diff --git a/build/bin/imgui.ini b/build/bin/imgui.ini
index 8127391..0d64693 100644
--- a/build/bin/imgui.ini
+++ b/build/bin/imgui.ini
@@ -23,8 +23,8 @@ Pos=68,96
 Size=740,472
 
 [Window][Set data position]
-Pos=18,542
-Size=534,60
+Pos=10,520
+Size=521,73
 
 [Window][Dear ImGui Demo/ResizableChild_478B81A3]
 IsChild=1
diff --git a/build/bin/mainV5 b/build/bin/mainV5
index c731567..d7328e1 100755
Binary files a/build/bin/mainV5 and b/build/bin/mainV5 differ
diff --git a/src/pieces/headers/piece_interface.hpp b/src/pieces/headers/piece_interface.hpp
index 81922ea..7b261e3 100644
--- a/src/pieces/headers/piece_interface.hpp
+++ b/src/pieces/headers/piece_interface.hpp
@@ -32,7 +32,7 @@ class PieceInterface{
         rb::rigidbody body;
         sf::Color color;
 
-        virtual void update(unsigned int pos) = 0;
+        virtual void update(sf::Clock cl) = 0;
         virtual sf::Shape* draw(ReferencePlane plane) = 0;
         virtual ~PieceInterface(){}
 };
diff --git a/src/pieces/headers/sensore.hpp b/src/pieces/headers/sensore.hpp
index e368c13..4eabb53 100644
--- a/src/pieces/headers/sensore.hpp
+++ b/src/pieces/headers/sensore.hpp
@@ -14,12 +14,9 @@ class Sensore : public PieceInterface{
         std::vector<std::vector<float>> gData;
         std::vector<std::vector<float>> rotData;
         std::vector<float> timeData;
-        rb::Vector3 stPos;
 
         //in che punto sto controllando il segnale 
-        unsigned int dataPos;
-        std::vector<int> dataIntvl; 
-        unsigned int curTime;
+        unsigned int* dataPos;
 
         //funzioni ausiliarie
         void calcRotWithG(unsigned int index);
@@ -27,10 +24,10 @@ class Sensore : public PieceInterface{
 
     public: 
         Sensore(rb::Vector3 coords, _Float16 mass);
-        Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, int min, int max, std::vector<std::vector<float>> data);
+        Sensore(rb::Vector3 coords, _Float16 mass, unsigned int* st, std::vector<std::vector<float>> data);
         ~Sensore();
 
-        void update(unsigned int pos) override;
+        void update(sf::Clock cl) override;
         sf::Shape* draw(ReferencePlane plane) override;
 
         //funzioni specifiche
diff --git a/src/pieces/methods/sensore_class.cpp b/src/pieces/methods/sensore_class.cpp
index 36641cb..ba1d8ed 100644
--- a/src/pieces/methods/sensore_class.cpp
+++ b/src/pieces/methods/sensore_class.cpp
@@ -9,11 +9,9 @@ Sensore::Sensore(rb::Vector3 coords, _Float16 mass){
     initialize_shapes(sensore_Dim);
 }
 
-Sensore::Sensore(rb::Vector3 coords, _Float16 mass, unsigned int st, int min, int max, std::vector<std::vector<float>> data) : Sensore(coords, mass){
+Sensore::Sensore(rb::Vector3 coords, _Float16 mass, unsigned int* st, std::vector<std::vector<float>> data) : Sensore(coords, mass){
         dataPos = st;
-        this->dataIntvl = {min, max};
         initCSV(data);
-        curTime = 0;
 }
 
 
@@ -45,27 +43,14 @@ void Sensore::initCSV(std::vector<std::vector<float>> data){
 
 
 void Sensore::update(sf::Clock cl){
-    // Aggiorno la posizione nei dati
-    curTime += cl.getElapsedTime().asMilliseconds(); 
-    /*
-    if (timeData[dataPos]){
-
-    }
-    */
    
-    /*
-    if (timeData[dataPos] < currTime && dataIntvl - dataPos > 0) { //aggiorno solo se ho cambiato posizione
-        dataPos++;
-
-        //calcolo la posizione e velocità
-        calcRotWithG(dataPos);
+    //calcolo la posizione e velocità
+    calcRotWithG(*dataPos);
 
 
-        body.setAcc(rb::Vector3{accData[dataPos]});
-        body.step(cl);
-    }
-    */
-
+    body.setAcc(rb::Vector3{accData[*dataPos]});
+    body.step(cl);
+   
 }
 
 sf::Shape* Sensore::draw(ReferencePlane plane){
@@ -118,13 +103,5 @@ void Sensore::calcRotWithG(unsigned int index){ // calcolo rotazione con valori
 
 }
 
-void Sensore::setIntervall(int min, int max){
-    this->dataIntvl = {min, max};
-}
-
-void Sensore::setPos(int &pos){
-    this->dataPos = pos;
-}
-
 
 /////////////// cinematica inversa
\ No newline at end of file
diff --git a/src/sfml_util.cpp b/src/sfml_util.cpp
index f00d737..7fe67e7 100644
--- a/src/sfml_util.cpp
+++ b/src/sfml_util.cpp
@@ -65,7 +65,7 @@ void State::update(){
     
 
     for(PieceInterface* p : pieces){
-        p->update(*pos);
+        p->update(clock);
     }
     for(JointInterface* j : joints){
         j->movechild();
diff --git a/src/testMain.cpp b/src/testMain.cpp
index d503e8e..dc6c073 100755
--- a/src/testMain.cpp
+++ b/src/testMain.cpp
@@ -37,7 +37,7 @@ int main() {
 
     //Costruisco la GUI 
     State gs(800, 600, "Visualizzatore passo",&maj,&min,&pos);
-    gs.window.setFramerateLimit(60);
+    gs.window.setFramerateLimit(140);
     printf("Costruisco gli oggetti\n");
 
     try{
@@ -47,7 +47,7 @@ int main() {
 
 
         gs.pieces.push_back(new Coscia (rb::Vector3{300,300,300},2));
-        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),900,900,3000,coscia));
+        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,300},_Float16( 0.2 ),&pos,coscia));
         gs.pieces.push_back(new Caviglia (rb::Vector3{300,300,500},1));
 
         gs.pieces[1]->body.setRot({0,0,0});
@@ -55,7 +55,7 @@ int main() {
 
         processor.readCSVFile(DATA_PATH + "caviglia_filt.csv");
         const auto& caviglia = processor.getData();
-        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_Float16( 0.2 ),900,900,3000,caviglia));
+        gs.pieces.push_back(new Sensore (rb::Vector3{300,300,500},_Float16( 0.2 ),&pos,caviglia));
 
         gs.pieces.push_back(new Torso(rb::Vector3{300,400,150},2));
 
@@ -86,12 +86,14 @@ int main() {
 
     //Avvio il loop della GUI
     gs.clock.start();
+
+    sf::Clock mainClock;
     while (gs.window.isOpen()) 
     {
-        curTime += gs.clock.getElapsedTime().asMilliseconds();
+        curTime += mainClock.restart().asMilliseconds();
         if (curTime > T){
+            if (gs.play && pos < maj) pos += curTime / T; 
             curTime = 0;
-            if (gs.play && pos < maj) pos += 1; 
         }
 
         // Show update