diff --git a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
index 4e8f07aed9c6d41b9e223bb8129f4331bc9d8e00..830c14544c60d110c5154414ae68fef05309e7b4 100644
--- a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
+++ b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
@@ -108,7 +108,7 @@ HEADERS += \
     ../../include/strategie/benne.h \
     ../../include/actionneurs/fishingNet.h \
     ../../include/actionneurs/parasol.h \
-    ../../include/strategie/benne.h \
+    ../../include/actionneurs/benne.h \
     ../../include/strategie/cubeDebut.h \
     ../../include/clock.h
 
@@ -188,7 +188,7 @@ SOURCES += \
     ../../src/strategie/krabijunior2016.cpp \
     ../../src/strategie/krabi2016.cpp \
     ../../src/strategie/cabine.cpp \
-    ../../src/strategie/benne.cpp \
+    ../../src/actionneurs/benne.cpp \
     ../../src/strategie/zoneConstruction.cpp \
     ../../src/strategie/cubeDebut.cpp \
     ../../src/actionneurs/fishingNet.cpp \
diff --git a/stm32/include/actionneurs/benne.h b/stm32/include/actionneurs/benne.h
new file mode 100644
index 0000000000000000000000000000000000000000..b12c6e8c4a92d790b504dff71588bcd6aed0c023
--- /dev/null
+++ b/stm32/include/actionneurs/benne.h
@@ -0,0 +1,64 @@
+#ifndef BENNE_H
+#define BENNE_H
+
+class MicroSwitch;
+
+class Benne
+{
+    /**
+      * The ID of the AX12 used to drive the belts
+    */
+    static const int SERVO_ID = 0; // To update
+
+    static const int FORWARD_SPEED  = 1023;
+    static const int BACKWARD_SPEED = 2046;
+
+    public:
+        struct Status
+        {
+            enum Enum
+            {
+                UNKNOWN,
+                OPEN,
+                CLOSED,
+                OPENING,
+                CLOSING
+            };
+        };
+
+        static Benne* getInstance();
+
+        ~Benne();
+
+        void update();
+
+        void setBenneEmpty();
+        void setBenneFull();
+
+        bool getIsBenneEmpty() const;
+        bool getIsBenneFull() const;
+
+        void empty();
+        void open();
+
+        void stop();
+
+        bool isFrontSwitchActive() const;
+        bool isBackSwitchActive() const;
+
+        Benne::Status::Enum getStatus() const;
+
+    private:
+        Benne();
+
+        void setStatus(Status::Enum status);
+
+        bool isBenneEmpty;
+
+        Status::Enum m_status;
+
+        MicroSwitch* m_backSwitch;
+        MicroSwitch* m_frontSwitch;
+};
+
+#endif // BENNE_H
diff --git a/stm32/include/actionneurs/fishingNet.h b/stm32/include/actionneurs/fishingNet.h
index dcda6bb109c769ae48a3b922d048364c915378a0..5aa44d8b61eba7509734453e642b7234a9fd7b22 100644
--- a/stm32/include/actionneurs/fishingNet.h
+++ b/stm32/include/actionneurs/fishingNet.h
@@ -10,7 +10,7 @@ class FishingNet
     /**
       * The ID of the innermost AX12 (i.e. for rotation)
       */
-    static const int SERVO_INT_ID = 42; // To update
+    static const int SERVO_INT_ID = 42;
     /**
