diff --git a/TCPServer.cpp b/TCPServer.cpp
index df1c13b..f4f8a5f 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -45,7 +45,7 @@ void ClientHandler::closeConnection() {
     server->clientDisconnected(clientSocket); // Inform the server that the client has disconnected
 }
 
-TCPServer::TCPServer(int port) : team(TEST)
+TCPServer::TCPServer(int port)
 {
     this->robotPose = {500, 500, -3.1415/2};
 
@@ -123,27 +123,13 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
         return;
     }
     if (TCPUtils::contains(tokens[2], "stop proximity")) {
-        if (!gameStarted) return;
-
-        std::vector<std::string> args = TCPUtils::split(tokens[3], ",");
-
-        if (stoi(args[0]) == -1) return;
-
+        // TODO handle math to know if the robot is in face of the obstacle
         this->broadcastMessage("strat;arduino;clear;1\n");
-
-        this->stopEmergency = true;
-
-        // if (!handleEmergencyFlag) {
-            // std::thread([this, args]() { this->handleEmergency(std::stoi(args[0]), std::stod(args[1]) / 100); }).detach();
-        // }
     }
     else if (tokens[1] != "strat") {
         this->broadcastMessage(message, clientSocket);
     }
     // EMERGENCY
-    else if (tokens[0] == "tirette" && tokens[2] == "set state") {
-        this->broadcastMessage(message, clientSocket);
-    }
     else if (tokens[2] == "ready") {
         for (ClientTCP& client : clients)
         {
@@ -151,169 +137,70 @@ void TCPServer::handleMessage(const std::string& message, int clientSocket)
             {
                 client.isReady = true;
                 client.socket = clientSocket;
-                if (TCPUtils::contains(client.name, "lidar")) {
-                    this->lidarSocket = clientSocket;
+                if (client.name == "arduino")
+                {
+                    arduinoSocket = clientSocket;
                 }
                 std::cout << client.socket << " | " << client.name << " is ready" << std::endl;
                 break;
             }
         }
-        checkIfAllClientsReady();
     }
-    else if (tokens[2] == "get pos") {
-        this->setPosition(this->robotPose, clientSocket);
-    }
-    else if (tokens[2] == "get speed") {
-        this->sendToClient("strat;" + tokens[0] + ";set speed;" + std::to_string(this->speed) + "\n", clientSocket);
-    }
-    else if (tokens[0] == "lidar" && tokens[2] == "set pos") {
-        std::vector<std::string> args = TCPUtils::split(tokens[3], ",");
-        // TODO replace angle with the real angle calculated by the lidar when working
-        this->lidarCalculatePos = {std::stof(args[0]), std::stof(args[1]), /*std::stof(args[2]) / 100*/ this->robotPose.theta};
-        if (lidarCalculatePos.pos.x == -1 || lidarCalculatePos.pos.y == -1) {
-            if (lidarGetPosTimeout > 10) {
-                awaitForLidar = false;
+    else if (tokens[0] == "gc") {
+        if (tokens[2] == "axis") {
+            if (!gameWithControllerStarted) {
+                gameWithControllerStarted = true;
+                std::thread t(&TCPServer::sendAxisToArduino, this);
+                t.detach();
             }
-            lidarGetPosTimeout++;
-            this->askLidarPosition();
-        }
-        else {
-            this->setPosition(this->lidarCalculatePos);
-            usleep(100'000);
-            this->setPosition(this->lidarCalculatePos);
-            awaitForLidar = false;
-        }
-    }
-    else if (tokens[0] == "ihm") {
-        if (tokens[2] == "spawn") {
-            int spawnPointNb = std::stoi(tokens[3]);
-            std::array<float, 3> spawnPoint{};
-            std::array<float, 3> finishPoint{};
-
-            switch (spawnPointNb) {
-                case 3:
-                    this->setTeam(BLUE);
-                    spawnPoint[0] = 250;
-                    spawnPoint[1] = 1800;
-                    spawnPoint[2] = 0;
-
-                    finishPoint[0] = 400;
-                    finishPoint[1] = 500;
-                    finishPoint[2] = PI / 2;
-
-                    // For test
-
-                    /*spawnPoint[0] = 500;
-                    spawnPoint[1] = 1000;
-                    spawnPoint[2] = 0;*/
-
-                    /*finishPoint[0] = 400;
-                    finishPoint[1] = 1790;
-                    finishPoint[2] = 0;*/
-                    break;
-                case 6:
-                    this->setTeam(YELLOW);
-                    spawnPoint[0] = 2750;
-                    spawnPoint[1] = 1800;
-                    spawnPoint[2] = PI;
-
-                    finishPoint[0] = 2600;
-                    finishPoint[1] = 500;
-                    finishPoint[2] = PI / 2;
-                    break;
-
-                default:
-                    this->team = TEST;
-                    spawnPoint[0] = 1200;
-                    spawnPoint[1] = 1800;
-                    spawnPoint[2] = PI / 2;
-
-                    finishPoint[0] = 1200;
-                    finishPoint[1] = 1800;
-                    finishPoint[2] = PI / 2;
-                    break;
+            std::vector<std::string> args = TCPUtils::split(tokens[3], ",");
+            if (args[0] == "0") {
+                axisLeft.x = std::stoi(args[1]);
             }
-
-            std::ofstream file("end_point.txt");
-            file << finishPoint[0] << " " << finishPoint[1];
-            file.close();
-
-            this->robotPose = {spawnPoint[0], spawnPoint[1], spawnPoint[2]};
-            this->initRobotPose = {spawnPoint[0], spawnPoint[1], spawnPoint[2]};
-            this->endRobotPose = {finishPoint[0], finishPoint[1], finishPoint[2]};
-
-            for (int j = 0; j < 3; j++) {
-                this->setPosition(this->initRobotPose);
-                usleep(100'000);
+            else if (args[0] == "1") {
+                axisLeft.y = std::stoi(args[1]);
+            }
+            else if (args[0] == "2") {
+                axisRight.x = std::stoi(args[1]);
+            }
+            else if (args[0] == "3") {
+                axisRight.y = std::stoi(args[1]);
             }
         }
-        else if (tokens[1] == "strat" && tokens[2] == "start")
-        {
-            if (this->gameStarted) {
-                return;
+        else if (tokens[2] == "button down") {
+            if (tokens[3] == "0") {
+                this->toggleBras();
             }
-
-            this->broadcastMessage(message, clientSocket);
-
-            this->gameStarted = true;
-
-            this->gameStart = std::chrono::system_clock::now();
-
-            this->setSpeed(200);
-
-            switch (this->team) {
-                case BLUE:
-                case YELLOW:
-                    this->gameThread = std::thread([this]() { this->startGame(); });
-                    break;
-                case TEST:
-                    this->gameThread = std::thread([this]() { this->startGameTest(); });
-                    break;
+            else if (tokens[3] == "2") {
+                this->togglePince(0);
             }
-
-            this->gameThread.detach();
-        }
-    }
-    else if (tokens[0] == "aruco" && tokens[2] == "get aruco") {
-        std::string arucoResponse = tokens[3];
-        if (arucoResponse != "404") {
-            std::vector<std::string> aruco = TCPUtils::split(arucoResponse, ",");
-            for (int i = 0; i < aruco.size() - 1; i += 7) {
-                ArucoTag tag;
-                tag.setId(std::stoi(aruco[i]));
-                tag.setName(aruco[i + 1]);
-
-                tag.setPos(std::stof(aruco[i + 2]), std::stof(aruco[i + 3]));
-                tag.setRot(std::stof(aruco[i + 4]), std::stof(aruco[i + 5]), std::stof(aruco[i + 6]));
-
-                // std::cout << tag << std::endl;
-
-                handleArucoTag(tag);
+            else if (tokens[3] == "3") {
+                this->togglePince(1);
             }
-            // Broadcast the aruco tag to all clients
-            this->broadcastMessage(message, clientSocket);
-        }
-    }
-    else if (tokens[0] == "arduino") {
-        if (tokens[2] == "set state") {
-            if (TCPUtils::startWith(tokens[3], "0")) {
-                this->isRobotIdle++;
+            else if (tokens[3] == "1") {
+                this->togglePince(2);
             }
-        } else if (tokens[2] == "set speed") {
-            this->speed = std::stoi(tokens[3]);
-        } else if (tokens[2] == "set pos") {
-            std::vector<std::string> pos = TCPUtils::split(tokens[3], ",");
-            this->robotPose = {std::stof(pos[0]), std::stof(pos[1]), std::stof(pos[2]) / 100};
-            if (!awaitForLidar) {
-                this->setPosition(this->robotPose, lidarSocket);
+            else if (tokens[3] == "13") {
+                this->togglePanel(0);
+            }
+            else if (tokens[3] == "14") {
+                this->togglePanel(1);
             }
         }
-    } else if (tokens[2] == "test aruco") {
-        int pince = std::stoi(tokens[3]);
+        else if (tokens[2] == "button up") {
 
-        std::thread([this, pince]() { this->startTestAruco(pince); }).detach();
+        }
+        else if (tokens[2] == "trigger") {
+            std::vector<std::string> args = TCPUtils::split(tokens[3], ",");
+
+            int nb = std::stoi(args[0]);
+
+            double percentage = std::stod(args[1]) / 327.670f;
+
+            this->percentagePanel(nb + 6, static_cast<int>(percentage));
+
+        }
     }
-    // std::cout << "Received: " << message << std::endl;
 }
 
 void TCPServer::broadcastMessage(const char* message, int senderSocket)
@@ -406,10 +293,6 @@ void TCPServer::stop() {
         thread.join();
     }
 
-    if (gameStarted) {
-        this->gameThread.~thread();
-    }
-
     // Close the server socket
     close(serverSocket);
 }
@@ -427,1442 +310,44 @@ void TCPServer::start()
     std::thread([this]() { acceptConnections(); }).detach();
 }
 
-void TCPServer::checkIfAllClientsReady()
-{
-    bool allReady = true;
-    for (auto&[name, socket, isReady] : clients)
-    {
-        if (!isReady)
-        {
-            // std::cout << name << " is not ready" << std::endl;
-            allReady = false;
-        }
-    }
-
-    if (allReady)
-    {
-        this->broadcastMessage("strat;all;ready;1\n");
-        std::thread([this]() { askArduinoPos(); }).detach();
-    }
-}
-
-void TCPServer::startGame() {
-    gameStarted = true;
-    for (int i = whereAmI; i < stratPatterns.size(); i++) {
-
-        auto time = std::chrono::system_clock::now();
-        if (time - gameStart > std::chrono::seconds(87)) {
-            this->goEnd();
-            return;
-        }
-
-        switch (stratPatterns[i]) {
-            case TURN_SOLAR_PANNEL_1:
-                goAndTurnSolarPanel(TURN_SOLAR_PANNEL_1);
-                break;
-            case TURN_SOLAR_PANNEL_2:
-                goAndTurnSolarPanel(TURN_SOLAR_PANNEL_2);
-                break;
-            case TURN_SOLAR_PANNEL_3:
-                goAndTurnSolarPanel(TURN_SOLAR_PANNEL_3);
-                break;
-            case TAKE_FLOWER_TOP:
-                findAndGoFlower(TAKE_FLOWER_TOP);
-               break;
-            case TAKE_FLOWER_BOTTOM:
-                findAndGoFlower(TAKE_FLOWER_BOTTOM);
-                break;
-            case GO_END:
-                goEnd();
-                break;
-            case DROP_PURPLE_FLOWER:
-                dropPurpleFlowers();
-                break;
-            case DROP_WHITE_FLOWER_J1:
-                dropWhiteFlowers(DROP_WHITE_FLOWER_J1);
-                break;
-            case DROP_WHITE_FLOWER_J2:
-                dropWhiteFlowers(DROP_WHITE_FLOWER_J2);
-                break;
-            case GET_LIDAR_POS:
-                getLidarPos();
-                usleep(200'000);
-                break;
-            case CHECKPOINT_MIDDLE:
-                checkpoint(CHECKPOINT_MIDDLE);
-                break;
-            case CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER:
-                checkpoint(CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER);
-                break;
-            case DROP_FLOWER_J1:
-                dropJardiniereFlowers(DROP_FLOWER_J1);
-                break;
-            case DROP_FLOWER_J2:
-                dropJardiniereFlowers(DROP_FLOWER_J2);
-                break;
-            case TAKE_3_PLANT_TOP_1:
-                go3Plants(TAKE_3_PLANT_TOP_1);
-                break;
-            case TAKE_3_PLANT_BOTTOM_1:
-                go3Plants(TAKE_3_PLANT_BOTTOM_1);
-                break;
-            case TAKE_3_PLANT_TOP_2:
-                go3Plants(TAKE_3_PLANT_TOP_2);
-                break;
-            case TAKE_3_PLANT_BOTTOM_2:
-                go3Plants(TAKE_3_PLANT_BOTTOM_2);
-                break;
-            case REMOVE_POT_J2:
-                removePot(REMOVE_POT_J2);
-                break;
-            case DROP_FLOWER_BASE_1:
-                dropBaseFlowers(DROP_FLOWER_BASE_1);
-                break;
-            case DROP_FLOWER_BASE_2:
-                dropBaseFlowers(DROP_FLOWER_BASE_2);
-                break;
-            case SLEEP_1S:
-                usleep(1'000'000);
-                break;
-            case SLEEP_5S:
-                usleep(5'000'000);
-                break;
-            case SLEEP_10S:
-                usleep(10'000'000);
-                break;
-            case ROTATE_0:
-                this->rotate(0);
-                if (awaitRobotIdle() < 0) return;
-                break;
-            case ROTATE_270:
-                this->rotate(-PI/2);
-                if (awaitRobotIdle() < 0) return;
-                break;
-        }
-
-        whereAmI++;
-    }
-}
-
-void TCPServer::startGameTest() {
-    this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
-    this->broadcastMessage("strat;servo_moteur;fermer pince;1\n");
-    this->broadcastMessage("strat;servo_moteur;fermer pince;2\n");
-    this->broadcastMessage("strat;servo_moteur;ouvrir pince;0\n");
-    this->broadcastMessage("strat;arduino;speed;200\n");
-
-    arucoTags.clear();
-    this->broadcastMessage("strat;aruco;get aruco;1\n");
-
-    int timeout = 0;
-    ArucoTag tag;
-    bool found = false;
-    while (!found) {
-        for (const auto & arucoTag : this->arucoTags) {
-            if (TCPUtils::endWith(arucoTag.name(), "flower")) {
-                tag = arucoTag;
-                found = true;
-                break;
-            }
-        }
-
-        if (!found) {
-            this->broadcastMessage("start;aruco;get aruco;1");
-            usleep(500'000);
-            timeout++;
-            if (timeout > 10) {
-                return;
-            }
-        }
-    }
-
-    // goToAruco(tag, 1);
-
-    if (pinceState[1] == NONE) {
-        goToAruco(tag, 1);
-    } else if (pinceState[2] == NONE) {
-        goToAruco(tag, 2);
-    } else if (pinceState[0] == NONE) {
-        goToAruco(tag, 0);
+void TCPServer::toggleBras() {
+    brasBaisser = !brasBaisser;
+    if (brasBaisser) {
+        this->broadcastMessage("strat;arduino;bras;baisser\n");
     } else {
-        return;
+        this->broadcastMessage("strat;arduino;bras;lever\n");
     }
+}
 
-    // pi/4
-    this->broadcastMessage("strat;arduino;angle;314\n");
-    if (awaitRobotIdle() < 0) return;
-
-    // ReSharper disable once CppDFAUnreachableCode
-
-    this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
-
-    usleep(2'000'000);
-    arucoTags.clear();
-    this->broadcastMessage("strat;aruco;get aruco;1\n");
-
-    found = false;
-    timeout = 0;
-    while (!found) {
-        for (const auto & arucoTag : this->arucoTags) {
-            if (TCPUtils::endWith(arucoTag.name(), "flower")) {
-                tag = arucoTag;
-                found = true;
-                break;
-            }
-        }
-
-        if (!found) {
-            this->broadcastMessage("start;aruco;get aruco;1");
-            usleep(500'000);
-            timeout++;
-            if (timeout > 10) {
-                return;
-            }
-        }
+void TCPServer::togglePince(int pince) {
+    if (pinceState[pince] == NONE) {
+        this->broadcastMessage("strat;arduino;pince;ouvrir;" + std::to_string(pince) + "\n");
+        pinceState[pince] = FLOWER;
     }
+    else if (pinceState[pince] == FLOWER) {
+        this->broadcastMessage("strat;arduino;pince;fermer;" + std::to_string(pince) + "\n");
+        pinceState[pince] = NONE;
+    }
+}
 
