diff --git a/Core/Inc/modelec.h b/Core/Inc/modelec.h
index 9097995..df0cade 100644
--- a/Core/Inc/modelec.h
+++ b/Core/Inc/modelec.h
@@ -63,7 +63,7 @@ public:
 
 	float preciseAngleFinal = 0.017f;
 	float preciseAngle = 0.39f;
-	float precisePosFinal = 0.0005f;
+	float precisePosFinal = 0.001f;
 	float precisePos2 = 0.02f;
 	float precisePos = 0.1f;
 
diff --git a/Core/Inc/point.h b/Core/Inc/point.h
index 54ed4b4..298fa88 100644
--- a/Core/Inc/point.h
+++ b/Core/Inc/point.h
@@ -25,8 +25,9 @@ public:
     float y;
     float theta;
     bool active;
+    bool isAtPosition;
 
-    Point(uint8_t id = 0, StatePoint state = StatePoint::INTERMEDIAIRE, float x = 0.0, float y = 0.0, float theta = 0.0, bool active = false);
+    Point(uint8_t id = 0, StatePoint state = StatePoint::INTERMEDIAIRE, float x = 0.0, float y = 0.0, float theta = 0.0, bool active = false, bool isAtPosition = false);
 };
 
 #endif /* INC_POINT_H_ */
diff --git a/Core/Src/modelec.cpp b/Core/Src/modelec.cpp
index a39a9e3..ca7ce50 100644
--- a/Core/Src/modelec.cpp
+++ b/Core/Src/modelec.cpp
@@ -141,8 +141,10 @@ void DiffBot::update(float dt_actual)
 
     bool isAtPoint = (dist < (targets[index].state == FINAL ? precisePosFinal : precisePos));
 
-    if (isAtPoint) {
+    if (isAtPoint || targets[index].isAtPosition) {
         if (targets[index].state == FINAL) {
+            targets[index].isAtPosition = true;
+
             float finalAngleErr = normalizeAngle(targets[index].theta - pos.theta);
 
             if (std::fabs(finalAngleErr) <= preciseAngleFinal) {
diff --git a/Core/Src/point.cpp b/Core/Src/point.cpp
index 0018307..3119c39 100644
--- a/Core/Src/point.cpp
+++ b/Core/Src/point.cpp
@@ -2,5 +2,5 @@
 
 #include "point.h"
 
-Point::Point(uint8_t id, StatePoint state, float x, float y, float theta, bool active) : id(id), state(state), x(x), y(y), theta(theta), active(active) {
+Point::Point(uint8_t id, StatePoint state, float x, float y, float theta, bool active, bool isAtPosition) : id(id), state(state), x(x), y(y), theta(theta), active(active), isAtPosition(isAtPosition) {
 }