diff --git a/TCPServer.cpp b/TCPServer.cpp
index c4fa909..f6fb082 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -335,6 +335,8 @@ 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 decalage;
     if (pince < 0 || pince > 2) {
         return;
@@ -365,8 +367,8 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
 
     std::cout << "Aruco position1 " << xPrime << " " << yPrime << std::endl;
 
-    double posV200X = ((xPrime - 100) * std::cos(robotPose.theta) + (yPrime - (decalage / 2)) * std::sin(robotPose.theta)) + this->robotPose.pos.x;
-    double posV200Y = (-(xPrime - 100) * std::sin(robotPose.theta) + (yPrime - (decalage / 2)) * std::cos(robotPose.theta)) + this->robotPose.pos.y;
+    double posV200X = ((xPrime - 100) * std::cos(robotPose.theta) + (yPrime - (decalage / 2)) * std::sin(robotPose.theta)) + robotPosX;
+    double posV200Y = (-(xPrime - 100) * std::sin(robotPose.theta) + (yPrime - (decalage / 2)) * std::cos(robotPose.theta)) + robotPosY;
 
     toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(posV200X)) + "," + std::to_string(static_cast<int>(posV200Y)) + "\n";
     this->broadcastMessage(toSend);
@@ -374,8 +376,8 @@ void TCPServer::goToAruco(const ArucoTagPos &arucoTagPos, const int pince) {
     this->broadcastMessage("strat;arduino;speed;150\n");
     usleep(500'000);
 
-    double robotPosForPotX = (xPrime * std::cos(robotPose.theta) + (yPrime - decalage) * std::sin(robotPose.theta)) + this->robotPose.pos.x;
-    double robotPosForPotY = (-xPrime * std::sin(robotPose.theta) + (yPrime - decalage) * std::cos(robotPose.theta)) + this->robotPose.pos.y;
+    double robotPosForPotX = (xPrime * std::cos(robotPose.theta) + (yPrime - decalage) * std::sin(robotPose.theta)) + robotPosX;
+    double robotPosForPotY = (-xPrime * std::sin(robotPose.theta) + (yPrime - decalage) * std::cos(robotPose.theta)) + robotPosY;
 
     std::cout << "Aruco position " << robotPosForPotX << " " << robotPosForPotY << std::endl;