diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1be49ea..9823187 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -32,6 +32,7 @@ Score.c
 Servomoteur.c
 Strategie.c
 Strategie_deplacement.c
+Strategie_2024_panneaux.c
 Strategie_2024_plante.c
 Strategie_2024_pots.c
 Strategie_2024.c
diff --git a/Score.c b/Score.c
index da20254..d93e53e 100644
--- a/Score.c
+++ b/Score.c
@@ -2,22 +2,20 @@
 #include "i2c_annexe.h"
 #include "Score.h"
 
-#define SCORE_INITIAL 5
+#define SCORE_INITIAL 0
 
-uint32_t Score_nb_cerises=0;
-uint32_t Score_nb_points=0;
-uint32_t Score_funny_action=0;
-uint32_t Score_gateau=0;
+uint32_t Score_nb_points;
+uint32_t Score_plante_zone_normale=0;
+uint32_t Score_plante_jardiniere=0;
+uint32_t Score_panneau=0;
 uint32_t Score_pieds_dans_plat=0;
 
 void Score_recalcule(){
     Score_nb_points = SCORE_INITIAL;
-    if(Score_nb_cerises > 0){
-        Score_nb_points += Score_nb_cerises + 5;
-    }
-    Score_nb_points += Score_funny_action;
+    Score_nb_points += Score_plante_zone_normale;
+    Score_nb_points += Score_plante_jardiniere;
+    Score_nb_points += Score_panneau;
     Score_nb_points += Score_pieds_dans_plat;
-    Score_nb_points += Score_gateau;
 
 }
 
@@ -26,23 +24,15 @@ void Score_actualise(){
     i2c_annexe_envoie_score(Score_nb_points);
 }
 
-void Score_ajout_gateau(uint32_t nb_gateau){
-    Score_gateau += nb_gateau;
-    Score_actualise();
-}
-
-
-void Score_set_funny_action(){
-    Score_funny_action = 5;
-    Score_actualise();
-}
-
+/// @brief 10 points si le robot finit dans une autre zone que la sienne
 void Score_set_pieds_dans_plat(){
-    Score_pieds_dans_plat = 15;
+    Score_pieds_dans_plat = 10;
     Score_actualise();
 }
 
-void Score_ajout_cerise(uint32_t nb_cerises){
-    Score_nb_cerises += nb_cerises;
+/// @brief Ajout 5 points au score par panneaux
+/// @param nb_panneau 
+void Score_ajout_panneau(uint32_t nb_panneau){
+    Score_panneau += (nb_panneau*5);
     Score_actualise();
 }
diff --git a/Score.h b/Score.h
index ae8d93b..b811c93 100644
--- a/Score.h
+++ b/Score.h
@@ -1,6 +1,4 @@
 #include "pico/stdlib.h"
 
-void Score_set_funny_action();
 void Score_set_pieds_dans_plat();
-void Score_ajout_cerise(uint32_t nb_cerises);
-void Score_ajout_gateau(uint32_t nb_gateau);
\ No newline at end of file
+void Score_ajout_panneau(uint32_t nb_panneaux);
\ No newline at end of file
diff --git a/Strategie_2024.c b/Strategie_2024.c
index 4f28107..32569ec 100644
--- a/Strategie_2024.c
+++ b/Strategie_2024.c
@@ -71,6 +71,8 @@ void Strategie_2024(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms)
     static enum {
         TAP_CALAGE,
         TAP_POT,
+        TAP_PANNEAUX_SOLAIRES,
+        TAP_ALLER_PLANTE,
         TAP_PLANTE_ORIENTATION,
         TAP_PLANTE_ATTRAPE_1,
         TAP_PLANTE_ATTRAPE_2,
@@ -93,10 +95,21 @@ void Strategie_2024(enum couleur_t couleur, uint32_t step_ms, uint32_t temps_ms)
             break;
         case TAP_POT:
             if(Strat_2024_attrape_pot(get_groupe_pot(couleur), _step_ms) == ACTION_TERMINEE){
-                etat_test=TAP_PLANTE_ORIENTATION;
+                etat_test=TAP_PANNEAUX_SOLAIRES;
             }
             break;
 
