This report documents the implementation of three functionalities for the Gepetto team's SOLO robot: 1. Motor temperature estimation. Our approach involves using two different models: a thermal thermal model, which is based on the relationship between the energy consumed and the current supplied to the motor, and a resistive model, which deduces resistance and temperature based on speed and current measurements. Finally, we applied a Kalman filter to combine the estimates of the two models. 2. Compensation of cogging torques in the motor. To achieve this compensation, we implemented a position-based algorithm, as detailed in the article entitled "Cogging Torque Ripple Minimization via Position-Based Characterization". 3. Online estimation of the motor's RL parameters, in order to automate the calculation of the PI parameters in the motor's current control.