diff --git a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
index 7d18332..a20af05 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
@@ -41,7 +41,7 @@
     </conf>
     <conf name="Debug__RPI_" type="1">
       <toolsSet>
-        <developmentServer>xenomai@10.105.1.10:22</developmentServer>
+        <developmentServer>xenomai@10.105.1.3:22</developmentServer>
         <platform>2</platform>
       </toolsSet>
       <dbx_gdbdebugger version="1">
diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml
index 9f10d5a..f7493fc 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/private.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml
@@ -7,12 +7,15 @@
     <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">
         <group>
-            <file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h</file>
-            <file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp</file>
-            <file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h</file>
-            <file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp</file>
-            <file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h</file>
-            <file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
+            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
+            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h</file>
+            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
+            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
+            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
+            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp</file>
+            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
+            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
         </group>
     </open-files>
 </project-private>
diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.10-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.10-xenomai-22
index 5332383..151ed42 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.10-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.10-xenomai-22
@@ -1,19 +1,19 @@
-#Tue Apr 11 12:36:14 CEST 2023
-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp=c1680524819149
+#Tue Apr 11 13:26:43 CEST 2023
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.cpp=c1680524985794
-/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1679401432930
+/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp=c1680524819149
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/Makefile=c1680524818973
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1679401432930
 /home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1679401432864
-/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1679401432813
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/README.md=c1680524819097
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1679401432813
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 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1680524819187
-/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1680256228274
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1681212309588
 /home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1679401457337
 /home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/Makefile=c1679401432709
-/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h=c1680253954166
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h=c1681212327539
 /home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1679401432983
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 /home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1679401457304
@@ -30,7 +30,7 @@
 /home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1679401432877
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1680524819116
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h=c1680524819138
-/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.h=c1679401457331
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.h=c1681212327495
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1680524819168
 /home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1679401432836
 /home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1679401432848
@@ -41,7 +41,7 @@
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1680524819108
 /home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1679401432832
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/superviseur.doxygen=c1680524819223
-/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1680257220969
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1681212381681
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp=c1680524819156
 /home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.dep.inc=c1679401432701
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1680524819095
diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.3-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.3-xenomai-22
index 5fe6d98..43de214 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.3-xenomai-22
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.3-xenomai-22
@@ -1,39 +1,76 @@
-#Mon Apr 03 15:16:34 CEST 2023
+#Tue Apr 11 13:30:37 CEST 2023
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp=c1680524819149
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.cpp=c1680524985794
-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp=c1680527791011
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1679401432930
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/Makefile=c1680524818973
-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/wrapper.c=c1680524985856
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1679401432864
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1679401432813
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/README.md=c1680524819097
-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.gitignore=c1680524818971
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 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1680526563389
-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/superviseur.doxygen=c1680524819223
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-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp=c1680524819156
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 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.h=c1680524985797
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-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1680524819116
-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h=c1680524819138
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1679401432993
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1679401432897
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/project.xml=c1680524985847
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h=c1680524819153
 VERSION=1.3
-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1680524819168
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.gitignore=c1679401432706
+/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1679401432868
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h=c1680527667578
diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index cb48d5b..b3b1f6a 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -460,7 +460,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
 
 
             rt_mutex_acquire(&mutex_camera, TM_INFINITE);
-            camera.Close();
+            camera->Close();
             rt_mutex_release(&mutex_camera);