diff --git a/config.ini b/config.ini
index da29dee..6503517 100644
--- a/config.ini
+++ b/config.ini
@@ -22,7 +22,8 @@ build_flags =
     -D STEPER_ACC=200
     ;-D STEPER_PAS=755.906 ; = 65mm
     -D STEPER_PAS=58 ; = 5mm
-    -D STEPER_SPEED=1000 ; 12000
+    -D STEPER_SPEED=2700 ;1000 ; 2500
+    -D GRBL_UPDATE=165 ;update time in ms
     ;;;;;;;;;;;;;;;;;;;;;;
     ;;;   App config   ;;;
     ;;;;;;;;;;;;;;;;;;;;;;
@@ -33,7 +34,10 @@ build_flags =
     ;;;;;;;;;;;;;;;;;;;;;;
     ;;;  Servo config  ;;;
     ;;;;;;;;;;;;;;;;;;;;;;
-    -D RIGHT_POS=18
-    -D MIDDLE_POS=32
+    -D RIGHT_POS=14 ;18
+    -D MIDDLE_POS=30 ;32
     -D LEFT_POS=52
-    -D CONVOYER_LEN=150 ;mm
+
+
+
+    -D CONVOYER_LEN=80 ;mm
diff --git a/include/Program.h b/include/Program.h
index 4d632c5..ce4f803 100644
--- a/include/Program.h
+++ b/include/Program.h
@@ -6,6 +6,7 @@
 #include "ServoMotorComponent.h"
 #include "NfcReader.h"
 #include "GRBL.h"
+#include "BigNfcReader.h"
 
 class Program {
 public:
@@ -26,6 +27,8 @@ private:
     ServoMotorComponent *servo;
     NfcReader *nfcReader;
     GRBL *grbl;
+    BigNfcReader* outputReader;
+    int grblUpdateTime;
 };
 
 #endif
diff --git a/lib/NfcReader/include/BigNfcReader.h b/lib/NfcReader/include/BigNfcReader.h
new file mode 100644
index 0000000..287ecee
--- /dev/null
+++ b/lib/NfcReader/include/BigNfcReader.h
@@ -0,0 +1,67 @@
+#ifndef BIG_NFC_READER_H
+#define BIG_NFC_READER_H
+
+#include <Arduino.h>
+#include <vector>
+
+#include "TrameList.h"
+
+class BigNfcReader{
+public:
+    BigNfcReader();
+
+    /**
+     * @brief initialise le lecteur NFC
+     *
+     * @return true le lecteur NFC est initialisé
+     * @return false le lecteur NFC n'est pas initialisé (erreur)
+     */
+    bool init();
+
+    /**
+     * @brief rafraichit les données du lecteur NFC
+     *
+     */
+    void refresh();
+
+    /**
+     * @brief affiche la dernière trame lue
+     *
+     */
+    void printTrame();
+
+    /**
+     * @brief retourne le nombre de tags lus
+     *
+     * @return int nombre de tags lus
+     */
+    int getNbTags();
+
+private:
+
+    /**
+     * @brief convertit un nombre en hexadécimal (a 2 chiffres)
+     *
+     * @param number nombre à convertir
+     * @return String nombre converti
+     */
+    String digitify(int number);
+
+    /**
+     * @brief variable pair/impair pour le type de trame
+     *
+     */
+    bool pair;
+
+    /**
+     * @brief dernière trame lue
+     *
+     */
+    std::vector<byte>* trame;
+
+};
+
+
+
+
+#endif
diff --git a/lib/NfcReader/include/TrameList.h b/lib/NfcReader/include/TrameList.h
new file mode 100644
index 0000000..9e412ae
--- /dev/null
+++ b/lib/NfcReader/include/TrameList.h
@@ -0,0 +1,29 @@
+#ifndef TRAM_LIST_H
+#define TRAM_LIST_H
+
+#include <Arduino.h>
+#include <vector>
+
+const std::vector<byte> SEARCH_TRAM_0 = {0x05, 0x07, 0x01, 0x01, 0x01, 0x00, 0xEB, 0x5F};
+
+const std::vector<byte> INIT_TRAM_0 = {0xFA, 0x05, 0x01, 0xC0, 0x5A, 0xDF};
