diff --git a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
index 830c14544c60d110c5154414ae68fef05309e7b4..9e6e44153b1c43c4fde38dece975681223aff436 100644
--- a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
+++ b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro
@@ -72,13 +72,9 @@ HEADERS += \
     ../../include/strategie/zoneConstruction.h \
     ../../include/strategie/dijkstra.h \
     ../../include/hardware/tourelle.h \
-    ../../include/strategie/clap.h \
-    ../../include/strategie/gobelet.h \
-    ../../include/strategie/tapis.h \
     ../../include/actionneurs/brasTapis.h \
     ../../include/actionneurs/brasKrabi.h \
     ../../include/actionneurs/brasLateraux.h \
-    ../../include/strategie/deposerGobelet.h \
     ../../include/actionneurs/pinces.h \
     ../../include/strategie/ramasserPied.h \
     ../../include/hardware/microSwitch.h \
@@ -154,14 +150,10 @@ SOURCES += \
     ../../src/strategie/etape.cpp \
     ../../src/strategie/dijkstra.cpp \
     ../../src/hardware/tourelle.cpp \
-    ../../src/strategie/clap.cpp \
-    ../../src/strategie/gobelet.cpp \
-    ../../src/strategie/tapis.cpp \
     ../../src/actionneurs/brasTapis.cpp \
     ../../src/actionneurs/brasLateraux.cpp \
     ../../src/actionneurs/brasKrabi.cpp \
     ../../src/actionneurs/ascenseur.cpp \
-    ../../src/strategie/deposerGobelet.cpp \
     ../../src/actionneurs/pinces.cpp \
     ../../src/strategie/ramasserPied.cpp \
     ../../src/simul/debugwindow.cpp \
diff --git a/stm32/include/hardware/leds.h b/stm32/include/hardware/leds.h
index de0f09862a726c86df2fa2eebfd04f352161d211..f4188bd47a1d457f8401feb3324317beb5ba988d 100644
--- a/stm32/include/hardware/leds.h
+++ b/stm32/include/hardware/leds.h
@@ -24,7 +24,7 @@ void eteindreLED2();
     bool isLedOn(int led);
 #endif
 
-class Leds
+class Led
 {
 public:
     static void toggle(int index = 0);
diff --git a/stm32/include/strategie/clap.h b/stm32/include/strategie/clap.h
deleted file mode 100644
index 8a741c39c359bf8de49151a0a7dac61766630cad..0000000000000000000000000000000000000000
--- a/stm32/include/strategie/clap.h
+++ /dev/null
@@ -1,44 +0,0 @@
-#ifndef CLAP_H
-#define CLAP_H
-
-#include "position.h"
-#include "mediumLevelAction.h"
-#include "command.h"
-#include "brasLateraux.h"
-
-/** @class clap : le robot doit fermer 3 claps du bord de la table
-*/
-
-class Clap : public MediumLevelAction
-{
-    public:
-        Clap();
-        /** @brief Constructeur
-          * @fn Clap(Position positionDepart, Position positionArrivee)
-          * @param les paramètres sont de type Position
-        */
-        Clap(Position positionDepart, Position positionArrivee);
-        /** @brief Destructeur
-        */
-        ~Clap();
-        /** @brief Fonction appelée toutes les 50ms qui gère l'action Clap : le robot avance à la position de départ, ouvre son bras, avance à la position d'arrivée, ferme son bras.
