diff --git a/.gitignore b/.gitignore
index 2a5926b..474845c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -43,6 +43,18 @@ GUI
 # Image rpi
 *.img
 
+# Fichiers Images
+*.jpg
+*.jpeg
+*.png
+*.tiff
+*.bmp
+*.gif
+
+# Fichiers documentation
+*.pdf
+*.chm
+
 # Archives
 *.zip
 *.tar
@@ -64,4 +76,10 @@ GUI
 
 /software/raspberry/superviseur-robot/superviseur/dist/
 /software/raspberry/testeur/testeur/build/
-/software/raspberry/testeur/testeur/dist/
\ No newline at end of file
+/software/raspberry/testeur/testeur/dist/
+/doc/Doc\ robot/doxygen/
+/software/robot/Debug/
+/software/robot/Release/
+/hardware/meca/Dumber_2022/Pieces/OldVersions/
+/hardware/meca/Dumber_2022/OldVersions/
+/hardware/meca/Dumber_2022/Pieces/export/
diff --git a/software/robot/.cproject b/software/robot/.cproject
index 4bea74d..a926c2e 100644
--- a/software/robot/.cproject
+++ b/software/robot/.cproject
@@ -34,7 +34,7 @@
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.620486962" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2040942504" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o2" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.2040942504" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1441075970" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@@ -106,6 +106,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.242496753" name="Core" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.176318081" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1275174120" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32L071CBTx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32L0xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32L0xx/Include | ../Drivers/STM32L0xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM0 ||  ||  || USE_HAL_DRIVER | STM32L010x6 ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32L071CBTx_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.689723227" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1084432067" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/Dumber3}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.84530615" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1851868879" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
diff --git a/software/robot/Application/application.c b/software/robot/Application/application.c
index 9b823f1..7a33c5f 100644
--- a/software/robot/Application/application.c
+++ b/software/robot/Application/application.c
@@ -29,7 +29,7 @@
  */
 
 /**
- * @mainpage  Dumber 3
+ * @mainpage  Dumber 3 version 3.1
  *
  * Dumber is a robot used at INSA-GEI, Toulouse, France for realtime computer science teaching.
  * Robot is basically controlled by a supervisor program and move depending on commands send by supervisor.
@@ -149,9 +149,6 @@ APPLICATION_Timeout systemTimeout = {0};
  * @return None
  */
 void APPLICATION_Init(void) {
-	/* Init du support RTOS (notamment le timer de run time) */
-	//RTOS_SUPPORT_Init(); /* <- used for freertos run time usage */
-
 	/* Init des messages box */
 	MESSAGE_Init();
 
@@ -213,7 +210,6 @@ void APPLICATION_Thread(void* params) {
 
 				if (decodedCmd != NULL) {
 					if (decodedCmd->type==CMD_NONE) {
-						//XBEE_SendData("hello");
 						cmdSendAnswer(ANS_UNKNOWN);
 					} else if (decodedCmd->type == CMD_INVALID_CHECKSUM) {
 						cmdSendAnswer(ANS_ERR);
@@ -266,7 +262,8 @@ void APPLICATION_Thread(void* params) {
 					 * Don't know real source of pb
 					 */
 
-					if (decodedCmd->type!=CMD_NONE) free(receivedCMD);
+					//if (decodedCmd->type!=CMD_NONE) free(receivedCMD);
+					free(receivedCMD);
 
 					/* End workaround  */
 
diff --git a/software/robot/Application/commands.c b/software/robot/Application/commands.c
index 7423565..87b2323 100644
--- a/software/robot/Application/commands.c
+++ b/software/robot/Application/commands.c
@@ -34,8 +34,8 @@
 #include <stdio.h>
 
 /** @addtogroup Application_Software
-  * @{
-  */
+ * @{
+ */
 
 /** @addtogroup COMMANDS
  * Commands handler is in charge of decoding received commands and building answer frames.
@@ -88,7 +88,7 @@ char cmdVerifyChecksum(char* str);
  *
  * @warning This function use memory allocation for creating a copy of the original string. Be sure to free memory after use.
  *
- * @todo Error related to memory allocation (allocation failed) is not managed -> should generate a Panic
+ * @remark Error related to memory allocation (allocation failed) is managed directly into malloc -> generate a Panic
  *
  * @param[in] str string without checksum
  * @return 	string with checksum added
@@ -97,6 +97,7 @@ char cmdVerifyChecksum(char* str);
 char* cmdAddChecksum(const char* str) {
 	uint16_t j;
 	unsigned char checksum=0;
+
 	char *outstr = (char*) malloc(strlen(str)+2); // +1 for checksum to add, +1 for zero ending
 
 	for (j = 0; str[j] != '\r'; j++) {
@@ -128,6 +129,7 @@ char cmdVerifyChecksum(char* str) {
 	uint16_t j;
 	uint16_t length;
 	unsigned char checksum=0;
+	char status=0;
 
 	length = strlen(str);
 	/* Warning: str should be without ending CR (0x0D) character, so, a ping command should be
@@ -135,25 +137,31 @@ char cmdVerifyChecksum(char* str) {
 	 *
 	 * in the loop after, ending length is length of the caommand string whithout last char, the checksum
 	 * so, we have j<length-1
+	 *
+	 * In case string as length 0 (empty string, return 0
 	 */
-	for (j = 0; j<length-1; j++) {
-		checksum ^= str[j];
+	if (length!=0) {
+		for (j = 0; j<length-1; j++) {
+			checksum ^= str[j];
+		}
+
+		if (checksum == '\r')
+			checksum++;
+
+		if (str[j] == checksum) {
+			/*str[length - 2] = 13;
+			  str[length - 1] = 0;
+		      str[length] = 0;
+		     */
+
+			str[length - 1] = 0; /* we remove checksum char */
+			str[length] = 0;
+
+			status = 1;
+		}
 	}
 
-	if (checksum == '\r')
-		checksum++;
-
-	if (str[j] == checksum) {
-		/*str[length - 2] = 13;
-		str[length - 1] = 0;
-		str[length] = 0;*/
-
-		str[length - 1] = 0; /* we remove checksum char */
-		str[length] = 0;
-
-		return 1;
-	} else
-		return 0;
+	return status;
 }
 
 /**
@@ -173,6 +181,8 @@ char cmdVerifyChecksum(char* str) {
  *
  * Generic structure returned may contains CMD_NONE if command is unknown or CMD_INVALID_CHECKSUM if checksum is not valid
  *
+ * @remark Error related to memory allocation (allocation failed) is managed directly into malloc -> generate a Panic
+ *
  * @remark Returned value is always cast on a CMD_Generic type, but may contains CMD_Move or CMD_Turn structure. It is
  * user responsibility to check type field inside structure and cast accordingly returned value to correct structure.
  */
@@ -281,8 +291,6 @@ CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
  * @warning This function use cmdAddChecksum, so indirectly make use of memory allocation for sending message to XBEE mailbox.
  *          Be sure to release memory in XBEE driver after retrieving message from mailbox.
  *
- * @todo Error related to memory allocation (allocation failed) is not managed -> should generate a Panic
- *
  * @todo Maybe duplication between this function and cmdSendString: see if only one function with a macro/wrapper could be used
  *
  * @param[in] ans string containing answer to send, without checksum
@@ -312,8 +320,6 @@ void cmdSendAnswer(uint8_t ans) {
  * @warning This function use cmdAddChecksum, so indirectly make use of memory allocation for sending message to XBEE mailbox.
  *          Be sure to release memory in XBEE driver after retrieving message from mailbox.
  *
- * @todo Error related to memory allocation (allocation failed) is not managed -> should generate a Panic
- *
  * @todo Maybe duplication between this function and cmdSendAnswer: see if only one function with a macro/wrapper could be used
  *
  * @param[in] str string containing answer to send without checksum
@@ -340,8 +346,6 @@ void cmdSendString(char *str) {
  * @warning This function use cmdAddChecksum, so indirectly make use of memory allocation for sending message to XBEE mailbox.
  *          Be sure to release memory in XBEE driver after retrieving message from mailbox.
  *
- * @todo Error related to memory allocation (allocation failed) is not managed -> should generate a Panic
- *
  * @todo Check batterystate type used here: seems a bit overkill (16bit for only 6 states) -> enum should be better
  *
  * @param[in] batteryState current battery state
@@ -374,8 +378,6 @@ void cmdSendBatteryLevel(uint16_t batteryState) {
  * @warning This function use cmdAddChecksum, so indirectly make use of memory allocation for sending message to XBEE mailbox.
  *          Be sure to release memory in XBEE driver after retrieving message from mailbox.
  *
- * @todo Error related to memory allocation (allocation failed) is not managed -> should generate a Panic
- *
  * @param None
  * @return None
  */
@@ -399,8 +401,6 @@ void cmdSendVersion(void) {
  * @warning This function use cmdAddChecksum, so indirectly make use of memory allocation for sending message to XBEE mailbox.
  *          Be sure to release memory in XBEE driver after retrieving message from mailbox.
  *
- * @todo Error related to memory allocation (allocation failed) is not managed -> should generate a Panic
- *
  * @param[in] state current robot state
  * @return None
  */
@@ -416,13 +416,13 @@ void cmdSendBusyState(uint8_t state) {
 }
 
 /**
-  * @}
-  */
+ * @}
+ */
 
 /**
-  * @}
-  */
+ * @}
+ */
 
 /**
-  * @}
-  */
+ * @}
+ */
diff --git a/software/robot/Application/config.h b/software/robot/Application/config.h
index 17e07b5..7632582 100644
--- a/software/robot/Application/config.h
+++ b/software/robot/Application/config.h
@@ -44,8 +44,8 @@
  *  Version in plain text and as a numeric value
  */
 ///@{
-#define SYSTEM_VERSION_STR			"3.0"
-#define SYSTEM_VERSION				0x0300	// Upper byte: major version, lower byte: minor version
+#define SYSTEM_VERSION_STR			"3.1"
+#define SYSTEM_VERSION				0x0301	// Upper byte: major version, lower byte: minor version
 ///@}
 
