diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4fe2fad..1b29981 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -12,6 +12,7 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.GrimperHaut;
 import frc.robot.commands.GrimpeurBas;
 import frc.robot.commands.GrimpeurManuel;
+import frc.robot.commands.ResetGrimpeur;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.Grimpeur;
 
@@ -20,20 +21,25 @@ public class RobotContainer {
   CommandXboxController manette2 = new CommandXboxController(1);
   Grimpeur grimpeur = new Grimpeur();
   Bougie bougie = new Bougie();
-  GrimpeurManuel grimpeurManuel = new GrimpeurManuel(grimpeur, manette1::getLeftY);
+  GrimpeurManuel grimpeurManuel = new GrimpeurManuel(grimpeur, manette2::getLeftY);
   public RobotContainer() {
     grimpeur.setDefaultCommand(new RunCommand(()->{
-      grimpeur.grimpe(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
-    }, grimpeur));
+      if(grimpeur.stop()){
+       grimpeur.grimpe(0); 
+      }
+      else{
+        grimpeur.grimpe(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
+    }}, grimpeur));
     configureBindings();
   }
-
+  
   private void configureBindings() {
-    manette1.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie));
-    manette1.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
+    manette2.leftBumper().whileTrue(new GrimperHaut(grimpeur,bougie));
+    manette2.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
+    manette2.a().whileTrue(new ResetGrimpeur(grimpeur));
   }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/GrimpeurBas.java
index 73cd93f..d6d27f7 100644
--- a/src/main/java/frc/robot/commands/GrimpeurBas.java
+++ b/src/main/java/frc/robot/commands/GrimpeurBas.java
@@ -24,13 +24,13 @@ public class GrimpeurBas extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.encodeur()>=500 && grimpeur.encodeur()<=510){
+    if(grimpeur.encodeur()>=-38.5 && grimpeur.encodeur()<=-39.19){
       grimpeur.grimpe(0);
     }
-    else if(grimpeur.encodeur()>=510){
-      grimpeur.grimpe(0.5);
+    else if(grimpeur.encodeur()>=-38.5){
+      grimpeur.grimpe(-0.5);
     }
-   else{grimpeur.grimpe(-0.5);
+   else{grimpeur.grimpe(0.5);
   } 
   }
 
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
index d8c06d5..759c4b3 100644
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystems/Grimpeur.java
@@ -8,14 +8,19 @@ 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. */
-  public 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(3);
+  final DigitalInput limit1 = new DigitalInput(2);
   public void grimpe(double vitesse){
     grimpeur.set(vitesse);
   }