diff --git a/MyTCPClient.cpp b/MyTCPClient.cpp
index 9bbae1c..ec649fa 100644
--- a/MyTCPClient.cpp
+++ b/MyTCPClient.cpp
@@ -77,7 +77,24 @@ void MyTCPClient::pwm_setServoPosition(int servo, int position) {
     pca.set_pwm(servo, 0, on_time);
 }
 
-void MyTCPClient::baisser_bras(bool force) {
+void MyTCPClient::baisser_bras() {
+    int angle;
+    switch(this->poisitionBras){
+	case BRAS_HAUT:
+		angle = 100;
+		break;
+	case BRAS_TRANSPORT:
+		angle = 17;
+		break;
+    }
+    this->positionBras = BRAS_BAS;
+    for (int i = 1; i <= angle;i++){
+        usleep(5'000);
+        this->pwm_setServoPosition(4, i);
+        this->pwm_setServoPosition(5, angle-i);
+    }
+}
+/*void MyTCPClient::baisser_bras(bool force) {
     if (brasBaisse == 0 && !force){
         return;
     }
@@ -88,9 +105,49 @@ void MyTCPClient::baisser_bras(bool force) {
         this->pwm_setServoPosition(5, angle-i);
     }
     brasBaisse = 0;
+}*/
+
+void MyTCPClient::transport_bras(){
+    int angle;
+    switch(this->poisitionBras){
+   	case BRAS_BAS:
+		angle  = 17;
+		for (int i = 1; i <= angle; i++){
+        		usleep(5'000);
+        		this->pwm_setServoPosition(4, angle-i);
+        		this->pwm_setServoPosition(5, i);
+		}
+		break;
+	case BRAS_HAUT:
+		angle = 90;
+		for (int i = 1; i <= angle; i++){
+        		usleep(5'000);
+        		this->pwm_setServoPosition(4, i);
+        		this->pwm_setServoPosition(5, angle-i);
+		}
+		break;
+    }
+    this->positionBras = BRAS_TRANSPORT;
 }
 
-void MyTCPClient::lever_bras(bool force) {
+void MyTCPClient::lever_bras() {
+    int angle;
+    switch(this->poisitionBras){
+	case BRAS_BAS:
+		angle = 107;
+		break;
+	case BRAS_TRANSPORT:
+    		angle = 90
+		break;
+    }	
+    this->positionBras = BRAS_HAUT;
+  for (int i = 1; i <= angle;i++){
+  	usleep(5'000);
+  	this->pwm_setServoPosition(4, angle-i);
+       	this->pwm_setServoPosition(5, i);
+  }
+
+/*void MyTCPClient::lever_bras(bool force) {
     if (!brasBaisse == 2 && !force){
         return;
     }
@@ -101,7 +158,7 @@ void MyTCPClient::lever_bras(bool force) {
         this->pwm_setServoPosition(5, i);
     }
     brasBaisse = 2;
-}
+}*/
 
 void MyTCPClient::fermer_pince(int pince, bool force) {
     if (!pinceOuverte[pince] && !force){
diff --git a/MyTCPClient.h b/MyTCPClient.h
index 45074d4..8ba99f5 100644
--- a/MyTCPClient.h
+++ b/MyTCPClient.h
@@ -9,7 +9,9 @@
 
 #define SERVO_MIN    82 // 0.02*4096
 #define SERVO_MAX    492 // 0.12*4096
-
+#define BRAS_BAS	0
+#define BRAS_HAUT	1
+#define BRAS_TRANSPORT	2
 class MyTCPClient : public TCPClient {
 public:
     explicit MyTCPClient(const char* serverIP = "127.0.0.1", int port = 8080);
@@ -24,6 +26,8 @@ public:
 
     void baisser_bras(bool force = false);
 
+    void transport_bras();
+
     void lever_bras(bool force = false);
 
     void fermer_pince(int pince, bool force = false);
@@ -38,7 +42,7 @@ public:
 
 private:
     PiPCA9685::PCA9685 pca;
-
+    int positionBras;
     bool pinceOuverte[3] = {true, true, true};
     int brasBaisse = 0;
 };