 #define STACK_SIZE 					96
@@ -59,9 +59,9 @@
 #define PriorityXbeeRX 					(configMAX_PRIORITIES -2)
 #define PriorityXbeeTX 					(configMAX_PRIORITIES -3)
 #define PriorityLedsHandler				(configMAX_PRIORITIES -4)
-#define PriorityMotorsAsservissement	(configMAX_PRIORITIES -5)
-#define PriorityApplicationHandler		(configMAX_PRIORITIES -6)
-#define PriorityBatteryHandler			(configMAX_PRIORITIES -7)
+#define PriorityApplicationHandler		(configMAX_PRIORITIES -5)
+#define PriorityBatteryHandler			(configMAX_PRIORITIES -6)
+#define PriorityMotorsAsservissement	(configMAX_PRIORITIES -7)
 #define PriorityMotorsHandler			(configMAX_PRIORITIES -8)
 #define PrioritySequenceurTimeout		(configMAX_PRIORITIES -9)
 
diff --git a/software/robot/Application/rtos_support.c b/software/robot/Application/rtos_support.c
index 6cd1b0f..0b1121e 100644
--- a/software/robot/Application/rtos_support.c
+++ b/software/robot/Application/rtos_support.c
@@ -102,9 +102,18 @@ void TIM7_IRQHandler(void) {
   RTOS_SUPPORT_counter16bitUpper++;
 }
 
+/**
+ * @brief This function only here to overload PreSleepProcessing function generated by CubeMX
+ *        and that reset ulExpectedIdleTime, disabling power saving
+ *        Creating this funcion here, that does not modify ulExpectedIdleTime, permit to enable
+ *        tickless power saving provided by FreeRTOS in idle task.
+ */
 void PreSleepProcessing(uint32_t *ulExpectedIdleTime)
 {
-
+	/*
+	 * Do nothing, do not modify ulExpectedIdleTime and, this way,
+	 * enable tickless power saving in idle task
+	 */
 }
 /**
   * @}
diff --git a/software/robot/Application/xbee.c b/software/robot/Application/xbee.c
index cdd3b25..6cff74c 100644
--- a/software/robot/Application/xbee.c
+++ b/software/robot/Application/xbee.c
@@ -35,9 +35,12 @@
 #include "stm32l0xx_ll_usart.h"
 
 #include "panic.h"
+
+#include <stdio.h>
+
 /** @addtogroup Application_Software
-  * @{
-  */
+ * @{
+ */
 
 /** @addtogroup XBEE
  * Xbee driver handles RF communications with supervisor
@@ -327,14 +330,17 @@ void XBEE_RX_IRQHandler(void) {
 	 */
 
 	if (data != XBEE_ENDING_CHAR) { // end of command not received
-		rxBuffer[rxIndex] = data;
-		rxIndex++;
-		if (rxIndex>=XBEE_RX_BUFFER_MAX_LENGTH)
-			rxIndex=0;
+		if (data != 0x00) {
+			rxBuffer[rxIndex] = data;
 
-		rxCmdLength++;
-		if (rxCmdLength>=XBEE_RX_BUFFER_MAX_LENGTH)
-			rxCmdLength=0;
+			rxIndex++;
+			if (rxIndex>=XBEE_RX_BUFFER_MAX_LENGTH)
+				rxIndex=0;
+
+			rxCmdLength++;
+			if (rxCmdLength>=XBEE_RX_BUFFER_MAX_LENGTH)
+				rxCmdLength=0;
+		}
 	} else { // end of command  received
 		rxBuffer[rxIndex] = 0; // ending zero for C string
 		xSemaphoreGiveFromISR( xHandleSemaphoreRX, &xHigherPriorityTaskWoken ); /* send event to receive task to process received task */
@@ -378,14 +384,14 @@ void LPUART1_IRQHandler(void) {
 }
 
 /**
-  * @}
-  */
+ * @}
+ */
 
 /**
-  * @}
-  */
+ * @}
+ */
 
 /**
-  * @}
-  */
+ * @}
+ */
 
diff --git a/software/robot/Core/Src/stm32l0xx_it.c b/software/robot/Core/Src/stm32l0xx_it.c
index 9779cc8..4dd7d28 100644
--- a/software/robot/Core/Src/stm32l0xx_it.c
+++ b/software/robot/Core/Src/stm32l0xx_it.c
@@ -23,6 +23,7 @@
 #include "stm32l0xx_it.h"
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "leds.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
diff --git a/software/robot/Dumber3 Debug.launch b/software/robot/Dumber3 Debug.launch
index 10b1f0c..a10663f 100644
--- a/software/robot/Dumber3 Debug.launch	
+++ b/software/robot/Dumber3 Debug.launch	
@@ -108,6 +108,6 @@
     <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
         <listEntry value="4"/>
     </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
+    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;&gt;&lt;gdbmemoryBlockExpression address=&quot;536879848&quot; label=&quot;incomingData&quot;/&gt;&lt;/memoryBlockExpressionList&gt;"/>
     <stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
 </launchConfiguration>