diff --git a/Documentation/MT_2023_Diplome_Archier-Affiche.pdf b/Documentation/MT_2023_Diplome_Archier-Affiche.pdf
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diff --git a/Documentation/MT_2023_Diplome_Archier-Affiche.pptx b/Documentation/MT_2023_Diplome_Archier-Affiche.pptx
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diff --git a/Documentation/Mesure_et_Trames.xlsx b/Documentation/Mesure_et_Trames.xlsx
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diff --git a/Documentation/SchemaHapticControl.pptx b/Documentation/SchemaHapticControl.pptx
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diff --git "a/Documentation/Sch\303\251ma_organigramme.pptx" "b/Documentation/Sch\303\251ma_organigramme.pptx"
index 52e9e4f3e55b6c4984a4e555827be42a53bbc552..fd3357141a5205fcecc5b18f5d8fb9fe08734d70 100644
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diff --git a/Documentation/TramesComm.xlsx b/Documentation/TramesComm.xlsx
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diff --git a/HapticControl_Frimware/src/motor_task.cpp b/HapticControl_Frimware/src/motor_task.cpp
index c1dd1f7a66b5751d4a344835bb8f5f6c8e0e77b1..70803ca6c437db8d5ea8ed0a55f4b987be683d43 100644
--- a/HapticControl_Frimware/src/motor_task.cpp
+++ b/HapticControl_Frimware/src/motor_task.cpp
@@ -91,7 +91,7 @@ void MotorTask::Run() {
    while (1) 
    {
       motor.loopFOC();
-
+/*
       idle_check_velocity_ewma = motor.shaft_velocity * IDLE_VELOCITY_EWMA_ALPHA + idle_check_velocity_ewma * (1 - IDLE_VELOCITY_EWMA_ALPHA);
       if (fabsf(idle_check_velocity_ewma) > IDLE_VELOCITY_RAD_PER_SEC) 
       {
@@ -114,8 +114,9 @@ void MotorTask::Run() {
                Serial.print(current_detent_center);
                Serial.print(" -> ");
                Serial.println(motor.shaft_angle);
-         }*/
+         }
       }
+*/ 
 
       float snap_point_radians = config.position_width_radians * config.snap_point;
       float angle_to_detent_center = motor.shaft_angle - current_detent_center;
@@ -142,7 +143,7 @@ void MotorTask::Run() {
       motor.PID_velocity.P = out_of_bounds ? config.endstop_strength_unit * 20 : config.detent_strength_unit * DEFAUL_P_VALUE;
       
       // Allow a better feeling more magnetic
-      angle_to_detent_center = out_of_bounds ? angle_to_detent_center *-1 : angle_to_detent_center;
+      //angle_to_detent_center = out_of_bounds ? angle_to_detent_center *-1 : angle_to_detent_center;
       
       if (fabsf(motor.shaft_velocity) > 20) 
       {
diff --git a/MT_2023_Diplome_Archier_Presentation.pptx b/MT_2023_Diplome_Archier_Presentation.pptx
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