diff --git a/DrawObstacles.m b/DrawObstacles.m
index b1ec829..c764d34 100644
--- a/DrawObstacles.m
+++ b/DrawObstacles.m
@@ -27,11 +27,15 @@ function DrawObstacles()
     x = -(L1+L2) + rand()*2*(L1+L2); %creating random x and y values
     y = -(L1+L2) + rand()*2*(L1+L2);
     if((y >= L1)|| (y<=-L1) || (x>=-L2 && x<=L2 && y>=-L2 && y<=L2)) % keeping them if they are inside the obstacles
-      [q1 q2 q1_ q2_] = MyIK(L1, L2, x, y); % computing their corresponding q1 q2 coordinates
-      % saving the computed coordinates
-      q1_plot = [q1_plot q1 q1_];
-      
-      q2_plot = [q2_plot q2 q2_];
+      [nbSol, qi] = solveIK2LinkPlanarRobot(L1, L2, x, y);% computing their corresponding q1 q2 coordinates
+      for j=1:nbSol
+        % saving the computed coordinates
+        q1 = qi(j,1);
+        q2 = qi(j,2);
+        q1_plot = [q1_plot q1];
+        
+        q2_plot = [q2_plot q2];
+      endfor
       x_plot = [x_plot x];
       
       y_plot = [y_plot y]; 
diff --git a/MyFK.m b/MyFK.m
index 8a7baf2..ac7fd41 100644
--- a/MyFK.m
+++ b/MyFK.m
@@ -5,7 +5,7 @@ function [x, y] = MyFK(L1, L2, Q1, Q2)
 % Task: returns the x y coordinates in the cartesian space
 %       from a given point in the q1 q2 joint space
 %       using geometry rules since we know that we have two links only of length L1 and L2
-%       
+%       computation way faster than the method with matrices
 %
 % Inputs:
 %-L1: length of the first link of the 2d planar 2 link robot arm
diff --git a/MyIK.m b/MyIK.m
deleted file mode 100644
index 224a2ea..0000000
--- a/MyIK.m
+++ /dev/null
@@ -1,32 +0,0 @@
-function [q1 q2 q1_ q2_] = MyIK(L1, L2, x, y)
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-%function [q1 q2 q1_ q2_] = MyIK(L1, L2, x, y)
-%
-% Task: returns the two possible solutions of q1 q2 coordinate in the joint space
-%       from a given point in the x y cartesian space
-%       using geometry rules since we know that we have two links only of length L1 and L2
-%       
-%
-% Inputs:
-%-L1: length of the first link of the 2d planar 2 link robot arm
-%-L2: length of the second link of the 2d planar 2 link robot arm
-%-x: x coordinate of the given point
-%-y: x coordinate of the given point
-%
-% Outputs:
-%-q1: q1 coordinate of the given point (first solution)
-%-q2: q2 coordinate of the given point (first solution)
-%-q1_: q1 coordinate of the given point (second solution)
-%-q2_: q2 coordinate of the given point (second solution)
-%		
-%
-% Thomas OLIVE (thomas.olive@ecam.fr)
-% 18/12/2021
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-  
-  q1 = acosd(x/sqrt(x^2+y^2)) - acosd( (-L2^2+x^2+y^2+L1^2) / (2*L1*sqrt(x^2+y^2)));
-  q2 = 180 - acosd( (L1^2+L2^2-(x^2+y^2)) / (2*L1*L2));
-  
-  q1_ = q1 + 2*acosd( (-L2^2+x^2+y^2+L1^2) / (2*L1*sqrt(x^2+y^2)));
-  q2_ = -q2;
-endfunction
\ No newline at end of file