diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d4c78e9..07aa04f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -96,27 +96,29 @@ public class RobotContainer {
     NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
     }
   private void configureBindings() {
-    // Elevateur manuel
+    
  drivetrain.setDefaultCommand(
           // Drivetrain will execute this command periodically
           drivetrain.applyRequest(() ->
-            drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.2)) // Drive forward with negative Y (forward)
-              .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.2)) // Drive left with negative X (left)
-              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left)
+            drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
+              .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.10000)) // Drive left with negative X (left)
+              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.1)) // Drive counterclockwise with negative X (left)
         )
       );
+    // Elevateur manuel
     drivetrain.registerTelemetry(logger::telemeterize);
     elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY(), 0.1));
     }, elevateur));
 
     //Pince manuel
     pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY(), 0.1));
     }, pince));
      
-    // reset the field-centric heading on left bumper press
+    
     // manette1
+    // reset the field-centric heading on left bumper press
     manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
     manette1.a().whileTrue(new Depart(elevateur, pince));
     manette1.b().whileTrue(new L2(elevateur,pince));
diff --git a/src/main/java/frc/robot/commands/ElevateurManuel.java b/src/main/java/frc/robot/commands/ElevateurManuel.java
index 2eb17ab..eca4068 100644
--- a/src/main/java/frc/robot/commands/ElevateurManuel.java
+++ b/src/main/java/frc/robot/commands/ElevateurManuel.java
@@ -31,7 +31,7 @@ public class ElevateurManuel extends Command {
     if(elevateur.limit2()==true){
       elevateur.vitesse(0);
     }
-    elevateur.vitesse(doubleSupplier.getAsDouble()/7);
+    elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/PinceManuel.java b/src/main/java/frc/robot/commands/PinceManuel.java
index 20abde8..5b8b2c0 100644
--- a/src/main/java/frc/robot/commands/PinceManuel.java
+++ b/src/main/java/frc/robot/commands/PinceManuel.java
@@ -32,7 +32,7 @@ public class PinceManuel extends Command {
        pince.pivote(0);
      }
      else{
-      pince.pivote(x.getAsDouble());
+      pince.pivote(x.getAsDouble()/3.5);
      }
   }