diff --git a/src/commande-new-1d.cpp b/src/commande-new-1d.cpp
index 41bd6b1..7c770c5 100644
--- a/src/commande-new-1d.cpp
+++ b/src/commande-new-1d.cpp
@@ -17,8 +17,8 @@ class Run
   private:
     float xx, yy, dz;
 
-    // xx > 0 : forward
-    // xx < 0 : backward
+    // xx < 0 : forward
+    // xx > 0 : backward
 
     // yy > 0 : right
     // yy < 0 : left
@@ -56,12 +56,10 @@ class Run
       if (fabs(yy) > fabs(xx) && fabs(yy) > y_dev_min)
       {
         mvt->linear.y = yy * plan_vel;
-        mvt->linear.x = 0.;
       }
       else if (fabs(xx) > x_dev_min)
       {
-        mvt->linear.x = xx * plan_vel;
-        mvt->linear.y = 0.;
+        mvt->linear.x = - xx * plan_vel;
       }
       
       assert(mvt->linear.x == 0. || mvt->linear.y == 0.);
diff --git a/src/filtre.cpp b/src/filtre.cpp
index b9c57e8..1efea52 100644
--- a/src/filtre.cpp
+++ b/src/filtre.cpp
@@ -68,14 +68,22 @@ class Callback {
       return std::min(diff1, diff2);
     }
 
+<<<<<<< HEAD
     float sat(const Point& pt)
+=======
+    float sat_dist(const Point& pt)
+>>>>>>> 016c5b01c8e2d4513b333d32b0e0689e985e6776
     {
       float h, s, v, diff1, diff2;
       pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);
       return s;
     }
 
+<<<<<<< HEAD
     float val(const Point& pt)
+=======
+    float val_dist(const Point& pt)
+>>>>>>> 016c5b01c8e2d4513b333d32b0e0689e985e6776
     {
       float h, s, v, diff1, diff2;
       pcl::tracking::RGB2HSV(pt.r, pt.g, pt.b, h, s, v);