diff --git a/Demonstration.c b/Demonstration.c
index 1596daa..3069148 100644
--- a/Demonstration.c
+++ b/Demonstration.c
@@ -1,4 +1,5 @@
 #include "Holonome2023.h"
+#include "Strategie_2024.h"
 #include "Demonstration.h"
 
 #define TEST_TIMEOUT_US 10000000
@@ -15,6 +16,7 @@ enum etat_action_t Demonstration_attente();
 enum etat_action_t Demonstration_leve_bras(uint32_t bras);
 enum etat_action_t  Demonstration_baisse_bras(void);
 enum etat_action_t Demonstration_attrape_plante();
+void Demonstration_prise_plante(void);
 void Demonstration_actionneurs(void);
 
 uint32_t temps_ms_demo = 0, temps_ms_old;
@@ -47,6 +49,7 @@ int Demonstration_menu(void){
             printf("D - Trajets enchaines - auto\n");
             printf("E - Asservissement angulaire\n");*/
             printf("F - Rotation et actionneurs\n");
+            printf("G - Prise plante\n");
             printf("Z - Sem-automatique\n");
             printf("Q - Quitter\n");
             rep = getchar_timeout_us(TEST_TIMEOUT_US);
@@ -77,12 +80,14 @@ int Demonstration_menu(void){
             Demonstration_bezier();
             break;
 
+        case 'e':
         case 'E':
             printf("Début attente\n");
             Demonstration_attente();
             printf("Fin attente\n");
             break;
 
+        case 'f':
         case 'F':
             while(1){
                 printf("Demo actionneur\n");
@@ -90,6 +95,13 @@ int Demonstration_menu(void){
             }
             break;
 
+        case 'g':
+        case 'G':
+            printf("Début prise plante\n");
+            Demonstration_prise_plante();
+            printf("Fin prise plante\n");
+            break;
+
         case 'q':
         case 'Q':
             return 0;
@@ -170,14 +182,77 @@ void Demonstration_actionneurs(){
     Demonstration_baisse_bras();
 }
 
-void Balise_cli_orange_maintenance(){
+void Demonstration_prise_plante(){
+    static int32_t m_temps_ms, m_timer;
+    enum etat_action_t etat_action = ACTION_EN_COURS;
+    enum etat_action_t etat_action_step;
+    static enum {
+        INIT,
+        TIENT_POT,
+        LEVE_POT,
+        ATTRAPE_PLANTE_1,
+        ATTRAPE_PLANTE_2,
+        RETOUR_MAISON
+    } etat_prise_plante = INIT;
+    while(etat_action == ACTION_EN_COURS){
+        Holonome_cyclique(PARAM_DEFAULT);
+        if(m_temps_ms != Temps_get_temps_ms()){
+            m_temps_ms = Temps_get_temps_ms();
+
+            switch (etat_prise_plante){
+                case INIT:
+                    m_timer = 3000;
+                    etat_prise_plante = TIENT_POT;
+                    etat_action = ACTION_EN_COURS;
+
+                case TIENT_POT:
+                    m_timer--;
+                    i2c_annexe_actionneur_pot(0, BRAS_POT_SOL, DOIGT_TIENT);
+                    i2c_annexe_actionneur_pot(5, BRAS_POT_SOL, DOIGT_TIENT);
+                    if(m_timer <= 0){
+                        etat_prise_plante = LEVE_POT;
+                        m_timer = 1000;
+                    }
+                    break;
+                case LEVE_POT:
+                    m_timer--;
+                    i2c_annexe_actionneur_pot(0, BRAS_LEVITE, DOIGT_TIENT);
+                    i2c_annexe_actionneur_pot(5, BRAS_LEVITE, DOIGT_TIENT);
+                    if(m_timer <= 0){
+                        etat_prise_plante = ATTRAPE_PLANTE_1;
+                    }
+                    break;
+                case ATTRAPE_PLANTE_1:
+                    etat_action_step = Strat_2024_plante_dans_pot(1, PLANTE_BRAS_1, ZONE_PLANTE_1);
+                    if(etat_action_step == ACTION_TERMINEE){
+                        etat_prise_plante = ATTRAPE_PLANTE_2;
+                    }
+                    break;
+                case ATTRAPE_PLANTE_2:
+                    etat_action_step = Strat_2024_plante_dans_pot(1, PLANTE_BRAS_6, ZONE_PLANTE_1);
+                    if(etat_action_step == ACTION_TERMINEE){
+                        etat_prise_plante = RETOUR_MAISON;
+                    }
+                    break;
+                case RETOUR_MAISON:{
+                    etat_action = Strategie_aller_a(0, 0, EVITEMENT_SANS_EVITEMENT, 1);
+                }
+
+            }
+        }
+    }
+
+    Moteur_Stop();
+}
+
+void Balise_cli_orange_maintenance(int nb_cli){
     static int32_t temps_ms_led_cli, timer_led_ms = 0;
+    static int32_t m_nb_cli;
     static enum etat_led_cli_orange_maintenance_t{
-        CLI_ON_1,
-        CLI_OFF_1,
-        CLI_ON_2,
-        CLI_OFF_2,
-    }etat_led_cli_orange_maintenance=CLI_ON_1;
+        CLI_ON_COURT,
+        CLI_OFF_COURT,
+        CLI_OFF_LONG,
+    }etat_led_cli_orange_maintenance=CLI_OFF_LONG;
     // Toutes les 1 ms.
     if(temps_ms_led_cli != Temps_get_temps_ms()){
         temps_ms_led_cli = Temps_get_temps_ms();
@@ -185,32 +260,33 @@ void Balise_cli_orange_maintenance(){
         timer_led_ms--;
 
