diff --git a/modeling/SoCLib/rover.xml b/modeling/SoCLib/rover.xml
index ed22273f58bc4a2e341387ab0c9267d91d8d3a4e..86b3cfe70db9745b014309aa80979881b8d1d57c 100644
--- a/modeling/SoCLib/rover.xml
+++ b/modeling/SoCLib/rover.xml
@@ -2330,15 +2330,13 @@ state 2: obstacles in close proximity
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="" />
 <TGConnectingPoint num="0" id="538" />
-<P1  x="514" y="618" id="648" />
-<P2  x="461" y="582" id="622" />
+<P1  x="950" y="422" id="647" />
+<P2  x="1013" y="421" id="564" />
 <AutomaticDrawing  data="true" />
 <extraparam>
-<iso value="in sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
-<osd value="out sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
-<isd value="in changeRate(int samplingRate)" />
-<oso value="out changeRate(int samplingRate)" />
-<FIFOType asynchronous="true" size="8" blocking="false" private="false" broadcast="false" lossy="false" />
+<isd value="in motorCommand(int leftCommand, int rightCommand)" />
+<oso value="out motorCommand(int leftVelocity, int rightVelocity)" />
+<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
 </extraparam>
 </CONNECTOR>
 <CONNECTOR type="5002" id="541" >
@@ -2346,13 +2344,15 @@ state 2: obstacles in close proximity
 <sizeparam width="0" height="0" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <infoparam name="connector" value="" />
 <TGConnectingPoint num="0" id="540" />
-<P1  x="950" y="422" id="647" />
-<P2  x="1013" y="421" id="564" />
+<P1  x="514" y="618" id="648" />
+<P2  x="461" y="582" id="622" />
 <AutomaticDrawing  data="true" />
 <extraparam>
-<isd value="in motorCommand(int leftCommand, int rightCommand)" />
-<oso value="out motorCommand(int leftVelocity, int rightVelocity)" />
-<FIFOType asynchronous="true" size="8" blocking="false" private="false" broadcast="false" lossy="false" />
+<iso value="in sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
+<osd value="out sensorData(int distanceLeft, int distanceFront, int distanceRight)" />
+<isd value="in changeRate(int samplingRate)" />
+<oso value="out changeRate(int samplingRate)" />
+<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
 </extraparam>
 </CONNECTOR>
 <CONNECTOR type="5002" id="543" >
@@ -2368,7 +2368,7 @@ state 2: obstacles in close proximity
 <osd value="out tempData(int temp)" />
 <isd value="in control(bool sensorOn)" />
 <oso value="out control(bool sensorOn)" />
-<FIFOType asynchronous="true" size="8" blocking="false" private="false" broadcast="false" lossy="false" />
+<FIFOType asynchronous="true" size="4096" blocking="false" private="false" broadcast="false" lossy="false" />
 </extraparam>
 </CONNECTOR>
 <COMPONENT type="302" id="560" >
@@ -2618,7 +2618,7 @@ state 2: obstacles in close proximity
 <SUBCOMPONENT type="-1" id="668" >
 <father id="673" num="3" />
 <cdparam x="451" y="157" />
-<sizeparam width="80" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<sizeparam width="77" height="15" minWidth="0" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="List of all parameters of an Avatar SMD transition" value="" />
@@ -2692,8 +2692,8 @@ state 2: obstacles in close proximity
 </SUBCOMPONENT>
 
 <COMPONENT type="5104" id="698" >
-<cdparam x="267" y="176" />
-<sizeparam width="280" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
+<cdparam x="268" y="176" />
+<sizeparam width="279" height="20" minWidth="30" minHeight="0" maxWidth="2000" maxHeight="2000" minDesiredWidth="0" minDesiredHeight="0" />
 <hidden value="false" />
 <cdrectangleparam minX="10" maxX="2500" minY="10" maxY="1500" />
 <infoparam name="Receive signal" value="motorCommand(leftVelocity, rightVelocity)" />