diff --git a/software/raspberry/superviseur-robot/lib/comrobot.cpp b/software/raspberry/superviseur-robot/lib/comrobot.cpp
deleted file mode 100644
index cd1c2f8..0000000
--- a/software/raspberry/superviseur-robot/lib/comrobot.cpp
+++ /dev/null
@@ -1,421 +0,0 @@
-/*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "comrobot.h"
-
-#include <stdio.h>
-#include <stdlib.h> 
-#include <unistd.h>
-#include <fcntl.h>
-#include <termios.h>  
-
-#include <string>
-#include <stdexcept>
-
-#ifdef __SIMULATION__
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-int sock = 0;
-#define PORT 6699
-#endif
-
-#ifdef __FOR_PC__
-#define USART_FILENAME "/dev/ttyUSB0"
-#else
-#define USART_FILENAME "/dev/ttyS0"
-#endif /* __FOR_PC__ */
-
-/*
- * Constants to be used for communicating with robot. Contains command tag
- */
-const char LABEL_ROBOT_PING = 'p';
-const char LABEL_ROBOT_RESET = 'r';
-const char LABEL_ROBOT_START_WITH_WD = 'W';
-const char LABEL_ROBOT_START_WITHOUT_WD = 'u';
-const char LABEL_ROBOT_RELOAD_WD = 'w';
-const char LABEL_ROBOT_MOVE = 'M';
-const char LABEL_ROBOT_TURN = 'T';
-const char LABEL_ROBOT_GET_BATTERY = 'v';
-const char LABEL_ROBOT_GET_STATE = 'b';
-const char LABEL_ROBOT_POWEROFF = 'z';
-
-const char LABEL_ROBOT_OK = 'O';
-const char LABEL_ROBOT_ERROR = 'E';
-const char LABEL_ROBOT_UNKNOWN_COMMAND = 'C';
-
-const char LABEL_ROBOT_SEPARATOR_CHAR = '=';
-const char LABEL_ROBOT_ENDING_CHAR = 0x0D; // carriage return (\\r)
-
-/**
- * Open serial link with robot
- * @return File descriptor
- * @throw std::runtime_error if it fails
- */
-int ComRobot::Open() {
-    return this->Open(USART_FILENAME);
-}
-
-/**
- * Open serial link with robot
- * @param usart Filename of usart to open
- * @return File descriptor
- * @throw std::runtime_error if it fails
- */
-int ComRobot::Open(string usart) {
-    struct termios options;
-
-#ifdef __SIMULATION__
-
-    struct sockaddr_in serv_addr;
-    if ((sock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
-        printf("\n Socket creation error \n");
-        return -1;
-    }
-    struct timeval tv;
-    tv.tv_sec = 0;
-    tv.tv_usec = 80000;
-    setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char*) &tv, sizeof tv);
-
-    serv_addr.sin_family = AF_INET;
-    serv_addr.sin_port = htons(PORT);
-
-    // Convert IPv4 and IPv6 addresses from text to binary form 
-    if (inet_pton(AF_INET, "127.0.0.1", &serv_addr.sin_addr) <= 0) {
-        printf("\nInvalid address/ Address not supported \n");
-        return -1;
-    }
-
-    if (connect(sock, (struct sockaddr *) &serv_addr, sizeof (serv_addr)) < 0) {
-        return -1;
-    }
-    return 1;
-#else
-
-    fd = open(usart.c_str(), O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode
-    if (fd == -1) {
-        cerr << "[" << __PRETTY_FUNCTION__ << "] Unable to open UART (" << usart << "). Ensure it is not in use by another application" << endl << flush;
-        throw std::runtime_error{"Unable to open UART"};
-        exit(EXIT_FAILURE);
-    } else {
-        fcntl(fd, F_SETFL, 0);
-        tcgetattr(fd, &options);
-        options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
-        cfsetospeed(&options, B9600);
-        cfsetispeed(&options, B9600);
-        options.c_cc[VMIN] = 0;
-        options.c_cc[VTIME] = 1; /* Timeout of 100 ms per character */
-        tcsetattr(fd, TCSANOW, &options);
-    }
-
-    return fd;
-#endif
-}
-
-/**
- * Close serial link
- * @return Success if above 0, failure if below 0
- */
-int ComRobot::Close() {
-#ifdef __SIMULATION__
-    return close(sock);
-#elif
-    return close(fd);
-#endif
-}
-
-/**
- * Send a message to robot
- * @param msg Message to send to robot
- * @return 1 if success, 0 otherwise
- * @attention Message is destroyed (delete) after being sent. You do not need to delete it yourself
- * @attention Write is blocking until message is written into buffer (linux side)
- * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously  
- */
-Message *ComRobot::Write(Message* msg) {
-    Message *msgAnswer;
-    string s;
-
-    if (this->fd != -1) {
-
-        Write_Pre();
-
-        s = MessageToString(msg);
-#ifdef __SIMULATION__
-
-        char buffer[1024] = {0};
