diff --git a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
index 2c4e01e9aa375f6ed36eb696586e921d08856462..4e8f07aed9c6d41b9e223bb8129f4331bc9d8e00 100644
--- a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
+++ b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
@@ -109,6 +109,7 @@ HEADERS += \
     ../../include/actionneurs/fishingNet.h \
     ../../include/actionneurs/parasol.h \
     ../../include/strategie/benne.h \
+    ../../include/strategie/cubeDebut.h \
     ../../include/clock.h
 
 
@@ -189,6 +190,7 @@ SOURCES += \
     ../../src/strategie/cabine.cpp \
     ../../src/strategie/benne.cpp \
     ../../src/strategie/zoneConstruction.cpp \
+    ../../src/strategie/cubeDebut.cpp \
     ../../src/actionneurs/fishingNet.cpp \
     ../../src/actionneurs/parasol.cpp \
     ../../src/clock.cpp
diff --git a/stm32/include/strategie/cubeDebut.h b/stm32/include/strategie/cubeDebut.h
new file mode 100644
index 0000000000000000000000000000000000000000..23f3df27d348b29521f811fe5ccd7d8f9d9a4496
--- /dev/null
+++ b/stm32/include/strategie/cubeDebut.h
@@ -0,0 +1,25 @@
+#ifndef CUBEDEBUT_H
+#define CUBEDEBUT_H
+
+#include "position.h"
+#include "mediumLevelAction.h"
+#include "command.h"
+
+class CubeDebut : public MediumLevelAction
+{
+public:
+    CubeDebut();
+
+    CubeDebut(Position position);
+
+    ~CubeDebut();
+
+    int update();
+
+    Etape::EtapeType getType();
+
+protected:
+    Position position;
+};
+
+#endif // CUBEDEBUT_H
diff --git a/stm32/include/strategie/etape.h b/stm32/include/strategie/etape.h
index 009b4d5f8669aa984d5c4c4107a6dd7861030a60..9871cb510b195efa0056a6b09d6be217098e80ef 100644
--- a/stm32/include/strategie/etape.h
+++ b/stm32/include/strategie/etape.h
@@ -22,6 +22,7 @@ public:
 
         CABINE = 8,
         ZONE_CONSTRUCTION = 9,
+        CUBE_DEBUT = 10,
 
         POINT_PASSAGE = 0,
         COLLECT = 1,
diff --git a/stm32/include/strategie/krabi2016.h b/stm32/include/strategie/krabi2016.h
index 0c7425f1e0408826f1e61158a17508156a004043..665d207a55138422a0be2b1a4f2cf4a153f00914 100644
--- a/stm32/include/strategie/krabi2016.h
+++ b/stm32/include/strategie/krabi2016.h
@@ -18,6 +18,7 @@
 #include "manipulationCoinGaucheHaut.h"
 #include "manipulationCoinGaucheHautPiedSolitaire.h"
 #include "benne.h"
+#include "cubeDebut.h"
 
 class Krabi2016 : public StrategieV3
 {
diff --git a/stm32/src/initkrabi.cpp b/stm32/src/initkrabi.cpp
index bade3a33f1920e7aaa08fd1fa2824c9c9b0a1719..39dfee0b9122365dad9e41a2939ca2233e6a6527 100644
--- a/stm32/src/initkrabi.cpp
+++ b/stm32/src/initkrabi.cpp
@@ -1,12 +1,12 @@
 #include "initkrabi.h"
 