-    if (pinceState[1] == NONE) {
-        goToAruco(tag, 1);
-    } else if (pinceState[2] == NONE) {
-        goToAruco(tag, 2);
-    } else if (pinceState[0] == NONE) {
-        goToAruco(tag, 0);
+void TCPServer::togglePanel(int servo_moteur) {
+    panneauCheck[servo_moteur] = !panneauCheck[servo_moteur];
+    if (panneauCheck[servo_moteur]) {
+        this->broadcastMessage("strat;arduino;check panneau;" + std::to_string(servo_moteur + 6) + "\n");
     } else {
-        return;
-    }
-
-    this->broadcastMessage("strat;arduino;angle;157\n");
-    if (awaitRobotIdle() < 0) return;
-
-    // this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
-
-    usleep(2'000'000);
-    arucoTags.clear();
-    this->broadcastMessage("strat;aruco;get aruco;1\n");
-
-    found = false;
-    timeout = 0;
-    while (!found) {
-        for (const auto & arucoTag : this->arucoTags) {
-            if (TCPUtils::endWith(arucoTag.name(), "flower")) {
-                tag = arucoTag;
-                found = true;
-                break;
-            }
-        }
-
-        if (!found) {
-            this->broadcastMessage("start;aruco;get aruco;1");
-            usleep(500'000);
-            timeout++;
-            if (timeout > 10) {
-                return;
-            }
-        }
-    }
-
-    if (pinceState[1] == NONE) {
-        goToAruco(tag, 1);
-    } else if (pinceState[2] == NONE) {
-        goToAruco(tag, 2);
-    } else if (pinceState[0] == NONE) {
-        goToAruco(tag, 0);
-    } else {
-        return;
-    }
-
-    // go to jardinière
-
-    this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
-
-    std::string toSend = "strat;arduino;go;762,300\n";
-    this->broadcastMessage(toSend);
-    usleep(200'000);
-    if (awaitRobotIdle() < 0) return;
-
-    this->broadcastMessage("strat;arduino;angle;157\n");
-    if (awaitRobotIdle() < 0) return;
-
-    this->broadcastMessage("strat;arduino;speed;150\n");
-    this->broadcastMessage("strat;arduino;go;762,0\n");
-    usleep(4'000'000);
-
-    this->broadcastMessage("strat;servo_moteur;ouvrir pince;0\n");
-    pinceState[0] = NONE;
-    this->broadcastMessage("strat;servo_moteur;ouvrir pince;2\n");
-    pinceState[2] = NONE;
-    usleep(200'000);
-
-    this->broadcastMessage("strat;servo_moteur;fermer pince;0\n");
-    this->broadcastMessage("strat;servo_moteur;fermer pince;2\n");
-    this->broadcastMessage("strat;servo_moteur;ouvrir pince;1\n");
-    pinceState[1] = NONE;
-    usleep(200'000);
-
-    this->broadcastMessage("strat;arduino;speed;200\n");
-
-    toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->endRobotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->endRobotPose.pos.y)) + "\n";
-    this->broadcastMessage(toSend);
-    if (awaitRobotIdle() < 0) return;
-
-    toSend = "strat;arduino;angle;" + std::to_string(static_cast<int>(this->endRobotPose.theta * 100)) + "\n";
-    this->broadcastMessage(toSend);
-    if (awaitRobotIdle() < 0) return;
-
-    // toSend = "start;arduino;angle;" + std::to_string(this->endRobotPose.theta * 100) + "\n";
-    // this->broadcastMessage(toSend);
-
-    this->broadcastMessage("strat;servo_moteur;baisser bras;1");
-
-    this->broadcastMessage("strat;servo_moteur;clear;1");
-}
-
-
-void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
-
-    auto [robotPosX, robotPosY] = this->robotPose.pos;
-
-    double theta = this->robotPose.theta;
-    double decalage;
-    if (pince < 0 || pince > 2) {
-        return;
-    }
-
-    switch (pince) {
-        case 0:
-            decalage = 75;
-            break;
-        case 1:
-            decalage = 0;
-            break;
-        case 2:
-            decalage = -75;
-            break;
-        default:
-            decalage = 0;
-            break;
-    }
-
-    this->baisserBras();
-    this->openPince(pince);
-
-    auto [xPrime, yPrime] = arucoTag.pos();
-    double roll = arucoTag.rot()[1];
-
-    auto centerPlantX = (20 * std::cos(roll)) + xPrime - 20 + (decalage / 10);
-    auto centerPlantY = (-20 * std::sin(roll)) + yPrime + decalage;
-
-    double thetaPrime = std::atan2(centerPlantY, centerPlantX);
-
-    this->setSpeed(200);
-
-    this->rotate(this->robotPose.theta /*+ rotate*/ - thetaPrime);
-    if (awaitRobotIdle() < 0) return;
-
-    double robotPosForPotX = (centerPlantX * std::cos(theta) + centerPlantY * std::sin(theta)) + robotPosX;
-    double robotPosForPotY = (-centerPlantX * std::sin(theta) + centerPlantY * std::cos(theta)) + robotPosY;
-
-
-    this->transit(robotPosForPotX, robotPosForPotY, 130);
-    if (awaitRobotIdle() < 0) return;
-
-    this->closePince(pince);
-    usleep(500'000);
-    this->setSpeed(200);
-    pinceState[pince] = TCPUtils::startWith(arucoTag.name(), "Purple_flower") ? PURPLE_FLOWER : WHITE_FLOWER;
-    this->transportBras();
-}
-
-void TCPServer::askArduinoPos() {
-    for (const auto & client : clients) {
-        if (client.name == "arduino") {
-            this->arduinoSocket = client.socket;
-            break;
-        }
-    }
-
-    if (this->arduinoSocket == -1) {
-        return;
-    }
-
-    while (!this->_shouldStop) {
-        this->sendToClient("strat;arduino;get pos;1\n", this->arduinoSocket);
-        usleep(20'000);
+        this->broadcastMessage("strat;arduino;uncheck panneau;" + std::to_string(servo_moteur + 6) + "\n");
     }
 }
 
-int TCPServer::awaitRobotIdle() {
-    isRobotIdle = 0;
-    int timeout = 0;
-    // ReSharper disable once CppDFAConstantConditions
-    // ReSharper disable once CppDFAEndlessLoop
-    usleep(50'000);
-    while (isRobotIdle < 2) {
-        usleep(50'000);
-        this->sendToClient("strat;arduino;get state;1\n", this->arduinoSocket);
-        if (stopEmergency) {
-            while (stopEmergency) {
-                stopEmergency = false;
-                usleep(300'000);
-            }
-            this->broadcastMessage(lastArduinoCommand);
-            awaitRobotIdle();
-        }
-        if (gameStarted) {
-            auto time = std::chrono::system_clock::now();
-            if (time - gameStart > std::chrono::seconds(87)) {
-                return -1;
-            }
-        }
-        timeout++;
-        if (timeout > 80) {
-            this->broadcastMessage("strat;arduino;clear;1");
-            return 1;
-        }
-    }
-    return 0;
+void TCPServer::percentagePanel(int servo_moteur, int percentage) {
+    this->broadcastMessage("strat;arduino;panneau;" + std::to_string(servo_moteur) + "," + std::to_string(percentage) + "\n");
 }
 
-void TCPServer::handleArucoTag(const ArucoTag &tag) {
-    if (!TCPUtils::contains(tag.name(), "flower")) {
-        return;
-    }
+void TCPServer::sendAxisToArduino() {
+    while (!_shouldStop) {
 
