diff --git a/IO.hpp b/IO.hpp
index eb15e4f..92bf4d8 100644
--- a/IO.hpp
+++ b/IO.hpp
@@ -67,7 +67,7 @@ class IO {
     pinMode(PIN_TIRETTE, INPUT_PULLUP);
     pinMode(PIN_BUTTON_COLOR, INPUT_PULLUP);
 
-    m_code_cell->Motion_RotationRead(m_init_x, m_init_y, m_init_z);
+    initGyroscope();
 
     m_initMotors();
     m_initServo();
@@ -84,6 +84,11 @@ class IO {
     return nb_errors;
   }
 
+  void initGyroscope()
+  {
+    m_code_cell->Motion_RotationRead(m_init_x, m_init_y, m_init_z);
+  }
+
   int update()
   {
     static unsigned long last_color_change_time {0};
@@ -122,7 +127,7 @@ class IO {
     m_is_tirette_pulled = (digitalRead(PIN_TIRETTE) == HIGH);
     m_is_color_blue = is_color_blue;
 
-    is_color_blue = (digitalRead(PIN_BUTTON_COLOR) == HIGH);
+    is_color_blue = (digitalRead(PIN_BUTTON_COLOR) == LOW);
 
     if(m_is_motor_control_activated)
     {
diff --git a/Main.ino b/Main.ino
index 11d52ee..0c613e6 100644
--- a/Main.ino
+++ b/Main.ino
@@ -108,9 +108,10 @@ void loop()
     case State::WaitingTimer:
       static unsigned long initial_time = millis();
 
-      //if(millis() - initial_time >= 90000)
-      if(millis() - initial_time >= 2000)
+      if(millis() - initial_time >= 90000)
+      //if(millis() - initial_time >= 2000)
       {
+        my_IO.initGyroscope();
         actual_state = State::ForwardToRamp;
       }
       break;
@@ -136,15 +137,6 @@ void loop()
       break;
 
     case State::Turn90Blue:
-      my_IO.setDirWithAngularSpeed(-90.0f);
-
-      if(my_IO.getAngle(Axes::Z) < -80.0f)
-      {
-        actual_state = State::ForwardToSceneEdge;
-      }
-      break;
-
-    case State::Turn90Yellow:
       my_IO.setDirWithAngularSpeed(90.0f);
 
       if(my_IO.getAngle(Axes::Z) >= 80.0f)
@@ -153,8 +145,17 @@ void loop()
       }
       break;
 
+    case State::Turn90Yellow:
+      my_IO.setDirWithAngularSpeed(-90.0f);
+
+      if(my_IO.getAngle(Axes::Z) < -80.0f)
+      {
+        actual_state = State::ForwardToSceneEdge;
+      }
+      break;
+
     case State::ForwardToSceneEdge:
-      my_IO.setSpeed(1100.0f);
+      my_IO.setSpeed(1200.0f);
 
       if(my_IO.getAngle(Axes::Y) > 5.0f)
       {