diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index d2c617b..1524e7a 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -24,8 +24,8 @@
 #define PRIORITY_TMOVE 20
 #define PRIORITY_TSENDTOMON 22
 #define PRIORITY_TRECEIVEFROMMON 25
-#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 22
-#define PRIORITY_TSTARTROBOTWITHWATCHDOG 22
+#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 24
+#define PRIORITY_TSTARTROBOTWITHWATCHDOG 23
 #define PRIORITY_TCAMERA 21
 
 
@@ -75,10 +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)) {
+    if (err = rt_mutex_create(&mutex_kill_battery, NULL)) {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
-    }*/
+    }
     
     
     cout << "Mutexes created successfully" << endl << flush;
@@ -349,13 +349,13 @@ 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;
+    Message* p_mess_answer_battery;
+    Message * msgSend;
     /**************************************************************************************/
     /* The task startRobot starts here                                                    */
     /**************************************************************************************/
-    Message* p_mess_answer_battery;
-    Message * msgSend;
-    rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
     cout << "Start robot without watchdog (";
     
     //Boolean to get the battery
@@ -380,10 +380,8 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
             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;
+            WriteInQueue(&q_messageToMon, p_mess_answer_battery);
+            cout << endl << flush;
             rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
             killBattery=killBatteryBool;
             rt_mutex_release(&mutex_kill_battery);
@@ -408,9 +406,8 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     /**************************************************************************************/
     Message* p_mess_answer_battery;
     Message * msgSend;
-    int cpt=1;
-    int err;
-    rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
+    int cpt=0;
+    int killBattery=0;
     cout << "Start robot with watchdog (";
     rt_mutex_acquire(&mutex_robot, TM_INFINITE);
     msgSend = robot.Write(robot.StartWithWD());
@@ -433,21 +430,23 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
         robotStarted = 1;
         rt_mutex_release(&mutex_robotStarted);
         rt_task_set_periodic(NULL, TM_NOW, 500000000);
-        while (1) {
+        while (killBattery==0) {
             cpt++;
-            if(cpt%2==0){
+            if(cpt==2){
                 rt_mutex_acquire(&mutex_robot, TM_INFINITE);
                 robot.Write(robot.ReloadWD());
                 rt_mutex_release(&mutex_robot);
+                cpt=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);
+            WriteInQueue(&q_messageToMon, p_mess_answer_battery);
             cout << endl << flush;
+            rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
+            killBattery=killBatteryBool;
+            rt_mutex_release(&mutex_kill_battery);
         }
     }
 }
@@ -482,7 +481,7 @@ void Tasks::MoveTask(void *arg) {
             cpMove = move;
             rt_mutex_release(&mutex_move);
             
-            cout << " move: " << cpMove;
+            //cout << " move: " << cpMove;
             
             rt_mutex_acquire(&mutex_robot, TM_INFINITE);
             robot.Write(new Message((MessageID)cpMove));