diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0cd68f6..6c56874 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -66,6 +66,6 @@ public class RobotContainer {
   }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
+    return autoChooser.getSelected();
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Pince.java b/src/main/java/frc/robot/subsystems/Pince.java
index e2ec30e..50bcfe7 100644
--- a/src/main/java/frc/robot/subsystems/Pince.java
+++ b/src/main/java/frc/robot/subsystems/Pince.java
@@ -13,11 +13,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Pince extends SubsystemBase {
   /** Creates a new Pince. */
   public Pince() {}
-  final SparkMax coral = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax pivoti = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax algue1 = new SparkMax(0, MotorType.kBrushless);
-  final SparkMax algue2 = new SparkMax(0, MotorType.kBrushless);
-  final DigitalInput limit6 = new DigitalInput(0);
+  final SparkMax coral = new SparkMax(1, MotorType.kBrushless);
+  final SparkMax pivoti = new SparkMax(2, MotorType.kBrushless);
+  final SparkMax algue1 = new SparkMax(4, MotorType.kBrushless);
+  final SparkMax algue2 = new SparkMax(5, MotorType.kBrushless);
+  final DigitalInput limit6 = new DigitalInput(2);
   public void aspirecoral(double vitesse){
     coral.set(vitesse);
   }