diff --git a/Device/list_motor.c b/Device/list_motor.c
index 506cbe7c4bc7a480c2dcf266229a70e85b1001b2..15f3e5c0751da49b24f2ce28b28c74454e4130e9 100644
--- a/Device/list_motor.c
+++ b/Device/list_motor.c
@@ -129,15 +129,24 @@ void motors_all_init(void){
 	motors_init(&gm6020_up,  0x205, GM6020);
 	motors_init(&m3508_frontleft,  0x201, M3508);
 	motors_init(&m3508_frontright,  0x202, M3508);
-	motors_init(&m3508_backleft,  0x203, M3508);
-	motors_init(&m3508_backright,  0x204, M3508);
+	motors_init(&m3508_backright,  0x203, M3508);
+	motors_init(&m3508_backleft,  0x204, M3508);
 	
-	gm6020_up.MIN_POSITION = 5565;
-	gm6020_up.MAX_POSITION = 6675;
-	gm6020_down.MIN_POSITION = 2519;
-	gm6020_down.MAX_POSITION = 7015;
+	// Paramètres 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; 
+	
+	// Paramètres 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; 
-	gm6020_up.target = 6200;
 }
 
 
diff --git a/Device/motor.c b/Device/motor.c
index b28cc21c80e87771d85bc6d60f186d6e96c175af..4a2174c344e8f73e4e4dc060412838d0c198e3b0 100644
--- a/Device/motor.c
+++ b/Device/motor.c
@@ -92,7 +92,12 @@ void set_motor_speed(motor_t *motor)
 	float target = motor->target;
 	switch(motor->type){
 		case M3508:
+			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);
+				}
 		case GM6020:
 				run_motor_from_command(motor, motor->pid_speed, target, motor->info.GM6020_info.speed);
 		case M2006: