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diff --git a/Article_Scientifique/main.tex b/Article_Scientifique/main.tex
index b5c028f..d2b10b1 100644
--- a/Article_Scientifique/main.tex
+++ b/Article_Scientifique/main.tex
@@ -179,7 +179,8 @@ carries higher hardware costs (sensors, processing power).
 FOC provides faster response times and better load disturbance rejection \cite{jomsa-nga_torque_2024}.
 
 
-\section{Research gap}
+
+\section{Research Gap}
 
 The literature presented in the previous sections shows that significant work has been carried out on BLDC 
 motor control strategies, especially for torque ripple reduction, efficiency improvement, and dynamic performance 
@@ -240,143 +241,152 @@ assistance based on system dynamics.
 \section{STM32-Based Field-Oriented Control Motor Drive}
 \label{sec:foc}
 	
-	This section presents the design and implementation of a high-performance 
-	motor controller based on Field-Oriented Control (FOC).
-	
-	\subsection{Choice of FOC Over Trapezoidal Commutation}
-	
-	Table~\ref{tab:foc_vs_trap} summarizes the key differences between the 
-	two commutation strategies, based on the literature reviewed in 
-	Section~\ref{sec:relatedwork}.
-	
-	\begin{table}[htbp]
-	\caption{Comparison between FOC and trapezoidal (six-step) commutation}
-	\label{tab:foc_vs_trap}
-	\centering
-	\begin{tabular}{lcc}
-	\toprule
-	\textbf{Criterion} & \textbf{FOC} & \textbf{Six-Step} \\
-	\midrule
-	Torque ripple (at 500 rpm) & \SI{18.4}{\percent} & \SI{35.7}{\percent} \\
-	Low-load efficiency & High & Moderate \\
-	High-speed switching loss & Higher & Lower \\
-	Position sensor requirement & Encoder (high resolution) & Hall sensors \\
-	Implementation complexity & High & Low \\
-	Hardware cost & Higher & Lower \\
-	Dynamic response & Fast & Standard \\
-	\bottomrule
-	\end{tabular}
-	\end{table}
-	
-	For our cargo bike application, rider comfort and smooth torque delivery 
-	are priorities. FOC was therefore selected for the high-performance 
-	controller, while a separate low-tech six-step board (Section~\ref{sec:sixstep}) 
-	was developed for repairability.
-	
-	\subsection{Base Design: Cheap FOCer-2 Project}
-	
-	The starting point was the open-source \textit{Cheap FOCer-2} project, 
-	which provides a complete KiCad design for a VESC-compatible board based 
-	on an STM32F405 microcontroller. This design includes:
-	\begin{itemize}
-	    \item A three-phase MOSFET full-bridge power stage.
-	    \item Gate drivers with built-in dead-time insertion.
-	    \item Shunt resistors for phase current sensing.
-	    \item USB and CAN interfaces.
-	    \item An expansion header for encoder or Hall sensors.
-	\end{itemize}
-	
-	The existing KiCad schematic and layout were used as the baseline for 
-	our adaptations.
-	
-	\subsection{Integration of the Rocacher FOC Tile}
-	
-	Mr. Rocacher provided the Kicad schematic of a ready-to-use FOC tile based on an STM32L476 
-	microcontroller.
-	
-	The initial idea was to make this tile \textit{pluggable} into our 
-	carrier board, similar to an Arduino shield. This would allow:
-	\begin{itemize}
-	    \item Easy replacement of the computing core without re-soldering.
-	    \item Modular upgrades of the microcontroller.
-	    \item Simplified repair and maintenance.
-	\end{itemize}
-	
-	However, the Cheap FOCer-2 project was not designed for such modularity. 
-	Its routing is dense and highly optimized for a single, non-removable 
-	F405 chip. Adapting it to accept an L476 tile while preserving all 
-	critical functions (PWM, current sensing, USB communication) proved 
-	challenging.
-	
-	\subsection{Pin Compatibility Verification: L476 vs F405}
-	
-	Before modifying the PCB, a thorough pin compatibility check was 
-	performed between the STM32L476 and the STM32F405 
-	(original Cheap FOCer-2 design). The following aspects were examined:
-	\begin{itemize}
-	    \item Physical pinout in LQFP64 package.
-	    \item Alternate functions for PWM timers.
-	    \item USB DP/DM pins (PA11/PA12).
-	    \item Analog inputs for current sensing.
-	    \item UART for BLE communication.
-	\end{itemize}
-	
-	Three pin conflicts were identified and resolved as follows.
-	
-	First, the SPI\_MISO function on PA6 for the STM32F405 conflicts with a 
-	DAC output on the same pin for the STM32L476 tile. Since this pin is 
-	used for current sensing via SPI in the original Cheap FOCer-2 design, 
-	the SPI communication was remapped to PA5 on the L476, which provides a 
-	compatible alternate function.
