diff --git a/Cerveau/Cerveau.ino b/Cerveau/Cerveau.ino
index 6bb44a8..d2f14d5 100644
--- a/Cerveau/Cerveau.ino
+++ b/Cerveau/Cerveau.ino
@@ -92,7 +92,7 @@ int index_Maitre = 0;
 bool Mvt_tolerance_OK =false;
 bool Balises_OK = 0;
 int tolerance_position =100;
-float tolerance_orientation =0.05; // 3°
+float tolerance_orientation =0.03; // 2°
 
 
 char* tableau[] = {"Lecture serveur", "Prise position", "Verif mvmt end ou cmd", "Compar position", "Deplacement absolu"};
@@ -361,7 +361,9 @@ void gestion_match(){
 enum etat_action_t Strategie(void){
   static enum {
     STRAT_RECULE_BANDEROLE, // Deplacement relatif
-    STRAT_ALLER_GRADINS_1,  // Déplacement absolu
+    STRAT_ALLER_GRADINS_1_A,  // Déplacement absolu
+    STRAT_ALLER_GRADINS_1_B,  // Déplacement relatif
+    STRAT_ALLER_GRADINS_1_C,  // Déplacement relatif
     STRAT_ALLER_PREPA_BACKSTAGE, // Déplacement absolu
     STRAT_ALLER_BACKSTAGE // Déplacement relatif
 
@@ -378,18 +380,45 @@ enum etat_action_t Strategie(void){
       rotation_rad = 0;
       etat_action = deplacement_relatif(translation_x_mm, translation_y_mm, rotation_rad, 0);
       if(etat_action == ACTION_TERMINEE){
-        etat_strategie = STRAT_ALLER_GRADINS_1;
+        etat_strategie = STRAT_ALLER_GRADINS_1_A;
       }
       break;
 
-    case STRAT_ALLER_GRADINS_1:
+    case STRAT_ALLER_GRADINS_1_A:
       etat_action = deplacement_absolu(800, 800, -M_PI/2., 0);
+      if(etat_action == ACTION_TERMINEE){
+        etat_strategie = STRAT_ALLER_GRADINS_1_B;
+      }
+      break;
+
+    case STRAT_ALLER_GRADINS_1_B:
+      etat_action = deplacement_relatif(300, 0, 0, 0);
+      if(etat_action == ACTION_TERMINEE){
+        etat_strategie = STRAT_ALLER_GRADINS_1_C;
+      }
+      break;
+
+    case STRAT_ALLER_GRADINS_1_C:
+      etat_action = deplacement_relatif(-250, 0, 0, 0);
+      if(etat_action == ACTION_TERMINEE){
+        etat_strategie = STRAT_ALLER_PREPA_BACKSTAGE;
+      }
+      break;
+
+    case STRAT_ALLER_PREPA_BACKSTAGE:
+      etat_action = deplacement_absolu(550, 1150, M_PI/2., 0);
+      if(etat_action == ACTION_TERMINEE){
+        etat_strategie = STRAT_ALLER_BACKSTAGE;
+      }
+      break;
+
+    case STRAT_ALLER_BACKSTAGE:
+      etat_action = deplacement_relatif(500, 0, 0, 0);
       if(etat_action == ACTION_TERMINEE){
         etat_strategie = STRAT_RECULE_BANDEROLE;
         return ACTION_TERMINEE;
       }
-
-
+      break;
   }
 
   return ACTION_EN_COURS;
@@ -438,14 +467,15 @@ void compar_cinematique(int consigne_x_mm, int consigne_y_mm, float consigne_ori
   }
 }
 
-enum etat_action_t deplacement_absolu(int consigne_x_mm, int consigne_y_mm, int consigne_orientation_rad, int evitement){
+enum etat_action_t deplacement_absolu(int consigne_x_mm, int consigne_y_mm, float consigne_orientation_rad, int evitement){
   static enum{
     DA_INIT,
     DA_COMPARE_POSITIONS,
     DA_MVT_EN_COURS,
     DA_ATTENTE,
   } etat_deplacement = DA_INIT;
-  static int mem_consigne_x_mm, mem_consigne_y_mm, mem_consigne_orientation_rad;
+  static int mem_consigne_x_mm, mem_consigne_y_mm;
+  static float mem_consigne_orientation_rad;
   static struct chassis_emission_t chassis_emission;
   struct triangulation_reception_t triangulation_reception;
   enum etat_action_t etat_deplacement_relatif;