diff --git a/config.ini b/config.ini
index 6503517..1b6b873 100644
--- a/config.ini
+++ b/config.ini
@@ -22,7 +22,7 @@ build_flags =
     -D STEPER_ACC=200
     ;-D STEPER_PAS=755.906 ; = 65mm
     -D STEPER_PAS=58 ; = 5mm
-    -D STEPER_SPEED=2700 ;1000 ; 2500
+    -D STEPER_SPEED=2000 ;1000 ; 2500
     -D GRBL_UPDATE=165 ;update time in ms
     ;;;;;;;;;;;;;;;;;;;;;;
     ;;;   App config   ;;;
@@ -40,4 +40,4 @@ build_flags =
 
 
 
-    -D CONVOYER_LEN=80 ;mm
+    -D CONVOYER_LEN=70  ; 80 ;mm
diff --git a/docs/Schématics/Algo.puml b/docs/Schématics/Algo.puml
new file mode 100644
index 0000000..beac7fe
--- /dev/null
+++ b/docs/Schématics/Algo.puml
@@ -0,0 +1,23 @@
+@startuml algo
+
+!pragma useVerticalIf on
+
+start
+
+:teste périphérique;
+
+:gestion bourrage colis;
+
+if (NFC détecter) then (oui)
+	:j'affiche le tag lu;
+	:je récupère le produit sur Dolibarr;
+	:gestion erreur;
+	:je crée un mouvement de stock Dolibarr;
+	:gestion erreur;
+	:je bouge l'aiguillage de destination;
+	:j'avance de la longueur du tapis;
+else (non)
+	:avance tapis;
+endif
+stop
+@enduml
diff --git a/docs/Schématics/Class.puml b/docs/Schématics/Class.puml
index 2d66a83..4f71d52 100644
--- a/docs/Schématics/Class.puml
+++ b/docs/Schématics/Class.puml
@@ -8,18 +8,6 @@ class Dolibarr {
     + String createStockMovement(String tagID, String warehouseId)
 }
 
-package "Managers" {
-    abstract AManager {
-        # ILCDScreen lcd
-        # IServoMotor servo
-        # IGRBL grbl
-        # INFCReader nfc
-    }
-
-    class WarehouseManager
-
-    WarehouseManager .|> AManager
-}
 
 package "Components" {
     package "NFCReader" {
@@ -66,12 +54,11 @@ class Program {
 	+ void loop
 }
 
-AManager <-- IServoMotor
-AManager <-- IGRBL
-AManager <-- ILCDScreen
-AManager <-- INFCReader
+Program <-- IServoMotor
+Program <-- IGRBL
+Program <-- ILCDScreen
+Program <-- INFCReader
 
-Program <-- WarehouseManager
-Program <-- Dolibarr
+Dolibarr --> Program
 
 @enduml
diff --git a/lib/M5LCD/src/M5LCD.cpp b/lib/M5LCD/src/M5LCD.cpp
index 685dee1..e95bdcf 100644
--- a/lib/M5LCD/src/M5LCD.cpp
+++ b/lib/M5LCD/src/M5LCD.cpp
@@ -173,6 +173,7 @@ void M5LCD::set_dolibarr_status(AvailableComponentsStatus status) {
 
 void M5LCD::update_dashboard() const {
     if (this->_current_page == DASHBOARD_SCREEN) {
+        M5.Lcd.clear();
         this->show_dashboard();
     }
 }
diff --git a/src/Program.cpp b/src/Program.cpp
index f9e61b0..92e7f69 100644
--- a/src/Program.cpp
+++ b/src/Program.cpp
@@ -77,7 +77,7 @@ Program::Program() {
     lcdScreen = new M5LCD();
     lcdScreen->add_log("Initialize M5LCD component....");
     this->nfcReader = new NfcReader(NFC_ADDR);
-    this->servo = new ServoMotorComponent(2, 1, 1);
+    this->servo = new ServoMotorComponent(2, 1, 1.5);
     this->servo->setDesiredPosition(Position::MIDDLE);
     this->grbl = new GRBL(STEPMOTOR_I2C_ADDR);
     this->outputReader = new BigNfcReader();
@@ -164,8 +164,8 @@ void Program::loop() {
         }
         this->grbl->mouveForward(CONVOYER_LEN);
     } else {
-        if((this->grbl->isIddle() || (maintenant - this->grblUpdateTime >= GRBL_UPDATE)) && lcdScreen->get_components().grbl == COMPONENT_OK){
-            this->grblUpdateTime = maintenant;
+        if((this->grbl->isIddle()) && lcdScreen->get_components().grbl == COMPONENT_OK){
+            //this->grblUpdateTime = maintenant;
             this->grbl->mouveForward(5);
         }
     }