-    auto rotArray = tag.rot();
-
-    if (rotArray[2] > 0.3 && rotArray[2] < -0.3 && rotArray[0] > 3 && rotArray[0] < 2.5) {
-        return;
-    }
-
-    for (auto& t : arucoTags) {
-        if (tag.id() == t.id()) {
-            auto [tPosX, tPosY] = t.pos();
-            auto [tagPosX, tagPosY] = tag.pos();
-            if (tagPosX > tPosX - 10 && tagPosX < tPosX + 10 && tagPosY > tPosY - 10 && tagPosY < tPosY + 10) {
-                t.find();
-                return;
-            }
-        }
-    }
-
-    this->arucoTags.push_back(tag);
-}
-
-std::optional<ArucoTag> TCPServer::getBiggestArucoTag(const float borneMinX, const float borneMaxX, const float borneMinY,
-                                                      const float borneMaxY) {
-    bool found = false;
-    ArucoTag biggestTag = ArucoTag();
-    for (const auto & tag : arucoTags) {
-        if (tag.getNbFind() > biggestTag.getNbFind() && tag.pos()[0] > borneMinX && tag.pos()[0] < borneMaxX && tag.pos()[1] > borneMinY && tag.pos()[1] < borneMaxY) {
-            biggestTag = tag;
-            found = true;
-        }
-    }
-
-    return found ? std::optional(biggestTag) : std::nullopt;
-}
-
-
-std::optional<ArucoTag> TCPServer::getMostCenteredArucoTag(const float borneMinX, const float borneMaxX, const float borneMinY, const float borneMaxY) {
-    bool found = false;
-    ArucoTag mostCenteredTag = ArucoTag();
-    for (const auto & tag : arucoTags) {
-        if (tag.getNbFind() < 2) continue;
-
-        auto [tagX, tagY] = tag.pos();
-
-        if (!found) {
-            if (tagX > borneMinX && tagX < borneMaxX && tagY > borneMinY && tagY < borneMaxY) {
-                mostCenteredTag = tag;
-                found = true;
-            }
-        } else if (distanceToTag(tag) < distanceToTag(mostCenteredTag)) {
-            if (tagX > borneMinX && tagX < borneMaxX && tagY > borneMinY && tagY < borneMaxY) {
-                mostCenteredTag = tag;
-            }
-        }
-    }
-
-    return found ? std::optional(mostCenteredTag) : std::nullopt;
-}
-
-std::vector<PinceState> TCPServer::getNotFallenFlowers() const {
-    std::vector<PinceState> res = {FLOWER, FLOWER, FLOWER};
-    for (auto & tag : arucoTags) {
-        if (TCPUtils::endWith(tag.name(), "flower") && tag.getNbFind() >= 1) {
-            auto angle = tag.rot()[0];
-            auto xPos = tag.pos()[0];
-            auto yPos = tag.pos()[1];
-
-            if (xPos > 700) continue;
-
-            if (yPos > 70 && yPos < 200) {
-                if (angle > 2.7f && angle < -2.f) {
-                    res[2] = NONE;
-                }
-                else {
-                    res[2] = (TCPUtils::contains(tag.name(), "White") ? WHITE_FLOWER : PURPLE_FLOWER);
-                }
-            }
-            else if (yPos < -70 && yPos > -200) {
-                if (angle > 2.7f && angle < -2.f) {
-                    res[0] = NONE;
-                }
-                else {
-                    res[0] = (TCPUtils::contains(tag.name(), "White") ? WHITE_FLOWER : PURPLE_FLOWER);
-                }
-            }
-            else {
-                if (angle > 2.7f && angle < -2.f) {
-                    res[1] = NONE;
-                }
-                else {
-                    res[1] = (TCPUtils::contains(tag.name(), "White") ? WHITE_FLOWER : PURPLE_FLOWER);
-                }
-            }
-        }
-    }
-    return res;
-}
-
-void TCPServer::handleEmergency(int distance, double angle) {
-    /*this->handleEmergencyFlag = true;
-
-    this->broadcastMessage("strat;arduino;clear;2\n");
-
-    // TODO handle here the emergency like wait for 2 second and then if emergency is again on, that means the robot of the other team do not move, if that go back otherwise continue
-    usleep(2'000'000);
-    // ReSharper disable once CppDFAConstantConditions
-    while (this->stopEmergency) {
-        // TODO here go back by twenty centimeter
-        // ReSharper disable once CppDFAUnreachableCode
-        this->broadcastMessage("strat;arduino;clear;3\n");
-
-        this->stopEmergency = false;
-
-        std::this_thread::sleep_for(std::chrono::seconds(1));*/
-
-        /*double newAngle = this->robotPose.theta + angle;
-        double newX = this->robotPose.pos.x + 200 * std::cos(newAngle);
-        double newY = this->robotPose.pos.y + 200 * std::sin(newAngle);
-        usleep(200'000);
-        this->go(newX, newY);
-        if (awaitRobotIdle() < 0) return;*/
-    /*}
-    this->broadcastMessage("strat;arduino;clear;4\n");
-
-    try {
-        this->gameThread.~thread();
-    } catch (const std::exception& ex) {
-        std::cout << ex.what() << std::endl;
-    }
-
-    this->gameStarted = false;
-
-    this->gameThread = std::thread([this]() { this->startGame(); });
-
-    this->gameThread.detach();
-
-    this->handleEmergencyFlag = false;*/
-}
-
-void TCPServer::startTestAruco(const int pince) {
-    this->arucoTags.clear();
-    std::optional<ArucoTag> tag = std::nullopt;
-
-    for (int i = 0; i < 5; i++) {
-        this->broadcastMessage("strat;aruco;get aruco;1\n");
-        usleep(220'000);
-    }
-    tag = getMostCenteredArucoTag(100, 800, -400, 400);
-
-    int timeout = 0;
-    while (!tag.has_value()) {
-        this->broadcastMessage("strat;aruco;get aruco;1\n");
-        usleep(220'000);
-        tag = getMostCenteredArucoTag(100, 800, -400, 400);
-
-        timeout++;
-        if (timeout > 5) {
-            break;
-        }
-    }
-
-    if (tag.has_value()) {
-        goToAruco(tag.value(), pince);
+        // if (axisLeft.x > 20 && axisLeft.x)
+        // this->broadcastMessage("strat;arduino;gc axis;" + std::to_string(axisLeft.x) + "," + std::to_string(axisLeft.y) + "\n");
+        usleep(10'000);
     }
 }
-
-void TCPServer::goEnd() {
-    this->setSpeed(200);
-    std::vector<std::array<int, 2>> checkponts;
-    if (this->robotPose.pos.y > 1000) {
-        if (team == BLUE) {
-            checkponts.emplace_back(std::array{500, 1700});
-        } else if (team == YELLOW) {
-            checkponts.emplace_back(std::array{2500, 1700});
-        }
-    }
-
-    for (const auto& checkpoint : checkponts) {
-        this->go(checkpoint);
-        if (awaitRobotIdle() < 0) return;
-    }
-
-    this->go(this->endRobotPose.pos.x, this->endRobotPose.pos.y);
-    if (awaitRobotIdle() < 0) return;
-    this->setSpeed(180);
-    this->rotate(this->endRobotPose.theta);
-    if (awaitRobotIdle() < 0) return;
-
-    this->baisserBras();
-
-    for (int i = 0 ; i < 3; i++) {
-        this->openPince(i);
-        usleep(50'000);
-    }
-    this->sendPoint(10);
-
-    this->broadcastMessage("strat;all;end;1");
-}
-
-void TCPServer::findAndGoFlower(const StratPattern sp) {
-    this->setSpeed(200);
-    if (team == BLUE) {
-        if (sp == TAKE_FLOWER_TOP) {
-            this->go(500, 700);
-            if (awaitRobotIdle() < 0) return;
-
-            this->rotate(0);
-            if (awaitRobotIdle() < 0) return;
-        }
-        else if (sp == TAKE_FLOWER_BOTTOM) {
-            this->go(500, 1300);
-            if (awaitRobotIdle() < 0) return;
-
-            this->rotate(0);
-            if (awaitRobotIdle() < 0) return;
-        } else {
-            return;
-        }
-    } else if (team == YELLOW) {
-        if (sp == TAKE_FLOWER_TOP) {
-            this->go(1500,  700);
-            if (awaitRobotIdle() < 0) return;
-
-            this->rotate(-PI);
-            if (awaitRobotIdle() < 0) return;
-        }
-        else if (sp == TAKE_FLOWER_BOTTOM) {
-            this->go(1500, 1300);
-            if (awaitRobotIdle() < 0) return;
-
-            this->rotate(-PI);
-            if (awaitRobotIdle() < 0) return;
-        } else {
-            return;
-        }
-    } else {
-        return;
-    }
-
-    this->arucoTags.clear();
-    std::optional<ArucoTag> tag = std::nullopt;
-
-    for (int i = 0; i < 5; i++) {
-        this->broadcastMessage("strat;aruco;get aruco;1\n");
-        usleep(110'000);
-    }
-    tag = getMostCenteredArucoTag(300, 700, -200, 200);
-
-    int timeout = 0;
-    while (!tag.has_value()) {
-        this->broadcastMessage("strat;aruco;get aruco;1\n");
-        usleep(110'000);
-        tag = getMostCenteredArucoTag(300, 700, -200, 200);
-
-        timeout++;
-        if (timeout > 3) {
-            break;
-        }
-    }
-
-    if (tag.has_value()) {
-        /*if (pinceState[1] == NONE) {
-            goToAruco(tag.value(), 1);
-        } else if (pinceState[2] == NONE) {
-            goToAruco(tag.value(), 2);
-        } else if (pinceState[0] == NONE) {
-            goToAruco(tag.value(), 0);
-        }*/
-        if (pinceState[0] == NONE) {
-            goToAruco(tag.value(), 0);
-        } else if (pinceState[2] == NONE) {
-            goToAruco(tag.value(), 2);
-        } else if (pinceState[1] == NONE) {
-            goToAruco(tag.value(), 1);
-        }
-    }
-}
-
-void TCPServer::dropPurpleFlowers() {
-    std::vector<int> pinceHavePurpleFlower;
-
-    pinceHavePurpleFlower.reserve(3);
-
-    for (int i = 0; i < 3; i++) {
-        switch (pinceState[i]) {
-            case PURPLE_FLOWER:
-                pinceHavePurpleFlower.push_back(i);
-                break;
-            default:
-                break;
-        }
-    }
-
-    std::array<int, 2> purpleDropPosition{};
-    if (team == BLUE) {
-        purpleDropPosition = {200, 400};
-    } else if (team == YELLOW) {
-        purpleDropPosition = {1800, 400};
-    }
-
-    this->setSpeed(200);
-
-    if (!pinceHavePurpleFlower.empty()) {
-        this->go(purpleDropPosition);
-        if (awaitRobotIdle() < 0) return;
-
-        this->setSpeed(150);
-
-        this->rotate(PI / 2);
-        if (awaitRobotIdle() < 0) return;
-
-        this->baisserBras();
-
-        for (const auto & toDrop : pinceHavePurpleFlower) {
-            this->openPince(toDrop);
-            usleep(200'000);
-
-            this->go(this->robotPose.pos.x, this->robotPose.pos.y - 150);
-            if (awaitRobotIdle() < 0) return;
-
-            this->go(this->robotPose.pos.x, this->robotPose.pos.y + 150);
-            if (awaitRobotIdle() < 0) return;
-
-            pinceState[toDrop] = NONE;
-            this->closePince(toDrop);
-            usleep(200'000);
-
-            this->sendPoint(3);
-        }
-    }
-
-    this->transportBras();
-
-    this->setSpeed(200);
-}
-
-void TCPServer::dropWhiteFlowers(const StratPattern sp) {
-    std::vector<int> pinceHaveWhiteFlower;
