diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d734cbc..df211a1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -137,6 +137,7 @@ public class RobotContainer {
 
     //pince
     manette2.a().whileTrue(new CorailAspir(pince));
+    manette2.start().whileTrue(new reset(elevateur, pince));
     manette2.b().whileTrue(new Algue_inspire(pince));
     manette2.start().whileTrue(new reset(elevateur,pince));
     manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
diff --git a/src/main/java/frc/robot/commands/GrimpeurBas.java b/src/main/java/frc/robot/commands/GrimpeurBas.java
index 0dddd56..7837e24 100644
--- a/src/main/java/frc/robot/commands/GrimpeurBas.java
+++ b/src/main/java/frc/robot/commands/GrimpeurBas.java
@@ -15,8 +15,8 @@ public class GrimpeurBas extends Command {
   private Grimpeur grimpeur;
    NetworkTableInstance networktable = NetworkTableInstance.getDefault();
   NetworkTable tabelevateur = networktable.getTable("tabelevateur");
-  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur grimpeur bas").subscribe(-39.19);
-  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur grimpeur haut ").subscribe(-38.5);
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurgrimpeurbas").subscribe(-39.19);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurgrimpeurhaut ").subscribe(-38.5);
   /** Creates a new GrimpeurBas. */
   public GrimpeurBas(Grimpeur grimpeur) {
     this.grimpeur = grimpeur;
diff --git a/src/main/java/frc/robot/commands/L2.java b/src/main/java/frc/robot/commands/L2.java
index 0d11c7f..fb6286f 100644
--- a/src/main/java/frc/robot/commands/L2.java
+++ b/src/main/java/frc/robot/commands/L2.java
@@ -20,10 +20,10 @@ public class L2 extends Command {
   private Pince pince;
   NetworkTableInstance networktable = NetworkTableInstance.getDefault();
   NetworkTable tabelevateur = networktable.getTable("tabelevateur");
-  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur elevateur bas L2").subscribe(-1);
-  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur elevateur haut L2").subscribe(-0.9);
-  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L2").subscribe(-1);
-  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L2").subscribe(-0.9);
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurelevateurbasL2").subscribe(-1);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurelevateurhautL2").subscribe(-0.9);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL2").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpinceautL2").subscribe(-0.9);
   /** Creates a new L2. */
   public L2(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
diff --git a/src/main/java/frc/robot/commands/L3.java b/src/main/java/frc/robot/commands/L3.java
index 90d5ddf..43635ac 100644
--- a/src/main/java/frc/robot/commands/L3.java
+++ b/src/main/java/frc/robot/commands/L3.java
@@ -18,10 +18,10 @@ public class L3 extends Command {
   private Pince pince;
     NetworkTableInstance networktable = NetworkTableInstance.getDefault();
   NetworkTable tabelevateur = networktable.getTable("tabelevateur");
-  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur haut L3").subscribe(-2.9);
-  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur bas L3").subscribe(-3);
-  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L3").subscribe(-1);
-  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L3").subscribe(-0.9);
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurhautL3").subscribe(-2.9);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurbasL3").subscribe(-3);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL3").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL3").subscribe(-0.9);
   /** Creates a new L2. */
   public L3(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;
diff --git a/src/main/java/frc/robot/commands/L4.java b/src/main/java/frc/robot/commands/L4.java
index e7f7758..a2a46d0 100644
--- a/src/main/java/frc/robot/commands/L4.java
+++ b/src/main/java/frc/robot/commands/L4.java
@@ -18,10 +18,10 @@ public class L4 extends Command {
   private Pince pince;
 NetworkTableInstance networktable = NetworkTableInstance.getDefault();
   NetworkTable tabelevateur = networktable.getTable("tabelevateur");
-  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeur bas L4").subscribe(-6.4);
-  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeur haut L4").subscribe(-6.5);
-  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeur pince bas L4").subscribe(-1);
-  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeur pince haut L4").subscribe(-0.9);
+  private DoubleSubscriber encodeur1 = tabelevateur.getDoubleTopic("encodeurbasL4").subscribe(-6.4);
+  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurhautL4").subscribe(-6.5);
+  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL4").subscribe(-1);
+  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL4").subscribe(-0.9);
   /** Creates a new L2. */
   public L4(Elevateur elevateur,Pince pince) {
     this.elevateur = elevateur;