diff --git a/software/raspberry/superviseur-robot/.gitignore b/software/raspberry/superviseur-robot/.gitignore
index e98439b..8826514 100644
--- a/software/raspberry/superviseur-robot/.gitignore
+++ b/software/raspberry/superviseur-robot/.gitignore
@@ -1,5 +1,2 @@
-/.cproject
-/.project
-/Debug/
-/Release/
-/.settings/
\ No newline at end of file
+build/
+src.sav/
diff --git a/software/raspberry/superviseur-robot/CMakeLists.txt b/software/raspberry/superviseur-robot/CMakeLists.txt
new file mode 100644
index 0000000..4230fc8
--- /dev/null
+++ b/software/raspberry/superviseur-robot/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.9)
+project(ProjDestjil CXX)
+
+set (ProjDestjil_VERSION_MAJOR 1)
+set (ProjDestjil_VERSION_MINOR 0)
+set (CMAKE_CXX_STANDARD 11)
+
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
+
+add_subdirectory("lib")
+add_subdirectory("examples")
+#add_subdirectory("destjil_init")
diff --git a/software/raspberry/superviseur-robot/Essai_VSC/CMakeLists.txt b/software/raspberry/superviseur-robot/Essai_VSC/CMakeLists.txt
deleted file mode 100644
index 33ee530..0000000
--- a/software/raspberry/superviseur-robot/Essai_VSC/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-cmake_minimum_required(VERSION 3.9)
-project(stress)
-
-set(CMAKE_CXX_STANDARD 11)
-
-set(SOURCE_FILES main.cpp ../src/robot.cpp ../src/robot.h)
-add_executable(stress ${SOURCE_FILES})
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/Essai_VSC/main.cpp b/software/raspberry/superviseur-robot/Essai_VSC/main.cpp
deleted file mode 100644
index 94ec11e..0000000
--- a/software/raspberry/superviseur-robot/Essai_VSC/main.cpp
+++ /dev/null
@@ -1,91 +0,0 @@
-#include <iostream>
-#include "../src/definitions.h"
-#include "../src/robot.h"
-#include <ctime>
-
-#define NB_TEST 50
-#define NB_RETRIES_MAX 5
-#define DELAY_BETWEEN_RETRIES 10000 // 10 ms
-#define DELAY_BETWEEN_TEST 1000000 // 1 seconde
-
-int nb_retries;
-int nb_test;
-
-int laststatus;
-int nb_success;
-int nb_timeout;
-int nb_unknown_cmd;
-
-int flipflop;
-
-int main() {
-    if (open_communication_robot() != 0) {
-        std::cout << "Unable to open com port" << std::endl;
-
-        return -1;
-    }
-
-    std::cout << "Debut du test de stress" << std::endl;
-    time_t t_debut, t_fin;
-    struct tm *tm_debut, *tm_fin;
-
-    time(&t_debut);
-    tm_debut = (struct tm*)malloc (sizeof(struct tm));
-    tm_debut = localtime((const time_t*)&t_debut);
-
-    std::cout << "[heure debut]: " << asctime(tm_debut) << std::endl;
-
-    nb_retries=-1;
-    do {
-        usleep(DELAY_BETWEEN_RETRIES);
-        nb_retries++;
-        laststatus = send_command_to_robot(DMB_START_WITHOUT_WD);
-    } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
-
-    if(nb_retries == NB_RETRIES_MAX) {
-        std::cout << "Unable to start robot" <<std::endl;
-
-        return -1;
-    }
-
-    nb_success =0;
-    nb_timeout =0;
-    nb_unknown_cmd =0;
-    flipflop = 0;
-
-    for (nb_test=0; nb_test < NB_TEST; nb_test++) {
-        nb_retries=-1;
-
-        do {
-            usleep(DELAY_BETWEEN_RETRIES);
-            nb_retries++;
-            if (flipflop == 0) {
-                laststatus = send_command_to_robot(DMB_TURN, "100");
-            } else {
-                laststatus = send_command_to_robot(DMB_TURN, "-100");
-            }
-
-        } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
-
-        if (flipflop ==0) flipflop=1;
-        else flipflop =0;
-
-        if (laststatus == 0) nb_success++;
-        else if (laststatus == ROBOT_TIMED_OUT) nb_timeout++;
-        else if (laststatus == ROBOT_UKNOWN_CMD) nb_unknown_cmd ++;
-
-        std::cout << "Test " << nb_test << " [s " << nb_success
-                  << ": t " << nb_timeout << ": u " << nb_unknown_cmd
-                  << "]"<< "\x1B" <<"[30D"<<std::flush;
-
-        usleep(DELAY_BETWEEN_TEST);
-    }
-
-    time(&t_fin);
-    tm_fin = (struct tm*)malloc (sizeof(struct tm));
-    tm_fin = localtime((const time_t*)&t_fin);
-
-    std::cout << std::endl << std::endl << "[heure fin]: " << asctime(tm_fin) << std::endl;
-
-    return 0;
-}
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/example/.cproject b/software/raspberry/superviseur-robot/example/.cproject
deleted file mode 100644
index f17ed7c..0000000
--- a/software/raspberry/superviseur-robot/example/.cproject
+++ /dev/null
@@ -1,145 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
-	<storageModule moduleId="org.eclipse.cdt.core.settings">