       * The ID of the outermost AX12 (i.e. for folding/unfolding)
       */
diff --git a/stm32/include/strategie/benne.h b/stm32/include/strategie/benne.h
deleted file mode 100644
index eb55620bee659ea21e1c736e242eb13644294713..0000000000000000000000000000000000000000
--- a/stm32/include/strategie/benne.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef BENNE_H
-#define BENNE_H
-
-class Benne
-{
-public:
-    Benne();
-
-    ~Benne();
-
-    void setBenneEmpty();
-    void setBenneFull();
-
-    bool getIsBenneEmpty();
-    bool getIsBenneFull();
-
-protected:
-    bool isBenneEmpty;
-};
-
-#endif // BENNE_H
diff --git a/stm32/paprika_krabi_h107.cbp b/stm32/paprika_krabi_h107.cbp
index 5b534ddc3c8b53c1801f7ce84a895a43ec02cf4f..174f59d1451a48d666ecd4a2176e4e84cd96d952 100644
--- a/stm32/paprika_krabi_h107.cbp
+++ b/stm32/paprika_krabi_h107.cbp
@@ -73,6 +73,7 @@
 		</Unit>
 		<Unit filename="include/KJ2016Tempo.h" />
 		<Unit filename="include/actionneurs/ascenseur.h" />
+		<Unit filename="include/actionneurs/benne.h" />
 		<Unit filename="include/actionneurs/brasKrabi.h" />
 		<Unit filename="include/actionneurs/brasLateraux.h" />
 		<Unit filename="include/actionneurs/brasTapis.h" />
@@ -120,12 +121,10 @@
 		<Unit filename="include/position.h" />
 		<Unit filename="include/positionPlusAngle.h" />
 		<Unit filename="include/strategie/actionGoTo.h" />
-		<Unit filename="include/strategie/benne.h" />
 		<Unit filename="include/strategie/cabine.h" />
 		<Unit filename="include/strategie/clap.h" />
 		<Unit filename="include/strategie/cubeDebut.h" />
 		<Unit filename="include/strategie/deposerGobelet.h" />
-		<Unit filename="include/strategie/deposerPied.h" />
 		<Unit filename="include/strategie/etape.h" />
 		<Unit filename="include/strategie/gobelet.h" />
 		<Unit filename="include/strategie/krabi2015.h" />
@@ -147,6 +146,7 @@
 		<Unit filename="src/actionneurs/anciens_fichiers/brak (copie).cpp.victor" />
 		<Unit filename="src/actionneurs/anciens_fichiers/roues.cpp.victor" />
 		<Unit filename="src/actionneurs/ascenseur.cpp" />
+		<Unit filename="src/actionneurs/benne.cpp" />
 		<Unit filename="src/actionneurs/brak (copie).cpp.victor" />
 		<Unit filename="src/actionneurs/brasKrabi.cpp" />
 		<Unit filename="src/actionneurs/brasLateraux.cpp" />
@@ -199,7 +199,6 @@
 		<Unit filename="src/strategie/actionGoTo.cpp" />
 		<Unit filename="src/strategie/anciens_fichiers/feuKrabi (copie).cpp.victor" />
 		<Unit filename="src/strategie/anciens_fichiers/feukrabilateral.cpp.limitVitesseVictor" />
-		<Unit filename="src/strategie/benne.cpp" />
 		<Unit filename="src/strategie/cabine.cpp" />
 		<Unit filename="src/strategie/clap.cpp" />
 		<Unit filename="src/strategie/cubeDebut.cpp" />
diff --git a/stm32/src/actionneurs/benne.cpp b/stm32/src/actionneurs/benne.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f9831299ad061fac027b944643cd513423acf1cc
--- /dev/null
+++ b/stm32/src/actionneurs/benne.cpp
