diff --git a/src/main/java/frc/robot/command/Depart.java b/src/main/java/frc/robot/command/Depart.java
new file mode 100644
index 0000000..4d101e9
--- /dev/null
+++ b/src/main/java/frc/robot/command/Depart.java
@@ -0,0 +1,47 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+
+/* 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 Depart extends Command {
+  private Elevateur elevateur;
+  /** Creates a new L2. */
+  public Depart(Elevateur elevateur) {
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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(elevateur.limit2()==true){
+      elevateur.vitesse(0);
+      elevateur.reset();
+    }
+    else{
+      elevateur.vitesse(-.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return elevateur.limit2()==true;
+  }
+}
diff --git a/src/main/java/frc/robot/command/ElevateurManuel.java b/src/main/java/frc/robot/command/ElevateurManuel.java
new file mode 100644
index 0000000..c75b4f9
--- /dev/null
+++ b/src/main/java/frc/robot/command/ElevateurManuel.java
@@ -0,0 +1,48 @@
+// 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.command;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Elevateur;
+
+/* 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 ElevateurManuel extends Command {
+  private DoubleSupplier doubleSupplier;
+  private Elevateur elevateur;
+  /** Creates a new ElevateurManuel. */
+  public ElevateurManuel(Elevateur elevateur,DoubleSupplier doubleSupplier) {
+    this.doubleSupplier = doubleSupplier;
+    this.elevateur = elevateur;
+    addRequirements(elevateur);
+    // 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(elevateur.limit2()==true){
+      elevateur.vitesse(0);
+    }
+    elevateur.vitesse(doubleSupplier.getAsDouble());
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    elevateur.vitesse(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/L2.java b/src/main/java/frc/robot/command/L2.java
index 9804df8..36c6522 100644
--- a/src/main/java/frc/robot/command/L2.java
+++ b/src/main/java/frc/robot/command/L2.java
@@ -24,11 +24,11 @@ public class L2 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position(500)>=500){
+    if(elevateur.position()>=500){
       elevateur.vitesse(0);
     }
     else{
-      elevateur.vitesse(.5);
+      elevateur.vitesse(.3);
     }
   }
 
@@ -41,6 +41,6 @@ public class L2 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position(500)>=500;
+    return elevateur.position()>=500;
   }
 }
diff --git a/src/main/java/frc/robot/command/L3.java b/src/main/java/frc/robot/command/L3.java
index e5ff0da..92dfd18 100644
--- a/src/main/java/frc/robot/command/L3.java
+++ b/src/main/java/frc/robot/command/L3.java
@@ -24,7 +24,7 @@ public class L3 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position(700)>=700){
+    if(elevateur.position()>=700){
       elevateur.vitesse(0);
     }
     else{
@@ -41,6 +41,6 @@ public class L3 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position(700)>=700;
+    return elevateur.position()>=700;
   }
 }
diff --git a/src/main/java/frc/robot/command/L4.java b/src/main/java/frc/robot/command/L4.java
index b0b3c1c..df01def 100644
--- a/src/main/java/frc/robot/command/L4.java
+++ b/src/main/java/frc/robot/command/L4.java
@@ -24,7 +24,7 @@ public class L4 extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(elevateur.position(800)>=800){
+    if(elevateur.position()>=800){
       elevateur.vitesse(0);
     }
     else{
@@ -41,6 +41,6 @@ public class L4 extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return elevateur.position(800)>=800;
+    return elevateur.position()>=800;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Elevateur.java b/src/main/java/frc/robot/subsystems/Elevateur.java
index e81d5ef..b37f6f0 100644
--- a/src/main/java/frc/robot/subsystems/Elevateur.java
+++ b/src/main/java/frc/robot/subsystems/Elevateur.java
@@ -13,16 +13,18 @@ public class Elevateur extends SubsystemBase {
   public Elevateur() {}
   final SparkMax  monte = new SparkMax(0, MotorType.kBrushless);
   final DigitalInput limit2 = new DigitalInput(0);
-  public double position(double position){
+  public double position(){
     return monte.getEncoder().getPosition();
   }
   public void vitesse(double vitesse){
     monte.set(vitesse);
   }
-
-
-
- 
+  public boolean limit2(){
+    return limit2.get();
+  } 
+  public void reset(){
+    monte.getEncoder().setPosition(0);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run