-		<cconfiguration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" moduleId="org.eclipse.cdt.core.settings" name="serialTest">
-				<externalSettings/>
-				<extensions>
-					<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-				</extensions>
-			</storageModule>
-			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="Test RF quality" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" name="serialTest" parent="com.atollic.managedbuild.pctools.config.gnu.exe.debug">
-					<folderInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908." name="/" resourcePath="">
-						<toolChain id="com.atollic.managedbuild.pctoolschain.gnu.exe.debug.1644719303" name="Atollic Linux PC Tools" superClass="com.atollic.managedbuild.pctoolschain.gnu.exe.debug">
-							<targetPlatform id="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug.444948895" name="Debug Platform" superClass="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug"/>
-							<builder buildPath="${workspace_loc:/Dumber-Robot-Exemple}/Debug" customBuilderProperties="toolChainpathType=1|toolChainpathString=/opt/Atollic_TrueSTUDIO_for_STM32_x86_64_9.0.0/ARMTools/bin|" id="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug.703691933" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="GNU Make Builder" superClass="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug"/>
-							<tool id="com.atollic.managedbuild.pctools.gnu.archiver.base.754185313" name="Archiver" superClass="com.atollic.managedbuild.pctools.gnu.archiver.base"/>
-							<tool id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug.460714726" name="C++ Compiler" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug">
-								<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level.759860919" name="Optimization Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
-								<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level.1134609705" name="Debug Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
-								<option id="com.atollic.pctools.gnu.cpp.compiler.option.include.paths.1092205484" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
-								</option>
-								<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input.18466674" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input"/>
-							</tool>
-							<tool id="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug.1524457175" name="C Compiler" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug">
-								<option defaultValue="com.atollic.pctools.gnu.c.optimization.level.none" id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level.602619486" name="Optimization Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
-								<option id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level.1202784327" name="Debug Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.c.debugging.level.max" valueType="enumerated"/>
-								<option id="com.atollic.pctools.gnu.c.compiler.option.include.paths.608880272" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
-								</option>
-								<inputType id="com.atollic.managedbuild.pctools.gnu.c.compiler.input.978460249" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.input"/>
-							</tool>
-							<tool id="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug.650018959" name="C Linker" superClass="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug"/>
-							<tool id="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug.949894658" name="C++ Linker" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug">
-								<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.linker.input.520817887" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.input">
-									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
-									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
-								</inputType>
-							</tool>
-							<tool id="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug.1090002007" name="Assembler" superClass="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug">
-								<inputType id="com.atollic.managedbuild.pctools.gnu.assembler.input.665455269" superClass="com.atollic.managedbuild.pctools.gnu.assembler.input"/>
-							</tool>
-						</toolChain>
-					</folderInfo>
-					<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.107079152" name="image.h" rcbsApplicability="disable" resourcePath="lib/image.h" toolsToInvoke=""/>