@@ -0,0 +1,136 @@
+#include "benne.h"
+
+#ifdef ROBOTHW
+    #include "interfaceServosNumeriques.h"
+#else
+    #include <QDebug>
+#endif
+
+#include "hardware/microSwitch.h"
+
+Benne* Benne::getInstance()
+{
+    static Benne* instance = 0;
+    if(!instance)
+        instance = new Benne();
+    return instance;
+}
+
+Benne::Benne()
+{
+    #ifdef ROBOTHW
+        m_backSwitch    = new MicroSwitch(GPIOE, GPIO_Pin_3);
+        m_frontSwitch   = new MicroSwitch(GPIOE, GPIO_Pin_2);
+    #else
+        m_backSwitch    = new MicroSwitch();
+        m_frontSwitch   = new MicroSwitch();
+    #endif
+
+    isBenneEmpty = true;
+
+    m_status = Status::UNKNOWN;
+
+    #ifdef ROBOTHW
+        ServosNumeriques::changeContinuousRotationMode(SERVO_ID,  true);
+    #endif
+}
+
+Benne::~Benne()
+{
+    delete m_backSwitch;
+    delete m_frontSwitch;
+}
+
+void Benne::setBenneEmpty() {
+    isBenneEmpty = true;
+}
+
+void Benne::setBenneFull() {
+    isBenneEmpty = false;
+}
+
+bool Benne::getIsBenneEmpty() const
+{
+    return isBenneEmpty;
+}
+
+bool Benne::getIsBenneFull() const
+{
+    return !isBenneEmpty;
+}
+
+Benne::Status::Enum Benne::getStatus() const
+{
+    return m_status;
+}
+
+void Benne::setStatus(Status::Enum status)
+{
+    m_status = status;
+}
+
+void Benne::empty()
+{
+    if(getStatus() != Status::CLOSED && getStatus() != Status::CLOSING)
+    {
+        #ifdef ROBOTHW
+            ServosNumeriques::moveAtSpeed(FORWARD_SPEED, SERVO_ID);
+        #else
+            qDebug() << "Bin is closing";
+        #endif
+        setStatus(Status::CLOSING);
+    }
+}
+
+void Benne::open()
+{
+    if(getStatus() != Status::OPEN && getStatus() != Status::OPENING)
+    {
+        #ifdef ROBOTHW
+            ServosNumeriques::moveAtSpeed(BACKWARD_SPEED, SERVO_ID);
+        #else
+            qDebug() << "Bin is opening";
+        #endif
+        setStatus(Status::OPENING);
+    }
+}
+
+void Benne::update()
+{
+    if(getStatus() == Status::CLOSING && isFrontSwitchActive())
+    {
+        stop();
+        setStatus(Status::CLOSED);
+        setBenneEmpty();
+
+        #ifndef ROBOTHW
+            qDebug() << "Bin is closed";
+        #endif
+    }
+    else if(getStatus() == Status::OPENING && isBackSwitchActive())
+    {
+        stop();
+        setStatus(Status::OPEN);
+
+        #ifndef ROBOTHW
+            qDebug() << "Bin is open";
+        #endif
+    }
+}
+
+void Benne::stop()
+{
+    #ifdef ROBOTHW
+        ServosNumeriques::moveAtSpeed(0, SERVO_ID);
+    #endif
+}
+
+bool Benne::isFrontSwitchActive() const
+{
+    return m_frontSwitch->ferme();
+}
+
+bool Benne::isBackSwitchActive() const
+{
+    return m_backSwitch->ferme();
+}
diff --git a/stm32/src/clock.cpp b/stm32/src/clock.cpp
index 9c8c79ddd13599bcf1ed13abd9eb62bf48d01f73..84429d0dadcce5fbdf1dc31e4a3de43f6a3be474 100755
--- a/stm32/src/clock.cpp
+++ b/stm32/src/clock.cpp
@@ -1,12 +1,14 @@
 #include "clock.h"
 
