diff --git a/TCPServer.cpp b/TCPServer.cpp
index 9682d25..4540d01 100644
--- a/TCPServer.cpp
+++ b/TCPServer.cpp
@@ -673,12 +673,12 @@ 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 - 50;
+    auto centerPlantX = (20 * std::cos(roll)) + xPrime;
     auto centerPlantY = (-20 * std::sin(roll)) + yPrime + decalage;
 
     double thetaPrime = std::atan2(centerPlantY, centerPlantX);
 
-    this->rotate(this->robotPose.theta + rotate - thetaPrime);
+    this->rotate(this->robotPose.theta /*+ rotate*/ - thetaPrime);
     awaitRobotIdle();
 
     double robotPosForPotX = (centerPlantX * std::cos(theta) + centerPlantY * std::sin(theta)) + robotPosX;