         switch(etat_led_cli_orange_maintenance){
-            case CLI_ON_1:
+            case CLI_ON_COURT:
                 if(timer_led_ms<= 0){
                     i2c_annexe_couleur_balise(0, 0xFFFF);
                     timer_led_ms = 100;
-                    etat_led_cli_orange_maintenance=CLI_OFF_1;
+                    m_nb_cli--;
+                    if(m_nb_cli){
+                        etat_led_cli_orange_maintenance=CLI_OFF_COURT;
+                        timer_led_ms = 100;
+                    }else{
+                        etat_led_cli_orange_maintenance=CLI_OFF_LONG;
+                        timer_led_ms = 700;
+                    }
                 }
                 break;
-            case CLI_OFF_1:
+            case CLI_OFF_COURT:
                 if(timer_led_ms<= 0){
                     i2c_annexe_couleur_balise(0b11101000, 0xFFFF);
                     timer_led_ms = 100;
-                    etat_led_cli_orange_maintenance=CLI_ON_2;
+                    etat_led_cli_orange_maintenance=CLI_ON_COURT;
                 }
                 break;
-            case CLI_ON_2:
-                if(timer_led_ms<= 0){
-                    i2c_annexe_couleur_balise(0, 0xFFFF);
-                    timer_led_ms = 800;
-                    etat_led_cli_orange_maintenance=CLI_OFF_2;
-                }
-                break;
-            case CLI_OFF_2:
+            case CLI_OFF_LONG:
+                m_nb_cli = nb_cli;
                 if(timer_led_ms<= 0){
                     i2c_annexe_couleur_balise(0b11101000, 0xFFFF);
                     timer_led_ms = 100;
-                    etat_led_cli_orange_maintenance=CLI_ON_1;
+                    etat_led_cli_orange_maintenance=CLI_ON_COURT;
                 }
                 break;
         }
@@ -267,7 +343,7 @@ enum etat_action_t Demonstration_attente(){
 
     while(true){
         Holonome_cyclique(PARAM_NO_MOTORS);
-        Balise_cli_orange_maintenance();
+        Balise_cli_orange_maintenance(2);
         
         switch(etat_attente){
             case ATTENTE_DETECTION: