diff --git a/Semaine_1/Capteur_recule_bidirectionel/Ultrasonic/ultrasonic_fpga.v b/Semaine_1/Capteur_recule_bidirectionel/Ultrasonic/ultrasonic_fpga.v
index 9b03f2b..742240c 100644
--- a/Semaine_1/Capteur_recule_bidirectionel/Ultrasonic/ultrasonic_fpga.v
+++ b/Semaine_1/Capteur_recule_bidirectionel/Ultrasonic/ultrasonic_fpga.v
@@ -9,6 +9,9 @@ module ultrasonic_fpga #(
 );
     reg [15:0] trig_counter;
     reg [31:0] echo_counter;
+    reg [31:0] echo_div_counter;
+    reg [15:0] distance_counter;
+
     reg sig_out;
     reg sig_dir;                  // 1: output, 0: input
 
@@ -26,7 +29,6 @@ module ultrasonic_fpga #(
                DONE         = 3'd5,
                WAIT_NEXT    = 3'd6;
 
-
     localparam integer TRIG_PULSE_CYCLES = CLK_FREQ / 100_000; // 10us pulse
     localparam integer DIST_DIVISOR = (58 * CLK_FREQ) / 1_000_000; // pour conversion us -> cm
     localparam integer MAX_CM = 350;
@@ -36,7 +38,6 @@ module ultrasonic_fpga #(
 
     reg [31:0] wait_counter;
 
-
     always @(posedge clk) begin // FSM
         
         case (state)
@@ -87,8 +88,17 @@ module ultrasonic_fpga #(
                         distance <= 0;
                         state <= DONE;
                     end
-                end else begin
-                    distance <= (echo_counter * 1000) / DIST_DIVISOR;
+                end else begin //Comptage par cycle de dist diviseur
+                    echo_counter <= echo_counter + 1;
+        
+                    if (echo_div_counter >= DIST_DIVISOR - 1) begin
+                        echo_div_counter <= 0;
+                        distance_counter <= distance_counter + 1;
+                    end else begin
+                        echo_div_counter <= echo_div_counter + 1;
+                    end
+
+                    distance <= distance_counter;
                     state <= DONE;
                 end
             end