diff --git a/simgui-ds.json b/simgui-ds.json
index 1ba71ce..4a63cc1 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -1,9 +1,4 @@
 {
-  "Joysticks": {
-    "window": {
-      "visible": false
-    }
-  },
   "System Joysticks": {
     "window": {
       "enabled": false
diff --git a/src/main/java/frc/robot/commands/GrimperHaut.java b/src/main/java/frc/robot/commands/GrimperHaut.java
new file mode 100644
index 0000000..ad0ebf0
--- /dev/null
+++ b/src/main/java/frc/robot/commands/GrimperHaut.java
@@ -0,0 +1,56 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimperHaut extends Command {
+  private Grimpeur grimpeur;
+  private Bougie bougie;
+  /** Creates a new Grimper. */
+  public GrimperHaut(Grimpeur grimpeur, Bougie bougie) {
+    this.grimpeur = grimpeur;
+    this.bougie = bougie;
+    addRequirements(grimpeur,bougie);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.stop()==true){
+      grimpeur.grimpe(0);
+      grimpeur.reset();
+      bougie.RainBow();
+    }
+    else{
+      grimpeur.grimpe(0.5);
+      bougie.RainBowStop();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+   if(grimpeur.stop()){
+    bougie.RainBow();
+   }
+
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return grimpeur.stop()==true;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/GrimpeurBas.java
new file mode 100644
index 0000000..d6d27f7
--- /dev/null
+++ b/src/main/java/frc/robot/commands/GrimpeurBas.java
@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimpeurBas extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurBas. */
+  public GrimpeurBas(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
+      grimpeur.grimpe(0);
+    }
+    else if(grimpeur.encodeur()>=-38.5){
+      grimpeur.grimpe(-0.5);
+    }
+   else{grimpeur.grimpe(0.5);
+  } 
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/GrimpeurManuel.java b/src/main/java/frc/robot/commands/GrimpeurManuel.java
new file mode 100644
index 0000000..31a404b
--- /dev/null
+++ b/src/main/java/frc/robot/commands/GrimpeurManuel.java
@@ -0,0 +1,51 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class GrimpeurManuel extends Command {
+  private Grimpeur grimpeur;
+  private DoubleSupplier x;
+  /** Creates a new GrimpeurManuel. */
+  public GrimpeurManuel(Grimpeur grimpeur,DoubleSupplier x) {
+    this.grimpeur = grimpeur;
+    this.x = x;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.stop()){
+      grimpeur.grimpe(0);
+    }
+    else{
+    grimpeur.grimpe(x.getAsDouble());  
+    }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/RainBow.java b/src/main/java/frc/robot/commands/RainBow.java
index 2c4e5e2..3929ea2 100644
--- a/src/main/java/frc/robot/commands/RainBow.java
+++ b/src/main/java/frc/robot/commands/RainBow.java
@@ -9,8 +9,8 @@ import frc.robot.subsystems.Bougie;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class RainBow extends Command {
-  Bougie bougie;
   /** Creates a new RainBow. */
+  private Bougie bougie;
   public RainBow(Bougie bougie) {
     this.bougie = bougie;
     addRequirements(bougie);
diff --git a/src/main/java/frc/robot/commands/ResetGrimpeur.java b/src/main/java/frc/robot/commands/ResetGrimpeur.java
new file mode 100644
index 0000000..b4e6978
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ResetGrimpeur.java
@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Grimpeur;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ResetGrimpeur extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new ResetGrimpeur. */
+  public ResetGrimpeur(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    grimpeur.reset();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java
new file mode 100644
index 0000000..759c4b3
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Grimpeur.java
@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Grimpeur extends SubsystemBase {
+  /** Creates a new Grimpeur. */
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  public Grimpeur() {
+    teb.addBoolean("limit grimpeur", this::stop);
+    teb.addDouble("encodeur grimpeur", this::encodeur);
+  }
+  final SparkMax grimpeur = new SparkMax(21,MotorType.kBrushless);
+  final DigitalInput limit1 = new DigitalInput(2);
+  public void grimpe(double vitesse){
+    grimpeur.set(vitesse);
+  }
+  public boolean stop(){
+   return limit1.get();
+  }
+  public double encodeur(){
+  return grimpeur.getEncoder().getPosition();
+  }
+  public void reset(){
+     grimpeur.getEncoder().setPosition(0);
+    }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}