diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 07aa04f..a1f1808 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -100,20 +100,20 @@ public class RobotContainer {
  drivetrain.setDefaultCommand(
           // Drivetrain will execute this command periodically
           drivetrain.applyRequest(() ->
-            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)
+            drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
+              .withVelocityY(MathUtil.applyDeadband(manette1.getLeftY()*manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
+              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
         )
       );
     // Elevateur manuel
     drivetrain.registerTelemetry(logger::telemeterize);
     elevateur.setDefaultCommand(new RunCommand(()->{
-      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY(), 0.1));
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
     }, elevateur));
 
     //Pince manuel
     pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY(), 0.1));
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
     }, pince));
      
     
@@ -130,7 +130,7 @@ public class RobotContainer {
     //manette2
     manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
     manette2.a().whileTrue(new CorailAspir(pince));
-    manette2.start().whileTrue(new reset(elevateur));
+    manette2.start().whileTrue(new reset(elevateur,pince));
     manette2.b().whileTrue(new Algue_inspire(pince));
     manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette2.rightBumper().whileTrue(new Forme3(limelight3,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 d6ba79b..9a61223 100644
--- a/src/main/java/frc/robot/commands/reset.java
+++ b/src/main/java/frc/robot/commands/reset.java
@@ -15,7 +15,7 @@ public class reset extends Command {
   /** Creates a new reset. */
   private Elevateur elevateur;
   private Pince pince;
-  public reset(Elevateur elevateur) {
+  public reset(Elevateur elevateur, Pince pince) {
     // Use addRequirements() here to declare subsystem dependencies.
     this.elevateur = elevateur;
     this.pince = pince;