diff --git a/TCPServer.cpp b/TCPServer.cpp
index e6d8781..70ada9e 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -474,12 +474,12 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
     double xPrime = arucoTag.pos().first[0]/* - 5*/;
     double yPrime = arucoTag.pos().first[1] - decalage;
 
-    double testX = (xPrime * std::cos(theta) + yPrime * std::sin(theta)) + robotPosX;
-    double testY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta)) + robotPosY;
+    double testX = (xPrime * std::cos(theta) + yPrime * std::sin(theta));
+    double testY = (-xPrime * std::sin(theta) + yPrime * std::cos(theta));
 
     // calculate the angle to be in front of the tag
 
-    double thetaPrime = std::atan2(testX, testY);
+    double thetaPrime = std::atan2(testY, testX);
 
     toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>((this->robotPose.theta + rotate + thetaPrime) * 100)) + "\n";
     canMove = false;