+        case TAP_PANNEAUX_SOLAIRES:
+            if(Strat_2024_tourner_panneaux(couleur, step_ms) == ACTION_TERMINEE){
+                etat_test=TAP_ALLER_PLANTE;
+            }
+            break;
+
+        case TAP_ALLER_PLANTE:
+            if(Strategie_aller_a(940, 300, EVITEMENT_PAUSE_DEVANT_OBSTACLE, step_ms) == ACTION_TERMINEE){
+                etat_test=TAP_PLANTE_ORIENTATION;
+            }
+
         case TAP_PLANTE_ORIENTATION:
             if(Strat_2024_aller_zone_plante(get_zone_plante(couleur), _step_ms) == ACTION_TERMINEE){
                 etat_test=TAP_PLANTE_ATTRAPE_1;
diff --git a/Strategie_2024.h b/Strategie_2024.h
index 43996d3..b9df56f 100644
--- a/Strategie_2024.h
+++ b/Strategie_2024.h
@@ -4,6 +4,7 @@
 #include "Trajectoire.h"
 #include "Trajet.h"
 #include "Strategie.h"
+#include "Strategie_2024_panneaux.h"
 #include "Strategie_2024_plante.h"
 #include "Strategie_2024_pots.h"
 #include "Commande_vitesse.h"
diff --git a/Strategie_2024_panneaux.c b/Strategie_2024_panneaux.c
new file mode 100644
index 0000000..671c188
--- /dev/null
+++ b/Strategie_2024_panneaux.c
@@ -0,0 +1,93 @@
+#include "math.h"
+#include "Strategie.h"
+#include "Geometrie_robot.h"
+#include "Commande_vitesse.h"
+#include "Strategie_2024_pots.h"
+#include "i2c_annexe.h"
+#include "Localisation.h"
+#include "Score.h"
+
+/// @brief Fonction demande au robot d'aller activer les panneaux solaires
+enum etat_action_t Strat_2024_tourner_panneaux(enum couleur_t couleur, uint32_t step_ms){
+    enum etat_action_t etat_action;
+    struct trajectoire_t trajectoire;
+    static int tempo_ms;
+
+    static enum {
+        TP_APPROCHE_PANNEAU_1, // Position et orientation pour attaquer le panneau 1, bras 2 qui pousse
+        TP_TOURNE_PANNEAU_1,
+        TP_TOURNE_PANNEAU_2,
+        TP_TOURNE_PANNEAU_3,
+        TP_TOURNE_PANNEAU_4,
+        TP_TOURNE_PANNEAU_5,
+        TP_TOURNE_PANNEAU_6,
+    } etat_tourne_panneaux = TP_APPROCHE_PANNEAU_1;
+
+
+    switch (etat_tourne_panneaux)
+    {
+        case TP_APPROCHE_PANNEAU_1:
+            Trajet_config(TRAJECT_CONFIG_AVANCE_ET_TOURNE);
+            if(couleur == COULEUR_BLEU){
+                etat_action = Strategie_tourner_et_aller_a(
+                    323, 300, (150. *DEGRE_EN_RADIAN),
+                    EVITEMENT_ARRET_DEVANT_OBSTACLE, step_ms);
+            }else{
+                etat_action = Strategie_tourner_et_aller_a(
+                    323, 300, (150. *DEGRE_EN_RADIAN),
+                    EVITEMENT_ARRET_DEVANT_OBSTACLE, step_ms);
+            }
+            if (etat_action == ACTION_TERMINEE){
+                etat_tourne_panneaux = TP_TOURNE_PANNEAU_1;
+            }else if(etat_action == ACTION_ECHEC){
+                return ACTION_TERMINEE;
+            }
+            break;
+
+        case TP_TOURNE_PANNEAU_1:
+            if(couleur == COULEUR_BLEU){
+                etat_action = Strategie_tourner_et_aller_a(
+                    323, 200, (150. *DEGRE_EN_RADIAN), EVITEMENT_PAUSE_DEVANT_OBSTACLE, step_ms);
+            }else{
+                etat_action = Strategie_tourner_et_aller_a(
+                    323, 300, (150. *DEGRE_EN_RADIAN), EVITEMENT_PAUSE_DEVANT_OBSTACLE, step_ms);
+            }
+            if (etat_action == ACTION_TERMINEE){
+                Score_ajout_panneau(1);