-          * @fn int update()
-          * @return le statut ("status" dans le code) (attribut hérité de la classe MediumLevelAction) :
-                status = 0 : le robot commence l'action
-                status = 1 : le robot se déplace jusqu'à la position de départ
-                status = 2 : le robot s'oriente pour présenter son coté au clap
-                status = 3 : le robot ouvre son bras
-                status = 54 : le robot avance à la position d'arrivée
-                status = 55 : le robot ferme son bras
-                status = -1 : le robot a finit l'action
-        */
-        int update();
-        Etape::EtapeType getType();
-
-    protected :
-        Position positionDepart;
-        Position positionArrivee;
-
-};
-
-#endif // CLAP_H
diff --git a/stm32/include/strategie/deposerGobelet.h b/stm32/include/strategie/deposerGobelet.h
deleted file mode 100644
index 949465a44a27517f86465673f106b88493146466..0000000000000000000000000000000000000000
--- a/stm32/include/strategie/deposerGobelet.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef DEPOSERGOBELET_H
-#define DEPOSERGOBELET_H
-
-#include "position.h"
-#include "mediumLevelAction.h"
-#include "command.h"
-
-class DeposerGobelet : public MediumLevelAction
-{
-public:
-    DeposerGobelet();
-    DeposerGobelet(Position position);
-    ~DeposerGobelet();
-    int update();
-    Etape::EtapeType getType();
-
-protected :
-    Position position;
-};
-
-#endif // DEPOSERGOBELET_H
diff --git a/stm32/include/strategie/etape.h b/stm32/include/strategie/etape.h
index 9871cb510b195efa0056a6b09d6be217098e80ef..9085fd2667d3350e0e0711e0d895c4e9b52594ef 100644
--- a/stm32/include/strategie/etape.h
+++ b/stm32/include/strategie/etape.h
@@ -26,37 +26,19 @@ public:
 
         POINT_PASSAGE = 0,
         COLLECT = 1,
-        FRUIT = 2,
+
         DEPART = 5,
-        DEPOSE_FEU = 6,
-        DEPOSE_FRUIT = 7,
-        FEU_MINI_BRAS = 14,
-        FEU_COTE = 15,
-        CENTRE_TABLE = 16,
-        CLAP = 17,
-        GOBELET = 18,
+
         RAMASSER_PIED = 19,
-        AMPOULE = 20,
-        TAPIS = 21,
-        DEPOSER_GOBELET = 22,
+
         COIN_GAUCHE_HAUT = 24,
         COIN_GAUCHE_BAS = 25,
         SPOT_SOLITAIRE_COIN = 26,
 
         ROBOT_POINT_PASSAGE = POINT_PASSAGE + ROBOT_VU_ICI,
-        ROBOT_COLLECT =       COLLECT + ROBOT_VU_ICI,
-        ROBOT_FRUIT =         FRUIT + ROBOT_VU_ICI,
         ROBOT_DEPART =        DEPART + ROBOT_VU_ICI,
-        ROBOT_DEPOSE_FEU =    DEPOSE_FEU + ROBOT_VU_ICI,
-        ROBOT_DEPOSE_FRUIT  = DEPOSE_FRUIT + ROBOT_VU_ICI,
-        ROBOT_FEU_MINI_BRAS = FEU_MINI_BRAS + ROBOT_VU_ICI,
-        ROBOT_CENTRE_TABLE = CENTRE_TABLE + ROBOT_VU_ICI,
-        ROBOT_CLAP = CLAP + ROBOT_VU_ICI,
-        ROBOT_GOBELET = GOBELET + ROBOT_VU_ICI,
+
         ROBOT_PIED = RAMASSER_PIED + ROBOT_VU_ICI,
-        ROBOT_AMPOULE = AMPOULE + ROBOT_VU_ICI,
-        ROBOT_TAPIS = TAPIS + ROBOT_VU_ICI,
-        ROBOT_DEPOSER_GOBELET = DEPOSER_GOBELET + ROBOT_VU_ICI,
         ROBOT_COIN_GAUCHE_HAUT = COIN_GAUCHE_HAUT + ROBOT_VU_ICI,
