diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 3be95f9..d2c617b 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -75,7 +75,10 @@ void Tasks::Init() {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    
+    /*if (err = rt_mutex_create(&mutex_robot_on, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }*/
     
     
     cout << "Mutexes created successfully" << endl << flush;
@@ -279,6 +282,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
 
         if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
             delete(msgRcv);
+            cout << "Connection to monitor lost" << endl;
+            monitor.Close();
             //exit(-1);
             
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
@@ -344,39 +349,44 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
-    
+    int killBattery=0;
     /**************************************************************************************/
     /* The task startRobot starts here                                                    */
     /**************************************************************************************/
-    while (1) {
-        Message* p_mess_answer_battery;
-        Message * msgSend;
-        rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
-        cout << "Start robot without watchdog (";
-        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-        msgSend = robot.Write(robot.StartWithoutWD());
-        rt_mutex_release(&mutex_robot);
-        cout << msgSend->GetID();
-        cout << ")" << endl;
-        
-        cout << "Movement answer: " << msgSend->ToString() << endl << flush;
-        WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
+    Message* p_mess_answer_battery;
+    Message * msgSend;
+    rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
+    cout << "Start robot without watchdog (";
+    
+    //Boolean to get the battery
+    rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
+    killBatteryBool=0;
+    rt_mutex_release(&mutex_kill_battery);
+    rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+    msgSend = robot.Write(robot.StartWithoutWD());
+    rt_mutex_release(&mutex_robot);
+    cout << msgSend->GetID();
+    cout << ")" << endl;  
+    cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+    WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
 
-        if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
-            rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
-            robotStarted = 1;
-            rt_mutex_release(&mutex_robotStarted);
-            rt_task_set_periodic(NULL, TM_NOW, 3000000000);
-            while (1) {
-                rt_task_wait_period(NULL);
-                rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-                p_mess_answer_battery = robot.Write(robot.GetBattery());
-                rt_mutex_release(&mutex_robot);
-                rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
-                monitor.Write(p_mess_answer_battery);
-                rt_mutex_release(&mutex_monitor);
-                cout << endl << flush;
-            }
+    if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
+        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+        robotStarted = 1;
+        rt_mutex_release(&mutex_robotStarted);
+        rt_task_set_periodic(NULL, TM_NOW, 500000000);
+        while (killBattery==0) {
+            rt_task_wait_period(NULL);
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            p_mess_answer_battery = robot.Write(robot.GetBattery());
+            rt_mutex_release(&mutex_robot);
+            rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+            monitor.Write(p_mess_answer_battery);
+            rt_mutex_release(&mutex_monitor);
+            //cout << endl << flush;
+            rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
+            killBattery=killBatteryBool;
+            rt_mutex_release(&mutex_kill_battery);
         }
     }
 }
@@ -396,44 +406,48 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     /**************************************************************************************/
     /* The task startRobot starts here                                                    */
     /**************************************************************************************/
-    while (1) {
-        Message* p_mess_answer_battery;
-        Message * msgSend;
-        int cpt=1;
-        int err;
-        rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
-        cout << "Start robot with watchdog (";
-        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-        msgSend = robot.Write(robot.StartWithWD());
-        rt_mutex_release(&mutex_robot);
-        cout << msgSend->GetID();
-        cout << ")" << endl;
+    Message* p_mess_answer_battery;
+    Message * msgSend;
+    int cpt=1;
+    int err;
+    rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
+    cout << "Start robot with watchdog (";
+    rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+    msgSend = robot.Write(robot.StartWithWD());
+    rt_mutex_release(&mutex_robot);
+    
+    //boolean to ask battery
+    rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
+    killBatteryBool=0;
+    rt_mutex_release(&mutex_kill_battery);
+    
+    cout << msgSend->GetID();
+    cout << ")" << endl;
         
-        cout << "Movement answer: " << msgSend->ToString() << endl << flush;
-        WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
+    cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+    WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
 
-        if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
+    if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
             
-            rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
-            robotStarted = 1;
-            rt_mutex_release(&mutex_robotStarted);
-            rt_task_set_periodic(NULL, TM_NOW, 300000000);
-            while (1) {
-                cpt++;
-                rt_task_wait_period(NULL);
+        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+        robotStarted = 1;
+        rt_mutex_release(&mutex_robotStarted);
+        rt_task_set_periodic(NULL, TM_NOW, 500000000);
+        while (1) {
+            cpt++;
+            if(cpt%2==0){
                 rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-                robot.Write(robot.ReloadWD()); 
+                robot.Write(robot.ReloadWD());
                 rt_mutex_release(&mutex_robot);
-                if(cpt%10==0){
-                    rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-                    p_mess_answer_battery = robot.Write(robot.GetBattery());
-                    rt_mutex_release(&mutex_robot);
-                    rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
-                    monitor.Write(p_mess_answer_battery);
-                    rt_mutex_release(&mutex_monitor);
-                    cout << endl << flush;
-                }
             }
+            rt_task_wait_period(NULL);
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            p_mess_answer_battery = robot.Write(robot.GetBattery());
+            rt_mutex_release(&mutex_robot);
+            rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+            monitor.Write(p_mess_answer_battery);
+            rt_mutex_release(&mutex_monitor);
+            cout << endl << flush;
         }
     }
 }
diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h
index 48ac6dd..609aeda 100644
--- a/software/raspberry/superviseur-robot/tasks.h
+++ b/software/raspberry/superviseur-robot/tasks.h
@@ -65,6 +65,8 @@ private:
     ComMonitor monitor;
     ComRobot robot;
     int robotStarted = 0;
+    int killBatteryBool = 0;
+    int killRobotWithoutWd = 0;
     int move = MESSAGE_ROBOT_STOP;
     
     /**********************************************************************/
@@ -85,6 +87,7 @@ private:
     RT_MUTEX mutex_robot;
     RT_MUTEX mutex_robotStarted;
     RT_MUTEX mutex_move;
+    RT_MUTEX mutex_kill_battery;
 
     /**********************************************************************/
     /* Semaphores                                                         */