diff --git a/Cerveau/Cerveau.ino b/Cerveau/Cerveau.ino
index c0d73b6..6bb44a8 100644
--- a/Cerveau/Cerveau.ino
+++ b/Cerveau/Cerveau.ino
@@ -383,7 +383,7 @@ enum etat_action_t Strategie(void){
       break;
 
     case STRAT_ALLER_GRADINS_1:
-      etat_action = deplacement_absolu(730, 550, M_PI/2., 0);
+      etat_action = deplacement_absolu(800, 800, -M_PI/2., 0);
       if(etat_action == ACTION_TERMINEE){
         etat_strategie = STRAT_RECULE_BANDEROLE;
         return ACTION_TERMINEE;
@@ -429,10 +429,10 @@ void compar_cinematique(int consigne_x_mm, int consigne_y_mm, float consigne_ori
 
     // Distance à parcourir
     float distance_calculee = sqrt(sq(compar_X) + sq(compar_Y));
-    float angle_robot_vers_destination =  M_PI_2 - atan2(compar_Y, compar_X);
+    float angle_robot_vers_destination = M_PI + atan2f(compar_Y, compar_X);
 
-    chassis_emission->translation_x_mm = sin(angle_robot_vers_destination - Angle_Robot_RAD) * distance_calculee;
-    chassis_emission->translation_y_mm = cos(angle_robot_vers_destination - Angle_Robot_RAD) * distance_calculee;
+    chassis_emission->translation_x_mm = cos(angle_robot_vers_destination - triangulation_reception.angle_rad) * distance_calculee;
+    chassis_emission->translation_y_mm = sin(angle_robot_vers_destination - triangulation_reception.angle_rad) * distance_calculee;
     chassis_emission->rotation_z_rad = 0;
     chassis_emission->status = MOUVEMENT_EN_COURS;
   }