diff --git a/stm32/include/clock.h b/stm32/include/clock.h
index 1e0c8d32931aad67e4e9bc5e721dc9402e04a44d..776318cb0f7842f5ed888b218c3c7390dfcf2087 100644
--- a/stm32/include/clock.h
+++ b/stm32/include/clock.h
@@ -1,32 +1,97 @@
 #ifndef CLOCK_H
 #define CLOCK_H
 
-/**@brief Interuption appelée régulièrement par le microcontroleur
+/**
+ * @brief Interuption appelée régulièrement par le microcontroleur
  * @see Clock::MS_PER_TICK
  */
 extern "C" void SysTick_Handler();
 
+/**
+ * @brief This singleton class provides a high-level interface for timey-winey stuff in pseudo-real time.
+ * @see getInstance
+ */
 class Clock
 {
     protected:
+        /**
+         * @brief This function is called every tick of the internal clock.
+         */
         virtual void everyTick();
+        /**
+         * @brief This function is called approximatively every 5ms.
+         *
+         * Important note: if Clock::MS_PER_TICK is not a divisor of 5ms, the actual delay will be the closest superior multiple of
+         * Clock::MS_PER_TICK, and the errors are NOT compensated for from one tick to the other
+         * (i.e. if the delay between call N and call N+1 is 7ms, the delay between calls N+1 and N+2 will NOT be 3ms.
+         * @see everyTick MS_PER_TICK
+         */
         virtual void every5ms();
+        /**
+         * @brief This function is called approximatively every second.
+         *
+         * Important note: the same restrictions than every5ms apply here (but should be less noticeable).
+         * @see every5ms everyTick MS_PER_TICK
+         */
         virtual void everySecond();
 
     public:
+        /**
+         * SysTick_Handler() is called at regular inteval by the microcontroler, but 'regular' might mean different things
+         * depending on the hardware or the low-level configuration. This constant 'fixes' the Clock so we might use pseudo-real
+         * time instead of cycles.
+         */
         static const unsigned long MS_PER_TICK        = 5;
+        /**
+         * The duration of a match, in ms.
+         */
         static const unsigned long MATCH_DURATION_MS  = 90*1000;
 
+        /**
+         * @return The global Clock instance.
+         */
         static Clock* getInstance();
 
+        /**
+         * @return The time elapsed since the clock was initialised, in ms.
+         */
         unsigned long elapsedSinceStartup() const;
 
+        /**
+         * @brief Starts the match timer. Does nothing if already called before.
+         */
         void matchStart();
+
+        /**
+         * @return The time elapsed since the match started, in ms, or 0 if the match hasn't started yet.
+         */
         unsigned long elapsedSinceMatchStart() const;
 
+        /**
+         * @brief Returns true if the match was declared as 'started'.
+         * @see matchStart hasMatchEnded
+         */
         bool isMatchStarted() const;
+
+        /**
+         * @brief Returns true if the match has ended.
+         *
+         * A match is considered 'ended' if more than Clock::MATCH_DURATION_MS ms has gone by since the first call to matchStart().
+         * @see matchStart Clock::MATCH_DURATION_MS
+         */
         bool hasMatchEnded() const;
 
+        /**
+         * @brief Provides an active pause
+         *
+         * This functions 'waits' for the duration given in parameter. Note it CANNOT be more accurate than Clock::MS_PER_TICK.
+         * In fact, it will always wait slightly more than the parameter, to something rounded up to the nearest multiple of Clock::MS_PER_TICK.
+         * @param duration The delay to wait for, in ms
+         * @return The actual wait, in ms
+         * @see MS_PER_TICK
+         */
+        static unsigned int delay(unsigned int duration);
+
 
     protected:
         Clock();
diff --git a/stm32/paprika_krabi_h107.cbp b/stm32/paprika_krabi_h107.cbp
index 7c074f7ef00c72b2fc67bd1436d15b5be474fb93..1c69075448999d4ade4ec5c91269eedc3933d432 100644
--- a/stm32/paprika_krabi_h107.cbp
+++ b/stm32/paprika_krabi_h107.cbp
@@ -115,7 +115,6 @@
 		<Unit filename="include/initialisation.h" />
 		<Unit filename="include/initkrabi.h" />
 		<Unit filename="include/interfaceServosNumeriques.h" />
-		<Unit filename="include/loop.h" />
 		<Unit filename="include/memory.h" />
 		<Unit filename="include/position.h" />
 		<Unit filename="include/positionPlusAngle.h" />
@@ -190,7 +189,6 @@
 		<Unit filename="src/initialisation.cpp" />
 		<Unit filename="src/initkrabi.cpp" />
 		<Unit filename="src/interfaceServosNumeriques.cpp" />
-		<Unit filename="src/loop.cpp" />
 		<Unit filename="src/main.cpp" />
 		<Unit filename="src/memory.cpp" />
 		<Unit filename="src/position.cpp" />
diff --git a/stm32/src/clock.cpp b/stm32/src/clock.cpp
index d4d5bd200edf92ab159544e2c6aab6dfb1383f69..120e4d05cf77c23e5bd505dd47ea3ab4a5eebf7b 100644
--- a/stm32/src/clock.cpp
+++ b/stm32/src/clock.cpp
@@ -91,6 +91,15 @@ bool Clock::hasMatchEnded() const
     return isMatchStarted() && (elapsedSinceMatchStart() >= Clock::MATCH_DURATION_MS);
 }
 
+unsigned int Clock::delay(unsigned int duration)
+{
+    unsigned int start = Clock::getInstance()->elapsedSinceStartup();
+
+    while(duration > (Clock::getInstance()->elapsedSinceStartup()-start));
+
+    return Clock::getInstance()->elapsedSinceStartup()-start;
+}
+
 extern "C" void SysTick_Handler()
 {
     Clock::getInstance()->tick();