diff --git a/simgui-ds.json b/simgui-ds.json
index 73cc713..1ba71ce 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -1,4 +1,14 @@
 {
+  "Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
+  "System Joysticks": {
+    "window": {
+      "enabled": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6c56874..ae083bf 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -32,7 +32,7 @@ public class RobotContainer {
   
   CommandXboxController manette1 = new CommandXboxController(0);
   CommandXboxController manette2 = new CommandXboxController(1);
-  private final SendableChooser<Command> autoChooser;
+ // private final SendableChooser<Command> autoChooser;
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
   ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
@@ -41,13 +41,13 @@ public class RobotContainer {
     elevateur.setDefaultCommand(new RunCommand(()->{
       elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
     }, elevateur));
-    NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
+   /*  NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
     NamedCommands.registerCommand("L4", new L4(elevateur, pince));
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
     NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince));
     NamedCommands.registerCommand("CoralInspire", new CoralInspire(pince));
     NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince));
-    autoChooser = AutoBuilder.buildAutoChooser();
+    autoChooser = AutoBuilder.buildAutoChooser();*/
   }
 
   private void configureBindings() {
@@ -56,16 +56,16 @@ public class RobotContainer {
     manette1.b().whileTrue(new CoralAlgueInspire(pince));
     manette1.x().whileTrue(new CoralInspire(pince));
     manette1.y().whileTrue(new CoralExpire(pince));
-    manette1.povUp().toggleOnTrue(new L4(elevateur, pince));
-    manette1.povRight().toggleOnTrue(new L2(elevateur, pince));
-    manette1.povLeft().toggleOnTrue(new L3(elevateur, pince));
-    manette1.povDown().toggleOnTrue(new Depart(elevateur, pince));
+    manette1.povUp().whileTrue(new L4(elevateur, pince));
+    manette1.povRight().whileTrue(new L2(elevateur, pince));
+    manette1.povLeft().whileTrue(new L3(elevateur, pince));
+    manette1.povDown().whileTrue(new Depart(elevateur, pince));
     //manette2
     manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
     manette2.a().whileTrue(new StationPince(pince,elevateur));
   }
 
   public Command getAutonomousCommand() {
-    return autoChooser.getSelected();
+    return null;// autoChooser.getSelected();
   }
 }
diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/command/L4.java
index ec79016..b14d515 100644
--- a/src/main/java/frc/robot/command/L4.java
+++ b/src/main/java/frc/robot/command/L4.java
@@ -27,7 +27,7 @@ public class L4 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position()>=800 && elevateur.position()<=810){
+    if(elevateur.position()>=800 && elevateur.position()<=809){
       elevateur.vitesse(0);
     }
     else if(elevateur.position()>=810){
@@ -36,7 +36,7 @@ public class L4 extends Command {
     else{
       elevateur.vitesse(.5);
     }
-    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
+    if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
       pince.pivote(0);
     }
     else if(pince.encodeurpivot()>=810){
@@ -57,6 +57,6 @@ public class L4 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position()>=800;
+    return false;
   }
 }