diff --git a/TCPServer.cpp b/TCPServer.cpp
index 62cdafb..c33cdcf 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -670,7 +670,9 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
     double yPrime = arucoTag.pos()[1];
     double roll = arucoTag.rot()[1];
 
-    auto centerPlantX = (20 * std::cos(roll)) + xPrime;
+    double test = (xPrime - 500) * 0.1;
+
+    auto centerPlantX = (20 * std::cos(roll)) + xPrime + test;
     auto centerPlantY = (-20 * std::sin(roll)) + yPrime + decalage;
 
     double thetaPrime = std::atan2(centerPlantY, centerPlantX);