diff --git a/Asser_Position.c b/Asser_Position.c
index 74870ff..7aa2c5b 100644
--- a/Asser_Position.c
+++ b/Asser_Position.c
@@ -48,7 +48,7 @@ void Asser_Position(struct position_t position_consigne){
     rotation_radian_s = delta_orientation_radian * GAIN_P_ORIENTATION;
 
     if(delta_avance_mm < 10){
-        rotation_radian_s=0;
+        rotation_radian_s=delta_avance_mm/10 * rotation_radian_s;
     }
     
     // Commande en vitesse
diff --git a/Strategie.c b/Strategie.c
index b419e22..94437c8 100644
--- a/Strategie.c
+++ b/Strategie.c
@@ -11,7 +11,7 @@ enum etat_action_t Strategie_super_star(uint32_t step_ms){
 		SSS_TOURNE,
 		SSS_AVANCE_2,
 		SSS_DANCE
-	} etat_sss = SSS_TEST_TOURNE;
+	} etat_sss = SSS_INIT;
     struct trajectoire_t trajectoire;
 
 	switch(etat_sss){
@@ -28,23 +28,22 @@ enum etat_action_t Strategie_super_star(uint32_t step_ms){
             Trajet_config(TRAJECT_CONFIG_STD);
             Trajectoire_droite(&trajectoire, 45, 1895, 1135, 1895, 0, 0);
             if(Strategie_parcourir_trajet(trajectoire, step_ms, EVITEMENT_SANS_EVITEMENT) == ACTION_TERMINEE){
-                //etat_sss = SSS_TOURNE;
-                etat_sss = SSS_DANCE;
+                etat_sss = SSS_TOURNE;
             }
             break;
 
         case SSS_TOURNE:
-            Trajet_config(100, 100);
+            //Trajet_config(100, 100);
+            Trajet_config(TRAJECT_CONFIG_STD);
             Trajectoire_circulaire(&trajectoire, 1135, 1645, M_PI/2, 0, 250, 0, -M_PI/2);
             if(Strategie_parcourir_trajet(trajectoire, step_ms, EVITEMENT_SANS_EVITEMENT) == ACTION_TERMINEE){
-                //etat_sss = SSS_AVANCE_2;
-                etat_sss = SSS_DANCE;
+                etat_sss = SSS_AVANCE_2;
             }
             break;
 
         case SSS_AVANCE_2:
             Trajet_config(TRAJECT_CONFIG_STD);
-            Trajectoire_droite(&trajectoire, 1385, 1645, 1385, 1600, 0, 0);
+            Trajectoire_droite(&trajectoire, 1385, 1645, 1385, 1580, 0, 0);
             if(Strategie_parcourir_trajet(trajectoire, step_ms, EVITEMENT_SANS_EVITEMENT) == ACTION_TERMINEE){
                 etat_sss = SSS_DANCE;
             }
diff --git a/main.c b/main.c
index 60d51ec..1f1404f 100644
--- a/main.c
+++ b/main.c
@@ -105,7 +105,7 @@ void main(void)
 	while(1){
 		
 		// Fin du match 
-		if((Temps_get_temps_ms() -temps_depart_ms) >10000 || (fin_match == 1)){
+		if((Temps_get_temps_ms() -temps_depart_ms) >15000 || (fin_match == 1)){
 			Moteur_Stop();
 			while(1);
 		}