+const std::vector<byte> INIT_TRAM_1 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x01, 0x01, 0xE1, 0x70};
+const std::vector<byte> INIT_TRAM_2 = {0xFA, 0x08, 0x01, 0x40, 0x01, 0x02, 0x01, 0x3E, 0x4C};
+const std::vector<byte> INIT_TRAM_3 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x03, 0x01, 0x51, 0x43};
+const std::vector<byte> INIT_TRAM_4 = {0xFA, 0x08, 0x01, 0x40, 0x01, 0x04, 0x01, 0xEE, 0x18};
+const std::vector<byte> INIT_TRAM_5 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x05, 0x01, 0x81, 0x17};
+const std::vector<byte> INIT_TRAM_6 = {0xFA, 0x08, 0x01, 0x40, 0x01, 0x06, 0x01, 0x5E, 0x2B};
+const std::vector<byte> INIT_TRAM_7 = {0xFA, 0x08, 0x01, 0x00, 0x01, 0x07, 0x01, 0x31, 0x24};
+
+const std::vector<byte> REP_TRAM_0 = {0xFA, 0x05, 0x01, 0xE0, 0x58, 0xFE};
+const std::vector<byte> REP_TRAM_1 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x01, 0x04, 0x00, 0x00, 0x03, 0x01, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x95, 0x8A};
+const std::vector<byte> REP_TRAM_2 = {0xFA, 0x17, 0x01, 0x40, 0x01, 0x00, 0x00, 0x01, 0x00, 0x09, 0x00, 0xFF, 0x00, 0x10, 0x07, 0x13, 0x01, 0x0E, 0x08, 0x09, 0x0B, 0x00, 0x2D, 0x98};
+const std::vector<byte> REP_TRAM_3 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xE8, 0x03, 0x00, 0x00, 0x00, 0x00, 0x43, 0x83, 0x00, 0x00, 0x00, 0x9A, 0xBF};
+const std::vector<byte> REP_TRAM_4 = {0xFA, 0x17, 0x01, 0x40, 0x01, 0x00, 0x00, 0x01, 0x04, 0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xD7, 0x15};
+const std::vector<byte> REP_TRAM_5 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x0A, 0x03, 0x0A, 0x00, 0xF6, 0xCD};
+const std::vector<byte> REP_TRAM_6 = {0xFA, 0x17, 0x01, 0x40, 0x01, 0x00, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00, 0xD4, 0x03};
+const std::vector<byte> REP_TRAM_7 = {0xFA, 0x17, 0x01, 0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x52, 0xF6};
+
+const std::vector<byte> READ_TRAM_0 = {0xFA, 0x24, 0x01, 0x00, 0x31, 0x02, 0x07, 0x0E, 0x00, 0x00, 0x04, 0x00, 0x00, 0x0D, 0x00, 0x00, 0x06, 0x00, 0x03, 0x00, 0xFF, 0x00, 0x03, 0x00, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x00, 0x5D, 0x74};
+const std::vector<byte> READ_TRAM_1 = {0xFA, 0x24, 0x01, 0x40, 0x31, 0x02, 0x07, 0x0E, 0x00, 0x00, 0x04, 0x00, 0x00, 0x0D, 0x00, 0x00, 0x06, 0x00, 0x03, 0x00, 0xFF, 0x00, 0x03, 0x00, 0x02, 0x00, 0x00, 0x02, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00, 0x00, 0x10, 0x45};
+#endif
diff --git a/lib/NfcReader/src/BigNfcReader.cpp b/lib/NfcReader/src/BigNfcReader.cpp
new file mode 100644
index 0000000..abbbf7c
--- /dev/null
+++ b/lib/NfcReader/src/BigNfcReader.cpp
@@ -0,0 +1,75 @@
+#include "../include/BigNfcReader.h"
+
+
+BigNfcReader::BigNfcReader(){
+    Serial2.begin(115200, SERIAL_8N1, 16, 17);//TODO: mettre le port série en paramètre
+    this->pair = true;
+    this->trame = new std::vector<byte>();
+}
+
+
+bool BigNfcReader::init(){
+    const std::vector<std::vector<byte>> INIT_TRAMES = {INIT_TRAM_0, INIT_TRAM_1, INIT_TRAM_2, INIT_TRAM_3, INIT_TRAM_4, INIT_TRAM_5, INIT_TRAM_6, INIT_TRAM_7};
