diff --git a/rover/include/api/basic_psys_rover.h b/rover/include/api/basic_psys_rover.h
deleted file mode 100644
index 8c069f6..0000000
--- a/rover/include/api/basic_psys_rover.h
+++ /dev/null
@@ -1,76 +0,0 @@
-/*
- * Copyright (c) 2016 Eclipse Foundation and others.
- * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
- *
- * Authors:
- *    Gaël Blondelle - initial API and parameters
- * Contributors:
- */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <wiringPi.h>
-
-#ifndef PSYS_ROVER_H_
-#define PSYS_ROVER_H_
-
-#define FORWARD 	1
-#define BACKWARD	-1
-#define LEFT	1
-#define RIGHT	2
-#define DEFAULT_DELAY	450
-
-#define FULL_SPEED	480
-#define LOW_SPEED	360
-
-#define	DIRECTION_PIN_LEFT		5 // Physical 18
-#define SOFT_PWM_ENGINE_LEFT 	26 // Physical 32
-#define ENABLE_MOTOR_LEFT		3 // Physical 15
-#define	DIRECTION_PIN_RIGHT		6 // Physical 22
-#define SOFT_PWM_ENGINE_RIGHT 	23 // Physical 33
-#define ENABLE_MOTOR_RIGHT		4 // Physical 16
-#define FLASH_LIGHT_LED			7 // Physical 7
-
-#define LED_FLEFT				4 // Physical 16
-#define LED_FRIGHT				5 // Physical 18
-#define DISTANCE				6 // Physical 22
-
-// Analog sensors
-#define BASE 200
-#define SPI_CHAN 0
-
-extern void init(void);
-
-extern void stop(void);
-
-extern void shutdown_rover(void);
-
-extern void go(int direction, int speed);
-
-extern void turn(int direction, int side, int speed);
-
-extern void turnOnSpot (int direction, int side, int speed);
-
-extern void toggle_light(void);
-
-extern float getDistance(int channel);
-
-extern float getTemperature(void);
-
-extern float getHumidity(void);
-
-extern void runside(int side, int direction, int speed);
-
-
-#endif /* PSYS_ROVER_H_ */
-
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/rover/src/api/basic_psys_rover.c b/rover/src/api/basic_psys_rover.c
deleted file mode 100644
index 0cdba9b..0000000
--- a/rover/src/api/basic_psys_rover.c
+++ /dev/null
@@ -1,231 +0,0 @@
-/*
- * Copyright (c) 2016 Eclipse Foundation and others.
- * All rights reserved. This program and the accompanying materials
- * are made available under the terms of the Eclipse Public License v1.0
- * which accompanies this distribution, and is available at
- * http://www.eclipse.org/legal/epl-v10.html
- *
- * Authors:
- *    Gaël Blondelle - initial implementation
- * Contributors:
- */
-
-#include <wiringPi.h>
-#include <mcp3004.h>
-#include <softPwm.h>
-#include <wiringPiI2C.h>
-#include <stdio.h>
-#include <unistd.h>
-
-#include <api/basic_psys_rover.h>
-
-static int led_status = 0;
-static int i2c_th02_fd = 0;
-
-void init(){
-	  //wiringPiSetup () ;
-
-	  pinMode (ENABLE_MOTOR_LEFT, OUTPUT) ;
-	  digitalWrite (ENABLE_MOTOR_LEFT, HIGH) ;
-	  pinMode (ENABLE_MOTOR_RIGHT, OUTPUT) ;
-	  digitalWrite (ENABLE_MOTOR_RIGHT, HIGH) ;
-	  pinMode (DIRECTION_PIN_LEFT, OUTPUT) ;
-	  pinMode (DIRECTION_PIN_RIGHT, OUTPUT) ;
-
-
-	softPwmCreate (SOFT_PWM_ENGINE_LEFT, 0, FULL_SPEED) ;
-	softPwmCreate (SOFT_PWM_ENGINE_RIGHT, 0, FULL_SPEED) ;
-
-	pinMode (FLASH_LIGHT_LED, OUTPUT) ;
-
-// Init the analog digital converter
-	  mcp3004Setup (BASE, SPI_CHAN); // 3004 and 3008 are the same 4/8 channels
-
-// Init the I2C interface for device 0x40 which is the id of the temperature/humidity sensor
-	   i2c_th02_fd = wiringPiI2CSetup (0x40);
-}
-
-float getDistance(int channel){
-	float x;
-	float y=analogRead (BASE+channel);
-
-// 1/cm to output voltage is almost linear between
-// 80cm->0,4V->123
-// 6cm->3,1V->961
-// => y=5477*x+55 => x= (y-55)/5477
-	if (y<123){
-		x=100.00;
-	} else {
-		float inverse = (y-55)/5477;
-		printf("inverse=%f\n",inverse);
-	// x is the distance in cm
-		x = 1/inverse;
-	}
-
-    printf("Distance channel row data %d:%f\n",channel,y);
-    printf("Distance channel (cm) %d:%f\n",channel,x);
