diff --git a/CPP/HriExampleProgram/mainwindow.cpp b/CPP/HriExampleProgram/mainwindow.cpp
index 024d2cd..6daf5d9 100644
--- a/CPP/HriExampleProgram/mainwindow.cpp
+++ b/CPP/HriExampleProgram/mainwindow.cpp
@@ -1,155 +1,155 @@
 /*
  * Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *      http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
 
 #include "mainwindow.h"
 #include "ui_mainwindow.h"
 
 #include <QMessageBox>
 #include <QInputDialog>
 #include <QDebug>
 
 #define UPDATE_PERIOD 50 ///< Update period of the data display [ms].
 
 /**
  * @brief Constructor.
  * @param parent parent widget.
  */
 MainWindow::MainWindow(QWidget *parent) :
     QMainWindow(parent),
     ui(new Ui::MainWindow)
 {
     ui->setupUi(this);
 
     // Ask for the COM port.
     QString comPortName;
     QStringList ports = HriBoard::getComPorts();
 
     if(ports.size() == 0)
     {
         QMessageBox::critical(this, qApp->applicationName(), "No COM port.");
         exit(0);
     }
     else if(ports.size() == 1)
         comPortName = ports.first();
     else
     {
         bool ok;
 
         QString portChoice = QInputDialog::getItem(this,
                                                    qApp->applicationName(),
                                                    "Serial port:", ports, 0,
                                                    false, &ok);
 
         int portIndex = ports.indexOf(portChoice);
 
         if(portIndex == -1 || !ok)
             exit(0);
 
         comPortName = ports[portIndex];
     }
 
     // Establish the link with the HRI board.
     try
     {
         hriBoard.openLink(comPortName);
     }
     catch(std::runtime_error)
     {
         QMessageBox::critical(this, qApp->applicationName(),
                               "Could not open the COM port.");
     }
 
     connect(&hriBoard, SIGNAL(syncVarsListReceived(const QList<SyncVarBase*>&)),
             this, SLOT(onVarsListReceived(const QList<SyncVarBase*>&)));
 
     // Start the user interface update timer.
-    updateTimer.setInterval(UPDATE_PERIOD);
     updateTimer.setSingleShot(false);
+    updateTimer.start(UPDATE_PERIOD);
     connect(&updateTimer, SIGNAL(timeout()), this, SLOT(updateDisplay()));
 
     // Setup the action when the LED intensity is changed on the GUI.
     connect(ui->ledSlider, SIGNAL(valueChanged(int)),
             this, SLOT(setLedIntensity()));
 }
 
 /**
  * @brief Destructor.
  */
 MainWindow::~MainWindow()
 {
     delete ui;
 }
 
 /**
  * @brief Gets the SyncVars handles from the list, and setup the data streaming.
  * @param syncVars syncVars list.
  */
 void MainWindow::onVarsListReceived(const QList<SyncVarBase *> &syncVars)
 {
     // List all the variables.
     for(SyncVarBase *sv : syncVars)
         qDebug() << sv->getName();
 
     // Get a convenient handle to the desired SyncVars.
-    encoderPosition = hriBoard.getVarHandle<float>("actual_position [deg]");
+    encoderPosition = hriBoard.getVarHandle<float>("encoder_paddle_pos [deg]");
     hallVoltage = hriBoard.getVarHandle<float>("hall_voltage [V]");
     ledIntensity = hriBoard.getVarHandle<float>("led_0 [0.0-1.0]");
 
     // If at least one SyncVar could not be found on the board's list, abort.
     if(encoderPosition == nullptr || ledIntensity == nullptr)
     {
         QMessageBox::critical(this, qApp->applicationName(),
                               "A SyncVar could not be found on the board.");
-        qApp->exit();
+        exit(0);
     }
 
     // Setup the streaming to get the continuously get the encoder position.
     QList<SyncVarBase*> varsToStream;
     varsToStream.append(encoderPosition);
     varsToStream.append(hallVoltage);
     hriBoard.setStreamedVars(varsToStream, &streamedVarsValuesBuffer);
 }
 
 /**
  * @brief Updates the user interface widgets, with the latest variables values.
  */
 void MainWindow::updateDisplay()
 {
     if(!streamedVarsValuesBuffer.isEmpty())
     {
         // Get only the latest set of values and discard the rest, since we are
         // not interested in the older ones (for this simple example).
         // An other solution would be to read directly the SynVars (e.g.
         // encoderPosition->getLocalValue().
         QList<double> valuesSet = streamedVarsValuesBuffer.last();
         streamedVarsValuesBuffer.clear();
 
         // The first value is the timestamp, and the following are the values of
         // the streamed variables.
         ui->encoderProgressbar->setValue((int)valuesSet[1]);
         ui->hallVoltageLabel->setText(QString::number(valuesSet[2]) + " V");
     }
 }
 
 /**
  * @brief Set the intensity of the first LED (LED 0), from the slider position.
  */
 void MainWindow::setLedIntensity()
 {
     float intensityValue = ((double)ui->ledSlider->value()) / 100.0;
 
     hriBoard.writeRemoteVar(ledIntensity, intensityValue);
 }