diff --git a/Cerveau/Cerveau.ino b/Cerveau/Cerveau.ino
index bb3d04c..ed76ad2 100644
--- a/Cerveau/Cerveau.ino
+++ b/Cerveau/Cerveau.ino
@@ -365,7 +365,7 @@ void gestion_match(){
 
     case DEPLACEMENT_RELATIF :    // Deplacement relatif en cours
 
-      if(deplacement_relatif(translation_x_mm, translation_y_mm, rotation_rad, 1) == ACTION_TERMINEE){
+      if(deplacement_relatif(translation_x_mm, translation_y_mm, rotation_rad, 1) != ACTION_EN_COURS){
         index_Maitre = ATTENTE_ORDRE;
       }
       break;
@@ -871,12 +871,16 @@ enum etat_action_t deplacement_relatif(int distance_x_mm, int distance_y_mm, flo
             // Arrêt du mouvement
             chassis_emission.status = MOUVEMENT_INTERRUPTION;
             send_Chassis(&chassis_emission);
+            etat_deplacement = DR_INIT;
+            return ACTION_ECHEC;
           }
         }else if(distance_x_mm < 0){
           if(detect_adv_reception.distance_cm[6] < 50){
             // Arrêt du mouvement
             chassis_emission.status = MOUVEMENT_INTERRUPTION;
             send_Chassis(&chassis_emission);
+            etat_deplacement = DR_INIT;
+            return ACTION_ECHEC;
           }
         }
       }
diff --git a/Chassis/Chassis.ino b/Chassis/Chassis.ino
index 171e5e9..7b7b557 100644
--- a/Chassis/Chassis.ino
+++ b/Chassis/Chassis.ino
@@ -232,7 +232,7 @@ void Mvmt(){
       // Serial.print("X Y Z A !");Serial.print("\t\t");Serial.print("\tinter");Serial.println("\tModif");
       // Serial.print(stepperX.distanceToGo());Serial.print("/");Serial.print(stepperY.distanceToGo());Serial.print("/");Serial.print(stepperZ.distanceToGo());Serial.print("/");Serial.print(stepperA.distanceToGo());Serial.print("\t");Serial.print(Interrupt);Serial.print("\t");Serial.println(Modif_Mvt);
     #endif
-    while((stepperX.distanceToGo() != 0 || stepperY.distanceToGo() != 0 || stepperZ.distanceToGo() != 0 || stepperA.distanceToGo() != 0) /*&& (Interrupt != 1 || Modif_Mvt != 1)*/){
+    while((stepperX.distanceToGo() != 0 || stepperY.distanceToGo() != 0 || stepperZ.distanceToGo() != 0 || stepperA.distanceToGo() != 0) && (I2C_memory[0] != 1)){
         stepperX.run(); // X
         stepperY.run(); // Y
         stepperZ.run(); // Z
@@ -244,6 +244,23 @@ void Mvmt(){
         // delay(100);
         #endif
     }
+    // Bien bloquer le robot en cas d'interruption
+    if(I2C_memory[0] == 1){
+      stepperX.setAcceleration(40000);
+      stepperY.setAcceleration(40000);
+      stepperZ.setAcceleration(40000);
+      stepperA.setAcceleration(40000);
+      stepperX.stop(); // X
+      stepperY.stop(); // Y
+      stepperZ.stop(); // Z
+      stepperA.stop(); // A
+      while(stepperX.distanceToGo() != 0 || stepperY.distanceToGo() != 0 || stepperZ.distanceToGo() != 0 || stepperA.distanceToGo() != 0){
+        stepperX.run(); // X
+        stepperY.run(); // Y
+        stepperZ.run(); // Z
+        stepperA.run(); // A
+      }
+    }
   }  
   // if(Modif_Mvt == 1){
   //   Position_Calculation();