diff --git a/main.c b/main.c
index 56cd949dd4828087496d9be6605ed63b2c726233..4c0ba879e00101858b71a9e23e009d25d52cb275 100644
--- a/main.c
+++ b/main.c
@@ -625,11 +625,43 @@ int main(void)
        if (field<thresholdInfrared/2)
          state=SEEKING;
 
-
      }
      
+    while (state == DEPART){
+        avancer(vitesse);
+        /* temps = robot/(2*vitesse) */
+        mDelay(temps);
+        avancer(0);
+        pivoter(vitesse);
+        /* temps_rotation = faire le test */
+        mDelay(temps_rotation);
+        
+        state=AVANCER;
+    }
+    
+    while (state==AVANCER){
+        avancer(vitesse);
+        centerInfraRed(SENSOR, &field);
+        if(field<thresholdInfrared){
+            state=DUPER;
+            }
+    }
+    
+    while (state==DUPER){
+        int k=1;
+        while(field<thresholdInfrared && k<10){
+            pivoter(vitesse*pow(-1,k));
+            /* calculer le temps pour que k=10 corresponde à un demi-tour */
+            mDelay(k*temps_DUPER);
+            k++;
+            centerInfraRed(SENSOR, &field);
+        }
+        if(k==10) state = PLS;
+        else state=AVANCER;
+        
+    }
     while (state==PLS){
-        int vitesse=500
+        int vitesse=500;
         while (field<thresholdInfrared){
             setSpeed(MOTOR_up_left, 1023);
             setSpeed(MOTOR_up_right, vitesse);
@@ -637,8 +669,10 @@ int main(void)
             setSpeed(MOTOR_down_right, vitesse);
             mdelay(floor(M_PI/vitesse));
             vitesse=vitesse+50;
+            centerInfraRed(SENSOR, &field);
         }
-        state==START
+        state==DEPART;
+    }
 
   while (1) {} ;