diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 28f13a8..d734cbc 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(Math.pow(-manette1.getLeftX(), 2)*MaxSpeed, 0.1)) // Drive forward with negative Y (forward)
+              .withVelocityY(MathUtil.applyDeadband(Math.pow(-manette1.getLeftY(), 2)*MaxSpeed, 0.10000)) // Drive left with negative X (left)
+              .withRotationalRate(MathUtil.applyDeadband(Math.pow(-manette1.getRightX(), 2)*manette1.getRightX()*MaxAngularRate, 0.1)) // 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(), 0.1));
     }, elevateur));
 
     //Pince manuel
     pince.setDefaultCommand(new RunCommand(()->{
-      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY(), 0.1));
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY(), 0.1));
     }, pince));
      
     
diff --git a/src/main/java/frc/robot/commands/ElevateurManuel.java b/src/main/java/frc/robot/commands/ElevateurManuel.java
index eca4068..f86268a 100644
--- a/src/main/java/frc/robot/commands/ElevateurManuel.java
+++ b/src/main/java/frc/robot/commands/ElevateurManuel.java
@@ -28,9 +28,7 @@ public class ElevateurManuel extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.limit2()==true){
-      elevateur.vitesse(0);
-    }
+    if (elevateur.limit2())
     elevateur.vitesse(doubleSupplier.getAsDouble()/3.5);
   }