diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c
index c348e70..f815446 100644
--- a/306-controller_interface.X/app/can_message.c
+++ b/306-controller_interface.X/app/can_message.c
@@ -21,8 +21,6 @@ typedef union {
     uint32_t full;
 } BYTES_4;
 
-//BYTES_4 foobar;
-
 typedef union {
     struct {
         uint8_t byte0;
@@ -41,7 +39,6 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
     revertData.separate.byte3 = incomeData.separate.byte0;
     
     switch(idSender){
-        //foobar.full = data;
         
         /*********************
          * BROADCAST / DEBUG *
@@ -168,8 +165,8 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, uint32_t data){
                     KART_CST.JOYSTICK_ALIVE_TIME = MEM_read_1_byte(MEMADD_JOYSTICK_ALIVE_TIME);
                     ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME);
                     ALIVE_emitResurrect(ALjoy(), 0, 0);
-                    ALIVE_emitBorn(ALjoy(), 100, 0);
-                    ALIVE_emitReady(ALjoy(), 200, 0);
+                    ALIVE_emitBorn(ALjoy(), 0, 0);
+                    ALIVE_emitReady(ALjoy(), 0, 0);
                 }
             }
             break;
diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index 12121f8..41b271d 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -106,12 +106,13 @@ void Factory_build() {
 void Factory_start() {
     CAN_startBehaviour();
         
-    //ALIVE_startBehaviourSender(ALcontroller());
-    //ALIVE_startBehaviourChecker(ALjoy());
+    DRIVE_startBehaviour(drive());
+    
+    ALIVE_startBehaviourSender(ALcontroller());
+    ALIVE_startBehaviourChecker(ALjoy());
     ALIVE_emitBorn(ALjoy(), 100, 0);
     ALIVE_emitReady(ALjoy(), 200, 0);
     
-    DRIVE_startBehaviour(drive());
     
     
 }