diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index 2b812b1..5703115 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -97,7 +97,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
                 // TODO set alive times
                 // start alives
                 CM_DISPLAY_SETUP(NULL);
-                CM_STEERING_SETUP(&ALWAYSFALSE);
+                CM_STEERING_SETUP(&ALWAYS0);
                 
             }
             
@@ -161,6 +161,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
                 //  posX    posY    button  -
                 calcTorque(incomeData.separate.byte1);
                 calcPosition(incomeData.separate.byte0);
+                STEERING_emitPollDir(steering());
                 
             }
             
@@ -225,6 +226,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
             if(idMsg == 0x1) { // STEERING_GET_CENTER
                 //  valHH   valH    valL    valLL
                 eKart.center = revertData.full;
+                ALIVE_emitReady(&steering()->myChecker, 0, 0);
             }
             
             if(idMsg == 0x2) { // STEERING_GET_POSITION
@@ -232,11 +234,6 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
                 
             }
             
-            if(idMsg == 0x3) { // STEERING_READY
-                //  -   -   -   -
-                
-            }
-            
             if(idMsg == 0xF) { // STEERING_ALIVE
                 //  statusH statusL -   -
                 ALIVE_ISALIVE(&steering()->myChecker);
@@ -340,7 +337,7 @@ void CM_STEERING_SETUP(void* p) {
     //  reset/init  homing  setCenter   aliveTime
     // TODO not working have to fix it
     BYTES_4 tmpData;
-    uint8_t choice = (uint8_t) p;
+    uint8_t choice = *(uint8_t*) p;
     switch (choice) {
         case 1:
             tmpData.separate.byte0 = 1;
diff --git a/306-controller_interface.X/app/drive.c b/306-controller_interface.X/app/drive.c
index 7cf4373..70d5adf 100644
--- a/306-controller_interface.X/app/drive.c
+++ b/306-controller_interface.X/app/drive.c
@@ -24,7 +24,7 @@ void DRIVE_init(DRIVE* me){
 }
 
 void DRIVE_startBehaviour(DRIVE* me){
-    POST(me, &DRIVE_processEvent, evDRinit, 100, 0);
+    POST(me, &DRIVE_processEvent, evDRinit, 3000, 0);
 }
 
 bool DRIVE_processEvent(Event* ev) {
diff --git a/306-controller_interface.X/app/eeprom.c b/306-controller_interface.X/app/eeprom.c
index 4efdbf8..013c1b9 100644
--- a/306-controller_interface.X/app/eeprom.c
+++ b/306-controller_interface.X/app/eeprom.c
@@ -24,10 +24,10 @@ void MEM_init(){
     uint8_t check = MEM_read_1_byte(0x0);
     if(check != 0x42){
         KART_CST.CONTROL_STEERING_MODE   =   0;
-        KART_CST.CONTROL_ALIVE_TIME      =   50;
+        KART_CST.CONTROL_ALIVE_TIME      =   250; // should be 50
         KART_CST.CONTROL_SPEED_FACTOR    =   111111;    //     111'111
         KART_CST.CONTROL_POWER_FACTOR    =   10000;     //      10'000
-        KART_CST.CONTROL_STEERING_FACTOR =   400000000; // 400'000'000
+        KART_CST.CONTROL_STEERING_FACTOR =   5600240;   //   5'600'024
         KART_CST.CONTROL_MAX_SPEED_FW    =   50;
         KART_CST.CONTROL_MAX_SPEED_BW    =   25;
         
diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index 88a490b..aa43fef 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -18,6 +18,10 @@ void calcTorque(uint8_t joy_pos) {
 void calcPosition(uint8_t joy_pos){
     int32_t calcPosition;
     calcPosition = (int8_t) joy_pos;
+    calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
+    calcPosition /= 1000;
+    calcPosition += eKart.center;
+    eKart.position = (uint32_t) calcPosition;
 }
 
 void calcSpeed(int32_t rpm) {
diff --git a/306-controller_interface.X/app/steering.c b/306-controller_interface.X/app/steering.c
index 74fa712..45c7648 100644
--- a/306-controller_interface.X/app/steering.c
+++ b/306-controller_interface.X/app/steering.c
@@ -10,20 +10,26 @@
 #include "car.h"
 //#include "drive.h"
 
+void alive_born(void* p){
+    STEERING* me = (STEERING*) p;
+    STEERING_emitResurrect(me);
+    //CM_STEERING_SETUP(&ALWAYS3);
+}
+
 void STEERING_init(STEERING* me){
     me->state = STST_INIT;
     ALIVE_init(&me->myChecker, 3);
-    ALIVE_onSetup(&me->myChecker, CM_STEERING_SETUP, &ALWAYSFALSE);
+    ALIVE_onSetup(&me->myChecker, CM_STEERING_SETUP, &ALWAYS2);
     ALIVE_onWait(&me->myChecker, STEERING_emitStart, me);
     ALIVE_onDead(&me->myChecker, STEERING_emitStop, me);
-    ALIVE_onBorn(&me->myChecker, STEERING_emitResurrect, me);
+    ALIVE_onBorn(&me->myChecker, alive_born, me);
     me->wait.f = NULL;
     me->run.f = NULL;
     me->dead.f = NULL;
 }
 
 void STEERING_startBehaviour(STEERING* me){
-    POST(me, &STEERING_processEvent, evSTinit, 100, 0);
+    POST(me, &STEERING_processEvent, evSTinit, 3000, 0);
 }
 
 bool STEERING_processEvent(Event* ev) {
@@ -94,7 +100,6 @@ bool STEERING_processEvent(Event* ev) {
                 }
                 ALIVE_setAliveTime(&me->myChecker, KART_CST.STEERING_ALIVE_TIME);
                 ALIVE_emitBorn(&me->myChecker, 500, 0);
-                ALIVE_emitReady(&me->myChecker, 1000, 0);
                 break;
             
             case STST_RUN: