diff --git a/Test_i2c.c b/Test_i2c.c
index 8039ba5..9cd7afe 100644
--- a/Test_i2c.c
+++ b/Test_i2c.c
@@ -291,20 +291,14 @@ int test_i2c_ecriture_pico_annex_nb_2(){
 
 
     printf("A - Aimant tient pot\n");
+    printf("B - Bras attrape pot\n");
     printf("C - Aimant lache pot\n");
-    printf("D - Deguisement On\n");
-    printf("E - Deguisement Off\n");
-    printf("F - Ferme porte\n");
-    printf("G - Mi-Ferme porte\n");
-    printf("O - Ouvre porte\n");
-    printf("T - Turbine On\n");
-    printf("U - Turbine Off\n");
-    printf("P - Propulseur On\n");
-    printf("M - Propulseur Off\n");
+    printf("D - Bras lève pot\n");
+    printf("E - Attrape plante - bras 1\n");
+    printf("F - Attrape plante - bras 6\n");
     printf("S - Score + 1\n");
-    printf("B - Bras deplie\n");
-    printf("N - Bras plie 1\n");
-    
+    printf("\nQ - Quitter\n");
+
 
     int lettre;
     int continue_test=1;
@@ -314,6 +308,8 @@ int test_i2c_ecriture_pico_annex_nb_2(){
     time_i2c[1] = time_us_32();
     time_i2c[2] = 0;
 
+    i2c_annexe_init();
+
     multicore_launch_core1(affiche_contacteur);
 
 
@@ -329,6 +325,14 @@ int test_i2c_ecriture_pico_annex_nb_2(){
                     }
                     printf("=> Lache pot\n");
                     break;
+                
+                case 'b':
+                case 'B':
+                    for(int i=1; i<7; i++){
+                        i2c_annexe_actionneur_pot(i, BRAS_POT_SOL, DOIGT_TIENT);
+                    }
+                    printf("=> Attrape pot\n");
+                    break;
 
                 case 'c':
                 case 'C':
@@ -338,58 +342,24 @@ int test_i2c_ecriture_pico_annex_nb_2(){
                     printf("=> Tient pot\n");
                     break;
 
-                case 'd':
                 case 'D':
-                    i2c_annexe_active_deguisement();
-                    printf("=> Active déguisement\n");
+                case 'd':
+                    for(int i=1; i<7; i++){
+                        i2c_annexe_actionneur_pot(i, BRAS_HAUT, DOIGT_TIENT);
+                    }
+                    printf("=> Attrape pot\n");
                     break;
 
                 case 'E':
                 case 'e':
-                    i2c_annexe_desactive_deguisement();
-                    printf("=> Desactive déguisement\n");
+                    i2c_annexe_attrape_plante(PLANTE_BRAS_1);
+                    printf("=> Attrape plante - bras 1\n");
                     break;
-
+                    
                 case 'F':
                 case 'f':
-                    i2c_annexe_ferme_porte();
-                    printf("=> Ferme porte\n");
-                    break;
-
-                case 'G':
-                case 'g':
-                    i2c_annexe_mi_ferme_porte();
-                    printf("=> Ferme porte\n");
-                    break;
-
-                case 'O':
-                case 'o':
-                    i2c_annexe_ouvre_porte();
-                    printf("=> Ouvre porte\n");
-                    break;
-                
-                case 't':
-                case 'T':
-                    i2c_annexe_active_turbine();
-                    printf("=> Active turbine\n");
-                    break;
-                
-                case 'u':
-                case 'U':
-                    i2c_annexe_desactive_turbine();
-                    printf("=> Arrete turbine\n");
-                    break;
-
-                case 'm':
-                case 'M':
-                    i2c_annexe_desactive_propulseur();
-                    printf("=> Arrete propulseur\n");
-                    break;
-
-                case 'p':
-                case 'P':
-                    i2c_annexe_active_propulseur();
-                    printf("=> Active propulseur\n");
+                    i2c_annexe_attrape_plante(PLANTE_BRAS_6);
+                    printf("=> Attrape plante - bras 6\n");
                     break;
 