-	
-	Second, the gate driver enable signal (EN\_GATE) was originally assigned 
-	to PB5 on the F405. This pin is not accessible on the L476 
-	tile. The signal was therefore moved to PC5, which is available and 
-	can be configured as a standard GPIO output.
-	
-	Third, Hall sensor C was originally connected to PC8 (TIM8) on the F405. 
-	This pin is not available on the L476 tile. The Hall sensor input was 
-	therefore reassigned to PB3, configured as TIM2\_CH2, which provides 
-	the necessary input capture functionality for Hall signal decoding.
-	
-	All other critical functions (PWM timers, complementary PWM, enable 
-	signals, encoder inputs, UART, USB, and CAN) remain fully compatible 
-	between the two microcontrollers. The ADC channel differences between 
-	the F405 (ADC123/ADC12) and the L476 (ADC3) must still be handled in 
-	firmware, as noted previously.
-	
-	\subsection{Schematic Design and KiCad Implementation}
-	
-	The original Cheap FOCer-2 schematic was modified in KiCad to replace the 
-	integrated F405 with connectors for the L476 tile. The main modifications 
-	included:
-	\begin{itemize}
-	    \item Removal of the F405 and its associated passive components.
-	    \item Addition of two 20-pin headers to receive the Rocacher tile.
-	    \item Re-routing of PWM, ADC, and USB signals to the headers.
-	\end{itemize}
-	
-	The schematic passed Electrical Rule Check (ERC) with no errors. 
-	
-	\subsection{Routing Challenges and Current Status}
-	
-	The PCB layout was then started. The original Cheap FOCer-2 routing is 
-	very dense. Inserting connectors for the removable tile while maintaining signal integrity proved 
-	difficult.
-	
-	The main issues encountered were:
-	\begin{itemize}
-	    \item Some footprints for the tile connectors did not appear correctly 
-	    in the layout after schematic import.
-	    \item Routing of high-current paths (battery, motor phases) around the 
-	    connectors required additional vias, increasing resistance.
-	    \item Decoupling capacitors had to be repositioned, raising concerns 
-	    about switching noise.
-	\end{itemize}
-	
-	Currently, the schematic is validated, and the layout is under 
-	development. Once routing is completed, the board will be manufactured 
-	and tested with the VESC firmware adapted to the L476 tile.
+This section presents the design and implementation of a high-performance 
+motor controller based on Field-Oriented Control (FOC).
+
+\subsection{Choice of FOC Over Trapezoidal Commutation}
+
+Table~\ref{tab:foc_vs_trap} summarizes the key differences between the 
+two commutation strategies, based on the literature reviewed in 
+Section~\ref{sec:related}.
+
+\begin{table}[htbp]
+\caption{Comparison between FOC and trapezoidal (six-step) commutation}
+\label{tab:foc_vs_trap}
+\centering
+\begin{tabular}{lcc}
+\toprule
+\textbf{Criterion} & \textbf{FOC} & \textbf{Six-Step} \\
+\midrule
+Torque ripple (at 500 rpm) & \SI{18.4}{\percent} & \SI{35.7}{\percent} \\
+Low-load efficiency & High & Moderate \\
+High-speed switching loss & Higher & Lower \\
+Position sensor requirement & Encoder (high resolution) & Hall sensors \\
+Implementation complexity & High & Low \\
+Hardware cost & Higher & Lower \\
+Dynamic response & Fast & Standard \\
+\bottomrule
+\end{tabular}
+\end{table}
+
+For our cargo bike application, rider comfort and smooth torque delivery 
+are priorities. FOC was therefore selected for the high-performance 
+controller, while a separate low-tech six-step board (Section~\ref{sec:sixstep}) 
+was developed for repairability.
+
+\subsection{Base Design: Cheap FOCer-2 Project}
+
+The starting point was the open-source \textit{Cheap FOCer-2} project, 
+which provides a complete KiCad design for a VESC-compatible board based 
+on an STM32F405 microcontroller. This design includes:
+\begin{itemize}
+    \item A three-phase MOSFET full-bridge power stage.
+    \item Gate drivers with built-in dead-time insertion.
+    \item Shunt resistors for phase current sensing.
+    \item USB and CAN interfaces.
+    \item An expansion header for encoder or Hall sensors.
+\end{itemize}
+
+The existing KiCad schematic and layout were used as the baseline for 
+our adaptations.
+
+\subsection{Integration of the Rocacher FOC Tile}
+
+Mr. Rocacher provided the Kicad schematic of a ready-to-use FOC tile based on an STM32L476 
+microcontroller.
