diff --git a/Cerveau/Cerveau.ino b/Cerveau/Cerveau.ino
index 026e183..b9f4362 100644
--- a/Cerveau/Cerveau.ino
+++ b/Cerveau/Cerveau.ino
@@ -624,10 +624,12 @@ enum etat_action_t gradin_approche(void){
         // On se centre par rapport au gradin
         //translation_x = (detect_gradin.centre_y_mm + 150) * tan(fabs(detect_gradin.angle_rad));
         //translation_y = -(detect_gradin.centre_y_mm + 150) * sin(detect_gradin.angle_rad) - detect_gradin.centre_x_mm;
-        translation_x = (detect_gradin.centre_y_mm + 150) * tan(fabs(detect_gradin.angle_rad));
-        translation_y = -(detect_gradin.centre_y_mm + 150) * sin(detect_gradin.angle_rad) - detect_gradin.centre_x_mm;
+        /// Attention, réflection dans le repère des capteurs
+        translation_x = (detect_gradin.centre_y_mm + 75) * sin(detect_gradin.angle_rad) * cos(detect_gradin.angle_rad) + detect_gradin.centre_x_mm;
+        translation_y = (detect_gradin.centre_y_mm + 75) * sin(detect_gradin.angle_rad) * sin(detect_gradin.angle_rad) ;
 
-        while(deplacement_relatif(translation_x, translation_y, 0, 0) == ACTION_TERMINEE);
+        // Changement de repère : capteurs => Chassis
+        while(deplacement_relatif(translation_y, -translation_x, 0, 0) != ACTION_TERMINEE);
         statu_approche_gradin = GA_TOURNE_LARGE;
         angle_mem = detect_gradin.angle_rad;
         
@@ -636,6 +638,10 @@ enum etat_action_t gradin_approche(void){
 
     case GA_TOURNE_LARGE:
       while(deplacement_relatif(0, 0, -angle_mem, 0) != ACTION_TERMINEE);
+      /*//// !!! DEBUG
+      statu_approche_gradin = GA_INIT;
+      return ACTION_ECHEC;
+      /// FIN DEBUG*/
       delay(150);
       Detect_gradin(&detect_gradin);
       if(detect_gradin.status != 2){