diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0e01c85..2880b5b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -68,14 +68,15 @@ public class RobotContainer {
     Limelight3 limelight3 = new Limelight3();
     Pose2d pose = new Pose2d();
     private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
+
     public double getAngle() {
         return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
     }
-        public RobotContainer() {
-        autoChooser = AutoBuilder.buildAutoChooser("New Auto");
-        SmartDashboard.putData("Auto Mode", autoChooser);
-        configureBindings();
-        NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
+    public RobotContainer() {
+    autoChooser = AutoBuilder.buildAutoChooser("New Auto");
+    SmartDashboard.putData("Auto Mode", autoChooser);
+    configureBindings();
+    NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
     }
     private void configureBindings() {
       elevateur.setDefaultCommand(new RunCommand(()->{
@@ -100,11 +101,11 @@ public class RobotContainer {
         manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
         manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
         manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
-        manette1.a().whileTrue(new reset(elevateur));
+        manette1.a().whileTrue(new reset(elevateur,pince));
         manette1.b().whileTrue(new L2(elevateur, pince));
         
 
-        manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
+       // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
 
 
 
diff --git a/src/main/java/frc/robot/commands/reset.java b/src/main/java/frc/robot/commands/reset.java
index f49fe97..9a61223 100644
--- a/src/main/java/frc/robot/commands/reset.java
+++ b/src/main/java/frc/robot/commands/reset.java
@@ -6,6 +6,7 @@ package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Pince;
 
 
 
@@ -13,10 +14,12 @@ import frc.robot.subsystems.Elevateur;
 public class reset extends Command {
   /** Creates a new reset. */
   private Elevateur elevateur;
-  public reset(Elevateur elevateur) {
+  private Pince pince;
+  public reset(Elevateur elevateur, Pince pince) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.elevateur = elevateur;
-    addRequirements(elevateur);
+    this.pince = pince;
+    addRequirements(elevateur,pince);
   }
 
   // Called when the command is initially scheduled.
@@ -27,6 +30,7 @@ public class reset extends Command {
   @Override
   public void execute() {
     elevateur.reset();
+    pince.reset();
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index ef76d3f..7ef7851 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -16,9 +16,10 @@ public class Elevateur extends SubsystemBase {
   /** Creates a new Elevateur. */
   public Elevateur() {
     teb.addDouble("encodeur elevateur",this::position);
+    teb.addBoolean("limit elevateur", this::limit2);
   }
   final SparkMax  monte = new SparkMax(22, MotorType.kBrushless);
-  final DigitalInput limit2 = new DigitalInput(1);
+  final DigitalInput limit2 = new DigitalInput(0);
   
   public double position(){
     return monte.getEncoder().getPosition();
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index 8cea49b..125c103 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -10,19 +10,23 @@ import com.revrobotics.spark.SparkMax;
 import edu.wpi.first.networktables.GenericEntry;
 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 Pince extends SubsystemBase {
   /** Creates a new Pince. */
-  public Pince() {}
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  public Pince() {
+    teb.addBoolean("limit pince",this::position);
+    teb.addDouble("encodeur pince", this::encodeurpivot);
+  }
   final SparkMax coral = new SparkMax(20, MotorType.kBrushless);
   final SparkMax pivoti = new SparkMax(14, MotorType.kBrushless);
   final SparkMax algue1 = new SparkMax(16, MotorType.kBrushless);
   final SparkMax algue2 = new SparkMax(19, MotorType.kBrushless);
-  final DigitalInput limit6 = new DigitalInput(0);
-   GenericEntry teb = Shuffleboard.getTab("teb")
-  .add("pince encodeur",encodeurpivot())
-  .getEntry();
+  final DigitalInput limit6 = new DigitalInput(9);
+  
+ 
   public void aspirecoral(double vitesse){
     coral.set(vitesse);
   }