f", nb);
+}
+
+void serial_c::println(double nb){
+  this->print(nb);
+  printf("\n");
+}
+
 void serial_c::println(int nb){
   this->print(nb);
   printf("\n");
diff --git a/projet-tuteure-3a b/projet-tuteure-3a
index c54363f..55b6ea6 160000
--- a/projet-tuteure-3a
+++ b/projet-tuteure-3a
@@ -1 +1 @@
-Subproject commit c54363fde2edebb39355ba264c1b85dd2258bef4
+Subproject commit 55b6ea6ff947589b354610e1d07d872e799be815
diff --git a/robot.py b/robot.py
index 35b5dc9..aa1d45d 100644
--- a/robot.py
+++ b/robot.py
@@ -12,7 +12,7 @@ class Robot:
     # velocite des roues (non angulaire)
     wv=[0,0]
     # velocite max
-    wmv=0.1
+    wmv=0.3
     # espace entre les deux roues
     l=0.1
     # time