diff --git a/stm32/include/KJ2016Tempo.h b/stm32/include/KJ2016Tempo.h
index 26f1cb5f03671e1cb47349b2d772a39c2b14cd97..e99be6a3598ef77f80dab5a09d66a18c618777a2 100644
--- a/stm32/include/KJ2016Tempo.h
+++ b/stm32/include/KJ2016Tempo.h
@@ -32,6 +32,8 @@ class KJ2016Tempo
 
         void move(int distance);
 
+        void waitForArrival(unsigned int duration);
+
         KJ2016Tempo(unsigned int leftServoID, unsigned int rightServoID);
 };
 
diff --git a/stm32/src/KJ2016Tempo.cpp b/stm32/src/KJ2016Tempo.cpp
index d63b3f4bf42e2632db0ffc4382863a742701ef62..ad05f487e57faca0041a52c8eabfaa695bdeeb71 100644
--- a/stm32/src/KJ2016Tempo.cpp
+++ b/stm32/src/KJ2016Tempo.cpp
@@ -4,6 +4,7 @@
 #include "actionneurs/fishingNet.h"
 
 #include "clock.h"
+#include "actionneurs/sensors.h"
 
 KJ2016Tempo::KJ2016Tempo(unsigned int leftServoID, unsigned int rightServoID):
     LEFT_SERVO_ID(leftServoID), RIGHT_SERVO_ID(rightServoID), SERVO_SPEED_FACTOR((KJ2016Tempo::SERVO_MAX_RPM / 1024.f) * 60.f / (2.f*3.1415))
@@ -25,9 +26,9 @@ void KJ2016Tempo::run(bool isYellow)
     KJ2016Tempo KJ(isYellow?SERVO_ONE_ID:SERVO_TWO_ID, isYellow?SERVO_TWO_ID:SERVO_ONE_ID);
 
     /** KJ Strategy **/
-    KJ.move(100);       // Leave the start area
+    KJ.move(750);       // Leave the start area
     KJ.turn90(true);    // First turn (now heading toward the tanks)
-    KJ.move(500);       // Drive into the wall
+    KJ.move(1050);       // Drive into the wall
     KJ.move(-50);       // Back up for the turn
     KJ.turn90(false);   // Second turn (now parallel the tanks)
     KJ.move(200);       // Drive along the wall to the tanks
@@ -35,7 +36,7 @@ void KJ2016Tempo::run(bool isYellow)
     FishingNet::getSingleton()->deploy();       // Deploy the arm
     FishingNet::getSingleton()->lowerNet();     // Deploy the net in the tank
 
-    KJ.move(100);   // Drag the net in the tank
+    KJ.move(300);   // Drag the net in the tank
 
     FishingNet::getSingleton()->raiseNet(); // Raise the net
     FishingNet::getSingleton()->raiseArm(); // Raise the arm a little (to avoid the tank's sides
@@ -72,7 +73,7 @@ void KJ2016Tempo::turn90(bool toLeft)
     ServosNumeriques::moveAtSpeed(0x0400 + angularSpeed, LEFT_SERVO_ID);
     ServosNumeriques::moveAtSpeed(0x0400 + angularSpeed, RIGHT_SERVO_ID);
 
-    Clock::delay(static_cast<unsigned int>( alpha/(float)angularSpeed ));
+    waitForArrival(static_cast<unsigned int>( alpha/(float)angularSpeed ));
 
     enginesStop();
 }
@@ -90,6 +91,23 @@ void KJ2016Tempo::move(int distance)
     ServosNumeriques::moveAtSpeed(0x0400 - angularSpeed, LEFT_SERVO_ID);
     ServosNumeriques::moveAtSpeed(0x0400 + angularSpeed, RIGHT_SERVO_ID);
 
-    Clock::delay(static_cast<unsigned int>( beta * (float)distance / (float)angularSpeed ));
+    waitForArrival(static_cast<unsigned int>( beta * (float)distance / (float)angularSpeed ));
     enginesStop();
 }
+
+void KJ2016Tempo::waitForArrival(unsigned int duration)
+{
+    static const unsigned int sensorCheckDelay = Clock::MS_PER_TICK * 10;
+
+    while(true)
+    {
+        unsigned int t = Clock::delay(sensorCheckDelay);
+
+        if(t >= duration)
+            break;
+
+        duration -= t;
+
+        while(Sensors::getSingleton()->sharpDetect()); // We wait for all sharps to be clear
+    }
+}