-					<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.2136136082" name="Makefile" rcbsApplicability="disable" resourcePath="src/Makefile" toolsToInvoke=""/>
-					<sourceEntries>
-						<entry excluding="monitor.cpp|image.h|image.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="lib"/>
-						<entry excluding="Makefile|videoExample.cpp|uiExample.cpp|serialExample.cpp|rtvideoExample.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
-					</sourceEntries>
-				</configuration>
-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
-		</cconfiguration>
-		<cconfiguration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" moduleId="org.eclipse.cdt.core.settings" name="Server test">
-				<externalSettings/>
-				<extensions>
-					<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-				</extensions>
-			</storageModule>
-			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="ServerTest" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="Test server setup" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" name="Server test" parent="com.atollic.managedbuild.pctools.config.gnu.exe.debug">
-					<folderInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353." name="/" resourcePath="">
-						<toolChain id="com.atollic.managedbuild.pctoolschain.gnu.exe.debug.1769978487" name="Atollic Linux PC Tools" superClass="com.atollic.managedbuild.pctoolschain.gnu.exe.debug">
-							<targetPlatform id="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug.1135891617" name="Debug Platform" superClass="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug"/>
-							<builder buildPath="${workspace_loc:/Dumber-Robot-Exemple}/Debug" customBuilderProperties="toolChainpathType=1|toolChainpathString=/opt/Atollic_TrueSTUDIO_for_STM32_x86_64_9.0.0/ARMTools/bin|" id="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug.1461439116" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="GNU Make Builder" superClass="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug"/>
-							<tool id="com.atollic.managedbuild.pctools.gnu.archiver.base.1426655308" name="Archiver" superClass="com.atollic.managedbuild.pctools.gnu.archiver.base"/>
-							<tool id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug.115182827" name="C++ Compiler" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug">
-								<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level.1103169709" name="Optimization Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
-								<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level.1900144654" name="Debug Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
-								<option id="com.atollic.pctools.gnu.cpp.compiler.option.include.paths.2096629070" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
-								</option>
-								<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input.928183158" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input"/>
-							</tool>
-							<tool id="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug.1435027661" name="C Compiler" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug">
-								<option defaultValue="com.atollic.pctools.gnu.c.optimization.level.none" id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level.169974575" name="Optimization Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
-								<option id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level.980419679" name="Debug Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.c.debugging.level.max" valueType="enumerated"/>
-								<option id="com.atollic.pctools.gnu.c.compiler.option.include.paths.967863685" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
-								</option>
-								<inputType id="com.atollic.managedbuild.pctools.gnu.c.compiler.input.1991549921" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.input"/>
-							</tool>
-							<tool id="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug.1530079011" name="C Linker" superClass="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug"/>
-							<tool id="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug.1993338495" name="C++ Linker" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug">
-								<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.linker.input.774293629" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.input">
-									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
-									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