-
-	return x;
-}
-
-float getTemperature(){
-	float x;
-
-	unsigned char command[2]= {0};
-
-	command[0]=0x03;
-	command[1]=0x11;
-
-	printf("fd:%d\n",i2c_th02_fd);
-
-//	wiringPiI2CWriteReg8(i2c_th02_fd, 0x03, 0x01);
-
-	write(i2c_th02_fd,command,2);
-
-	// Poll RDY (D0) in STATUS (register 0) until it is low (=0)
-	int status = -1;
-	delay (30);
-	while ((status & 0x01) != 0) {
-		status = wiringPiI2CReadReg8(i2c_th02_fd,0);
-		printf("Status:%d\n",status);
-	}
-
-	// Read the upper and lower bytes of the temperature value from
-	// DATAh and DATAl (registers 0x01 and 0x02), respectively
-	unsigned char buffer[3]= {0};
-    read(i2c_th02_fd, buffer, 3);
-
-	int dataH = buffer[1] & 0xff;
-	int dataL = buffer[2] & 0xff;
-
-//	int dataH = wiringPiI2CRead(i2c_th02_fd)&0xff;
-//	int dataL = wiringPiI2CRead(i2c_th02_fd)&0xff;
-	printf("dataH:%02X\n",dataH);
-	printf("dataL:%02X\n",dataL);
-
-	x = (dataH * 256 + dataL) >> 2;
-	printf("Temperature raw:%d\n",(int)x);
-	x = (x / 32) - 50;
-
-	printf("Temperature:%f\n",x);
-
-	return x;
-}
-
-float getHumidity(){
-	float x;
-
-	unsigned char command[2]= {0};
-
-	command[0]=0x03;
-	command[1]=0x01;
-
-	printf("fd:%d\n",i2c_th02_fd);
-
-//	wiringPiI2CWriteReg8(i2c_th02_fd, 0x03, 0x01);
-
-	write(i2c_th02_fd,command,2);
-
-	// Poll RDY (D0) in STATUS (register 0) until it is low (=0)
-	int status = -1;
-	delay (30);
-	while ((status & 0x01) != 0) {
-		status = wiringPiI2CReadReg8(i2c_th02_fd,0);
-		printf("Status:%d\n",status);
-	}
-
-	// Read the upper and lower bytes of the temperature value from
-	// DATAh and DATAl (registers 0x01 and 0x02), respectively
-	unsigned char buffer[3]= {0};
-    read(i2c_th02_fd, buffer, 3);
-
-	int dataH = buffer[1] & 0xff;
-	int dataL = buffer[2] & 0xff;
-
-//	int dataH = wiringPiI2CRead(i2c_th02_fd)&0xff;
-//	int dataL = wiringPiI2CRead(i2c_th02_fd)&0xff;
-	printf("dataH:%02X\n",dataH);
-	printf("dataL:%02X\n",dataL);
-
-	x = (dataH * 256 + dataL) >> 4;
-	printf("Humidity raw:%d\n",(int)x);
-	x = (x / 16) - 24;
-
-	printf("Humidity:%f\n",x);
-
-	return x;
-}
-
-void runside(int side, int direction, int speed){
-	// POLOLU_2756
-	if (side==LEFT){
-		if (direction>0) {
-			digitalWrite (DIRECTION_PIN_LEFT, HIGH) ;
-
-		} else if (direction<0) {
-			digitalWrite (DIRECTION_PIN_LEFT, LOW) ;
-		} else return;
-		softPwmWrite (SOFT_PWM_ENGINE_LEFT, speed) ;
-	} else if (side==RIGHT){
-		if (direction>0) {
-			digitalWrite (DIRECTION_PIN_RIGHT, HIGH) ;
-
-		} else if (direction<0) {
-			digitalWrite (DIRECTION_PIN_RIGHT, LOW) ;
-		} else return;
-		softPwmWrite (SOFT_PWM_ENGINE_RIGHT, speed) ;
-	}
-}
-
-
-
-void go (int direction, int speed){
-	runside (LEFT, direction, speed);
-	runside (RIGHT, direction, speed);
-
-	//delay (DEFAULT_DELAY) ;
-}
-
-void turn (int direction, int side, int speed){
-	if (side==LEFT){
-//		runside (LEFT, -direction, speed);
-		runside (LEFT, direction, 0);
-		runside (RIGHT, direction, speed);
-	}
-	if (side==RIGHT){
-		runside (LEFT, direction, speed);
-//		runside (RIGHT, -direction,speed);
-		runside (RIGHT, direction, 0);
-	}
-	//delay (DEFAULT_DELAY) ;
-}
-
-void turnOnSpot (int direction, int side, int speed){
-	if (side==LEFT){
-		runside (RIGHT, -direction, speed);
-//		runside (LEFT, direction, 0);
-		runside (LEFT, direction, speed);
-	}
-	if (side==RIGHT){
-		runside (RIGHT, direction, speed);
-		runside (LEFT, -direction,speed);
-//		runside (RIGHT, direction, 0);
-	}
-	//delay (DEFAULT_DELAY) ;
-}
-
-
-void shutdown(){
-	softPwmStop(SOFT_PWM_ENGINE_LEFT) ;
-	softPwmStop(SOFT_PWM_ENGINE_RIGHT) ;
-}
-
-
-void stop(){
-	runside (LEFT, FORWARD,0);
-	runside (RIGHT, FORWARD,0);
-}
-
-void toggle_light(){
-	digitalWrite (FLASH_LIGHT_LED, ++led_status % 2) ;
-}