diff --git a/TCPServer.cpp b/TCPServer.cpp
index 857fe01..95b2124 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -486,6 +486,7 @@ void TCPServer::startGame() {
                 break;
             case GET_LIDAR_POS:
                 getLidarPos();
+                usleep(200'000);
                 break;
             case CHECKPOINT_MIDDLE:
                 checkpoint(CHECKPOINT_MIDDLE);
@@ -1424,17 +1425,20 @@ void TCPServer::dropJardiniereFlowers(const StratPattern sp) {
 void TCPServer::dropBaseFlowers(StratPattern sp) {
     std::array<int, 2> dropPosition{};
     double angle;
+    double Positioningangle;
     float distance;
 
     if (team == BLUE) {
         if (sp == DROP_FLOWER_BASE_1) {
             dropPosition = {300, 400};
             angle = PI / 2;
+            Positioningangle = 0;
             distance = 150;
         }
         else if (sp == DROP_FLOWER_BASE_2) {
             dropPosition = {300, 1600};
             angle = -PI / 2;
+            Positioningangle = 0;
             distance = -150;
         }
         else {
@@ -1445,11 +1449,13 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
         if (sp == DROP_FLOWER_BASE_1) {
             dropPosition = {2700, 400};
             angle = PI / 2;
+            Positioningangle = PI;
             distance = 150;
         }
         else if (sp == DROP_FLOWER_BASE_2) {
             dropPosition = {2700, 1600};
             angle = -PI / 2;
+            Positioningangle = PI;
             distance = -150;
         } else {
             return;
@@ -1461,6 +1467,9 @@ void TCPServer::dropBaseFlowers(StratPattern sp) {
 
     this->setMaxSpeed();
 
+    this->rotate(Positioningangle);
+    if (awaitRobotIdle() < 0) return;
+
     this->go(dropPosition);
     if (awaitRobotIdle() < 0) return;