diff --git a/lib/GRBL/include/GRBL.h b/lib/GRBL/include/GRBL.h
new file mode 100644
index 0000000..8837ca9
--- /dev/null
+++ b/lib/GRBL/include/GRBL.h
@@ -0,0 +1,22 @@
+#ifndef GRBL_H
+#define GRBL_H
+
+#include <Arduino.h>
+#include "Module_GRBL_13.2.h"
+
+class iGRBL{
+public:
+    virtual void init(int speed, double pas, int accel, String mode = "distance") = 0;
+    virtual void mouveForward(int mm = 5) = 0;
+};
+
+class GRBL : public iGRBL{
+public:
+    GRBL(int grblAddr);
+    void init(int speed, double pas, int accel, String mode = "distance") override;
+    void mouveForward(int mm = 5) override;
+private:
+    Module_GRBL* grbl;
+};
+
+#endif
diff --git a/lib/GRBL/src/GRBL.cpp b/lib/GRBL/src/GRBL.cpp
new file mode 100644
index 0000000..a10807b
--- /dev/null
+++ b/lib/GRBL/src/GRBL.cpp
@@ -0,0 +1,34 @@
+#include "../include/GRBL.h"
+
+GRBL::GRBL(int grblAddr){
+    this->grbl = new Module_GRBL(grblAddr);
+}
+
+void GRBL::init(int speed, double pas, int accel, String mode){
+    char s[1024];
+
+    this->grbl->Init(&Wire);
+    this->grbl->setMode(mode);
+
+    sprintf(s,"$0=%f", pas);  // step/mm
+    this->grbl->sendGcode(s);
+    Serial.println(s);
+
+    sprintf(s,"$4=%d", speed);  // speed
+    this->grbl->sendGcode(s);
+    Serial.println(s);
+
+    sprintf(s,"$8=%d", accel);  // acceleration, mm/sec^2
+    this->grbl->sendGcode(s);
+    Serial.println(s);
+
+    sprintf(s,"$3=%d", 500);  // puse/µsec
+    this->grbl->sendGcode(s);
+    Serial.println(s);
+}
+
+void GRBL::mouveForward(int mm = 5){
+    char s[1024];
+    sprintf(s, "G1 X%d", mm);
+    this->grbl->sendGcode(s);
+}
diff --git a/lib/Stepper/include/Stepper.h b/lib/Stepper/include/Stepper.h
deleted file mode 100644
index e69de29..0000000
diff --git a/lib/Stepper/src/Stepper.cpp b/lib/Stepper/src/Stepper.cpp
deleted file mode 100644
index e69de29..0000000
diff --git a/src/main.cpp b/src/main.cpp
index 21f9b7b..b27e527 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -12,13 +12,17 @@
 #include <Arduino.h>
 
 #include <M5Stack.h>
-#include "Module_GRBL_13.2.h"
+//#include "Module_GRBL_13.2.h"
+
+#include "GRBL.h"
 
 
 #define STEPMOTOR_I2C_ADDR 0x70
 // #define STEPMOTOR_I2C_ADDR 0x71
 
-Module_GRBL _GRBL = Module_GRBL(STEPMOTOR_I2C_ADDR);
+//Module_GRBL _GRBL = Module_GRBL(STEPMOTOR_I2C_ADDR);
+
+
 
 /**
  * @brief initialise le GRBL pour le stepper
@@ -28,30 +32,33 @@ Module_GRBL _GRBL = Module_GRBL(STEPMOTOR_I2C_ADDR);
  * @param accel vitesse d'acceleration du mptuer (mm/sec²)
  * @param mode mode de fonctionnement (defaut = distance) absolute
  */
-void init(int speed, double pas, int accel ,String mode = "distance"){
-    char s[1024];
+// void init(int speed, double pas, int accel ,String mode = "distance"){
+//     char s[1024];
 
-    _GRBL.Init(&Wire);
-    _GRBL.setMode(mode);
+//     _GRBL.Init(&Wire);
+//     _GRBL.setMode(mode);
 
-    sprintf(s,"$0=%f", pas);  // step/mm
-    _GRBL.sendGcode(s);
-    Serial.println(s);
+//     sprintf(s,"$0=%f", pas);  // step/mm
+//     _GRBL.sendGcode(s);
+//     Serial.println(s);
 
-    sprintf(s,"$4=%d", speed);  // speed
-    _GRBL.sendGcode(s);
-    Serial.println(s);
+//     sprintf(s,"$4=%d", speed);  // speed
+//     _GRBL.sendGcode(s);
+//     Serial.println(s);
 
-    sprintf(s,"$8=%d", accel);  // acceleration, mm/sec^2
-    _GRBL.sendGcode(s);
-    Serial.println(s);
+//     sprintf(s,"$8=%d", accel);  // acceleration, mm/sec^2
+//     _GRBL.sendGcode(s);
+//     Serial.println(s);
 
-    sprintf(s,"$3=%d", 500);  // puse/µsec
-    _GRBL.sendGcode(s);
-    Serial.println(s);
-}
+//     sprintf(s,"$3=%d", 500);  // puse/µsec
+//     _GRBL.sendGcode(s);
+//     Serial.println(s);
+// }
+GRBL* grbl;
 
 void setup() {
+    grbl = new GRBL(STEPMOTOR_I2C_ADDR);
+
     M5.begin();
     M5.Power.begin();
     Wire.begin(21, 22);
@@ -66,28 +73,28 @@ void setup() {
     M5.Lcd.setCursor(50, 120);
     delay(1000);
     M5.Lcd.println("Control Motor");
-    init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
+    grbl->init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
 }
 
-void mouveForward(int mm = 5){
-    char s[1024];
-    sprintf(s, "G1 X%d", mm);
-    _GRBL.sendGcode(s);
-}
+// void mouveForward(int mm = 5){
+//     char s[1024];
+//     sprintf(s, "G1 X%d", mm);
+//     _GRBL.sendGcode(s);
+// }
 
 void loop() {
     if (M5.BtnA.wasPressed())
     {
-        Serial.print(_GRBL.readStatus());
-        mouveForward(50);
+        // Serial.print(_GRBL.readStatus());
+        grbl->mouveForward(50);
     }
 
     if (M5.BtnB.wasPressed()) {
-        mouveForward(50);
+        grbl->mouveForward(50);
     }
 
     if (M5.BtnC.wasReleased()) {
-        _GRBL.unLock();
+        // _GRBL.unLock();
     }
     M5.update();
 }