-        cout << "[" << __PRETTY_FUNCTION__ << "] Send command: " << s << endl << flush;
-        send(sock, s.c_str(), s.length(), MSG_NOSIGNAL);
-
-        int valread = read(sock, buffer, 1024);
-
-        if (valread == 0) {
-            cout << "The communication is out of order" << endl;
-            msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
-        } else if (valread < 0) {
-            cout << "Timeout" << endl;
-            msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
-        } else {
-            string s(&buffer[0], valread);
-            msgAnswer = StringToMessage(s);
-            cout << "Response: " << buffer << ", id: " << msgAnswer->GetID() << endl;
-        }
-
-#else       
-        AddChecksum(s);
-
-        //cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<<s<<endl<<flush;
-        int count = write(this->fd, s.c_str(), s.length()); //Filestream, bytes to write, number of bytes to write
-
-        if (count < 0) {
-            cerr << "[" << __PRETTY_FUNCTION__ << "] UART TX error (" << to_string(count) << ")" << endl << flush;
-            msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
-        } else { /* write successfull, read answer from robot */
-
-            try {
-                s = Read();
-                //cout << "Answer = "<<s<<endl<<flush;
-
-                if (VerifyChecksum(s)) {
-                    msgAnswer = StringToMessage(s);
-                } else msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND);
-
-            } catch (std::runtime_error &e) {
-                s = string(e.what());
-
-                if (s.find("imeout")) { // timeout detecté
-                    msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
-                } else {
-                    msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
-                }
-            }
-        }
-#endif
-    } else {
-        cerr << __PRETTY_FUNCTION__ << ": Com port not open" << endl << flush;
-        throw std::runtime_error{"Com port not open"};
-    }
-
-    // deallocation of msg
-    delete(msg);
-
-    return msgAnswer;
-}
-
-/**
- * Get a message from robot
- * @return Message currently received
- * @attention A message object is created (new) when receiving data from robot. You MUST remember to destroy is (delete) after use
- * @attention Read method is blocking until a message is received
- * @warning Read is not thread safe : Do not call it in multiple tasks simultaneously
- */
-string ComRobot::Read() {
-    string s;
-    int rxLength;
-    unsigned char receivedChar;
-
-    do {
-        rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
-        if (rxLength == 0) { // timeout
-            // try again
-            rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
-            if (rxLength == 0) { // re-timeout: it sucks !
-                throw std::runtime_error{"ComRobot::Read: Timeout when reading from com port"};
-            }
-        } else if (rxLength < 0) { // big pb !
-            throw std::runtime_error{"ComRobot::Read: Unknown problem when reading from com port"};
-        } else { // everything ok
-            if ((receivedChar != '\r') && (receivedChar != '\n')) s += receivedChar;
-        }
-    } while ((receivedChar != '\r') && (receivedChar != '\n'));
-
-    return s;
-}
-
-Message *ComRobot::SendCommand(Message* msg, MessageID answerID, int maxRetries) {
-    int counter = maxRetries;
-    Message *msgSend;
-    Message *msgRcv;
-    Message *msgTmp;
-
-    do {
-        msgSend = msg->Copy();
-        cout << "S => " << msgSend->ToString() << endl << flush;
-        msgTmp = Write(msgSend);
-        cout << "R <= " << msgTmp->ToString() << endl << flush;
-
-        if (msgTmp->CompareID(answerID)) counter = 0;
-        else counter--;
-
-        if (counter == 0) msgRcv = msgTmp->Copy();
-
-        delete(msgTmp);
-    } while (counter);
-
-    delete (msg);
-
-    return msgRcv;
-}
-
-/**
- * Convert an array of char to its message representation (when receiving data from stm32)
- * @param bytes Array of char
- * @return Message corresponding to received array of char
- */
-Message* ComRobot::StringToMessage(string s) {
-    Message *msg;
-
-    switch (s[0]) {
-        case LABEL_ROBOT_OK:
