diff --git a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
index 6eedf506..98f0312f 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml
@@ -41,7 +41,7 @@
     </conf>
     <conf name="Debug__RPI_" type="1">
       <toolsSet>
-        <developmentServer>pi@10.105.1.08:22</developmentServer>
+        <developmentServer>pi@10.105.1.6:22</developmentServer>
         <platform>2</platform>
       </toolsSet>
       <dbx_gdbdebugger version="1">
diff --git a/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.7-pi-22 b/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.7-pi-22
new file mode 100644
index 00000000..e69de29b
diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml
index 40175b49..e9030278 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/private.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml
@@ -7,12 +7,11 @@
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
         <group>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
+            <file>file:/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/tasks.h</file>
+            <file>file:/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
+            <file>file:/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
+            <file>file:/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
         </group>
     </open-files>
 </project-private>
diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-pi-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-pi-22
new file mode 100644
index 00000000..ceb94970
--- /dev/null
+++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-pi-22
@@ -0,0 +1,38 @@
+#Thu Feb 03 12:13:21 CET 2022
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1643878176645
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1643878176627
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1643878176921
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1643878176632
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1643878176747
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1643878176827
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1643878176708
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/Makefile=c1643878176250
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1643878176780
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1643878176823
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1643878176536
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/.gitignore=c1643878176246
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1643878176639
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1643878176946
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/img.h=c1643878176731
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1643878176805
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1643878176712
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/main.cpp=c1643878176764
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1643886797321
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/README.md=c1643878176254
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1643878176831
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1643878176738
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/tasks.h=c1643882845489
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1643878176622
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1643878176846
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1643878176545
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1643878176702
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1643878176681
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1643878176617
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/.dep.inc=c1643878176242
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1643878176726
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1643878176816
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1643878176526
+VERSION=1.3
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1643878176916
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1643878176654
+/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1643878176698
diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index f17ae218..ef077c6e 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -27,6 +27,8 @@
 #define PRIORITY_TSTARTROBOT 20
 #define PRIORITY_TCAMERA 21
 
+#define PRIORITY_TBATTERY 20
+
 /*
  * Some remarks:
  * 1- This program is mostly a template. It shows you how to create tasks, semaphore
@@ -123,6 +125,12 @@ void Tasks::Init() {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
+    if (err = rt_task_create(&th_battery, "th_battery", 0, PRIORITY_TBATTERY, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }    
+    
+    
     cout << "Tasks created successfully" << endl << flush;
 
     /**************************************************************************************/
@@ -167,6 +175,10 @@ void Tasks::Run() {
         cerr << "Error task start: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
+    if (err = rt_task_start(&th_battery, (void(*)(void*)) & Tasks::CheckBattery, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
 
     cout << "Tasks launched" << endl << flush;
 }
@@ -396,6 +408,35 @@ void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
     }
 }
 
+
+/**
+ * Check battery
+ */
+void Tasks::CheckBattery() {
+    
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+    
+    rt_task_set_periodic(NULL, TM_NOW, 500000000);
+    
+    while (1) {
+        rt_task_wait_period(NULL);
+        cout << "Battery Periodic" << endl << flush;
+        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+        if (robotStarted==1) {
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+            MessageBattery* bat = (MessageBattery*)robot.Write(new Message(MESSAGE_ROBOT_BATTERY_GET));
+            cout << "Battery level : " << bat->ToString() << endl << flush;
+            rt_mutex_release(&mutex_robot);
+        }
+        rt_mutex_release(&mutex_robotStarted);
+        cout << endl << flush;
+    }
+       
+}
+
+
 /**
  * Read a message from a given queue, block if empty
  * @param queue Queue identifier
diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h
index 27fe3290..d2b1b860 100644
--- a/software/raspberry/superviseur-robot/tasks.h
+++ b/software/raspberry/superviseur-robot/tasks.h
@@ -76,6 +76,7 @@ class Tasks {
     RT_TASK th_openComRobot;
     RT_TASK th_startRobot;
     RT_TASK th_move;
+    RT_TASK th_battery;
     
     /**********************************************************************/
     /* Mutex                                                              */
@@ -142,6 +143,15 @@ class Tasks {
      */
     void WriteInQueue(RT_QUEUE *queue, Message *msg);
     
+    
+    /*
+     * @brief Check the battery level and send a message
+     */
+    void CheckBattery();  
+
+    
+    
+    
     /**
      * Read a message from a given queue, block if empty
      * @param queue Queue identifier