while(actualpoint != finalpoint){
switch(actualpoint){
  case 0:
  if(previouspoint = 15){
    if(nextpoint = nextNorth){
      turnRight();
      delay(delayTime);
    }
  }
  else if (previouspoint = 1){
    if(nextpoint = nextEast){
      turnLeft();
    }
  }
  else{
    moveForward();
  }
  previouspoint = 0;
  break;
  case 1:
  if(previouspoint = 0){
    if(nextpoint = nextNorth){
      moveForward();
    }
    else if(nextpoint = nextEast){
      turnRight();
      }
  }
  else if(previouspoint = 10){
    if(nextpoint = 2){
      turnRight();
    }
    else if(nextpoint = 0){
      turnLeft();
      }
  }
  else if(previouspoint = 2){
    if(nextpoint = 10){
      turnLeft();
    }
    else if(nextpoint = 0){
      moveForward();
    }
  }
  else if(previouspoint = 10){
    if(nextpoint = 2){
      turnRight();
    }
    else if(nextpoint = 1){
      turnLeft();
    }
  }
  previouspoint = 1;
  break;
  case 2:
  if(previouspoint = 1){
    if(nextpoint = 5){
      turnRight();
    }
    else if(nextpoint = 3){
      moveForward();
    }
  }
  else if(previouspoint = 5){
    if(nextpoint = 3){
      turnRight();
    }
    else if(nextpoint = 1){
      turnLeft();
    }
  }
  else if(previouspoint = 3){
    if(nextpoint = 5){
      turnLeft();
    }
    else if(nextpoint = 1){
      moveForward();
    }
  }
  previouspoint = 2;
  break;
  case 3:
  if(previouspoint = 2){
    if(nextpoint = 4){
      turnRight();
    }
  }
  else(previouspoint = 4){
   if(nextpoint = 2){
     turnLeft();
   }
  }
  previouspoint = 3;
  break;
  case 4:
  if(previouspoint = 3){
    if(nextpoint = 8){
      moveForward();
    }
    else if(nextpoint = 5){
      turnRight();
    }
  }
  else if(previouspoint = 5){
   if(nextpoint = 8){
     turnRight();
   }
   else if(nextpoint = 3){
    turnLeft();
   }
  }
  else if(previouspoint = 8){
    if(nextpoint = 5){
      turnLeft();
    }
    else if(nextpoint = 3){
      moveForward();
    }
  }
  previouspoint = 4;
  break;
  case 5:
  if(previouspoint = 4){
    if(nextpoint = 2){
      turnRight();
    }
    else if(nextpoint = 7){
      turnLeft();
    }
  }
  else if(previouspoint = 7){
    if(nextpoint = 4){
      turnRight();
    }
    else if(nextpoint = 2){
      moveForward();
    }
  }
  else if(previouspoint = 2){
   if(nextpoint = 4){
    turnLeft();
   }
   else if(nextpoint = 7){
    moveForward();
   }
  }
  previouspoint = 5;
  break;
  case 7:
  if(previouspoint = 5){
    if(nextpoint = 8){
      turnLeft();
    }
  }
  else if(previouspoint = 8){
    if(nextpoint = 5){
      turnRight();
    }
  }
  previouspoint = 7;
  break;
  case 8:
  if(previouspoint = 9){
    if(nextpoint = 7){
      turnLeft();
    }
    else if(nextpoint = 4){
      moveForward();
    }
  }
  else if(previouspoint = 7){
    if(nextpoint = 9){
      turnRight();
    }
    else if(nextpoint = 4){
      turnLeft();
    }
  }
  else if(previouspoint = 4){
    if(nextpoint = 9){
      moveForward();
    }
    else if(nextpoint = 7){
      turnRight();
    }
  }
  previouspoint = 8;
  break;
  case 9:
  if(previouspoint = 8){
    if(nextpoint = 10){
      turnRight();
    }
    else if(nextpoint = 14){
      moveForward();
    }
  }
  else if(previouspoint = 10){
    if(nextpoint = 14){
      turnRight(),
    }
    else if(nextpoint = 8){
      turnLeft();
    }
  }
  else if(previouspoint = 14){
    if(nextpoint = 10){
      turnLeft();
    }
    else if(nextpoint = 8){
      moveForward();
    }
  }
  previouspoint = 9;
  break;
  case 10:
  if(previouspoint = 9){
    if(nextpoint = 13){
      turnLeft();
    }
    else if(nextpoint = 11){
      moveForward();
    }
    else if(nextpoint = 1){
      turnRight();
    }
  }
  else if(previouspoint = 13){
    if(nextpoint = 9){
      turnRight();
    }
    else if(nextpoint = 11){
      turnLeft();
    }
    else if(nextpoint = 1){
      moveForward();
    }
  }
  else if(previouspoint = 11){
    if(nextpoint = 9){
      moveForward();
    }
    else if(nextpoint = 13){
      turnRight();
    }
    else if(nextpoint = 1){
      turnLeft();
    }
  }
  else if(previouspoint = 1){
    if(nextpoint = 11){
      turnRight();
    }
    else if(nextpoint = 13){
      moveForward();
    }
    else if(nextpoint = 9){
      turnLeft();
    }
  }
  previouspoint = 10;
  break;
  case 11:
  if(previouspoint = 10){
    if(nextpoint = 6){
      turnRight();
    }
  }
  else if(previouspoint = 6){
    if(nextpoint = 10){
      turnLeft();
    }
  }
  previouspoint = 11;
  break;
  case 12:
  if(previouspoint = 13){
    if(nextpoint = 15){
      turnRight();
    }
  }
  else if(previouspoint = 15){
    if(nextpoint = 13){
      turnLeft();
    }
  }
  previouspoint = 12;
  break;
  case 13:
  if(previouspoint = 10){
    if(nextpoint = 14){
      turnLeft();
    }
    else if(nextpoint = 12){
      turnRight();
    }
  }
  else if(previouspoint = 14){
    if(nextpoint = 10){
      turnRight();
    }
    else if(nextpoint = 12){
      moveForward();
    }
  }
  else if(previouspoint = 12){
    if(nextpoint = 10){
      turnLeft();
    }
    else if(nextpoint = 14){
      moveForward();
    }
  }
  previouspoint = 13;
  break;
  case 14:
  if(previouspoint = 9){
    if(nextpoint = 13){
      turnRight();
    }
  }
  else if(previouspoint = 13){
    if(nextpoint = 9){
      turnLeft();
    }
  }
  previouspoint = 14;
  break;
  case 15:
  if(previouspoint = 0){
    if(nextpoint = 6){
      turnLeft();
    }
    else if(nextpoint = 12){
      moveForward();
    }
  }
  else if(previouspoint = 6){
    if(nextpoint = 0){
      turnRight();
    }
    else if(nextpoint = 12){
      turnLeft();
    }
  }
  else if(previouspoint = 12){
    if(nextpoint = 0){
      moveForward();
    }
    else if(nextpoint = 6){
      turnRight();
    }
  }
  previouspoint = 15;
  break;
}
else{
  Motor.stop(MOTOR1);
  Motor.stop(MOTOR2);
  Serial.print("Vous êtes arrivés!")
}
}