-								</inputType>
-							</tool>
-							<tool id="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug.210875902" name="Assembler" superClass="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug">
-								<inputType id="com.atollic.managedbuild.pctools.gnu.assembler.input.61333264" superClass="com.atollic.managedbuild.pctools.gnu.assembler.input"/>
-							</tool>
-						</toolChain>
-					</folderInfo>
-					<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353.lib/image.h" name="image.h" rcbsApplicability="disable" resourcePath="lib/image.h" toolsToInvoke=""/>
-					<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353.src/Makefile" name="Makefile" rcbsApplicability="disable" resourcePath="src/Makefile" toolsToInvoke=""/>
-					<sourceEntries>
-						<entry excluding="monitor.cpp|image.h|image.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="lib"/>
-						<entry excluding="serialTest.cpp|Makefile|videoExample.cpp|uiExample.cpp|serialExample.cpp|rtvideoExample.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
-					</sourceEntries>
-				</configuration>
-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
-		</cconfiguration>
-	</storageModule>
-	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="Dumber-Robot-Exemple.com.atollic.pctools.managedbuild.target.gnu.exe.162302072" name="Executable" projectType="com.atollic.pctools.managedbuild.target.gnu.exe"/>
-	</storageModule>
-	<storageModule moduleId="scannerConfiguration">
-		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
-	<storageModule moduleId="refreshScope" versionNumber="2">
-		<configuration configurationName="Server test">
-			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
-		</configuration>
-		<configuration configurationName="serialTest">
-			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
-		</configuration>
-		<configuration configurationName="Debug">
-			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
-		</configuration>
-		<configuration configurationName="Release">
-			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
-		</configuration>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
-</cproject>
diff --git a/software/raspberry/superviseur-robot/example/.gitignore b/software/raspberry/superviseur-robot/example/.gitignore
deleted file mode 100644
index 0ae6ecd..0000000
--- a/software/raspberry/superviseur-robot/example/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-/Debug/
-/Server test/
diff --git a/software/raspberry/superviseur-robot/example/.gitignores b/software/raspberry/superviseur-robot/example/.gitignores
deleted file mode 100644
index e69de29..0000000
diff --git a/software/raspberry/superviseur-robot/example/.project b/software/raspberry/superviseur-robot/example/.project
deleted file mode 100644
index 9fdc26d..0000000
--- a/software/raspberry/superviseur-robot/example/.project
+++ /dev/null
@@ -1,27 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<projectDescription>
-	<name>Dumber-Robot-Exemple</name>
-	<comment></comment>
-	<projects>
-	</projects>
-	<buildSpec>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<triggers>clean,full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
-			<triggers>full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
-	</buildSpec>
-	<natures>
-		<nature>org.eclipse.cdt.core.cnature</nature>
-		<nature>org.eclipse.cdt.core.ccnature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
-	</natures>
-</projectDescription>
diff --git a/software/raspberry/superviseur-robot/example/.settings/language.settings.xml b/software/raspberry/superviseur-robot/example/.settings/language.settings.xml
deleted file mode 100644
index 9abb758..0000000
--- a/software/raspberry/superviseur-robot/example/.settings/language.settings.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<project>
-	<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" name="serialTest">
-		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
-			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
-			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
-			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="205429042390110507" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
-				<language-scope id="org.eclipse.cdt.core.gcc"/>
-				<language-scope id="org.eclipse.cdt.core.g++"/>
-			</provider>
-		</extension>
-	</configuration>
-	<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" name="Server test">