+    const std::vector<std::vector<byte>> REP_TRAMES = {REP_TRAM_0, REP_TRAM_1, REP_TRAM_2, REP_TRAM_3, REP_TRAM_4, REP_TRAM_5, REP_TRAM_6, REP_TRAM_7};
+    int repnb = 0;
+    for(std::vector<byte> i: INIT_TRAMES){
+        for(byte j: i){
+            Serial2.write(j);
+        }
+        while (Serial2.available() == 0);
+        while (Serial2.available() > 0){
+            for(byte j: REP_TRAMES[repnb]){
+                if(Serial2.read() != j){
+                    Serial.println("NFC reader init failed");
+                    return false;
+                }
+            }
+        }
+        repnb++;
+    }
+    return true;
+}
+
+void BigNfcReader::refresh(){
+    this->trame->clear();
+    std::vector<byte> trame = READ_TRAM_0;
+    if (this->pair){
+        trame = READ_TRAM_1;
+    }
+    this->pair = !this->pair;
+
+    for(byte i: trame){
+        Serial2.write(i);
+    }
+    while (Serial2.available() == 0);
+    while (Serial2.available() > 0){
+        this->trame->push_back(Serial2.read());
+    }
+}
+
+
+String BigNfcReader::digitify(int number){
+    String sortie = "";
+
+    if(number <= 0xF){
+        sortie += '0';
+        sortie += String(number,HEX);
+    }else{
+        sortie += String(number,HEX);
+    }
+
+    return sortie;
+}
+
+
+void BigNfcReader::printTrame(){
+    for(byte i: *this->trame){
+        Serial.print(this->digitify(i));
+        Serial.print(" ");
+    }
+    Serial.println();
+}
+
+int BigNfcReader::getNbTags(){
+    return this->trame->at(8);
+}
diff --git a/src/Program.cpp b/src/Program.cpp
index 531af4e..0067723 100644
--- a/src/Program.cpp
+++ b/src/Program.cpp
@@ -78,7 +78,11 @@ Program::Program() {
     lcdScreen->add_log("Initialize M5LCD component....");
     this->nfcReader = new NfcReader(NFC_ADDR);
     this->servo = new ServoMotorComponent(2, 1, 1);
+    this->servo->setDesiredPosition(Position::MIDDLE);
     this->grbl = new GRBL(STEPMOTOR_I2C_ADDR);
+    this->outputReader = new BigNfcReader();
+    this->outputReader->init();
+    this->grblUpdateTime = 0;
     Wire.begin(21, 22);
     grbl->init(STEPER_SPEED, STEPER_PAS, STEPER_ACC);
     struct WifiConfig wifi_c = {WIFI_SSID, WIFI_PASSWORD};
@@ -96,6 +100,13 @@ void Program::loop() {
         derniereExecution = maintenant;
     }
     this->servo->refresh();
+    this->outputReader->refresh();
+    // Serial.println(this->outputReader->getNbTags());
+
+    if(this->outputReader->getNbTags() >= 2){
+        lcdScreen->set_nfc_message("To mutch colis number detected");
+        return;
+    }
 
     String nfcId = this->nfcReader->ReadNfc();
     //si qqc
@@ -152,8 +163,10 @@ void Program::loop() {
         }
         this->grbl->mouveForward(CONVOYER_LEN);
     } else {
-        if(this->grbl->isIddle()){
+        if(this->grbl->isIddle() || (maintenant - this->grblUpdateTime >= GRBL_UPDATE)){
+            this->grblUpdateTime = maintenant;
             this->grbl->mouveForward(5);
+            Serial.print("pouet");
         }
     }
-}
\ No newline at end of file
+}