diff --git a/TCPServer.cpp b/TCPServer.cpp
index 4c17a28..9f3491d 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -502,7 +502,7 @@ void TCPServer::goToAruco(const ArucoTag &arucoTag, const int pince) {
 
     this->broadcastMessage(toSend);
 
-    double xPrime = arucoTag.pos().first[0] + 40/* - 5*/;
+    double xPrime = arucoTag.pos().first[0] + 30/* - 5*/ + (decalage * 0.2);
     double yPrime = arucoTag.pos().first[1] - decalage;
 
     double thetaPrime = std::atan2(yPrime, xPrime);