-		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
-			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
-			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
-			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="205429042390110507" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
-				<language-scope id="org.eclipse.cdt.core.gcc"/>
-				<language-scope id="org.eclipse.cdt.core.g++"/>
-			</provider>
-		</extension>
-	</configuration>
-</project>
diff --git a/software/raspberry/superviseur-robot/example/CMakeLists.txt b/software/raspberry/superviseur-robot/example/CMakeLists.txt
deleted file mode 100644
index f47b4c9..0000000
--- a/software/raspberry/superviseur-robot/example/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-cmake_minimum_required(VERSION 3.9)
-project(stress)
-
-set(CMAKE_CXX_STANDARD 11)
-
-set(SOURCE_FILES main.cpp ../../src/robot.cpp ../../src/robot.h)
-add_executable(stress ${SOURCE_FILES})
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/example/lib b/software/raspberry/superviseur-robot/example/lib
deleted file mode 120000
index e057607..0000000
--- a/software/raspberry/superviseur-robot/example/lib
+++ /dev/null
@@ -1 +0,0 @@
-../src/
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/example/serialTest/lib/subdir.mk b/software/raspberry/superviseur-robot/example/serialTest/lib/subdir.mk
deleted file mode 100644
index acc4132..0000000
--- a/software/raspberry/superviseur-robot/example/serialTest/lib/subdir.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables 
-CPP_SRCS += \
-../lib/Robot.cpp \
-../lib/Serial.cpp \
-../lib/TcpServer.cpp \
-../lib/message.cpp 
-
-OBJS += \
-./lib/Robot.o \
-./lib/Serial.o \
-./lib/TcpServer.o \
-./lib/message.o 
-
-CPP_DEPS += \
-./lib/Robot.d \
-./lib/Serial.d \
-./lib/TcpServer.d \
-./lib/message.d 
-
-
-# Each subdirectory must supply rules for building sources it contributes
-lib/%.o: ../lib/%.cpp
-	g++ -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/lib" -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/src" -O0 -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
-
diff --git a/software/raspberry/superviseur-robot/example/serialTest/makefile b/software/raspberry/superviseur-robot/example/serialTest/makefile
deleted file mode 100644
index 2e10274..0000000
--- a/software/raspberry/superviseur-robot/example/serialTest/makefile
+++ /dev/null
@@ -1,56 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
--include ../makefile.init
-
-RM := rm -rf
-
-# All of the sources participating in the build are defined here
--include sources.mk
--include src/subdir.mk
--include lib/subdir.mk
--include subdir.mk
--include objects.mk
-
-ifneq ($(MAKECMDGOALS),clean)
-ifneq ($(strip $(CC_DEPS)),)
--include $(CC_DEPS)
-endif
-ifneq ($(strip $(C++_DEPS)),)
--include $(C++_DEPS)
-endif
-ifneq ($(strip $(C_UPPER_DEPS)),)
--include $(C_UPPER_DEPS)
-endif
-ifneq ($(strip $(CXX_DEPS)),)
--include $(CXX_DEPS)
-endif
-ifneq ($(strip $(CPP_DEPS)),)
--include $(CPP_DEPS)
-endif
-ifneq ($(strip $(C_DEPS)),)
--include $(C_DEPS)
-endif
-endif
-
--include ../makefile.defs
-
-# Add inputs and outputs from these tool invocations to the build variables 
-
-# All Target
-all: Dumber-Robot-Exemple
-
-# Tool invocations
-Dumber-Robot-Exemple: $(OBJS) $(USER_OBJS)
-	g++  -o "Dumber-Robot-Exemple" $(OBJS) $(USER_OBJS) $(LIBS)
-
-# Other Targets
-clean:
-	-$(RM) $(CC_DEPS)$(C++_DEPS)$(EXECUTABLES)$(C_UPPER_DEPS)$(CXX_DEPS)$(OBJS)$(CPP_DEPS)$(C_DEPS) Dumber-Robot-Exemple
-	-@echo ' '
-
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
diff --git a/software/raspberry/superviseur-robot/example/serialTest/objects.mk b/software/raspberry/superviseur-robot/example/serialTest/objects.mk
deleted file mode 100644
index 742c2da..0000000
--- a/software/raspberry/superviseur-robot/example/serialTest/objects.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-USER_OBJS :=
-
-LIBS :=
-
diff --git a/software/raspberry/superviseur-robot/example/serialTest/sources.mk b/software/raspberry/superviseur-robot/example/serialTest/sources.mk
deleted file mode 100644
index af09391..0000000
--- a/software/raspberry/superviseur-robot/example/serialTest/sources.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-C_UPPER_SRCS := 
-CXX_SRCS := 
-C++_SRCS := 
-OBJ_SRCS := 
-CC_SRCS := 
-ASM_SRCS := 
-CPP_SRCS := 
-C_SRCS := 
-O_SRCS := 
-S_UPPER_SRCS := 
-CC_DEPS := 
-C++_DEPS := 
-EXECUTABLES := 
-C_UPPER_DEPS := 
-CXX_DEPS := 
-OBJS := 
