 
   //DebugLed
   pinMode(13, OUTPUT);
-  
+
   //Init Jumper
   pinMode(JUMPER, INPUT);
 
   // Serial
   Serial.begin(9600);
-  
-    if (isGreen()) {
-    digitalWrite(13,LOW);
+
+  if (isGreen()) {
+    digitalWrite(13, LOW);
   } else {
-    digitalWrite(13,HIGH);
-  }
-  
+    digitalWrite(13, HIGH);
+  }
+
 
   //  initializeTimer1();
 }
 
 void loop() {
-  
-  if (!endScript){
-    for (int i = 0; i<2000; i++);
+
+  if (!endScript) {
+    for (int i = 0; i < 2000; i++);
     Serial.println("DEBUT DE SCRIPT");
     Serial.println("Attente de Jumper...");
-    while(!digitalRead(JUMPER));
+    while (!digitalRead(JUMPER));
     Serial.println("Debout!");
     prepareToStart();
     Serial.println("Retirer le jumper...");
-    while(digitalRead(JUMPER));
+    while (digitalRead(JUMPER));
     smoothSploch();
     Serial.println("Descente!");
     Serial.println("Calibrage en cours...");
     goBackward(35);
     delay(3000);
     stopMotors();
-    
+
     goForward(30);
     delay(1800);
     goForward(1);
     delay(500);
     stopMotors();
     delay(1000);
-    rotateRight();
+    if (isGreen()) {
+      rotateLeft();
+    } else {
+      rotateRight();
+    }
     delay(1000);
     goBackward(60);
     delay(900);
     goBackward(1);
     delay(100);
     stopMotors();
-    
-    
-    
+
+
+
     Serial.println("Calibrage OK!");
-    
-    
+
+
     endScript = true;
     Serial.println("FIN DE SCRIPT");
-    while(42);
-    }
-  
+    while (42);
+  }
+
 }
 
 // Serial

  ultraCompteur++;
}

boolean isGreen(){
 return digitalRead(pinColor);  
}

void stopRight() {

      Serial.println("left on");
      setLeftSpeed( 30);
      break;

    case 'j':
    case 'J':
      JUMPER != JUMPER;
