diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22
index 8f61dbb..dbe5f72 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22
@@ -1,4 +1,4 @@
-#Thu Apr 04 17:49:31 CEST 2024
+#Thu Apr 04 18:04:54 CEST 2024
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/main.cpp=c1712238648769
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1712238648773
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1712238648790
@@ -8,13 +8,13 @@
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1712238648775
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1712238648721
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1712238648782
-/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.h=c1712244813410
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.h=c1712246527533
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/README.md=c1712238648637
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1712238648826
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1712238648778
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1712238648829
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1712238648730
-/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1712245729354
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1712246689680
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1712238648753
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.dep.inc=c1712238648629
 /home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.h=c1712238648760
diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 9fcfe77..5cd4afc 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -487,13 +487,6 @@ Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
 
 /* OUR CODE */
 
-void Tasks::SendToRobot(MessageID message)
-{
-    rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
-    WriteInQueue(&q_messageToMon, new Message(message));
-    rt_mutex_release(&mutex_monitor);
-}
-
 void Tasks::BatteryStatusTask(void * arg) {
     // Variables
     int rs(0);
@@ -519,7 +512,10 @@ void Tasks::BatteryStatusTask(void * arg) {
         getbatterytask = robotBatteryGet;
 
         if ((rs != 0) && getbatterytask) {
-            SendToRobot(MESSAGE_ROBOT_BATTERY_GET);
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            Message* msg = robot.Write(new Message(MESSAGE_ROBOT_BATTERY_GET));
+            rt_mutex_release(&mutex_robot);
+            WriteInQueue(&q_messageToMon, msg);
             robotBatteryGet = false;
             getbatterytask = false;
         }
@@ -563,10 +559,10 @@ void Tasks::OpenCamera(void * arg)
             if(is_opened)
             {
                 cameraStatus = CameraStatusEnum::OPENED;
-                SendToRobot(MESSAGE_ANSWER_ACK);
+                WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
             }
             else {
-                SendToRobot(MESSAGE_ANSWER_NACK);
+                WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
             }
             rt_mutex_release(&mutex_cameraStatus);
         }
@@ -630,7 +626,7 @@ void Tasks::CloseCamera(void * arg)
             rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
             cameraStatus = CameraStatusEnum::CLOSED;
             rt_mutex_release(&mutex_cameraStatus);
-            SendToRobot(MESSAGE_ANSWER_ACK);
+            WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
         }
     }
 }
\ No newline at end of file
diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h
index 8092d38..7bce596 100644
--- a/software/raspberry/superviseur-robot/tasks.h
+++ b/software/raspberry/superviseur-robot/tasks.h
@@ -158,7 +158,7 @@ private:
     void CloseCamera(void * arg);
     
     // Utility functions
-    void SendToRobot(MessageID message);
+
 
 
     /**********************************************************************/