diff --git a/main.c b/main.c
index 76becfa..0463711 100644
--- a/main.c
+++ b/main.c
@@ -64,6 +64,10 @@ extern float abscisse;
 extern struct point_xyo_t point;
 VL53L8CX_Configuration Dev;
 
+uint64_t get_temps_us(){
+	return to_us_since_boot(get_absolute_time());
+}
+
 void main(void)
 {
 	VL53L8CX_ResultsData Results;
@@ -135,7 +139,7 @@ void main(void)
     VL53L8_lecture( &Dev, &Results); // une première lecture 
 	
 	//if(get_identifiant() != 0){
-		//multicore_launch_core1(gestion_VL53L8CX);
+		multicore_launch_core1(gestion_VL53L8CX);
 	//}else{
 		//multicore_launch_core1(gestion_affichage);
 	//}
@@ -154,13 +158,17 @@ void main(void)
 	
     uint8_t status, isReady;
 
-	while(1){
+	uint64_t temps_us_debut_boucle, temps_us_status, temps_us_lecture_VL, temps_us_com;
 
-		status = vl53l8cx_check_data_ready(&Dev, &isReady);
+
+	while(1){
+		temps_us_debut_boucle = get_temps_us();
+		/*status = vl53l8cx_check_data_ready(&Dev, &isReady);
 		if(status){
 			//printf(">status:%d\n", status);
-		}
-		if(isReady){
+		}*/
+		temps_us_status = get_temps_us();
+		/*if(isReady){
 			VL53L8_lecture( &Dev, &Results);
 			VL53L8_min_distance(Results, &distance_obstacle);
 			Trajet_set_obstacle_mm(distance_obstacle);
@@ -172,7 +180,8 @@ void main(void)
 				}
 				memoire_vl53L8[i] = distance_cm;
 			}
-		}
+		}*/
+		temps_us_lecture_VL = get_temps_us();
 
 
 
@@ -225,7 +234,7 @@ void main(void)
 								}
 								if(mise_a_jour_mode){
 									get_données_reçues(&mode, sizeof(mode), REG_PROPULSION_MODE);
-									//rintf("mode:%d\n", mode);
+									printf("mode:%d\n", mode);
 								}
 								if(mise_a_jour_pwm){
 									struct msg_propulsion_pwm_t msg_propulsion_pwm;
@@ -335,8 +344,14 @@ void main(void)
 			
 			
 		}
+
+		temps_us_com = get_temps_us();
+		printf(">temps_status:%d\n", (uint32_t) ((temps_us_status - temps_us_debut_boucle)/1000) );
+		printf(">temps_lecture_VL:%d\n", (uint32_t) ((temps_us_lecture_VL - temps_us_status)/1000) );
+		printf(">temps_com:%d\n", (uint32_t) ((temps_us_com - temps_us_lecture_VL)/1000) );
 		
 		if(temps_ms != Temps_get_temps_ms()){
+			
 			if(Temps_get_temps_ms() - temps_ms > 20){
 				/// PANIC
 				struct msg_propulsion_position_t msg_propulsion_position;
@@ -344,10 +359,11 @@ void main(void)
 				msg_propulsion_position.position_y_mm = 0;
 				msg_propulsion_position.orientation_rad = 0;
 				mise_données_dans_échange((uint8_t*) &msg_propulsion_position, sizeof(msg_propulsion_position), REG_PROPULSION_POSITION);
+				printf("panic\n");
+				
 				Moteur_Stop();
 				temps_ms = Temps_get_temps_ms();
 				continue;
-
 			}
 			temps_ms = Temps_get_temps_ms();
 			if(temps_ms % step_ms == 0){
@@ -486,9 +502,9 @@ void gestion_PAMI(uint32_t step_ms, int * asser_pos){
 void gestion_VL53L8CX(void){
 	VL53L8CX_ResultsData Results;
 	float distance_obstacle;
-	VL53L8_init(&Dev);
+	/*VL53L8_init(&Dev);
 	sleep_ms(100);
-    VL53L8_lecture( &Dev, &Results); // une première lecture 
+    VL53L8_lecture( &Dev, &Results); // une première lecture */
     uint8_t status, isReady;
 	VL53L8CX_isReady = 1;
 	while(1){