                 case 'q':
@@ -402,18 +372,6 @@ int test_i2c_ecriture_pico_annex_nb_2(){
                     score++;
                     i2c_annexe_envoie_score(score);
                     break;
-
-                case 'b':
-                case 'B':
-                    i2c_annexe_deplie_bras();
-                    printf("=> Deplie bras\n");
-                    break;
-
-                case 'n':
-                case 'N':
-                    i2c_annexe_plie_bras();
-                    printf("=> Plie bras\n");
-                    break;
                 
                 default:
                     printf("lettre non reconnue: %d %c\n", lettre, lettre);
diff --git a/i2c_annexe.c b/i2c_annexe.c
index 709fa75..0920950 100644
--- a/i2c_annexe.c
+++ b/i2c_annexe.c
@@ -18,10 +18,12 @@
 
 #define ADRESSE_PIC18F4550 0x31
 #define ADRESSE_PIC18F4550_DEBUT_W 0x00
+#define ADRESSE_ACTION_PINCE 6
 #define TAILLE_DONNEES_PIC18F4550_EMISSION 7
 
 uint8_t donnees_emission[TAILLE_DONNEES_EMISSION];
 uint8_t donnees_emission_pic18f4550[TAILLE_DONNEES_PIC18F4550_EMISSION];
+uint8_t donnees_reception_pic18f4550[TAILLE_DONNEES_PIC18F4550_EMISSION];
 uint8_t donnees_reception[TAILLE_DONNEES_RECEPTION];
 
 
@@ -77,12 +79,14 @@ void i2c_annexe_gestion(){
                     etat_i2c_annexe = EMISSION_DONNEES_RPi;
                     temps = time_us_32();
                     donnees_a_envoyer_pic=0;
+                    donnees_emission_pic18f4550[ADRESSE_ACTION_PINCE]=0;
                 }
             }else{
                 etat_i2c_annexe = EMISSION_DONNEES_RPi;
             }
             break;
 
+
     }
 
 }
@@ -187,3 +191,14 @@ void i2c_annexe_actionneur_pot(int actionneur, uint8_t pos_bras, uint8_t pos_doi
     donnees_emission_pic18f4550[actionneur-1] = (pos_bras << 2) | pos_doigt;
     donnees_a_envoyer_pic=1;
 }
+
+void i2c_annexe_attrape_plante(uint8_t action){
+    donnees_emission_pic18f4550[ADRESSE_ACTION_PINCE] = action;
+    donnees_a_envoyer_pic=1;
+}
+
+void i2c_annexe_init(void){
+    for(unsigned int actionneur=1; actionneur<= NB_BRAS; actionneur++){
+        i2c_annexe_actionneur_pot(actionneur, BRAS_PLIE, DOIGT_LACHE);
+    }
+}
diff --git a/i2c_annexe.h b/i2c_annexe.h
index 1a58ea8..8288f46 100644
--- a/i2c_annexe.h
+++ b/i2c_annexe.h
@@ -13,6 +13,11 @@
 #define BRAS_DEPOSE_JARDINIERE 4
 #define BRAS_HAUT 5
 
+#define NB_BRAS 6
+
+#define PLANTE_BRAS_1 '1'
+#define PLANTE_BRAS_6 '6'
+
 void i2c_annexe_gestion(void);
 void i2c_annexe_active_turbine(void);
 void i2c_annexe_desactive_turbine(void);
@@ -44,3 +49,5 @@ void i2c_annexe_deplie_bras(void);
 uint8_t i2c_annexe_get_tension_batterie(void);
 
 void i2c_annexe_actionneur_pot(int actionneur, uint8_t pos_bras, uint8_t pos_doigt);
+void i2c_annexe_attrape_plante(uint8_t action);
+void i2c_annexe_init(void);