         ROBOT_COIN_GAUCHE_BAS = COIN_GAUCHE_BAS + ROBOT_VU_ICI,
         ROBOT_SPOT_SOLITAIRE_COIN = SPOT_SOLITAIRE_COIN + ROBOT_VU_ICI
diff --git a/stm32/include/strategie/gobelet.h b/stm32/include/strategie/gobelet.h
deleted file mode 100644
index 42a2db6c50f318413284ffa55c82770977017d98..0000000000000000000000000000000000000000
--- a/stm32/include/strategie/gobelet.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef GOBELET_H
-#define GOBELET_H
-
-#include "position.h"
-#include "mediumLevelAction.h"
-#include "command.h"
-
-class Gobelet : public MediumLevelAction
-{
-    public :
-        Gobelet();
-        Gobelet(Position position);
-        ~Gobelet();
-        int update();
-        Etape::EtapeType getType();
-
-    protected :
-        Position position;
-};
-
-#endif // GOBELET_H
diff --git a/stm32/include/strategie/krabi2016.h b/stm32/include/strategie/krabi2016.h
index 665d207a55138422a0be2b1a4f2cf4a153f00914..4bcdf9c4c341e042648dbdaa4bb8b63c158ecf52 100644
--- a/stm32/include/strategie/krabi2016.h
+++ b/stm32/include/strategie/krabi2016.h
@@ -7,13 +7,9 @@
 
 #include "strategiev3.h"
 #include "etape.h"
-#include "clap.h"
-#include "gobelet.h"
 #include "zoneConstruction.h"
-#include "tapis.h"
 #include "cabine.h"
 #include "ramasserPied.h"
-#include "deposerGobelet.h"
 #include "manipulationCoinGaucheBas.h"
 #include "manipulationCoinGaucheHaut.h"
 #include "manipulationCoinGaucheHautPiedSolitaire.h"
@@ -28,10 +24,7 @@ public:
     Krabi2016(bool isYellow);
 
     /** @brief Actions de Krabi */
-    Clap actionClap[3];
-    Gobelet actionGobelet[5];
     Cabine actionCabine[2];
-    DeposerGobelet actionDeposerGobelet[3];
     RamasserPied actionRamasserPied[8];
 
 
diff --git a/stm32/include/strategie/krabijunior2016.h b/stm32/include/strategie/krabijunior2016.h
index d1b55494dc19638accefc09d399a69d1765ad551..6fa10fb596f2ad42c6b5bad310bf0bf3f2b429ba 100644
--- a/stm32/include/strategie/krabijunior2016.h
+++ b/stm32/include/strategie/krabijunior2016.h
@@ -7,7 +7,6 @@
 
 #include "strategiev3.h"
 #include "etape.h"
-#include "clap.h"
 
 class KrabiJunior2016 : public StrategieV3
 {
diff --git a/stm32/include/strategie/tapis.h b/stm32/include/strategie/tapis.h
deleted file mode 100644
index 5cbaef92f90617c67540798ef7af3ee0c08cfd0b..0000000000000000000000000000000000000000
--- a/stm32/include/strategie/tapis.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#ifndef TAPIS_H
-#define TAPIS_H
-
-#include "position.h"
-#include "angle.h"
-#include "mediumLevelAction.h"
-#include "command.h"
-#include "brasTapis.h"
-
-/** @class Tapis : le robot doit poser 2 tapis sur les marches.
-*/
-
-class Tapis : public MediumLevelAction
-{
-    public:
-        Tapis();
-        /** @brief Constructeur
-          * @fn Tapis(Position position)
-          * @param le paramètre sont de type Position
-        */
-        Tapis(Position position);
-        /** @brief Destructeur
-        */
-        ~Tapis();
-        /** @brief Fonction appelée toutes les 50ms qui gère l'action Tapis : le robot avance à la position puis déploie son bras pour poser le tapis.
-          * @fn int update()
-          * @return le statut ("status" dans le code) (attribut hérité de la classe MediumLevelAction) :
-
-        */
-        int update();
-
-        Etape::EtapeType getType();
-
-    protected :
-        Position position;
-        Angle toLookAt;
-        BrasTapis::COTE cote;
-};
-
-
-#endif // TAPIS_H
diff --git a/stm32/src/strategie/clap.cpp b/stm32/src/strategie/clap.cpp
deleted file mode 100644
index d2a26a75cc42c8801c74863c2810b2cac2118645..0000000000000000000000000000000000000000
--- a/stm32/src/strategie/clap.cpp
+++ /dev/null
@@ -1,111 +0,0 @@
-#include "clap.h"
-#include "strategieV2.h"
-#include "mediumLevelAction.h"
-#include "command.h"
-#include "position.h"
-#include "brasLateraux.h"
-
-#ifndef ROBOTHW
-#include <QDebug>
-#endif
-
-#define ATTENTE_ROTATION 500
-#define ATTENTE_SORTIE_BRAS 10
-
-
-Clap::Clap(){}
-
-Clap::Clap(Position positionDepart, Position positionArrivee):MediumLevelAction(positionDepart)
-{
-    this->positionArrivee = positionArrivee;
-    this->goBack = false;
-}
-
-Clap::~Clap(){}
-
-Etape::EtapeType Clap::getType()
-{
-    return Etape::CLAP;
-}
-
-int Clap::update()
-{
-
-    if (status == 0)//Début
-    {
-#ifndef ROBOTHW
-        qDebug() << "clap";
-#endif
-        status++;
-    }
-
-    else if (status == 1)//Aller au point de départ
-    {
-        StrategieV2::setCurrentGoal(goalPosition, goBack);
-        status++;
-    }
-
-    else if (status == 2)//Se tourner une fois au point de départ
-    {
-        if (Command::isNear(goalPosition))
-        {
-            StrategieV2::lookAt(positionArrivee);
-
-            status++;
-        }
-    }
-
-    else if ((status <= 3 + ATTENTE_ROTATION) && (status > -1 ))//On attend que le robot se tourne : 50ms par incrémentation du status
-    {
-        status++;
-    }
-
-
-    else if (status == 4 + ATTENTE_ROTATION)//Sortir le bras
-    {
-        //Ouvrir le bras
-        if (positionArrivee.getX()<1500)
-            BrasLateraux::getRight()->expand();
-        else
-            BrasLateraux::getLeft()->expand();
-
-        status++;
-    }
-
-    else if ((status <= 5 + ATTENTE_ROTATION + ATTENTE_SORTIE_BRAS) && (status > -1 ))//On attend que le bras du robot s'ouvre : 50ms par incrémentation du status
-    {
-        status++;
-    }
-
-    else if (status == 6 + ATTENTE_ROTATION + ATTENTE_SORTIE_BRAS)//Avancer pour faire tomber le clap
-    {
-        StrategieV2::setCurrentGoal(positionArrivee, goBack);
-        status++;
-    }
-
-    else if (status == 56 + ATTENTE_ROTATION + ATTENTE_SORTIE_BRAS)//Fermer le bras une fois passé
-    {
-        if (Command::isNear(positionArrivee))
-        {
-            if (positionArrivee.getX()<1500)
-                BrasLateraux::getRight()->collapse();
-            else
-                BrasLateraux::getLeft()->collapse();
-            status++;
-        }
-    }
-
-    else if ((status <= 105 + ATTENTE_ROTATION + ATTENTE_SORTIE_BRAS) && (status > -1))
-    {
-        status++;
-    }
-
-    else if (status == 106 + ATTENTE_ROTATION + ATTENTE_SORTIE_BRAS){
-        status = -1;
-#ifndef ROBOTHW
-        qDebug() << "Etape clap finie";
-#endif
-    }
-
-    return status;
-}
diff --git a/stm32/src/strategie/deposerGobelet.cpp b/stm32/src/strategie/deposerGobelet.cpp
deleted file mode 100644
index 555c8b8743768be24a1e9e512d9d16b2091e7314..0000000000000000000000000000000000000000
--- a/stm32/src/strategie/deposerGobelet.cpp
+++ /dev/null
@@ -1,85 +0,0 @@
-#include "deposerGobelet.h"
-#include "pinces.h"
-#include "strategieV2.h"
-#include "mediumLevelAction.h"
-#include "command.h"
-
-#ifndef ROBOTHW
-#include <QDebug>
-#endif
-
-DeposerGobelet::DeposerGobelet(){}
-
-DeposerGobelet::DeposerGobelet(Position goalposition):MediumLevelAction(goalposition){}
-
-DeposerGobelet::~DeposerGobelet(){}
-
-Etape::EtapeType DeposerGobelet::getType()
-{
-    return Etape::DEPOSER_GOBELET;
-}
-
-int DeposerGobelet::update()
-{
-    if (status == 0)
-    {
-#ifndef ROBOTHW
-        qDebug() << "deposerGobelet";
-#endif
-        status++;
-        status = -1;
-    }
-
-    else if (status == 1)
-    {
-        StrategieV2::setCurrentGoal(this->goalPosition, this->goBack);
-        status++;
-    }
-
-    else if (status == 2)
-    {
-        if (Command::isNear(goalPosition))
-        {
-            StrategieV2::lookAt(goalPosition);
-            status++;
-        }
-    }
-
-    else if (status == 3)
-    {
-        if (Command::isLookingAt(goalPosition))
-        {
-#ifndef ROBOTHW
-            qDebug() << "On lache le gobelet";
-#endif
-            Pinces::getSingleton()->ouvrirPinces();
-        status++;
-        }
-    }
-
-    else if ((status <23) && (status > 0))  //On attend que les pinces aient laché le gobelet.
-    {
-        status++;
-    }
-
-    else if (status == 23)
-    {
-#ifndef ROBOTHW
-            qDebug() << "On referme les pinces";
-#endif
-            Pinces::getSingleton()->fermerPinces();
-            status++;
-    }
-
-    else if ((status <63) && (status > 0))  //On attend que l'ascenseur ferme ses pinces
-    {
-        status++;
-    }
-
-    else if (status == 63)
-    {
-        status = -1;
-    }
-
-    return status;
-}
diff --git a/stm32/src/strategie/etape.cpp b/stm32/src/strategie/etape.cpp
index d9f2e170fd4f69c067c10442ade4eaa2384bee78..2893d589ec85700b7a81bbace9f2fd7faef18d30 100644
--- a/stm32/src/strategie/etape.cpp
+++ b/stm32/src/strategie/etape.cpp
@@ -191,10 +191,7 @@ int Etape::getNombreEtapesLieesParFinirEtape()
 
 void Etape::finir(void)
 {
-    if(this->type == FRUIT)
-    {
-        this->type = POINT_PASSAGE;
-    }
+    return;
 }
 
 void Etape::setScore(int score)
@@ -363,18 +360,10 @@ QString Etape::getNameType(EtapeType type)
         return "Passage";
     case DEPART:
         return "Départ";
-    case CLAP:
-        return "Clap";
-    case GOBELET:
-        return "Gobelet";
+
     case RAMASSER_PIED:
         return "Pied";
-    case AMPOULE:
-        return "Ampoule";
-    case TAPIS:
-        return "Tapis";
-    case DEPOSER_GOBELET:
-        return "Déposer Gobelet";
+
     case CUBE_DEBUT:
         return "Pousser les cubes a l'init";
     default:
@@ -394,18 +383,10 @@ QString Etape::getShortNameType(EtapeType type)
         return "";
     case DEPART:
         return "Start";
-    case CLAP:
-        return "Clap";
-    case GOBELET:
-        return "Gob";
+
     case RAMASSER_PIED:
         return "Pied";
-    case AMPOULE:
-        return "Amp";
-    case TAPIS:
-        return "Tapis";
-    case DEPOSER_GOBELET:
-        return "D.G";
+
     case CUBE_DEBUT:
         return "Cube debut";
     default:
diff --git a/stm32/src/strategie/gobelet.cpp b/stm32/src/strategie/gobelet.cpp
deleted file mode 100644
index e8d0897b00950e63b008e7d119c79af5f8e9517c..0000000000000000000000000000000000000000
--- a/stm32/src/strategie/gobelet.cpp
+++ /dev/null
@@ -1,117 +0,0 @@
-#include "gobelet.h"
-#include "pinces.h"
-#include "ascenseur.h"
-#include "strategieV2.h"
-#include "mediumLevelAction.h"
-#include "command.h"
-
-#ifndef ROBOTHW
-#include <QDebug>
-#endif
-
-Gobelet::Gobelet(){}
-
-Gobelet::Gobelet(Position goalposition):MediumLevelAction(goalposition){}
-
-Gobelet::~Gobelet(){}
-
-Etape::EtapeType Gobelet::getType()
-{
-    return Etape::GOBELET;
-}
-
-int Gobelet::update()
-{
-    if (status == 0)
-    {
-#ifndef ROBOTHW
-        qDebug() << "gobelet";
-#endif
-        status++;
-    }
-
-    else if (status == 1)
-    {
-        StrategieV2::setCurrentGoal(this->goalPosition, this->goBack);
-        status++;
-    }
-
-    else if (status == 2)
-    {
-        if (Command::isNear(goalPosition, 175.0f))
-        {
-            StrategieV2::lookAt(goalPosition);
-            status++;
-        }
-    }
-
-    else if (status == 3)
-    {
-        if (Command::isLookingAt(goalPosition))
-        {
-#ifndef ROBOTHW
-            qDebug() << "On baisse l'ascenseur";
-#endif
-            Ascenseur::getSingleton()->baisserAscenseur();
-        status++;
-        }
-    }
-
-    else if ((status <23) && (status > 0))  //On attend que l'ascenseur se baisse
-    {
-        status++;
-    }
-
-    else if (status == 23)
-    {
-#ifndef ROBOTHW
-            qDebug() << "On ouvre les pinces";
-#endif
-            Pinces::getSingleton()->ouvrirPinces();
-            status++;
-    }
-
-    else if ((status <43) && (status > 0))  //On attend que l'ascenseur ouvre les pinces
-    {
-        status++;
-    }
-
-    else if (status == 43)
-    {
-#ifndef ROBOTHW
-            qDebug() << "On ferme les pinces";
-#endif
-            Pinces::getSingleton()->fermerPinces();
-        status++;
-    }
-
-    else if ((status <63) && (status > 0))  //On attend que l'ascenseur ferme ses pinces
-    {
-        status++;
-    }
-
-    else if (status == 63)
-    {
-#ifndef ROBOTHW
-        qDebug() << "Etape gobelet finie";
-#endif
-        StrategieV2::setCurrentGoal(this->goalPosition, this->goBack);
-        status++;
-    }
-
-    else if (status == 64)
-    {
-        if (Command::isNear(goalPosition))
-        {
-            StrategieV2::lookAt(goalPosition);
-            status++;
-        }
-    }
-
-    else if (status == 65)
-    {
-        status = -1;
-    }
-
-    return status;
-}
diff --git a/stm32/src/strategie/krabijunior2016.cpp b/stm32/src/strategie/krabijunior2016.cpp
index 27a692a8c5c4f3ef17acbe1dc0b704bcef2c74d2..1dbf7636bf103591536141d0718a77ac694fd13a 100644
--- a/stm32/src/strategie/krabijunior2016.cpp
+++ b/stm32/src/strategie/krabijunior2016.cpp
