diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk
index b6dd25a..2f0f533 100644
--- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk
+++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk
@@ -72,42 +72,42 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
 ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib/base64
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
 
 ${OBJECTDIR}/lib/camera.o: lib/camera.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
 
 ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
 
 ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
 
 ${OBJECTDIR}/lib/img.o: lib/img.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
 
 ${OBJECTDIR}/lib/messages.o: lib/messages.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
 
 ${OBJECTDIR}/main.o: main.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
 
 ${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
 
 # Subprojects
 .build-subprojects:
diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread__RPI.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread__RPI.mk
index f285bbe..5497b0d 100644
--- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread__RPI.mk
+++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread__RPI.mk
@@ -76,42 +76,42 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
 ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib/base64
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
 
 ${OBJECTDIR}/lib/camera.o: lib/camera.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
 
 ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
 
 ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
 
 ${OBJECTDIR}/lib/img.o: lib/img.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
 
 ${OBJECTDIR}/lib/messages.o: lib/messages.cpp
 	${MKDIR} -p ${OBJECTDIR}/lib
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
 
 ${OBJECTDIR}/main.o: main.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
 
 ${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
 
 # Subprojects
 .build-subprojects:
diff --git a/software/raspberry/superviseur-robot/nbproject/configurations.xml b/software/raspberry/superviseur-robot/nbproject/configurations.xml
index 75d09e2..5000c71 100644
--- a/software/raspberry/superviseur-robot/nbproject/configurations.xml
+++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml
@@ -441,6 +441,7 @@
           <commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11</commandLine>
           <preprocessorList>
             <Elem>_WITH_TRACE_</Elem>
+            <Elem>__WITH_ARUCO__</Elem>
             <Elem>__WITH_PTHREAD__</Elem>
           </preprocessorList>
         </ccTool>
diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml
index 8118895..0d03a4e 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/private.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml
@@ -2,7 +2,7 @@
 <project-private xmlns="http://www.netbeans.org/ns/project-private/1">
     <data xmlns="http://www.netbeans.org/ns/make-project-private/1">
         <activeConfTypeElem>1</activeConfTypeElem>
-        <activeConfIndexElem>3</activeConfIndexElem>
+        <activeConfIndexElem>4</activeConfIndexElem>
     </data>
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22
index c11d5e9..25b574d 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22
@@ -1,4 +1,4 @@
-#Wed Jan 09 09:35:50 CET 2019
+#Thu Jan 10 09:07:13 CET 2019
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/README.md=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1518398687000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/uiExample.cpp=c1542120848000
@@ -26,7 +26,7 @@
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.cpp=c1544778298000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile=c1542100687000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/message.cpp=c1544778298000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/.dep.inc=c1546875478000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/.dep.inc=c1547048186000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h=c1544797217000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/.gitignore=c1541685829000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/definitions.h=c1544778298000
@@ -63,7 +63,7 @@
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1546940179000
 VERSION=1.3
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt=c1541685829000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread__RPI.mk=c1546862281000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread__RPI.mk=c1547107593000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-variables.mk=c1542029322000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp=c1542105020000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serverTest.cpp=c1542120848000
@@ -71,23 +71,23 @@ VERSION=1.3
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h=c1544778298000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1518398687000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1546526752000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk=c1546856794000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk=c1547107459000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/rtvideoExample.cpp=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serialExample.cpp=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp=c1542105181000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/compile_commands.json=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/message.h=c1544778298000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1546856794000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/compile_commands.json=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.cpp=c1544778298000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1546856794000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/project.properties=c1542103467000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash=c1541685829000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp=c1546961625000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp=c1547047244000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h=c1546961074000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp=c1546512226000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1546959546000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp=c1547047355000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1547041924000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1546856299000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/CMakeLists.txt=c1542120848000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug.bash=c1541685829000
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h=c1546959623000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile=c1542100687000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h=c1547044576000
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/CMakeLists.txt=c1542120848000