diff --git a/MyTCPClient.cpp b/MyTCPClient.cpp
index 3360a65..b75fd8d 100644
--- a/MyTCPClient.cpp
+++ b/MyTCPClient.cpp
@@ -88,15 +88,15 @@ void MyTCPClient::baisser_bras() {
         case BRAS_HAUT:
             for(int i = angleBrasHaut.servo4; i <= angleBrasBas.servo4;i++){
                 this->pwm_setServoPosition(4, i);
-                this->pwm_setServoPosition(5, angleBrasHaut.servo5-i-angleBrasHaut.servo4);
                 usleep(5'000);
+                this->pwm_setServoPosition(5, angleBrasHaut.servo5-i-angleBrasHaut.servo4);
             }
             break;
         case BRAS_TRANSPORT:
             for(int i = angleBrasTransport.servo4; i <= angleBrasBas.servo4;i++){
                 this->pwm_setServoPosition(4, i);
-                this->pwm_setServoPosition(5, angleBrasTransport.servo5-i-angleBrasTransport.servo4);
                 usleep(5'000);
+                this->pwm_setServoPosition(5, angleBrasTransport.servo5-i-angleBrasTransport.servo4);
             }
             break;
         case BRAS_BAS:
@@ -113,15 +113,15 @@ void MyTCPClient::transport_bras(){
     switch(this->positionBras){
         case BRAS_BAS:
             for (int i = angleBrasBas.servo5; i <= angleBrasTransport.servo5; i++){
-                usleep(5'000);
                 this->pwm_setServoPosition(4, angleBrasBas.servo4-i-angleBrasBas.servo5);
+                usleep(5'000);
                 this->pwm_setServoPosition(5, i);
             }
             break;
         case BRAS_HAUT:
             for (int i = angleBrasHaut.servo4; i <= angleBrasTransport.servo4; i++){
-                usleep(5'000);
                 this->pwm_setServoPosition(4, i);
+                usleep(5'000);
                 this->pwm_setServoPosition(5, angleBrasHaut.servo5-i-angleBrasHaut.servo4);
             }
             break;
@@ -140,15 +140,15 @@ void MyTCPClient::lever_bras() {
         case BRAS_BAS:
 		    for (int i = angleBrasBas.servo5;i <= angleBrasHaut.servo5;i++){
                 this->pwm_setServoPosition(4, angleBrasBas.servo4-i-angleBrasBas.servo5);
-                this->pwm_setServoPosition(5, i);
                 usleep(5'000);
+                this->pwm_setServoPosition(5, i);
             }
             break;
         case BRAS_TRANSPORT:
             for (int i = angleBrasTransport.servo5;i <= angleBrasHaut.servo5;i++){
                 this->pwm_setServoPosition(4, angleBrasTransport.servo4-i-angleBrasTransport.servo5);
-                this->pwm_setServoPosition(5, i);
                 usleep(5'000);
+                this->pwm_setServoPosition(5, i);
             }
             break;
         case BRAS_HAUT: