public void act() {
		if(debut) {
			debut = false;
			ActionFactory.wait(10000, "end", true);
		}
		if(!clawsMoving) {
			if(attente) {
				ActionFactory.wait(500, "claws", true);
			}
			else {
				clawsMoving = true;
				ActionFactory.useClaws(nextclawsOpenure, true);
			}
		}
		if(!robotMoving) {
			robotMoving = true;
			switch(state)
			{
			case 0 :
				ActionFactory.goForward(500, true);
				break;
			case 1 :
				ActionFactory.goBackward(500, true);
				break;
			case 2 :
				ActionFactory.rotate(90, true);
			}
		}
		if(end) {
			stop();
		}
	}