-
-    pinceHaveWhiteFlower.reserve(3);
-
-    for (int i = 0; i < 3; i++) {
-        switch (pinceState[i]) {
-            case WHITE_FLOWER:
-                pinceHaveWhiteFlower.push_back(i);
-            break;
-            default:
-                break;
-        }
-    }
-
-    if (pinceHaveWhiteFlower.empty()) {
-        return;
-    }
-
-    this->setSpeed(200);
-
-    std::array<int, 2> whiteDropSetup{};
-    std::array<int, 2> whiteDropPosition{};
-    double angle = PI / 2;
-    if (team == BLUE) {
-        if (sp == DROP_WHITE_FLOWER_J1) {
-            whiteDropSetup = std::array{762, 300};
-            whiteDropPosition = std::array{762, 0};
-            angle = PI / 2;
-        } else if (sp == DROP_WHITE_FLOWER_J2) {
-            whiteDropSetup = std::array{300, 612};
-            whiteDropPosition = std::array{0, 612};
-            angle = -PI;
-        }
-    } else if (team == YELLOW) {
-        if (sp == DROP_WHITE_FLOWER_J1) {
-            whiteDropSetup = std::array{2237, 300};
-            whiteDropPosition = std::array{2237, 0};
-            angle = PI / 2;
-        } else if (sp == DROP_WHITE_FLOWER_J2) {
-            whiteDropSetup = std::array{1700, 612};
-            whiteDropPosition = std::array{0, 612};
-            angle = 0;
-
-        }
-    }
-
-    this->setSpeed(200);
-
-    this->go(whiteDropSetup);
-    if (awaitRobotIdle() < 0) return;
-
-
-    this->rotate(angle);
-    if (awaitRobotIdle() < 0) return;
-
-    this->leverBras();
-    usleep(500'000);
-
-    this->setSpeed(130);
-
-    this->go(whiteDropPosition);
-    usleep(2'000'000);
-
-    for (int i = 0; i < 3; i++) {
-        if (pinceState[i] == WHITE_FLOWER) {
-            this->openPince(i);
-            usleep(1'000'000);
-
-            pinceState[i] = NONE;
-            this->closePince(i);
-            usleep(100'000);
-
-            this->sendPoint(4);
-        }
-    }
-
-    for (int i = 0; i < 3; i++) {
-        this->middlePince(i);
-    }
-    usleep(1'000'000);
-
-    this->setSpeed(200);
-
-    this->go(whiteDropSetup);
-    if (awaitRobotIdle() < 0) return;
-
-    for (int i = 0; i < 3; i++) {
-        this->closePince(i);
-    }
-
-    this->transportBras();
-}
-
-void TCPServer::goAndTurnSolarPanel(const StratPattern sp) {
-    this->setSpeed(170);
-    if (team == BLUE) {
-        switch (sp) {
-            case TURN_SOLAR_PANNEL_1:
-                this->go(250, 1800);
-                if (awaitRobotIdle() < 0) return;
-
-                this->rotate(0);
-                if (awaitRobotIdle() < 0) return;
-
-                this->checkPanneau(7);
-                usleep(300'000);
-                this->uncheckPanneau(7);
-                break;
-            case TURN_SOLAR_PANNEL_2:
-                this->go(460, 1800);
-                if (awaitRobotIdle() < 0) return;
-
-                this->rotate(0);
-                if (awaitRobotIdle() < 0) return;
-
-                this->checkPanneau(7);
-                usleep(300'000);
-                this->uncheckPanneau(7);
-                break;
-            case TURN_SOLAR_PANNEL_3:
-                this->go(690, 1800);
-                if (awaitRobotIdle() < 0) return;
-
-                this->rotate(0);
-                if (awaitRobotIdle() < 0) return;
-
-                this->checkPanneau(7);
-                usleep(300'000);
-                this->uncheckPanneau(7);
-                break;
-            default:
-                break;
-        }
-    } else if (team == YELLOW) {
-        switch (sp) {
-            case TURN_SOLAR_PANNEL_1:
-                this->go(2750, 1800);
-                if (awaitRobotIdle() < 0) return;
-
-                this->rotate(PI);
-                if (awaitRobotIdle() < 0) return;
-
-                this->checkPanneau(6);
-                usleep(300'000);
-                this->uncheckPanneau(6);
-                break;
-            case TURN_SOLAR_PANNEL_2:
-                this->go(2540, 1800);
-                if (awaitRobotIdle() < 0) return;
-
-                this->rotate(PI);
-                if (awaitRobotIdle() < 0) return;
-
-                this->checkPanneau(6);
-                usleep(300'000);
-                this->uncheckPanneau(6);
-                break;
-            case TURN_SOLAR_PANNEL_3:
-                this->go(2310, 1800);
-                if (awaitRobotIdle() < 0) return;
-
-                this->rotate(PI);
-                if (awaitRobotIdle() < 0) return;
-
-                this->checkPanneau(6);
-                usleep(300'000);
-                this->uncheckPanneau(6);
-                break;
-            default:
-                break;
-        }
-    }
-
-    this->sendPoint(5);
-}
-
-void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
-
-    std::array<int, 2> whiteDropSetup{};
-    std::array<int, 2> whiteDropPosition{};
-    double angle = PI / 2;
-    if (team == BLUE) {
-        if (sp == DROP_FLOWER_J1) {
-            whiteDropSetup = std::array{755, 300};
-            whiteDropPosition = std::array{755, 0};
-            angle = PI / 2;
-        } else if (sp == DROP_FLOWER_J2) {
-            whiteDropSetup = std::array{300, 600};
-            whiteDropPosition = std::array{0, 600};
-            angle = -PI;
-        }
-    } else if (team == YELLOW) {
-        if (sp == DROP_FLOWER_J1) {
-            whiteDropSetup = std::array{2230, 300};
-            whiteDropPosition = std::array{2230, 0};
-            angle = PI / 2;
-        } else if (sp == DROP_FLOWER_J2) {
-            whiteDropSetup = std::array{2700, 600};
-            whiteDropPosition = std::array{3000, 600};
-            angle = 0;
-        }
-    }
-
-    this->setMaxSpeed();
-
-    this->transit(whiteDropSetup, 170);
-    if (awaitRobotIdle() < 0) return;
-
-    this->setMaxSpeed();
-
-    this->rotate(angle);
-    if (awaitRobotIdle() < 0) return;
-
-    this->leverBras();
-
-    this->setSpeed(130);
-
-    this->go(whiteDropPosition);
-    usleep(2'000'000);
-
-    if (pinceState[0] != NONE) {
-        this->fullyOpenPince(0);
-        pinceState[0] = NONE;
-    }
-    if (pinceState[2] != NONE) {
-        this->fullyOpenPince(2);
-        pinceState[2] = NONE;
-    }
-
-    usleep(500'000);
-
-    this->closePince(0);
-    this->closePince(2);
-
-    usleep(100'000);
-
-    if (pinceState[1] != NONE) {
-        this->fullyOpenPince(1);
-        pinceState[1] = NONE;
-    }
-
-    this->sendPoint(3+1);
-    this->sendPoint(3+1);
-
-    usleep(500'000);
-
-    this->openPince(0);
-    this->openPince(1);
-    this->openPince(2);
-
-    this->setMaxSpeed();
-
-    this->go(whiteDropSetup);
-    if (awaitRobotIdle() < 0) return;
-
-    this->transportBras();
-}
-
-void TCPServer::dropBaseFlowers(StratPattern sp) {
-    std::array<int, 2> dropPosition{};
-    double angle;
-    double angleStart;
-    float distance;
-
-    if (team == BLUE) {
-        if (sp == DROP_FLOWER_BASE_1) {
-            dropPosition = {300, 400};
-            angle = PI / 2;
-            angleStart = 3 * PI / 4;
-            distance = 150;
-        }
-        else if (sp == DROP_FLOWER_BASE_2) {
-            dropPosition = {300, 1600};
-            angle = -PI / 2;
-            angleStart = -3 * PI / 4;
-            distance = -150;
-        }
-        else {
-            return;
-        }
-    }
-    else if (team == YELLOW) {
-        if (sp == DROP_FLOWER_BASE_1) {
-            dropPosition = {2700, 400};
-            angle = PI / 2;
-            angleStart = PI / 4;
-            distance = 150;
-        }
-        else if (sp == DROP_FLOWER_BASE_2) {
-            dropPosition = {2700, 1600};
-            angle = -PI / 2;
-            angleStart = -PI / 4;
-            distance = -150;
-        } else {
-            return;
-        }
-    }
-    else {
-        return;
-    }
-
-    this->setMaxSpeed();
-
-    this->rotate(angleStart);
-    if (awaitRobotIdle() < 0) return;
-
-    this->transit(dropPosition, 170);
-    if (awaitRobotIdle() < 0) return;
-
-    this->setMaxSpeed();
-
-    this->go(dropPosition);
-    if (awaitRobotIdle() < 0) return;
-
-    this->rotate(angle);
-    if (awaitRobotIdle() < 0) return;
-
-    this->baisserBras();
-
-    for (int i = 0; i < 3; i++) {
-        this->openPince(i);
-    }
-
-    this->go(this->robotPose.pos.x, this->robotPose.pos.y - distance);
-    if (awaitRobotIdle() < 0) return;
-
-    this->go(this->robotPose.pos.x, this->robotPose.pos.y + distance);
-    if (awaitRobotIdle() < 0) return;
-
-    bool detectedPurple = false;
-
-    for (int i = 0; i < 3; i++) {
-        if (pinceState[i] == PURPLE_FLOWER) {
-            detectedPurple = true;
-            this->sendPoint(3);
-        }
-
-        pinceState[i] = NONE;
-        this->closePince(i);
-    }
-
-    if (!detectedPurple) {
-        this->sendPoint(3);
-    }
-
-    this->transportBras();
-
-    this->setMaxSpeed();
-}
-
-void TCPServer::go3Plants(const StratPattern sp) {
-    std::array<int, 2> plantPosition{};
-    double direction;
-
-    double angle;
-    if (team == BLUE) {
-        angle = 0;
-        direction = 1;
-        if (sp == TAKE_3_PLANT_TOP_1) {
-            plantPosition = {900, 700};
-        }
-        else if (sp == TAKE_3_PLANT_TOP_2) {
-            plantPosition = {1100, 700};
-        }
-        else if (sp == TAKE_3_PLANT_BOTTOM_1) {
-            plantPosition = {900, 1300};
-        }
-        else if (sp == TAKE_3_PLANT_BOTTOM_2) {
-            plantPosition = {1100, 1300};
-        }
-        else {
-            return;
-        }
-    }
-    else if (team == YELLOW) {
-        angle = -PI;
-        direction = -1;
-
-        if (sp == TAKE_3_PLANT_TOP_1) {
-            plantPosition = {2100, 700};
-        }
-        else if (sp == TAKE_3_PLANT_TOP_2) {
-            plantPosition = {1900, 700};
-        }
-        else if (sp == TAKE_3_PLANT_BOTTOM_1) {
-            plantPosition = {2100, 1300};
-        }
-        else if (sp == TAKE_3_PLANT_BOTTOM_2) {
-            plantPosition = {1900, 1300};
-        }
-        else {
-            return;
-        }
-    }
-    else {
-        return;
-    }
-
-    this->setMaxSpeed();
-
-    this->transit(plantPosition[0]-(600*direction), plantPosition[1], 150);
-    // this->go(plantPosition[0]-500, plantPosition[1]);
-    if (awaitRobotIdle() < 0) return;
-
-    this->baisserBras();
-
-    this->setSpeed(170);
-
-    this->rotate(angle);
-    if (awaitRobotIdle() < 0) return;
-
-    this->setMaxSpeed();
