diff --git a/doc/Doc robot/Robot Dumber v3 - Manuel technique.docx b/doc/Doc robot/Robot Dumber v3 - Manuel technique.docx
index ffbfceb..8ca6e74 100644
Binary files a/doc/Doc robot/Robot Dumber v3 - Manuel technique.docx and b/doc/Doc robot/Robot Dumber v3 - Manuel technique.docx differ
diff --git a/doc/Doc robot/Robot Dumber v3 - Manuel technique.pdf b/doc/Doc robot/Robot Dumber v3 - Manuel technique.pdf
index a6c6f43..324ca1f 100644
Binary files a/doc/Doc robot/Robot Dumber v3 - Manuel technique.pdf and b/doc/Doc robot/Robot Dumber v3 - Manuel technique.pdf differ
diff --git a/software/robot/.cproject b/software/robot/.cproject
index a926c2e..156eed1 100644
--- a/software/robot/.cproject
+++ b/software/robot/.cproject
@@ -98,7 +98,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.405192035" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release">
+				<configuration artifactExtension="elf" artifactName="${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.release" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.405192035" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release" postbuildStep="&quot;cd ..; doxygen Doxyfile&quot;">
 					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.405192035." name="/" resourcePath="">
 						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release.813857126" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release">
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.1816216295" name="MCU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" useByScannerDiscovery="true" value="STM32L071CBTx" valueType="string"/>
@@ -106,7 +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"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.689723227" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" 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 7a33c5f..87202ab 100644
--- a/software/robot/Application/application.c
+++ b/software/robot/Application/application.c
@@ -191,8 +191,6 @@ void APPLICATION_Init(void) {
  * @param[in] params startup parameters for task (not used)
  * @return None
  */
-int XBEE_SendData(char* data);
-
 void APPLICATION_Thread(void* params) {
 	MESSAGE_Typedef msg;
 	char* receivedCMD;
@@ -255,18 +253,7 @@ void APPLICATION_Thread(void* params) {
 						}
 					}
 
-					/**
-					 * @todo: Workaround
-					 *
-					 * Pb when receiveing first command, messed up between Xbee and memory allocation when not in debug
-					 * Don't know real source of pb
-					 */
-
-					//if (decodedCmd->type!=CMD_NONE) free(receivedCMD);
 					free(receivedCMD);
-
-					/* End workaround  */
-
 					free(decodedCmd);
 				}
 			}
@@ -299,7 +286,6 @@ void APPLICATION_Thread(void* params) {
 		case MSG_ID_MOTORS_END_OF_MOUVMENT:
 			systemInfos.endOfMouvement= 1;
 			break;
-
 		case MSG_ID_BUTTON_PRESSED:
 			systemInfos.powerOffRequired =1;
 			break;
diff --git a/software/robot/Doxyfile b/software/robot/Doxyfile
index 914cf02..07bc230 100644
--- a/software/robot/Doxyfile
+++ b/software/robot/Doxyfile
@@ -907,7 +907,7 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = /home/dimercur/Documents/Travail/Depots-Git/dumber/software/dumber3
+INPUT                  = /home/dimercur/Documents/Travail/Depots-Git/dumber/software/robot
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
diff --git a/software/update-fw.sh b/software/update-fw.sh
new file mode 100755
index 0000000..e3d60b1
--- /dev/null
+++ b/software/update-fw.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+
+# Script for updating firmware of dumber robot
+# Author: S. DI MERCURIO
+# Date : 16-01-2024
+# Version 1.0
+
+# Create temporary directory
+mkdir ./tmp-robot
+cd ./tmp-robot
+
+# Get firmware from server
+echo ""
+wget --no-check-certificate https://download-gei.insa-toulouse.fr/Dumber/firmware-robot/dumber3-3.1-16.01.24.hex.zip
+
+# Unzip firmware
+echo ""
+unzip *.zip
+
+# Flash it
+echo ""
+read -n 1 -p "Check that robot is powered up, than press any key."
+/usr/local/insa/STM32CubeProgrammer/bin/STM32_Programmer_CLI -c port=SWD mode=UR reset=HWrst freq=8000 -d *.hex -v -hardRst -run
+
+# Clean up
+echo ""
+cd ..
+rm -rf ./tmp-robot
+