-            msg = new Message(MESSAGE_ANSWER_ACK);
-            break;
-        case LABEL_ROBOT_ERROR:
-            msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
-            break;
-        case LABEL_ROBOT_UNKNOWN_COMMAND:
-            msg = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND);
-            break;
-        case '0':
-            msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY);
-            break;
-        case '1':
-            msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW);
-            break;
-        case '2':
-            msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
-            break;
-        default:
-            msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
-            cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << s << ")" << endl << flush;
-    }
-
-    return msg;
-}
-
-/**
- * Convert a message to its array of char representation (for sending command to stm32)
- * @param msg Message to be sent to robot
- * @param buffer Array of char, image of message to send
- */
-string ComRobot::MessageToString(Message *msg) {
-    string s;
-
-    float val_f;
-    int val_i;
-    unsigned char *b;
-
-    switch (msg->GetID()) {
-        case MESSAGE_ROBOT_PING:
-            s += LABEL_ROBOT_PING;
-            break;
-        case MESSAGE_ROBOT_RESET:
-            s += LABEL_ROBOT_RESET;
-            break;
-        case MESSAGE_ROBOT_POWEROFF:
-            s += LABEL_ROBOT_POWEROFF;
-            break;
-        case MESSAGE_ROBOT_START_WITHOUT_WD:
-            s += LABEL_ROBOT_START_WITHOUT_WD;
-            break;
-        case MESSAGE_ROBOT_START_WITH_WD:
-            s += LABEL_ROBOT_START_WITH_WD;
-            break;
-        case MESSAGE_ROBOT_RELOAD_WD:
-            s += LABEL_ROBOT_RELOAD_WD;
-            break;
-        case MESSAGE_ROBOT_BATTERY_GET:
-            s += LABEL_ROBOT_GET_BATTERY;
-            break;
-        case MESSAGE_ROBOT_STATE_GET:
-            s += LABEL_ROBOT_GET_STATE;
-            break;
-        case MESSAGE_ROBOT_GO_FORWARD:
-            s += LABEL_ROBOT_MOVE;
-            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(500000));
-            break;
-        case MESSAGE_ROBOT_GO_BACKWARD:
-            s += LABEL_ROBOT_MOVE;
-            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(-500000));
-            break;
-        case MESSAGE_ROBOT_GO_LEFT:
-            s += LABEL_ROBOT_TURN;
-            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(-500000));
-            break;
-        case MESSAGE_ROBOT_GO_RIGHT:
-            s += LABEL_ROBOT_TURN;
-            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(500000));
-            break;
-        case MESSAGE_ROBOT_STOP:
-            s += LABEL_ROBOT_MOVE;
-            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(0));
-            break;
-        case MESSAGE_ROBOT_MOVE:
-            s += LABEL_ROBOT_MOVE;
-            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(((MessageInt*) msg)->GetValue()));
-            break;
-        case MESSAGE_ROBOT_TURN:
-            s += LABEL_ROBOT_TURN;
-            s += LABEL_ROBOT_SEPARATOR_CHAR;
-            s.append(to_string(((MessageInt*) msg)->GetValue()));
-            break;
-        default:
-            cerr << "[" << __PRETTY_FUNCTION__ << "] Invalid message for robot (" << msg->ToString() << ")" << endl << flush;
-            throw std::runtime_error{"Invalid message"};
-    }
-
-    return s;
-}
-
-/**
- * Add a checksum and carriage return to a command string
- * @param[in,out] s String containing command for robot, without ending char (carriage return) 
- */
-void ComRobot::AddChecksum(string &s) {
-    unsigned char checksum = 0;
-
-    for (string::iterator it = s.begin(); it != s.end(); ++it) {
-        checksum ^= (unsigned char) *it;
-    }
-
-    s += (char) checksum; // Add calculated checksum
-    s += (char) LABEL_ROBOT_ENDING_CHAR;
-}
-
-/**
- * Verify if checksum of an incoming answer from robot is valid, 
- * then remove checksum from incoming answer (if checksum is ok)
- * @param[in,out] s String containing incoming answer from robot
- * @return true is checksum is valid, false otherwise.