-
-    this->transit(plantPosition[0]-(400*direction), plantPosition[1], 150);
-    if (awaitRobotIdle() < 0) return;
-
-    this->setSpeed(170);
-
-    this->rotate(angle);
-    if (awaitRobotIdle() < 0) return;
-
-    this->setMaxSpeed();
-
-    // this->arucoTags.clear();
-    // for (int i = 0; i < 5; i++) {
-        // this->broadcastMessage("strat;aruco;get aruco;1\n");
-        // usleep(110'000);
-    // }
-
-    // std::vector<PinceState> pinceCanTakeFLower = getNotFallenFlowers();
-
-    for (int i = 0; i < 3; i++) {
-        this->openPince(i);
-    }
-    usleep(200'000);
-
-    this->transit(plantPosition[0], this->robotPose.pos.y, 130);
-    if (awaitRobotIdle() < 0) return;
-
-    this->setMaxSpeed();
-
-    usleep(500'000);
-
-    for (int i = 0; i < 3; i++) {
-        this->closePince(i);
-        pinceState[i] = FLOWER;
-    }
-    usleep(500'000);
-
-    this->rotate(angle);
-    if (awaitRobotIdle() < 0) return;
-
-    this->setSpeed(160);
-
-    this->go(this->robotPose.pos.x - (200 * direction), this->robotPose.pos.y);
-    if (awaitRobotIdle() < 0) return;
-
-    for (int i = 0; i < 3; i++) {
-        this->openPince(i);
-    }
-    usleep(200'000);
-
-    this->setSpeed(150);
-    this->go(this->robotPose.pos.x + (75 * direction), this->robotPose.pos.y);
-    if (awaitRobotIdle() < 0) return;
-
-    for (int i = 0; i < 3; i++) {
-        this->closePince(i);
-    }
-    usleep(500'000);
-
-    this->transportBras();
-}
-
-void TCPServer::removePot(StratPattern sp) {
-    this->setMaxSpeed();
-    if (team == BLUE) {
-        if (sp == REMOVE_POT_J2) {
-            this->transit(250, 1100, 150);
-            if (awaitRobotIdle() < 0) return;
-            this->setMaxSpeed();
-            this->go(210, 900);
-            if (awaitRobotIdle() < 0) return;
-            this->go(200, 400);
-            if (awaitRobotIdle() < 0) return;
-            this->go(250, 650);
-            if (awaitRobotIdle() < 0) return;
-        }
-    } else if (team == YELLOW) {
-        if (sp == REMOVE_POT_J2) {
-            this->transit(2750, 1100, 150);
-            if (awaitRobotIdle() < 0) return;
-            this->setMaxSpeed();
-            this->go(2780, 900);
-            if (awaitRobotIdle() < 0) return;
-            this->go(2780, 400);
-            if (awaitRobotIdle() < 0) return;
-            this->go(2750, 650);
-            if (awaitRobotIdle() < 0) return;
-        }
-    }
-}
-
-void TCPServer::getLidarPos() {
-
-    this->lidarGetPosTimeout = 0;
-
-    this->broadcastMessage("strat;arduino;clear;1\n");
-
-    usleep(1'000'000);
-
-    this->setPosition(this->robotPose, lidarSocket);
-
-    usleep(100'000);
-
-    awaitForLidar = true;
-
-    this->askLidarPosition();
-
-    int timeout = 0;
-
-    // ReSharper disable once CppDFAConstantConditions
-    // ReSharper disable once CppDFAEndlessLoop
-    while (awaitForLidar) {
-        usleep(50'000);
-        timeout++;
-        if (timeout > 100) {
-            break;
-        }
-    }
-
-    // ReSharper disable once CppDFAUnreachableCode
-    std::cout << lidarCalculatePos.pos.x << " " << lidarCalculatePos.pos.y << " " << lidarCalculatePos.theta << std::endl;
-
-}
-
-void TCPServer::checkpoint(const StratPattern sp) {
-    this->setMaxSpeed();
-    if (team == BLUE) {
-        switch (sp) {
-            case CHECKPOINT_MIDDLE:
-                this->go(500, 1500);
-                if (awaitRobotIdle() < 0) return;
-                break;
-            case CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER:
-                this->go(800, 1800);
-                if (awaitRobotIdle() < 0) return;
-                this->go(500, 1700);
-                usleep(500'000);
-                break;
-            default:
-                break;
-        }
-    } else if (team == YELLOW) {
-        switch (sp) {
-            case CHECKPOINT_MIDDLE:
-                this->go(2500, 1500);
-                if (awaitRobotIdle() < 0) return;
-                break;
-            case CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER:
-                this->go(2200, 1800);
-                if (awaitRobotIdle() < 0) return;
-                this->go(2500, 1700);
-                usleep(500'000);
-                break;
-            default:
-                break;
-        }
-    }
-}
-
-template<class X, class Y>
-void TCPServer::go(X x, Y y) {
-    lastArduinoCommand = "strat;arduino;go;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "\n";
-    this->broadcastMessage("strat;arduino;go;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "\n");
-}
-
-template<class X>
-void TCPServer::go(std::array<X, 2> data) {
-    lastArduinoCommand = "strat;arduino;go;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "\n";
-    this->broadcastMessage("strat;arduino;go;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "\n");
-}
-
-template<class X>
-void TCPServer::rotate(X angle) {
-    lastArduinoCommand = "strat;arduino;angle;" + std::to_string(static_cast<int>(angle * 100)) + "\n";
-    this->broadcastMessage("strat;arduino;angle;" + std::to_string(static_cast<int>(angle * 100)) + "\n");
-}
-
-void TCPServer::setSpeed(const int speed) {
-    this->broadcastMessage("strat;arduino;speed;" + std::to_string(speed) + "\n");
-    this->speed = speed;
-}
-
-void TCPServer::setMaxSpeed() {
-    this->setSpeed(MAX_SPEED);
-}
-
-void TCPServer::setMinSpeed() {
-    this->setSpeed(MIN_SPEED);
-}
-
-template<class X, class Y>
-void TCPServer::transit(X x, Y y, const int endSpeed) {
-    lastArduinoCommand = "strat;arduino;transit;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "," + std::to_string(endSpeed) + "\n";
-    this->broadcastMessage("strat;arduino;transit;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "," + std::to_string(endSpeed) + "\n");
-}
-
-template<class X>
-void TCPServer::transit(std::array<X, 2> data, const int endSpeed) {
-    lastArduinoCommand = "strat;arduino;transit;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "," + std::to_string(endSpeed) + "\n";
-    this->broadcastMessage("strat;arduino;transit;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "," + std::to_string(endSpeed) + "\n");
-}
-
-template<class X, class Y, class Z>
-void TCPServer::setPosition(X x, Y y, Z theta, const int clientSocket) {
-    if (clientSocket == -1) {
-        this->broadcastMessage("strat;all;set pos;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "," + std::to_string(static_cast<int>(theta * 100)) + "\n");
-    } else {
-        this->sendToClient("strat;all;set pos;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "," + std::to_string(static_cast<int>(theta * 100)) + "\n", clientSocket);
-    }
-}
-
-template<class X>
-void TCPServer::setPosition(std::array<X, 3> data, const int clientSocket) {
-    if (clientSocket == -1) {
-        this->broadcastMessage("strat;all;set pos;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "," + std::to_string(static_cast<int>(data[2] * 100)) + "\n");
-    } else {
-        this->sendToClient("strat;all;set pos;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "," + std::to_string(static_cast<int>(data[2] * 100)) + "\n", clientSocket);
-    }
-}
-
-void TCPServer::setPosition(const Position pos, const int clientSocket) {
-    if (clientSocket == -1) {
-        this->broadcastMessage("strat;all;set pos;" + std::to_string(static_cast<int>(pos.pos.x)) + "," + std::to_string(static_cast<int>(pos.pos.y)) + "," + std::to_string(static_cast<int>(pos.theta * 100)) + "\n");
-    } else {
-        this->sendToClient("strat;lidar;set pos;" + std::to_string(static_cast<int>(pos.pos.x)) + "," + std::to_string(static_cast<int>(pos.pos.y)) + "," + std::to_string(static_cast<int>(pos.theta * 100)) + "\n", clientSocket);
-    }
-}
-
-template<class X, class Y, class Z>
-void TCPServer::setPosition(X x, Y y, Z theta, const std::string &toSend) {
-    this->broadcastMessage("strat;" + toSend + ";set pos;" + std::to_string(static_cast<int>(x)) + "," + std::to_string(static_cast<int>(y)) + "," + std::to_string(static_cast<int>(theta * 100)) + "\n");
-}
-
-template<class X>
-void TCPServer::setPosition(std::array<X, 3> data, const std::string &toSend) {
-    this->broadcastMessage("strat;" + toSend + ";set pos;" + std::to_string(static_cast<int>(data[0])) + "," + std::to_string(static_cast<int>(data[1])) + "," + std::to_string(static_cast<int>(data[2] * 100)) + "\n");
-}
-
-void TCPServer::setPosition(const Position pos, const std::string &toSend) {
-    this->broadcastMessage("strat;" + toSend + ";set pos;" + std::to_string(static_cast<int>(pos.pos.x)) + "," + std::to_string(static_cast<int>(pos.pos.y)) + "," + std::to_string(static_cast<int>(pos.theta * 100)) + "\n");
-}
-
-void TCPServer::baisserBras() {
-    this->broadcastMessage("strat;servo_moteur;baisser bras;1\n");
-}
-
-void TCPServer::transportBras() {
-    this->broadcastMessage("strat;servo_moteur;transport bras;1\n");
-}
-
-void TCPServer::leverBras() {
-    this->broadcastMessage("strat;servo_moteur;lever bras;1\n");
-}
-
-void TCPServer::openPince(int pince) {
-    this->broadcastMessage("strat;servo_moteur;ouvrir pince;" + std::to_string(pince) + "\n");
-}
-
-void TCPServer::fullyOpenPince(int pince) {
-    this->broadcastMessage("strat;servo_moteur;ouvrir total pince;" + std::to_string(pince) + "\n");
-}
-
-void TCPServer::middlePince(int pince) {
-    this->broadcastMessage("strat;servo_moteur;middle pince;" + std::to_string(pince) + "\n");
-}
-
-void TCPServer::closePince(int pince) {
-    this->broadcastMessage("strat;servo_moteur;fermer pince;" + std::to_string(pince) + "\n");
-}
-
-void TCPServer::checkPanneau(int servo_moteur) {
-    this->broadcastMessage("strat;servo_moteur;check panneau;" + std::to_string(servo_moteur) + "\n");
-}
-
-void TCPServer::uncheckPanneau(int servo_moteur) {
-    this->broadcastMessage("strat;servo_moteur;uncheck panneau;" + std::to_string(servo_moteur) + "\n");
-}
-
-void TCPServer::askLidarPosition() {
-    this->broadcastMessage("start;lidar;get pos;1\n");
-}
-
-void TCPServer::sendPoint(int point) {
-    this->broadcastMessage("strat;ihm;add point;" + std::to_string(point) + "\n");
-}
-
-void TCPServer::setTeam(Team team) {
-    this->team = team;
-    this->broadcastMessage("strat;all;set team;" + std::to_string(team) + "\n");
-}
diff --git a/TCPServer.h b/TCPServer.h
index 2495415..e957f70 100644
--- a/TCPServer.h
+++ b/TCPServer.h
@@ -15,9 +15,6 @@
 
