diff --git a/src/main/java/frc/robot/commands/Grimper.java b/src/main/java/frc/robot/commands/GrimperHaut.java
similarity index 92%
rename from src/main/java/frc/robot/commands/Grimper.java
rename to src/main/java/frc/robot/commands/GrimperHaut.java
index 11c4304..e928ca4 100644
--- a/src/main/java/frc/robot/commands/Grimper.java
+++ b/src/main/java/frc/robot/commands/GrimperHaut.java
@@ -8,10 +8,10 @@ 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 Grimper extends Command {
+public class GrimperHaut extends Command {
   private Grimpeur grimpeur;
   /** Creates a new Grimper. */
-  public Grimper(Grimper grimper) {
+  public GrimperHaut(GrimperHaut grimper) {
     this.grimpeur = new Grimpeur();
     addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -26,6 +26,7 @@ public class Grimper extends Command {
   public void execute() {
     if(grimpeur.stop()==true){
       grimpeur.grimpe(0);
+      grimpeur.reset();
     }
     else{
       grimpeur.grimpe(0.5);
diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/GrimpeurBas.java
new file mode 100644
index 0000000..d6b071f
--- /dev/null
+++ b/src/main/java/frc/robot/commands/GrimpeurBas.java
@@ -0,0 +1,44 @@
+// 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 GrimpeurBas extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurBas. */
+  public GrimpeurBas(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() {
+    if(grimpeur.encodeur()>=500){
+      grimpeur.grimpe(0);
+    }
+    grimpeur.grimpe(-0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.grimpe(0);
+  }
+
+  // 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 7d0561f..09ca682 100644
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystems/Grimpeur.java
@@ -22,6 +22,12 @@ public class Grimpeur extends SubsystemBase {
   public boolean stop(){
    return limit1.get();
   }
+  public double encodeur(){
+  return grimpeur.getEncoder().getPosition();
+  }
+  public void reset(){
+     grimpeur.getEncoder().setPosition(0);
+    }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run