diff --git a/jacobot/arduino/Car.cpp b/jacobot/arduino/Car.cpp
index 3663645..1170248 100644
--- a/jacobot/arduino/Car.cpp
+++ b/jacobot/arduino/Car.cpp
@@ -37,52 +37,26 @@ void Car::turn(float angle, double setPoint) { //angle : degre
     const float m1_mmp = pi*(*m_m1).m_radius*2/(*m_m1).m_ratio; // mm/pulse for m1
     const float m2_mmp = pi*(*m_m2).m_radius*2/(*m_m2).m_ratio; // mm/pulse for m2
     double m1_duration = 0;
-    double m2_duration = 0;
     m_m1->setPoint = setPoint;
     m_m2->setPoint = setPoint/m2_mmp*m1_mmp;
-    boolean m1_tmp = false;
-    boolean m2_tmp = false;
     if(angle>0) {
-        while(!m1_tmp && !m2_tmp) {
-            if(m1_duration<distance/m1_mmp) {
-//                Serial.print("M1 cycle ");
-//                Serial.print(m1_duration);
-//                Serial.print("  ");
-//                Serial.println(m_m1->duration);
-                m1_duration+=m_m1->duration;
-                m_m1->compute(0);
-                m_m1->advance();
-                m_m1->duration = 0;
-            } else {m1_tmp = true; m_m1->stop();}
-            if(m2_duration<distance/m2_mmp) {
-//                Serial.print("M2 cycle ");
-//                Serial.print(m2_duration);
-//                Serial.print("  ");
-//                Serial.println(m_m2->duration);
-                m2_duration-=m_m2->duration;
-                m_m2->compute(0);
-                m_m2->back();
-                m_m2->duration = 0;
-            } else {m2_tmp = true; m_m2->stop();}
+        while(m1_duration<distance/m1_mmp) {
+            m1_duration+=m_m1->duration;
+            m_m1->compute(0);
+            m_m1->advance();
+            m_m2->compute(0);
+            m_m2->back();
         }
     } else if(angle<0) {
-        while(!m1_tmp && !m2_tmp) {
-            if(m1_duration<distance/m1_mmp) {
-                m1_duration-=m_m1->duration;
-                m_m1->compute(0);
-                m_m1->back();
-                m_m1->duration = 0;
-            } else {m1_tmp = true; m_m1->stop();}
-            if(m2_duration<distance/m2_mmp) {
-                m2_duration+=m_m2->duration;
-                m_m2->compute(0);
-                m_m2->advance();
-                m_m2->duration = 0;
-            } else {m2_tmp = true; m_m2->stop();}
+        while(m1_duration<distance/m1_mmp) {
+            m1_duration+=m_m1->duration;
+            m_m1->compute(0);
+            m_m1->back();
+            m_m2->compute(0);
+            m_m2->advance();
         }
     }
-    Serial.println(m1_tmp);
-    Serial.println("End");
     m_m1->stop();
     m_m2->stop();
+    return;
 }
\ No newline at end of file
diff --git a/jacobot/arduino/MotorEncoder.cpp b/jacobot/arduino/MotorEncoder.cpp
index 5c84609..e586a95 100644
--- a/jacobot/arduino/MotorEncoder.cpp
+++ b/jacobot/arduino/MotorEncoder.cpp
@@ -56,6 +56,7 @@ void MotorEncoder::back() {
 }
 
 void MotorEncoder::stop() {
+    digitalWrite(m_M_left, LOW);
     analogWrite(m_E_left, 0); 
 }
 
diff --git a/jacobot/arduino/main.cpp b/jacobot/arduino/main.cpp
index 5bf98c5..c93c4f7 100644
--- a/jacobot/arduino/main.cpp
+++ b/jacobot/arduino/main.cpp
@@ -30,4 +30,5 @@ void setup() {
 }
 
 void loop() {
+  Serial.println(m1.duration);
 }
\ No newline at end of file