 #include "utils.h"
 
-#define MAX_SPEED 200
-#define MIN_SPEED 150
-
 struct ClientTCP
 {
     std::string name;
@@ -29,41 +26,6 @@ struct ClientTCP
     explicit ClientTCP(std::string name, int socket = -1) : name(std::move(name)), socket(socket) {}
 };
 
-enum Team {
-    BLUE,
-    YELLOW,
-    TEST,
-};
-
-enum StratPattern {
-    TURN_SOLAR_PANNEL_1,
-    TURN_SOLAR_PANNEL_2,
-    TURN_SOLAR_PANNEL_3,
-    TAKE_FLOWER_BOTTOM,
-    TAKE_FLOWER_TOP,
-    DROP_PURPLE_FLOWER,
-    DROP_WHITE_FLOWER_J1,
-    DROP_WHITE_FLOWER_J2,
-    GO_END,
-    GET_LIDAR_POS,
-    CHECKPOINT_MIDDLE,
-    CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER,
-    TAKE_3_PLANT_BOTTOM_1,
-    TAKE_3_PLANT_BOTTOM_2,
-    TAKE_3_PLANT_TOP_1,
-    TAKE_3_PLANT_TOP_2,
-    DROP_FLOWER_J1,
-    DROP_FLOWER_J2,
-    REMOVE_POT_J2,
-    DROP_FLOWER_BASE_1,
-    DROP_FLOWER_BASE_2,
-    SLEEP_1S,
-    SLEEP_5S,
-    SLEEP_10S,
-    ROTATE_0,
-    ROTATE_270,
-};
-
 class TCPServer; // Forward declaration
 
