diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bc70887..903b89d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -97,12 +97,12 @@ public class RobotContainer {
     }
   private void configureBindings() {
     drivetrain.registerTelemetry(logger::telemeterize);
-    drivetrain.setDefaultCommand(
-        // Drivetrain will execute this command periodically
-        drivetrain.applyRequest(() ->
-          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)
+ drivetrain.setDefaultCommand(
+          // Drivetrain will execute this command periodically
+          drivetrain.applyRequest(() ->
+            drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
+              .withVelocityY(MathUtil.applyDeadband(manette1.getLeftY()*manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
+              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
         )
       );
    
@@ -138,12 +138,7 @@ public class RobotContainer {
 
     //Elevateur manuel
     elevateur.setDefaultCommand(new RunCommand(()->{
-      if(elevateur.limit2()){
-        elevateur.vitesse(0);
-      }
-      else{
-        elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftX(), 0.1));
-      }
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
     }, elevateur));
 
     //limelight