diff --git a/Actionneurs/Actionneurs.ino b/Actionneurs/Actionneurs.ino
index 68428a9..bfea9f0 100644
--- a/Actionneurs/Actionneurs.ino
+++ b/Actionneurs/Actionneurs.ino
@@ -294,6 +294,9 @@ void loop()
     if(inByte == 'f'){
       Servo_set(FOURCHE_LEVEE);
     }
+    if(inByte == 'y'){
+      while(Actionneur_depile_planche() == ACTION_EN_COURS);
+    }
     if(inByte == '1'){
       reglage_servo(8);
     }
@@ -398,8 +401,8 @@ enum etat_action_t Actionneur_prepare_prise_extern(void){
   Servo_set(DOIGT_PINCE_DROIT_FERME);
   Servo_set(DOIGT_PINCE_GAUCHE_FERME);
   // Aimant sortis
-  Servo_set(AIMANT_PINCE_DROIT_TIENT);
-  Servo_set(AIMANT_PINCE_GAUCHE_TIENT);
+  Servo_set(AIMANT_PINCE_DROIT_LACHE);
+  Servo_set(AIMANT_PINCE_GAUCHE_LACHE);
   // Translateur à l'arrière
   Translateur_recule();
 
@@ -431,17 +434,26 @@ enum etat_action_t Actionneur_depile_planche(void){
   ledcWrite(FOURCHE_LEVEE);
   delay(1000);
   ledcWrite(FOURCHE_PRISE);
-  delay(100);
+  delay(50);
   ledcWrite(FOURCHE_LEVEE);
-  delay(250);
+  delay(150);
   ledcWrite(FOURCHE_PRISE);
-  delay(100);
+  delay(50);
   ledcWrite(FOURCHE_LEVEE);
-  delay(250);
+  delay(150);
   ledcWrite(FOURCHE_PRISE);
-  delay(100);
+  delay(50);
   ledcWrite(FOURCHE_LEVEE);
-
+  delay(150);
+  ledcWrite(FOURCHE_PRISE);
+  delay(50);
+  ledcWrite(FOURCHE_LEVEE);
+  delay(150);
+  ledcWrite(FOURCHE_PRISE);
+  delay(50);
+  ledcWrite(FOURCHE_LEVEE);
+  delay(150);
+  
   return ACTION_TERMINEE;
 
 }