-CPP_DEPS := 
-C_DEPS := 
-
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-lib \
-src \
-
diff --git a/software/raspberry/superviseur-robot/example/serialTest/src/subdir.mk b/software/raspberry/superviseur-robot/example/serialTest/src/subdir.mk
deleted file mode 100644
index b2d1bab..0000000
--- a/software/raspberry/superviseur-robot/example/serialTest/src/subdir.mk
+++ /dev/null
@@ -1,22 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables 
-CPP_SRCS += \
-../src/serialTest.cpp \
-../src/serverTest.cpp 
-
-OBJS += \
-./src/serialTest.o \
-./src/serverTest.o 
-
-CPP_DEPS += \
-./src/serialTest.d \
-./src/serverTest.d 
-
-
-# Each subdirectory must supply rules for building sources it contributes
-src/%.o: ../src/%.cpp
-	g++ -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/lib" -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/src" -O0 -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
-
diff --git a/software/raspberry/superviseur-robot/example/src/Makefile b/software/raspberry/superviseur-robot/example/src/Makefile
deleted file mode 100644
index 45721f6..0000000
--- a/software/raspberry/superviseur-robot/example/src/Makefile
+++ /dev/null
@@ -1,21 +0,0 @@
-LDFLAGS= -L/opt/vc/lib  -I/usr/local/include -lopencv_highgui -lopencv_core   -lopencv_imgcodecs -lraspicam_cv -lopencv_imgproc -lpthread
-
-all :
-	make serial
-	make video
-	make ui
-	make rt
-
-serial :
-	g++ serialExample.cpp -o serialExample.elf  ../obj/serial.o
-video :
-	g++ videoExample.cpp -o videoExample.elf ../obj/serial.o ../obj/imagerie.o ../obj/tcpServer.o $(LDFLAGS)
-
-ui :
-	g++ uiExample.cpp -o uiExample.elf ../obj/serial.o ../obj/imagerie.o ../obj/tcpServer.o $(LDFLAGS)
-
-rt :
-	g++ -o rtvideoExample.elf rtvideoExample.cpp -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -D__MERCURY__ -I/usr/xenomai/include/alchemy ../obj/serial.o ../obj/imagerie.o ../obj/tcpServer.o -lalchemy  -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt    -Wl,-R/usr/xenomai/lib  -L/opt/vc/lib  -I/usr/local/include -lopencv_highgui -lopencv_core -lopencv_imgcodecs -lraspicam_cv -lopencv_imgproc
-
-clean : 
-	rm *.elf
diff --git a/software/raspberry/superviseur-robot/examples/.gitignore b/software/raspberry/superviseur-robot/examples/.gitignore
new file mode 100644
index 0000000..e660fd9
--- /dev/null
+++ b/software/raspberry/superviseur-robot/examples/.gitignore
@@ -0,0 +1 @@
+bin/
diff --git a/software/raspberry/superviseur-robot/examples/CMakeLists.txt b/software/raspberry/superviseur-robot/examples/CMakeLists.txt
new file mode 100644
index 0000000..18f5ffb
--- /dev/null
+++ b/software/raspberry/superviseur-robot/examples/CMakeLists.txt
@@ -0,0 +1,11 @@
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../examples/bin)
+
+set(serialTest_FILES ./src/serialTest.cpp)
+set(serverTest_FILES ./src/serverTest.cpp)
+include_directories(./src ../lib)
+
+add_executable(serialTest ${serialTest_FILES})
+target_link_libraries(serialTest destjil)
+
+add_executable(serverTest ${serverTest_FILES})
+target_link_libraries(serverTest destjil)
diff --git a/software/raspberry/superviseur-robot/example/src/rtvideoExample.cpp b/software/raspberry/superviseur-robot/examples/src/rtvideoExample.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/example/src/rtvideoExample.cpp
rename to software/raspberry/superviseur-robot/examples/src/rtvideoExample.cpp
diff --git a/software/raspberry/superviseur-robot/example/src/serialExample.cpp b/software/raspberry/superviseur-robot/examples/src/serialExample.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/example/src/serialExample.cpp
rename to software/raspberry/superviseur-robot/examples/src/serialExample.cpp
diff --git a/software/raspberry/superviseur-robot/example/src/serialTest.cpp b/software/raspberry/superviseur-robot/examples/src/serialTest.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/example/src/serialTest.cpp
rename to software/raspberry/superviseur-robot/examples/src/serialTest.cpp
diff --git a/software/raspberry/superviseur-robot/example/src/serverTest.cpp b/software/raspberry/superviseur-robot/examples/src/serverTest.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/example/src/serverTest.cpp
rename to software/raspberry/superviseur-robot/examples/src/serverTest.cpp
diff --git a/software/raspberry/superviseur-robot/example/src/uiExample.cpp b/software/raspberry/superviseur-robot/examples/src/uiExample.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/example/src/uiExample.cpp