+
 #include "asservissement/odometrie.h"
 #include "asservissement/asservissement.h"
 #include "hardware/tourelle.h"
-#include "hardware/leds.h"
+#include "actionneurs/benne.h"
 
 #ifdef ROBOTHW
     #include "hardware/remote.h"
+    #include "hardware/leds.h"
 #else
     #include <QTimer>
 #endif
@@ -29,6 +31,7 @@ void Clock::every5ms()
             Odometrie::odometrie->update();
             Asservissement::asservissement->update();
             Tourelle::getSingleton()->update();
+            Benne::getInstance()->update();
             //StrategieV2::update();
         #endif
     #endif
diff --git a/stm32/src/initkrabi.cpp b/stm32/src/initkrabi.cpp
index 39dfee0b9122365dad9e41a2939ca2233e6a6527..f90c44b0366f5a8590aaff93a070eaba5752fd28 100644
--- a/stm32/src/initkrabi.cpp
+++ b/stm32/src/initkrabi.cpp
@@ -1,22 +1,23 @@
 #include "initkrabi.h"
 
+#include "actionneurs/benne.h"
+
 #ifdef ROBOTHW
-InitKrabi::InitKrabi() : Initialisation(PositionPlusAngle(Position(194, 900), 0))
-{
-}
+    InitKrabi::InitKrabi() : Initialisation(PositionPlusAngle(Position(194, 900), 0))
+    {}
 #else
-#include <QDebug>
-InitKrabi::InitKrabi(bool yellow, Robot* robot) : Initialisation(PositionPlusAngle(Position(194, 900), 0), yellow, robot)
-{
-    qDebug() << "InitKrabi " << robot;
-}
+    #include <QDebug>
+    InitKrabi::InitKrabi(bool yellow, Robot* robot) : Initialisation(PositionPlusAngle(Position(194, 900), 0), yellow, robot)
+    {
+        qDebug() << "InitKrabi " << robot;
+    }
 #endif
 
 #ifdef ROBOTHW
-void InitKrabi::setYellow()
-{
-    yellow =  GPIO_ReadInputDataBit(GPIOE, GPIO_Pin_4) == Bit_RESET;
-}
+    void InitKrabi::setYellow()
+    {
+        yellow =  GPIO_ReadInputDataBit(GPIOE, GPIO_Pin_4) == Bit_RESET;
+    }
 #endif
 
 /** Initialisation roues codeuses **/
@@ -177,5 +178,7 @@ void InitKrabi::initActionneurs()
 
     Sensors* sensors = Sensors::getSingleton();
     ServosNumeriques::setLedState(1, 12);
+
+    Benne::getInstance();
 #endif
 }
diff --git a/stm32/src/simul/robot.cpp b/stm32/src/simul/robot.cpp
index ff50771a785892ac688b4c0f41d5c1708567f507..08f76fd4be8127519ad3d048e7aedaee1211982a 100644
--- a/stm32/src/simul/robot.cpp
+++ b/stm32/src/simul/robot.cpp
@@ -7,6 +7,7 @@
 #include "strategieV2.h"
 #include "sensors.h"
 #include "hardware/tourelle.h"
+#include "actionneurs/benne.h"
 #include <iostream>
 #include <QDebug>
 
@@ -348,6 +349,7 @@ void Robot::paint(QPainter &p, int dt)
         }
         else
         {
+            Benne::getInstance()->update();
             Odometrie::odometrie->update();
             Tourelle::getSingleton()->update();
             StrategieV2::update();
diff --git a/stm32/src/strategie/benne.cpp b/stm32/src/strategie/benne.cpp
deleted file mode 100644
index 0f77f7a493786ca341b48108c6a8447e0ce23425..0000000000000000000000000000000000000000
--- a/stm32/src/strategie/benne.cpp
+++ /dev/null
@@ -1,22 +0,0 @@
-#include "benne.h"
-
-Benne::Benne()
-{
-    isBenneEmpty = true;
-}
-
-void Benne::setBenneEmpty() {
-    isBenneEmpty = true;
-}
-
-void Benne::setBenneFull() {
-    isBenneEmpty = false;
-}
-
-bool Benne::getIsBenneEmpty() {
-    return isBenneEmpty;
-}
-
-bool Benne::getIsBenneFull() {
-    return !isBenneEmpty;
-}
diff --git a/stm32/src/strategie/krabi2016.cpp b/stm32/src/strategie/krabi2016.cpp
index af82e0df76ee1f5f92f9839a0c99ef790b4b44f3..4e2f6aea8f2f8f37cb5887c5943aeb05cdae59d8 100644
--- a/stm32/src/strategie/krabi2016.cpp
+++ b/stm32/src/strategie/krabi2016.cpp
@@ -10,7 +10,7 @@
 Krabi2016::Krabi2016(bool isYellow) : StrategieV3(isYellow)
 {
     // Création de la benne
-    benne = new Benne();
+    benne = Benne::getInstance(); // NB: Tu pourrais utiliser getInstance partout et te passer de l'attribut
 
     //Initialisation des tableaux d'étapes
     this->numeroEtapeGarage = ETAPE_GARAGE;