diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index c611f4e..59af78e 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -305,6 +305,10 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
          * SUPPLY *
          **********/
         case 6:
+            if(idMsg == 0x1) {
+                eKart.batteryVoltage = data.full;
+            }
+            
             if(idMsg == 0x4) {
                 DRIVE_startBehaviour(drive());
                 STEERING_startBehaviour(steering());
diff --git a/306-controller_interface.X/app/car.h b/306-controller_interface.X/app/car.h
index 28137ab..7747af4 100644
--- a/306-controller_interface.X/app/car.h
+++ b/306-controller_interface.X/app/car.h
@@ -87,20 +87,8 @@ typedef struct {
     bool button;
     uint8_t speed;      // 100m/h
     bool brake;
-    uint8_t powerMode; // 0: eco - 1: normal - 2: race
-    /*
-     * 0 - ECO MODE
-     * Eco mod limit to 1/2 of the maximal current. 
-     * Position is 1/2 of the maximal angle
-     * 
-     * 1 - NORMAL MODE
-     * Standard ramp for normal mode
-     * Position is limited to 3/4 of the maximal 
-     * 
-     * 2 - RACE MODE
-     * 
-     * 
-     */
+    uint8_t powerMode;
+    uint16_t batteryVoltage;
 } KART_VAR_TYPE;
 KART_VAR_TYPE eKart;
 
diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index f13314d..97e9f91 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -1,5 +1,5 @@
 /**
- * @author Rémi Heredero
+ * @author R�mi Heredero
  * @version. 0.0.0
  * @date August 2023
  * @file kartculator.c
@@ -242,6 +242,11 @@ void calcTorque(uint8_t joy_pos) {
         calcTorque *= 1150;
         calcTorque /= 1000;
     }
+    
+    if(eKart.batteryVoltage <= 18750) {
+        calcTorque = 0;
+    }
+    
     eKart.torque = (int16_t) calcTorque;
 }
 
diff --git a/306-controller_interface.X/mcc_generated_files/ecan.c b/306-controller_interface.X/mcc_generated_files/ecan.c
index e1bfd4d..749f12b 100644
--- a/306-controller_interface.X/mcc_generated_files/ecan.c
+++ b/306-controller_interface.X/mcc_generated_files/ecan.c
@@ -124,8 +124,8 @@ void ECAN_Initialize(void)
     // filter 1 is message for controller
     convertCANid2Reg(0x010, dSTANDARD_CAN_MSG_ID_2_0B, &RXF1EIDH, &RXF1EIDL, &RXF1SIDH, &RXF1SIDL);  
    
-    // filter 2 is message for recipient n°7, not yet defined
-    convertCANid2Reg(0x070, dSTANDARD_CAN_MSG_ID_2_0B, &RXF2EIDH, &RXF2EIDL, &RXF2SIDH, &RXF2SIDL);  
+    // filter 2 is message for display  (yes i want the message from the display)
+    convertCANid2Reg(0x060, dSTANDARD_CAN_MSG_ID_2_0B, &RXF2EIDH, &RXF2EIDL, &RXF2SIDH, &RXF2SIDL);  
 
     /*
      * ENABLE FILTERS
diff --git a/306-controller_interface.X/nbproject/Makefile-default.mk b/306-controller_interface.X/nbproject/Makefile-default.mk
index 3fc7372..b0530ed 100644
--- a/306-controller_interface.X/nbproject/Makefile-default.mk
+++ b/306-controller_interface.X/nbproject/Makefile-default.mk
@@ -454,7 +454,7 @@ endif
 # Enable dependency checking
 .dep.inc: .depcheck-impl
 
-DEPFILES=$(wildcard ${POSSIBLE_DEPFILES})
+DEPFILES=$(shell mplabwildcard ${POSSIBLE_DEPFILES})
 ifneq (${DEPFILES},)
 include ${DEPFILES}
 endif
diff --git a/306-controller_interface.X/nbproject/Makefile-local-default.mk b/306-controller_interface.X/nbproject/Makefile-local-default.mk
index 2cda7d4..c770036 100644
--- a/306-controller_interface.X/nbproject/Makefile-local-default.mk
+++ b/306-controller_interface.X/nbproject/Makefile-local-default.mk
@@ -15,11 +15,11 @@
 # $ makeMP_CC="/opt/microchip/mplabc30/v3.30c/bin/pic30-gcc" ...  
 #
 SHELL=cmd.exe
-PATH_TO_IDE_BIN=C:/Program Files/Microchip/MPLABX/v6.15/mplab_platform/platform/../mplab_ide/modules/../../bin/
+PATH_TO_IDE_BIN=C:/Program Files/Microchip/MPLABX/v6.05/mplab_platform/platform/../mplab_ide/modules/../../bin/
 # Adding MPLAB X bin directory to path.
-PATH:=C:/Program Files/Microchip/MPLABX/v6.15/mplab_platform/platform/../mplab_ide/modules/../../bin/:$(PATH)
+PATH:=C:/Program Files/Microchip/MPLABX/v6.05/mplab_platform/platform/../mplab_ide/modules/../../bin/:$(PATH)
 # Path to java used to run MPLAB X when this makefile was created
-MP_JAVA_PATH="C:\Program Files\Microchip\MPLABX\v6.15\sys\java\zulu8.64.0.19-ca-fx-jre8.0.345-win_x64/bin/"
+MP_JAVA_PATH="C:\Program Files\Microchip\MPLABX\v6.05\sys\java\zulu8.64.0.19-ca-fx-jre8.0.345-win_x64/bin/"
 OS_CURRENT="$(shell uname -s)"
 MP_CC="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
 # MP_CPPC is not defined
@@ -27,11 +27,11 @@ MP_CC="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
 MP_AS="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
 MP_LD="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-cc.exe"
 MP_AR="C:\Program Files\Microchip\xc8\v2.41\bin\xc8-ar.exe"
-DEP_GEN=${MP_JAVA_PATH}java -jar "C:/Program Files/Microchip/MPLABX/v6.15/mplab_platform/platform/../mplab_ide/modules/../../bin/extractobjectdependencies.jar"
+DEP_GEN=${MP_JAVA_PATH}java -jar "C:/Program Files/Microchip/MPLABX/v6.05/mplab_platform/platform/../mplab_ide/modules/../../bin/extractobjectdependencies.jar"
 MP_CC_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
 # MP_CPPC_DIR is not defined
 # MP_BC_DIR is not defined
 MP_AS_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
 MP_LD_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
 MP_AR_DIR="C:\Program Files\Microchip\xc8\v2.41\bin"
-DFP_DIR=C:/Program Files/Microchip/MPLABX/v6.15/packs/Microchip/PIC18F-K_DFP/1.11.281
+DFP_DIR=C:/Users/remi/.mchp_packs/Microchip/PIC18F-K_DFP/1.11.281