diff --git a/TCPServer.cpp b/TCPServer.cpp
index 8b6dea0..076e781 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -596,7 +596,6 @@ void TCPServer::startGameBlueTeam() {
         this->broadcastMessage("strat;arduino;speed;130\n");
         this->broadcastMessage("strat;arduino;go;762,0\n");
         usleep(3'000'000);
-        this->broadcastMessage("strat;arduino;speed;200\n");
 
         for (int i = 0; i < 3; i++) {
             if (pinceState[i] == WHITE_FLOWER) {
@@ -609,6 +608,12 @@ void TCPServer::startGameBlueTeam() {
                 usleep(100'000);
             }
         }
+
+        this->broadcastMessage("strat;arduino;speed;200\n");
+
+        toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y + 350)) + "\n";
+        this->broadcastMessage(toSend);
+        awaitRobotIdle();
     }
 
     /*
@@ -626,45 +631,8 @@ void TCPServer::startGameBlueTeam() {
     this->broadcastMessage("strat;arduino;angle;-157\n");
     awaitRobotIdle();
 
-    timeout = 0;
-    found = false;
-    while (!found) {
-        for (const auto & arucoTag : this->arucoTags) {
-            if (TCPUtils::endWith(arucoTag.name(), "flower")) {
-                if (arucoTag.pos().first[0] < 800 && arucoTag.pos().first[0] > 300 && arucoTag.pos().first[1] < 300 && arucoTag.pos().first[1] > -300) {
-                    tag = arucoTag;
-                    found = true;
-                    break;
-                }
-            }
-        }
-
-        if (!found) {
-            this->broadcastMessage("start;aruco;get aruco;1\n");
-            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;
-    }
-
-    toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y - 350)) + "\n";
-    this->broadcastMessage(toSend);
-    awaitRobotIdle();
-
-    this->broadcastMessage("strat;arduino;angle;157\n");
-    awaitRobotIdle();
+    arucoTags.clear();
+    this->broadcastMessage("strat;aruco;get aruco;1\n");
 
     timeout = 0;
     found = false;
@@ -706,6 +674,52 @@ void TCPServer::startGameBlueTeam() {
     this->broadcastMessage("strat;arduino;angle;157\n");
     awaitRobotIdle();
 
+    arucoTags.clear();
+    this->broadcastMessage("strat;aruco;get aruco;1\n");
+
+    timeout = 0;
+    found = false;
+    while (!found) {
+        for (const auto & arucoTag : this->arucoTags) {
+            if (TCPUtils::endWith(arucoTag.name(), "flower")) {
+                if (arucoTag.pos().first[0] < 800 && arucoTag.pos().first[0] > 300 && arucoTag.pos().first[1] < 300 && arucoTag.pos().first[1] > -300) {
+                    tag = arucoTag;
+                    found = true;
+                    break;
+                }
+            }
+        }
+
+        if (!found) {
+            this->broadcastMessage("start;aruco;get aruco;1\n");
+            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;
+    }
+
+    toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y - 350)) + "\n";
+    this->broadcastMessage(toSend);
+    awaitRobotIdle();
+
+    this->broadcastMessage("strat;arduino;angle;157\n");
+    awaitRobotIdle();
+
+    arucoTags.clear();
+    this->broadcastMessage("strat;aruco;get aruco;1\n");
+
     timeout = 0;
     found = false;
     while (!found) {
@@ -746,7 +760,7 @@ void TCPServer::startGameBlueTeam() {
     this->broadcastMessage("strat;arduino;angle;314\n");
     awaitRobotIdle();
 
-    std::vector<int> pinceHavePurpleFlower;
+    pinceHavePurpleFlower.clear();
     for (int i = 0; i < 3; i++) {
         if (pinceState[i] == PURPLE_FLOWER) {
             pinceHavePurpleFlower.push_back(i);
@@ -800,6 +814,12 @@ void TCPServer::startGameBlueTeam() {
                 this->broadcastMessage(toSend);
                 usleep(100'000);
             }
+
+            this->broadcastMessage("strat;arduino;speed;200\n");
+
+            toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y + 350)) + "\n";
+            this->broadcastMessage(toSend);
+            awaitRobotIdle();
         }
     }*/
 
@@ -932,7 +952,7 @@ void TCPServer::startGameBlueTeam() {
     this->broadcastMessage("strat;arduino;angle;314\n");
     awaitRobotIdle();
 
-    std::vector<int> pinceHavePurpleFlower;
+    pinceHavePurpleFlower.clear();
     for (int i = 0; i < 3; i++) {
         if (pinceState[i] == PURPLE_FLOWER) {
             pinceHavePurpleFlower.push_back(i);
@@ -986,6 +1006,12 @@ void TCPServer::startGameBlueTeam() {
                 this->broadcastMessage(toSend);
                 usleep(100'000);
             }
+
+            this->broadcastMessage("strat;arduino;speed;200\n");
+
+            toSend = "strat;arduino;go;" + std::to_string(static_cast<int>(this->robotPose.pos.x)) + "," + std::to_string(static_cast<int>(this->robotPose.pos.y + 350)) + "\n";
+            this->broadcastMessage(toSend);
+            awaitRobotIdle();
         }
     }*/