- */
-bool ComRobot::VerifyChecksum(string &s) {
-    unsigned char checksum = 0;
-
-    for (string::iterator it = s.begin(); it != s.end(); ++it) {
-        checksum ^= (unsigned char) *it;
-    }
-
-    if (checksum == 0) { // checksum is ok, remove last char of string (checksum)
-        s.pop_back(); // remove last char
-        return true;
-    } else return false;
-}
diff --git a/software/raspberry/superviseur-robot/lib/comrobot.h b/software/raspberry/superviseur-robot/lib/comrobot.h
deleted file mode 100644
index d6bdd11..0000000
--- a/software/raspberry/superviseur-robot/lib/comrobot.h
+++ /dev/null
@@ -1,198 +0,0 @@
-/*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#ifndef __COMROBOT_H__
-#define __COMROBOT_H__
-
-#include "messages.h"
-#include <string>
-
-using namespace std;
-
-/**
- * Class used for communicating with robot over serial
- * 
- * @brief Communication class with robot
- * 
- */
-class ComRobot {
-public:
-
-    /**
-     * Constructor
-     */
-    ComRobot() {
-    }
-
-    /**
-     * Destructor
-     */
-    virtual ~ComRobot() {
-    }
-
-    /**
-     * Open serial link with robot
-     * @return File descriptor
-     * @throw std::runtime_error if it fails
-     */
-    int Open();
-
-    /**
-     * Open serial link with robot
-     * @param usart Filename of usart to open
-     * @return File descriptor
-     * @throw std::runtime_error if it fails
-     */
-    int Open(string usart);
-
-    /**
-     * Close serial link
-     * @return Success if above 0, failure if below 0
-     */
-    int Close();
-
-    /**
-     * Send a message to robot
-     * @param msg Message to send to robot
-     * @return A message containing either an answer (Ack/Nak/Timeout/Error) or a value (battery level, robot state) depending of the command
-     * @attention Input message is destroyed (delete) after being sent. You do not need to delete it yourself
-     * @attention Write produce an answer message. You have to dispose it (delete) when you have finished using it
-     * @attention Write is blocking until message is written into buffer (linux side)
-     * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously  
-     */
-    Message *Write(Message* msg);
-
-    /**
-     * Function called at beginning of Write method
-     * Use it to do some synchronization (call of mutex, for example)
-     */
-    virtual void Write_Pre() {
-    }
-
-    /**
-     * Function called at end of Write method
-     * Use it to do some synchronization (call of mutex, for example)
-     */
-    virtual void Write_Post() {
-    }
-    
-    Message *SendCommand(Message* msg, MessageID answerID, int maxRetries);
-    
-    static Message *Ping() {
-        return new Message(MESSAGE_ROBOT_PING);
-    }
-
-    static Message *Reset() {
-        return new Message(MESSAGE_ROBOT_RESET);
-    }
-
-    static Message *PowerOff() {
-        return new Message(MESSAGE_ROBOT_POWEROFF);
-    }
-
-    static Message *StartWithWD() {
-        return new Message(MESSAGE_ROBOT_START_WITH_WD);
-    }
-
-    static Message *StartWithoutWD() {
-        return new Message(MESSAGE_ROBOT_START_WITHOUT_WD);
-    }
-
-    static Message *ReloadWD() {
-        return new Message(MESSAGE_ROBOT_RELOAD_WD);
-    }
-
-    static Message *Move(int length) {
-        return new MessageInt(MESSAGE_ROBOT_MOVE, length);
-    }
-
-    static Message *Turn(int angle) {
-        return new MessageInt(MESSAGE_ROBOT_TURN, angle);
-    }
-
-    static Message *Stop() {
-        return new Message(MESSAGE_ROBOT_STOP);
-    }
-
-    static Message *GoForward() {
-        return new Message(MESSAGE_ROBOT_GO_FORWARD);
-    }
-
-    static Message *GoBackward() {
-        return new Message(MESSAGE_ROBOT_GO_BACKWARD);
-    }
-
-    static Message *GoLeft() {
-        return new Message(MESSAGE_ROBOT_GO_LEFT);
-    }
-
-    static Message *GoRight() {
-        return new Message(MESSAGE_ROBOT_GO_RIGHT);
-    }
-
-    static Message *GetBattery() {
-        return new Message(MESSAGE_ROBOT_BATTERY_GET);
-    }
-
-    static Message *GetState() {
-        return new Message(MESSAGE_ROBOT_STATE_GET);
-    }
-
-protected:
-    /**
-     * Serial link file descriptor
-     */
-    int fd;
-
-    /**
-     * Get an answer from robot
-     * @return String containing answer from robot
-     * @attention Read method is blocking until a message is received (timeout of 500 ms)
-     * @warning Read is not thread safe : Do not call it in multiple tasks simultaneously
-     */
-    string Read();
-
-    /**
-     * Convert a string to its message representation (when receiving data from robot)
-     * @param s String from robot containing answer
-     * @return Message corresponding to received array of char
-     */
-    Message* StringToMessage(string s);
-
-    /**
-     * Convert a message to its string representation (for sending command to robot)
-     * @param msg Message to be sent to robot
-     * @return String containing command to robot
-     */
-    string MessageToString(Message *msg);
-
-    /**
-     * Add a checksum and carriage return to a command string
-     * @param[in,out] s String containing command for robot, without ending char (carriage return) 
-     */
-    void AddChecksum(string &s);
-
-    /**
-     * Verify if checksum of an incoming answer from robot is valid, 
-     * then remove checksum from incoming answer (if checksum is ok)
-     * @param[in,out] s String containing incoming answer from robot
-     * @return true is checksum is valid, false otherwise.
-     */
-    bool VerifyChecksum(string &s);
-};
-
-#endif /* __COMROBOT_H__ */