@@ -34,9 +34,6 @@ int KrabiJunior2016::getScoreEtape(int i){
             case Etape::DEPART :
                 return 10;
                 break;
-            case Etape::TAPIS :
-                return 10;
-                break;
             default :
                 return 0;
                 break;
diff --git a/stm32/src/strategie/strategiev3.cpp b/stm32/src/strategie/strategiev3.cpp
index c4a5de29373383b9f1de735cacd119c7a0c34852..2102ace645abc575c39cd15c5b7201af42b24e44 100644
--- a/stm32/src/strategie/strategiev3.cpp
+++ b/stm32/src/strategie/strategiev3.cpp
@@ -22,7 +22,7 @@ StrategieV3::StrategieV3(bool /*isYellow*/) : MediumLevelAction()
     this->millisecondesRestantes = 90 * 1000;
 
 #ifndef ROBOTHW
-    colorLiaisonsEtapes = QColor("blue");
+    colorLiaisonsEtapes = QColor(150,100,50);
     colorEtapeGoal = QColor("red");
     colorEtapesIntermediaires = QColor("yellow");
     colorEtapes = QColor("orange");
diff --git a/stm32/src/strategie/tapis.cpp b/stm32/src/strategie/tapis.cpp
deleted file mode 100644
index 02a9b66b58933f5d9ac8d4b53573321b9ab8520c..0000000000000000000000000000000000000000
--- a/stm32/src/strategie/tapis.cpp
+++ /dev/null
@@ -1,103 +0,0 @@
-#include "tapis.h"
-#include "strategieV2.h"
-#include "mediumLevelAction.h"
-#include "command.h"
-#include "position.h"
-
-#ifndef ROBOTHW
-#include <QDebug>
-#endif
-
-#define GRANDE_ATTENTE 300
-
-Tapis::Tapis(){}
-
-Tapis::Tapis(Position position):MediumLevelAction(position)
-{
-    this->toLookAt = M_PI/2;
-    if (position == Position(1060, 848))
-    {
-            this->cote = BrasTapis::GAUCHE;
-    }
-    if (position == Position(1342, 848))
-    {
-            this->cote = BrasTapis::DROIT;
-    }
-}
-
-Tapis::~Tapis(){}
-
-Etape::EtapeType Tapis::getType()
-{
-    return Etape::TAPIS;
-}
-
-int Tapis::update()
-{
-    if (status == 0)
-    {
-#ifndef ROBOTHW
-                qDebug() << "tapis";
-#endif
-        status++;
-    }
-
-    else if (status == 1)
-    {
-        StrategieV2::setCurrentGoal(goalPosition, goBack);
-        status++;
-    }
-
-    else if (status == 2)
-    {
-        if (Command::isNear(goalPosition))
-        {
-            StrategieV2::lookAt(toLookAt);
-            status++;
-        }
-    }
-
-    else if (status == 3)
-    {
-        if (Command::isLookingAt(toLookAt))
-        {
-            //ouvrir le bras
-#ifndef ROBOTHW
-            qDebug() << "On ouvre le bras";
-#endif
-            for (int i = 0; i<10000; i++);
-            BrasTapis::getSingleton(cote)->ouvrirBras();
-            status++;
-        }
-    }
-
-    else if (status < 3 + GRANDE_ATTENTE)
-    {
-        status++;
-    }
-
-    else if (status == 3 + GRANDE_ATTENTE)
-    {
-        //fermer bras
-#ifndef ROBOTHW
-        qDebug() << "On ferme le bras";
-#endif
-        BrasTapis::getSingleton(cote)->fermerBras();
-        status++;
-    }
-
-    else if (status < 3 + GRANDE_ATTENTE + GRANDE_ATTENTE)
-    {
-        status++;
-    }
-
-    else if (status == 3 + GRANDE_ATTENTE + GRANDE_ATTENTE)    //On attend que les bras se ferment.
-    {
-#ifndef ROBOTHW
-        qDebug() << "Etape tapis finie";
-#endif
-        status = -1;
-    }
-    return status;
-}
-