diff --git a/Device/list_motor.c b/Device/list_motor.c
index 2dcb2be56d97d8fb9cee67418236056a1fbc2d25..d668d8cc67cfb60b89986a18e6094bd34215d6c1 100644
--- a/Device/list_motor.c
+++ b/Device/list_motor.c
@@ -132,21 +132,21 @@ void motors_all_init(void){
 	motors_init(&m3508_backright,  0x203, M3508);
 	motors_init(&m3508_backleft,  0x204, M3508);
 	
-	// Parametres ICRA
-	gm6020_up.MIN_POSITION = 5565;
-	gm6020_up.MAX_POSITION = 6675;
-	gm6020_down.MIN_POSITION = 2519;
-	gm6020_down.MAX_POSITION = 7015;
-	gm6020_down.target = 4750; 
-	gm6020_up.target = 6200;
+	// Param�tres ICRA
+//	gm6020_up.MIN_POSITION = 5565;
+//	gm6020_up.MAX_POSITION = 6675;
+//	gm6020_up.target = 6200;
+//	gm6020_down.MIN_POSITION = 2519;
+//	gm6020_down.MAX_POSITION = 7015;
+//	gm6020_down.target = 4750; 
 	
-	// Parametres StandarMeca (a changer)
-	gm6020_up.MIN_POSITION = 2700;
-	gm6020_up.MAX_POSITION = 4000;
-	gm6020_up.target = 3500;
-	gm6020_down.MIN_POSITION = 2220;
-	gm6020_down.MAX_POSITION = 6800;
-	gm6020_down.target = 4800; 
+	// Param�tres StandardMeca
+	gm6020_up.MIN_POSITION = 2220;
+	gm6020_up.MAX_POSITION = 3840;
+	gm6020_up.target = 3450;
+	gm6020_down.MIN_POSITION = 2800;
+	gm6020_down.MAX_POSITION = 6700;
+	gm6020_down.target = 4750; 
 }
 
 
diff --git a/Device/motor.c b/Device/motor.c
index 4ea9edbc0c7d5f1afe1f621fd3f5b306cb979783..720826220b50dbb7f532b0e9881da1083278c1ec 100644
--- a/Device/motor.c
+++ b/Device/motor.c
@@ -92,12 +92,21 @@ void set_motor_speed(motor_t *motor)
 	float target = motor->target;
 	switch(motor->type){
 		case M3508:
+<<<<<<< HEAD
 			if ((target < 150) && (target > -100)){
 				run_motor_from_command(motor, motor->pid_speed, target, motor->info.M3508_info.speed);
 			}
 		  else{
 				run_motor_from_command(motor, motor->pid_pos, target, motor->info.M3508_info.angle);
 			}
+=======
+			if ((target < 100.0) && (target > -100.0)){
+				run_motor_from_command(motor, motor->pid_pos, target, motor->info.M3508_info.angle);
+				}
+				else{
+				run_motor_from_command(motor, motor->pid_speed, target, motor->info.M3508_info.speed);
+				}
+>>>>>>> 623e9ad5906292f23a358f1ea43fd89ee37f30d3
 		case GM6020:
 				run_motor_from_command(motor, motor->pid_speed, target, motor->info.GM6020_info.speed);
 		case M2006: