diff --git a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
index 4fef27acfbe3ddd59d161cb4635fbb40db1d2e34..9789a740e3563eea326a33f61de23de444a09635 100644
--- a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
+++ b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
@@ -68,6 +68,7 @@ HEADERS += \
     ../../include/simul/contactlistener.h \
     ../../include/strategie/strategiev3.h \
     ../../include/strategie/etape.h \
+    ../../include/strategie/cabine.h \
     ../../include/strategie/dijkstra.h \
     ../../include/hardware/tourelle.h \
     ../../src/strategie/clap.h \
@@ -180,7 +181,8 @@ SOURCES += \
     ../../src/initkrabi.cpp \
     ../../src/initialisation.cpp \
     ../../src/strategie/krabijunior2016.cpp \
-    ../../src/strategie/krabi2016.cpp
+    ../../src/strategie/krabi2016.cpp \
+    ../../src/strategie/cabine.cpp
 
 FORMS += \
     ../../include/simul/remotedebug.ui \
diff --git a/stm32/include/strategie/cabine.h b/stm32/include/strategie/cabine.h
new file mode 100644
index 0000000000000000000000000000000000000000..3540bd45ee18666f62065b370d4c4c763edd29b3
--- /dev/null
+++ b/stm32/include/strategie/cabine.h
@@ -0,0 +1,25 @@
+#ifndef CABINE_H
+#define CABINE_H
+
+#include "position.h"
+#include "mediumLevelAction.h"
+#include "command.h"
+
+class Cabine : public MediumLevelAction
+{
+public:
+    Cabine();
+
+    Cabine(Position position);
+
+    ~Cabine();
+
+    int update();
+
+    Etape::EtapeType getType();
+
+protected:
+    Position position;
+};
+
+#endif // CABINE_H
diff --git a/stm32/include/strategie/etape.h b/stm32/include/strategie/etape.h
index 55c59b70f1aee526dba27b98e8b5d7a1ae8a17b8..e70655231e7dadefc782f43c3b1031cb826c74c3 100644
--- a/stm32/include/strategie/etape.h
+++ b/stm32/include/strategie/etape.h
@@ -18,6 +18,8 @@ public:
     {
         ROBOT_VU_ICI = 100,
 
+        CABINE = 8,
+
         POINT_PASSAGE = 0,
         COLLECT = 1,
         FRUIT = 2,
diff --git a/stm32/include/strategie/krabi2016.h b/stm32/include/strategie/krabi2016.h
index 176afffc8010ba65443bd12e16e86e29cc25e5aa..c30a0053ee4472738e1177e05db3b3c6dcc1380b 100644
--- a/stm32/include/strategie/krabi2016.h
+++ b/stm32/include/strategie/krabi2016.h
@@ -5,13 +5,12 @@
 
 #define NOMBRE_ETAPES 50
 
-
-
 #include "strategiev3.h"
 #include "etape.h"
 #include "clap.h"
 #include "gobelet.h"
 #include "tapis.h"
+#include "cabine.h"
 #include "ramasserPied.h"
 #include "deposerGobelet.h"
 #include "manipulationCoinGaucheBas.h"
@@ -28,7 +27,7 @@ public:
     /** @brief Actions de Krabi */
     Clap actionClap[3];
     Gobelet actionGobelet[5];
-    Tapis actionTapis[2];
+    Cabine actionCabine[2];
     DeposerGobelet actionDeposerGobelet[3];
     RamasserPied actionRamasserPied[8];
 
diff --git a/stm32/src/strategie/cabine.cpp b/stm32/src/strategie/cabine.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ec3ee188e0d89bf44af30fd39486d944eb3461c7
--- /dev/null
+++ b/stm32/src/strategie/cabine.cpp
@@ -0,0 +1,36 @@
+#include "cabine.h"
+#include "strategieV2.h"
+#include "mediumLevelAction.h"
+#include "command.h"
+#include "position.h"
+
+#ifndef ROBOTHW
+#include <QDebug>
+#endif
+
+Cabine::Cabine(){}
+
+Cabine::Cabine(Position position):MediumLevelAction(position)
+{
+
+}
+
+Cabine::~Cabine(){}
+
+Etape::EtapeType Cabine::getType()
+{
+    return Etape::CABINE;
+}
+
+int Cabine::update()
+{
+
+    if (status == 0) //Début
+    {
+#ifndef ROBOTHW
+        qDebug() << "Ouverture cabine";
+#endif
+    }
+
+    return status;
+}
diff --git a/stm32/src/strategie/etape.cpp b/stm32/src/strategie/etape.cpp
index bff3422fa2dd7961d8816a20b85bad251c11ebf3..c97e7b2e951f02b49b1c0cfcfc1b89720117258b 100644
--- a/stm32/src/strategie/etape.cpp
+++ b/stm32/src/strategie/etape.cpp
@@ -382,6 +382,8 @@ QString Etape::getNameType(EtapeType type)
 {
     switch(type)
     {
+    case CABINE:
+        return "Cabine";
     case POINT_PASSAGE:
         return "Passage";
     case DEPART:
@@ -407,6 +409,8 @@ QString Etape::getShortNameType(EtapeType type)
 {
     switch(type)
     {
+    case CABINE:
+        return "Cabine";
     case POINT_PASSAGE:
         return "";
     case DEPART:
diff --git a/stm32/src/strategie/krabi2016.cpp b/stm32/src/strategie/krabi2016.cpp
index bd424beb21c95ebd3df942833417405812aa1a0b..82eeb03781eaae6ad51ef4fd6731cac8d70507e0 100644
--- a/stm32/src/strategie/krabi2016.cpp
+++ b/stm32/src/strategie/krabi2016.cpp
@@ -69,8 +69,8 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
     new Etape(13, new DeposerGobelet(Position(183, 496, true)) );
 
 
-    // Tapis
-    new Etape(17, new Tapis(Position(480, 780, true)) );
+    // Cabine
+    new Etape(17, new Cabine(Position(480, 780, true)) );
     new Etape(36, new Tapis(Position(1420, 180, true)) );
 
     // Ramasser Pied
@@ -100,7 +100,7 @@ Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
 
     // Voisins
     Etape::get(0)->addVoisin(1);
-
+    Etape::get(17)->addVoisins(1);
     Etape::get(18)->addVoisins(5, 1);
     Etape::get(18)->addVoisins(35, 27);
     Etape::get(20)->addVoisins(5, 35 , 28);
@@ -130,6 +130,9 @@ int Krabi2016::getScoreEtape(int i){
             return 1000;//STRATEGIE
 //            return 0;
 
+        case Etape::CABINE :
+            return 0;//STRATEGIE
+
         case Etape::AMPOULE :
             return 0;