diff --git a/examples/movements/movements.c b/examples/movements/movements.c
index de6943ac253b50518502fcce310e01bfed94bed9..af81f3ffe70a7ab555e1d6437621e22fecf784b1 100644
--- a/examples/movements/movements.c
+++ b/examples/movements/movements.c
@@ -6,7 +6,7 @@
 #include "mtn_library.h"
 #include <stdlib.h>
 
-typedef enum {wait_start,wait_walk_ready,wait_cmd,walk} main_states;
+typedef enum {wait_start,wait_walk_ready,wait_cmd,walk,walk2} main_states;
 
 void user_init(void)
 {
@@ -15,9 +15,19 @@ void user_init(void)
   balance_calibrate_gyro();
   balance_enable_gyro();
   mtn_lib_init();
-  mtn_lib_set_start_foot(left_foot);
 }
 
+typedef uint8_t (*fnct_ptr)(void);
+
+fnct_ptr fnct1=fast_walk_forward;
+//fnct_ptr fnct1=walk_forward;
+//fnct_ptr fnct1=walk_right;
+//fnct_ptr fnct1=walk_backward_turn_left;
+
+fnct_ptr fnct2=turn_left;
+//fnct_ptr fnct2=walk_left;
+//fnct_ptr fnct2=walk_backward_turn_right;
+
 void user_loop(void)
 {
   static main_states state=wait_start;
@@ -26,37 +36,45 @@ void user_loop(void)
   {
     case wait_start: if(is_button_rising_edge(BTN_START))
                      {
-                       action_set_page(31);
+                       action_set_page(30);
                        action_start_page();
                        state=wait_walk_ready;
                      }
                      else
                        state=wait_start;
-                     printf("state: wait_start\n");
                      break;
     case wait_walk_ready: if(is_action_running())
                             state=wait_walk_ready;
                           else
                             state=wait_cmd;
-                          printf("state: wait_walk_ready\n");
                           break;
     case wait_cmd: if(is_button_rising_edge(BTN_UP))
                    {
-                     fast_walk_forward();
+                     fnct1();
                      state=walk;
                    }
+                   else if(is_button_rising_edge(BTN_LEFT))
+                   {
+                     fnct2();
+                     state=walk2;
+                   }
                    else 
                      state=wait_cmd;
-                   printf("state: wait_cmd\n");
                    break;
     case walk: if(is_button_rising_edge(BTN_DOWN))
                  mtn_lib_stop_mtn();
-               if(fast_walk_forward()==0x01)
+               if(fnct1()==0x01)
                  state=wait_cmd;
                else
                  state=walk;
-               printf("state: walk\n");
                break;
+    case walk2: if(is_button_rising_edge(BTN_RIGHT))
+                  mtn_lib_stop_mtn();
+                if(fnct2()==0x01)
+                  state=wait_cmd;
+                else
+                  state=walk2;
+                break;
   }
 }
 
diff --git a/examples/movements/mtn_library.c b/examples/movements/mtn_library.c
index 44a2fb553dc7c5da32f6215e0bbdb5c82c767b2b..63cb4cba312f48d827de8b82ffeedd92d687bfde 100644
--- a/examples/movements/mtn_library.c
+++ b/examples/movements/mtn_library.c
@@ -36,7 +36,7 @@ TPages mtn_pages[]={{F_S_L,F_S_R,F_M_L,F_M_R,F_E_L,F_E_R},
                     {FR_S_L,FR_S_R,FR_M_L,FR_M_R,FR_E_L,FR_E_R},
                     {BL_S_L,BL_S_R,BL_M_L,BL_M_R,BL_E_L,BL_E_R},
                     {BR_S_L,BR_S_R,BR_M_L,BR_M_R,BR_E_L,BR_E_R},
-                    {fst_F_L_S,fst_F_R_S,fst_F_R_L_M,fst_F_L_R_M,fst_F_L_E,fst_F_R_E},
+                    {fst_F_L_S,fst_F_R_S,fst_F_R_L_M,fst_F_L_R_M,fst_F_R_E,fst_F_L_E},
                     {fst_B_L_S,fst_B_R_S,fst_B_L_M,fst_B_R_M,fst_B_L_E,fst_B_R_E}};
 
 /* private functions */
diff --git a/examples/sensors/sensors.c b/examples/sensors/sensors.c
index ba3feb8153c41f2cccc352585bfb8a3a86a76843..a983364fd8a22a685263c61eff9c65af62814bba 100644
--- a/examples/sensors/sensors.c
+++ b/examples/sensors/sensors.c
@@ -37,7 +37,7 @@ void user_loop(void)
                      else
                        state=read_sensors;
                      break;
-    case read_sensors: printf("CM510 ADC port 1: %d\n",get_adc_avg_channel(ADC_PORT_1));
+    case read_sensors: printf("CM510 ADC port 1: %d\n",get_adc_avg_channel(ADC_PORT_2));
                        printf("Exp. Board compass: %d\n",exp_compass_get_avg_heading());
                        printf("Exp. Board ADC port 7: %d\n",exp_adc_get_avg_channel(ADC7));
                        break;