+                etat_tourne_panneaux = TP_TOURNE_PANNEAU_2;
+            }
+            break;
+
+        case TP_TOURNE_PANNEAU_2:
+            if(couleur == COULEUR_BLEU){
+                Trajectoire_bezier(&trajectoire, 323, 200, 405, 310, 548, 400, 548, 200, (150. *DEGRE_EN_RADIAN), (150. *DEGRE_EN_RADIAN));
+            }else{
+                Trajectoire_bezier(&trajectoire, 3000-323, 200, 3000-405, 310, 3000-548, 400, 3000-548, 200, (150. *DEGRE_EN_RADIAN), (150. *DEGRE_EN_RADIAN));
+            }
+            etat_action =Strategie_parcourir_trajet(trajectoire, step_ms, EVITEMENT_ARRET_DEVANT_OBSTACLE);
+            if (etat_action == ACTION_TERMINEE){
+                Score_ajout_panneau(1);
+                etat_tourne_panneaux = TP_TOURNE_PANNEAU_3;
+            }else if(etat_action == ACTION_ECHEC){
+                return ACTION_TERMINEE;
+            }
+            break;
+
+        case TP_TOURNE_PANNEAU_3:
+            if(couleur == COULEUR_BLEU){
+                Trajectoire_bezier(&trajectoire, 548, 200, 630, 310, 773, 400, 773, 200, (150. *DEGRE_EN_RADIAN), (150. *DEGRE_EN_RADIAN));
+            }else{
+                Trajectoire_bezier(&trajectoire, 3000-548, 200, 3000-630, 310, 3000-773, 400, 3000-773, 200, (150. *DEGRE_EN_RADIAN), (150. *DEGRE_EN_RADIAN));
+            }
+            etat_action =Strategie_parcourir_trajet(trajectoire, step_ms, EVITEMENT_ARRET_DEVANT_OBSTACLE);
+            if (etat_action == ACTION_TERMINEE){
+                Score_ajout_panneau(1);
+                //etat_tourne_panneaux = TP_TOURNE_PANNEAU_3;
+                return ACTION_TERMINEE;
+            }else if(etat_action == ACTION_ECHEC){
+                return ACTION_TERMINEE;
+            }
+            break;
+    }
+    return ACTION_EN_COURS;
+}
\ No newline at end of file
diff --git a/Strategie_2024_panneaux.h b/Strategie_2024_panneaux.h
new file mode 100644
index 0000000..86af423
--- /dev/null
+++ b/Strategie_2024_panneaux.h
@@ -0,0 +1,3 @@
+#include "Strategie.h"
+
+enum etat_action_t Strat_2024_tourner_panneaux(enum couleur_t couleur, uint32_t step_ms);
\ No newline at end of file
diff --git a/Strategie_2024_plante.c b/Strategie_2024_plante.c
index 38fa6f7..19384a5 100644
--- a/Strategie_2024_plante.c
+++ b/Strategie_2024_plante.c
@@ -175,7 +175,7 @@ enum etat_action_t Strat_2024_plante_dans_pot(uint step_ms, uint bras_depose_pot
     enum validite_vl53l8_t validite;
     enum etat_action_t etat_action;
     float angle_rad, distance_mm;
-    static nb_essai_prise;
+    static int nb_essai_prise;
 
     switch (etat_plante_dans_pot)
     {
@@ -267,7 +267,7 @@ enum etat_action_t Strat_2024_plante_dans_pot(uint step_ms, uint bras_depose_pot
             position_initiale.angle_radian += ANGLE_PINCE;
             position_recule = Geometrie_deplace(position_initiale, -100);
             Trajet_config(TRAJECT_CONFIG_AVANCE_DROIT);
-            if(Strategie_aller_a(position_recule.x_mm, position_recule.y_mm, step_ms) == ACTION_TERMINEE){
+            if(Strategie_aller_a(position_recule.x_mm, position_recule.y_mm, EVITEMENT_PAUSE_DEVANT_OBSTACLE, step_ms) == ACTION_TERMINEE){
                 commande_vitesse_stop();
                 etat_plante_dans_pot=PDP_ALLER_PLANTE;
                 return ACTION_TERMINEE;