 class ClientHandler {
@@ -91,13 +53,10 @@ private:
     std::vector<ClientTCP> clients; // Store connected clients
 
     std::array<PinceState, 3> pinceState = {NONE, NONE, NONE};
-    int isRobotIdle = 0;
 
-    bool gameStarted = false;
+    bool brasBaisser = true;
 
-    std::chrono::time_point<std::chrono::system_clock> gameStart;
-
-    int speed = 0;
+    std::array<bool, 2> panneauCheck{false, false};
 
     struct Position {
         struct {
@@ -108,76 +67,20 @@ private:
     };
 
     Position robotPose{};
-    Position initRobotPose{};
-    Position endRobotPose{};
-    Position lidarCalculatePos{};
-
-    std::vector<ArucoTag> arucoTags;
-
-    Team team;
-
-    std::vector<StratPattern> stratPatterns = {
-        TURN_SOLAR_PANNEL_1,
-        TURN_SOLAR_PANNEL_2,
-        TURN_SOLAR_PANNEL_3,
-        CHECKPOINT_TRANSITION_SOLAR_PANEL_FLOWER,
-
-        /*TAKE_FLOWER_BOTTOM,
-        TAKE_FLOWER_BOTTOM,
-        TAKE_FLOWER_BOTTOM,*/
-
-        /*TAKE_3_PLANT_BOTTOM_1,
-        DROP_FLOWER_BASE_2,*/
-
-        TAKE_3_PLANT_BOTTOM_1,
-        GET_LIDAR_POS,
-        REMOVE_POT_J2,
-        DROP_FLOWER_J2,
-        ROTATE_270,
-
-        /*DROP_PURPLE_FLOWER,
-        DROP_WHITE_FLOWER_J1,*/
-        // GET_LIDAR_POS,
-        /*TAKE_FLOWER_TOP,
-        TAKE_FLOWER_TOP,
-        TAKE_FLOWER_TOP,*/
-
-        TAKE_3_PLANT_TOP_1,
-        GET_LIDAR_POS,
-        DROP_FLOWER_J1,
-
-        /*DROP_PURPLE_FLOWER,
-        DROP_WHITE_FLOWER_J2,*/
-        // GET_LIDAR_POS,
-        /*TAKE_FLOWER_TOP,
-        TAKE_FLOWER_TOP,
-        TAKE_FLOWER_TOP,*/
-        //TAKE_3_PLANT_TOP,
-        /*DROP_WHITE_FLOWER_J2,
-        DROP_PURPLE_FLOWER,*/
-
-        TAKE_3_PLANT_TOP_2,
-        DROP_FLOWER_BASE_1,
-
-        GO_END
-    };
-
-    // This is the index of the current pattern
-    int whereAmI = 0;
 
     bool stopEmergency = false;
-    bool handleEmergencyFlag = false;
 
-    bool awaitForLidar = false;
-
-    std::thread gameThread;
-
-    int lidarSocket = -1;
     int arduinoSocket = -1;
 
-    int lidarGetPosTimeout = 0;
+    struct Axis {
+        int x, y;
+    };
 
-    std::string lastArduinoCommand{};
+    Axis axisLeft{0, 0};
+
+    Axis axisRight{0, 0};
+
+    bool gameWithControllerStarted = false;
 
 public:
     explicit TCPServer(int port);
@@ -204,121 +107,17 @@ public:
 
     [[nodiscard]] size_t nbClients() const;
 
-    void checkIfAllClientsReady();
-
-    void startGame();
-
-    void startGameTest();
-
-    void goToAruco(const ArucoTag &arucoTag, int pince);
-
-    void askArduinoPos();
-
     [[nodiscard]] bool shouldStop() const;
 
-    int awaitRobotIdle();
+    void toggleBras();
 
-    void handleArucoTag(const ArucoTag &tag);
+    void togglePince(int pince);
 
-    std::optional<ArucoTag> getBiggestArucoTag(float borneMinX, float borneMaxX, float borneMinY, float borneMaxY);
+    void togglePanel(int servo_moteur);
 
-    std::optional<ArucoTag> getMostCenteredArucoTag(float borneMinX, float borneMaxX, float borneMinY, float borneMaxY);
+    void percentagePanel(int servo_moteur, int percentage);
 
-    std::vector<PinceState> getNotFallenFlowers() const;
-
-    void handleEmergency(int distance, double angle);
-
-    /*
-     * Start Strategy function
-    */
-    void goAndTurnSolarPanel(StratPattern sp);
-
-    void findAndGoFlower(StratPattern sp);
-
-    void goEnd();
-
-    void dropPurpleFlowers();
-
-    void dropWhiteFlowers(StratPattern sp);
-
-    void getLidarPos();
-
-    void checkpoint(StratPattern sp);
-
-    void dropJardiniereFlowers(StratPattern sp);
-
-    void dropBaseFlowers(StratPattern sp);
-
-    void go3Plants(StratPattern sp);
-
-    void removePot(StratPattern sp);
-    /*
-     *  End Strategy function
-     */
-
-    void startTestAruco(int pince);
-
-    // Call to broadcast
-    void setSpeed(int speed);
-
-    void setMaxSpeed();
-
-    void setMinSpeed();
-
-    template<class X, class Y>
-    void go(X x, Y y);
-
-    template<class X>
-    void go(std::array<X, 2> data);
-
-    template<class X>
-    void rotate(X angle);
-
-    template<class X, class Y>
-    void transit(X x,Y y, int endSpeed);
-
-    template<class X>
-    void transit(std::array<X, 2> data, int endSpeed);
-
-    template<class X, class Y, class Z>
-    void setPosition(X x, Y y, Z theta, int clientSocket = -1);
-
-    template<class X>
-    void setPosition(std::array<X, 3> data, int clientSocket = -1);
-
-    void setPosition(Position pos, int clientSocket = -1);
-
-    template<class X, class Y, class Z>
-    void setPosition(X x, Y y, Z theta, const std::string &toSend);
-
-    template<class X>
-    void setPosition(std::array<X, 3> data, const std::string &toSend);
-
-    void setPosition(Position pos, const std::string &toSend);
-
-    void openPince(int pince);
-
-    void fullyOpenPince(int pince);
-
-    void middlePince(int pince);
-
-    void closePince(int pince);
-
-    void baisserBras();
-
-    void leverBras();
-
-    void transportBras();
-
-    void checkPanneau(int servo_moteur);
-
-    void uncheckPanneau(int servo_moteur);
-
-    void askLidarPosition();
-
-    void sendPoint(int point);
-
-    void setTeam(Team team);
+    void sendAxisToArduino();
 
     ~TCPServer();
 };
diff --git a/main.cpp b/main.cpp
index 51460a3..1a66073 100644
--- a/main.cpp
+++ b/main.cpp
@@ -18,17 +18,13 @@ int main(int argc, char* argv[]) {
 
     TCPServer server(port);
 
-    try {
-        server.start();
+    server.start();
 
-        while (!server.shouldStop() && !shouldStop) {
-            usleep(500'000);
-        }
-
-        server.stop();
-    } catch (const std::exception& ex) {
-        std::cerr << "Error: " << ex.what() << std::endl;
-        return 1;
+    while (!server.shouldStop() && !shouldStop) {
+        usleep(500'000);
     }
+
+    server.stop();
+
     return 0;
 }
\ No newline at end of file