 #ifdef ROBOTHW
-InitKrabi::InitKrabi() : Initialisation(PositionPlusAngle(Position(194, 1000), 0))
+InitKrabi::InitKrabi() : Initialisation(PositionPlusAngle(Position(194, 900), 0))
 {
 }
 #else
 #include <QDebug>
-InitKrabi::InitKrabi(bool yellow, Robot* robot) : Initialisation(PositionPlusAngle(Position(194, 1000), 0), yellow, robot)
+InitKrabi::InitKrabi(bool yellow, Robot* robot) : Initialisation(PositionPlusAngle(Position(194, 900), 0), yellow, robot)
 {
     qDebug() << "InitKrabi " << robot;
 }
diff --git a/stm32/src/strategie/cubeDebut.cpp b/stm32/src/strategie/cubeDebut.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7a3e4b65ca221e9207adebc3947ba311d082c258
--- /dev/null
+++ b/stm32/src/strategie/cubeDebut.cpp
@@ -0,0 +1,67 @@
+#include "cubeDebut.h"
+#include "strategieV2.h"
+#include "mediumLevelAction.h"
+#include "command.h"
+#include "position.h"
+
+#ifndef ROBOTHW
+#include <QDebug>
+#endif
+
+CubeDebut::CubeDebut(){}
+
+CubeDebut::CubeDebut(Position goalPosition):MediumLevelAction(goalPosition)
+{
+    goalPosition = this->goalPosition;
+}
+
+CubeDebut::~CubeDebut(){}
+
+Etape::EtapeType CubeDebut::getType()
+{
+    return Etape::CUBE_DEBUT;
+}
+
+int CubeDebut::update()
+{
+
+    if (status == 0) //Début
+    {
+        StrategieV2::setCurrentGoal(this->getGoalPosition(), false, VITESSE_LINEAIRE_MAX, -100.0, 100.f);
+#ifndef ROBOTHW
+        qDebug() << "Poussage des cubes devant la zone de depart";
+#endif
+     status++;
+    }
+
+    else if (status == 1) {
+        if (Command::isNear(this->getGoalPosition(), 100.0f)) // le second paramètre est la distance a l'objectif
+        {
+            // après avoir poussé les cubes on revient en marche arrière
+            StrategieV2::setCurrentGoal(Position(600, 900), true, VITESSE_LINEAIRE_MAX, -100.0, 10.f);
+#ifndef ROBOTHW
+        qDebug() << "On revient au bercail";
+#endif
+            status++;
+        }
+    }
+
+    else if (status == 2) {
+        if (Command::isNear(Position(600, 900), 10.0f)) // le second paramètre est la distance a l'objectif
+        {
+#ifndef ROBOTHW
+        qDebug() << "On est revenu au bercail";
+#endif
+            status++;
+        }
+    }
+
+    else if (status == 3) {
+#ifndef ROBOTHW
+        qDebug() << "Etape poussage des cubes finie";
+#endif
+        status = -1;
+    }
+
+    return status;
+}
diff --git a/stm32/src/strategie/etape.cpp b/stm32/src/strategie/etape.cpp
index 86a6ed4ce9053d3181afc71ea814f830f3cb0620..d9f2e170fd4f69c067c10442ade4eaa2384bee78 100644
--- a/stm32/src/strategie/etape.cpp
+++ b/stm32/src/strategie/etape.cpp
@@ -375,6 +375,8 @@ QString Etape::getNameType(EtapeType type)
         return "Tapis";
     case DEPOSER_GOBELET:
         return "Déposer Gobelet";
+    case CUBE_DEBUT:
+        return "Pousser les cubes a l'init";
     default:
         return QString::number(type);
     }
@@ -404,6 +406,8 @@ QString Etape::getShortNameType(EtapeType type)
         return "Tapis";
     case DEPOSER_GOBELET:
         return "D.G";
+    case CUBE_DEBUT:
+        return "Cube debut";
     default:
         return "";
     }
diff --git a/stm32/src/strategie/krabi2016.cpp b/stm32/src/strategie/krabi2016.cpp
index b8bdaed9e309da614118363cc276f35ebfc2c67e..9342c680c4f8ab0a08630837f599d62c38c5bb3a 100644
--- a/stm32/src/strategie/krabi2016.cpp
+++ b/stm32/src/strategie/krabi2016.cpp
@@ -19,11 +19,14 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
     // Création des étapes
     // Les étapes correspondant à des actions sont créées automatiquement lors de l'ajout d'actions
 
-    int start = Etape::makeEtape(Position(250, 1000, true), Etape::DEPART); // départ au fond de la zone de départ
+    int start = Etape::makeEtape(Position(250, 900, true), Etape::DEPART); // départ au fond de la zone de départ
 
     /** Points de passage **/
-    int wa = Etape::makeEtape(Position(600,  1000, true));
-    int wb = Etape::makeEtape(Position(880,  1140, true));
+    int wa = Etape::makeEtape(Position(600,  900, true));
+    int wb = Etape::makeEtape(Position(680,  740, true));
+
+    // On crée l'étape "pousse les cubes du début"
+    int c1 = Etape::makeEtape(new CubeDebut(Position(900, 900, true)));
 
 
     /** Actions **/
@@ -33,8 +36,8 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
 
 
     // Pieds
-    int pa = Etape::makeEtape(new RamasserPied(Position(870,    1655, true)));
-    int pb = Etape::makeEtape(new RamasserPied(Position(1100,   1670, true)));
+    int pa = Etape::makeEtape(new RamasserPied(Position(970,  260, true)));
+    int pb = Etape::makeEtape(new RamasserPied(Position(1200, 260, true)));
 
     // Etc.
 
@@ -44,6 +47,7 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
     Etape::get(start)   ->addVoisin(wa);
     Etape::get(wa)      ->addVoisin(wb, zc2);
     Etape::get(wa)      ->addVoisin(zc1);
+    Etape::get(c1)      ->addVoisin(wa);
     Etape::get(wb)      ->addVoisin(zc2);
     Etape::get(pa)      ->addVoisin(wb, zc2);
     Etape::get(pb)      ->addVoisin(pa, zc2);
@@ -81,20 +85,23 @@ int Krabi2016::getScoreEtape(int i)
                 return 1;
             }
             else {
-                return 10000;
+                return 1000;
             }
         }
 
+        case Etape::CUBE_DEBUT :
+            return 10000;
+
         case Etape::RAMASSER_PIED : {
 
             // On fait comme si on avait rammasé un cube, du coup la benne est pleine, en vrai on fera
             // tout ça dans la future classe cube
 
             benne->setBenneFull();
-            return 900;
+            return 100;
         }
 
         default :
-            return 10; /* DEBUG (0 sinon) */
+            return 1; /* DEBUG (0 sinon) */
     }
 }
diff --git a/stm32/src/strategie/zoneConstruction.cpp b/stm32/src/strategie/zoneConstruction.cpp
index a6636a86ead6cad457310106bd0030f3d215d654..573a91ea19497f478691c8b9dea533ccc8ec244b 100644
--- a/stm32/src/strategie/zoneConstruction.cpp
+++ b/stm32/src/strategie/zoneConstruction.cpp
@@ -32,7 +32,7 @@ int ZoneConstruction::update()
 #ifndef ROBOTHW
         qDebug() << "Zone Construction";
 #endif
-        StrategieV2::setCurrentGoal(this->getGoalPosition(), false, VITESSE_LINEAIRE_MAX, -100.0, 200.f);
+        //StrategieV2::setCurrentGoal(this->getGoalPosition(), false, VITESSE_LINEAIRE_MAX, -100.0, 200.f);
 
         status++;
     }