+
+The initial idea was to make this tile \textit{pluggable} into our 
+carrier board, similar to an Arduino shield. This would allow :
+\begin{itemize}
+    \item Easy replacement of the computing core without re-soldering.
+    \item Modular upgrades of the microcontroller.
+    \item Simplified repair and maintenance.
+\end{itemize}
+
+However, the Cheap FOCer-2 project was not designed for such modularity. 
+Its routing is dense and highly optimized for a single, non-removable 
+F405 chip. Adapting it to accept an L476 tile while preserving all 
+critical functions (PWM, current sensing, USB communication) proved 
+challenging.
+
+\subsection{Pin Compatibility Verification: L476 vs F405}
+
+Before starting the PCB modifications, a pin compatibility study was carried out between the STM32L476 
+used on the Rocacher tile and the STM32F405 originally used in the Cheap FOCer-2 design. The objective 
+was to verify that the main functions required by the VESC firmware could still be used after replacing
+the original microcontroller.
+
+The verification mainly focused on:
+\begin{itemize}
+    \item Physical pinout compatibility in the LQFP64 package,
+    \item PWM timer for Alternate functions,
+    \item USB DP/DM pins (PA11/PA12),
+    \item Analog inputs for current sensing,
+    \item UART communication for BLE integration.
+\end{itemize}
+
+During this analysis, three main pin conflicts were identified.
+
+The first conflict concerned the SPI\_MISO signal on pin PA6. In the original STM32F405 design, this pin is 
+used for SPI communication related to current sensing. On the STM32L476 tile, the same pin is associated with 
+a DAC output, creating a functional conflict. To solve this issue, the SPI communication line was remapped 
+to PA5 on the L476, which offers a compatible alternate function.
+
+The second issue concerned the EN\_GATE signal. In the original design, this signal was connected to PB5 on
+the STM32F405. However, this pin is not accessible on the L476 tile. The signal was therefore moved to PC5, 
+configured as a standard GPIO output.
+
+Finally, Hall sensor C was originally connected to PC8 (TIM8) on the STM32F405. Since this pin is not available 
+on the tile connector, the Hall sensor input was reassigned to PB3 using the TIM2\_CH2 alternate function, 
+which preserves the input capture capability required for Hall sensor decoding.
+
+All other important functions remained compatible between the two microcontrollers, including PWM generation,
+complementary PWM outputs, encoder inputs, UART, USB, and CAN communication. Some differences between the ADC 
+peripherals of the STM32F405 and STM32L476 still remain and will require firmware adaptations in future work.
+
+\subsection{Schematic Design and KiCad Implementation}
+
+The original Cheap FOCer-2 schematic was modified in KiCad in order to replace the integrated STM32F405 
+microcontroller with connectors for the Rocacher STM32L476 tile. The objective was to make the control part more 
+modular and easier to replace without modifying the power stage of the board.
+
+The main modifications performed on the schematic were:
+\begin{itemize}
+    \item Removal of the STM32F405 and its associated passive components.
+    \item Addition of two 20-pin headers for the L476 tile connection.
+    \item Re-routing of PWM, ADC, USB, and communication signals toward the headers.
+\end{itemize}
+
+Special attention was given to the routing of critical control signals, especially the PWM outputs used for 
+motor commutation and the analog signals used for current sensing.
+
+After the modifications, the schematic was verified using the KiCad Electrical Rule Check (ERC). No electrical 
+errors were detected during this verification step, which validated the consistency of the schematic before 
+starting the PCB routing phase. 
+
+\subsection{Routing Challenges and Current Status}
+
+After validating the schematic, the PCB routing phase was started in KiCad. The original Cheap FOCer-2 board 
+uses a very compact layout with dense routing around the STM32F405 microcontroller and the power stage. 
+Integrating connectors for a removable STM32L476 tile introduced several additional routing constraints.
+
+One of the main difficulties was maintaining proper signal routing while keeping enough space for the tile 
+connectors and preserving the integrity of the control signals. Particular attention had to be given to the PWM 
+signals, current sensing traces, and power connections.
+
+Several issues were encountered during the routing process:
+\begin{itemize}
+    \item Some connector footprints associated with the tile did not appear correctly after importing the schematic 
+    into the PCB layout.
+    \item The routing of high-current paths, especially the battery and motor phase connections, become more complex 
+    due to the additional connectors and required extra vias.
+    \item Some Decoupling capacitors had to be repositioned, which could potentially affect switching noise and power
+     supply stability.
+\end{itemize}
+
+At the current stage of the project, the schematic has been validated and the PCB layout is still under development. 
+Once the routing is completed, the board will be manufactured and tested using the VESC firmware adapted for the 
+STM32L476 tile.
 
 
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