rename to software/raspberry/superviseur-robot/examples/src/uiExample.cpp
diff --git a/software/raspberry/superviseur-robot/example/src/videoExample.cpp b/software/raspberry/superviseur-robot/examples/src/videoExample.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/example/src/videoExample.cpp
rename to software/raspberry/superviseur-robot/examples/src/videoExample.cpp
diff --git a/software/raspberry/superviseur-robot/lib/.gitignore b/software/raspberry/superviseur-robot/lib/.gitignore
new file mode 100644
index 0000000..dce1580
--- /dev/null
+++ b/software/raspberry/superviseur-robot/lib/.gitignore
@@ -0,0 +1 @@
+libdestjil.a
diff --git a/software/raspberry/superviseur-robot/lib/CMakeLists.txt b/software/raspberry/superviseur-robot/lib/CMakeLists.txt
new file mode 100644
index 0000000..3e891f9
--- /dev/null
+++ b/software/raspberry/superviseur-robot/lib/CMakeLists.txt
@@ -0,0 +1,5 @@
+set(LIB_FILES ./src/Serial.cpp ./src/Robot.cpp ./src/TcpServer.cpp)
+include_directories("./")
+
+add_library(destjil STATIC ${LIB_FILES})
+
diff --git a/software/raspberry/superviseur-robot/src/Robot.h b/software/raspberry/superviseur-robot/lib/Robot.h
similarity index 100%
rename from software/raspberry/superviseur-robot/src/Robot.h
rename to software/raspberry/superviseur-robot/lib/Robot.h
diff --git a/software/raspberry/superviseur-robot/src/Serial.h b/software/raspberry/superviseur-robot/lib/Serial.h
similarity index 100%
rename from software/raspberry/superviseur-robot/src/Serial.h
rename to software/raspberry/superviseur-robot/lib/Serial.h
diff --git a/software/raspberry/superviseur-robot/src/TcpServer.h b/software/raspberry/superviseur-robot/lib/TcpServer.h
similarity index 100%
rename from software/raspberry/superviseur-robot/src/TcpServer.h
rename to software/raspberry/superviseur-robot/lib/TcpServer.h
diff --git a/software/raspberry/superviseur-robot/src/definitions.h b/software/raspberry/superviseur-robot/lib/definitions.h
similarity index 100%
rename from software/raspberry/superviseur-robot/src/definitions.h
rename to software/raspberry/superviseur-robot/lib/definitions.h
diff --git a/software/raspberry/superviseur-robot/src/image.h b/software/raspberry/superviseur-robot/lib/image.h
similarity index 100%
rename from software/raspberry/superviseur-robot/src/image.h
rename to software/raspberry/superviseur-robot/lib/image.h
diff --git a/software/raspberry/superviseur-robot/src/message.h b/software/raspberry/superviseur-robot/lib/message.h
similarity index 100%
rename from software/raspberry/superviseur-robot/src/message.h
rename to software/raspberry/superviseur-robot/lib/message.h
diff --git a/software/raspberry/superviseur-robot/src/monitor.h b/software/raspberry/superviseur-robot/lib/monitor.h
similarity index 100%
rename from software/raspberry/superviseur-robot/src/monitor.h
rename to software/raspberry/superviseur-robot/lib/monitor.h
diff --git a/software/raspberry/superviseur-robot/src/Robot.cpp b/software/raspberry/superviseur-robot/lib/src/Robot.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/src/Robot.cpp
rename to software/raspberry/superviseur-robot/lib/src/Robot.cpp
diff --git a/software/raspberry/superviseur-robot/src/Serial.cpp b/software/raspberry/superviseur-robot/lib/src/Serial.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/src/Serial.cpp
rename to software/raspberry/superviseur-robot/lib/src/Serial.cpp
diff --git a/software/raspberry/superviseur-robot/src/TcpServer.cpp b/software/raspberry/superviseur-robot/lib/src/TcpServer.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/src/TcpServer.cpp
rename to software/raspberry/superviseur-robot/lib/src/TcpServer.cpp
diff --git a/software/raspberry/superviseur-robot/src/image.cpp b/software/raspberry/superviseur-robot/lib/src/image.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/src/image.cpp
rename to software/raspberry/superviseur-robot/lib/src/image.cpp
diff --git a/software/raspberry/superviseur-robot/src/message.cpp b/software/raspberry/superviseur-robot/lib/src/message.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/src/message.cpp
rename to software/raspberry/superviseur-robot/lib/src/message.cpp
diff --git a/software/raspberry/superviseur-robot/src/monitor.cpp b/software/raspberry/superviseur-robot/lib/src/monitor.cpp
similarity index 100%
rename from software/raspberry/superviseur-robot/src/monitor.cpp
rename to software/raspberry/superviseur-robot/lib/src/monitor.cpp