diff --git a/TCPServer.cpp b/TCPServer.cpp
index 189c61c..806a0e4 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -335,10 +335,10 @@ void TCPServer::startGame() {
 }
 
 void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
-    float robotPosX = this->robotPose.pos.x;
-    float robotPosY = this->robotPose.pos.y;
-    float theta = this->robotPose.theta;
-    float decalage;
+    double robotPosX = this->robotPose.pos.x;
+    double robotPosY = this->robotPose.pos.y;
+    double theta = this->robotPose.theta;
+    double decalage;
     if (pince < 0 || pince > 2) {
         return;
     }
@@ -366,10 +366,16 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
     double xPrime = arucoTagPos.pos.first[0] - 95;
     double yPrime = arucoTagPos.pos.first[1];
 
+    double x10Percent = xPrime * 0.1;
+    double decalage10Percent = decalage * 0.1;
+
+    xPrime -= x10Percent;
+    decalage -= decalage10Percent;
+
     std::cout << "Aruco position1 " << xPrime << " " << yPrime << std::endl;
 
-    double posV200X = (xPrime * std::cos(theta) + (yPrime - (3 * decalage / 4)) * std::sin(theta)) + robotPosX;
-    double posV200Y = (-xPrime * std::sin(theta) + (yPrime - (3 * decalage / 4)) * std::cos(theta)) + robotPosY;
+    double posV200X = (xPrime * std::cos(theta) + (yPrime - decalage) * std::sin(theta)) + robotPosX;
+    double posV200Y = (-xPrime * std::sin(theta) + (yPrime - decalage) * std::cos(theta)) + robotPosY;
 
     toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(posV200X)) + "," + std::to_string(static_cast<int>(posV200Y)) + "\n";
     this->broadcastMessage(toSend);
@@ -377,7 +383,8 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
     this->broadcastMessage("strat;arduino;speed;150\n");
     usleep(500'000);
 
-    xPrime += 90;
+    xPrime += x10Percent;
+    decalage += decalage10Percent;
 
     double robotPosForPotX = (xPrime * std::cos(theta) + (yPrime - decalage) * std::sin(theta)) + robotPosX;
     double robotPosForPotY = (-xPrime * std::sin(theta) + (yPrime - decalage) * std::cos(theta)) + robotPosY;