diff --git a/simgui.json b/simgui.json
index be49c52..a612677 100644
--- a/simgui.json
+++ b/simgui.json
@@ -7,6 +7,29 @@
     },
     "windows": {
       "/SmartDashboard/Field": {
+        "Robot": {
+          "arrowColor": [
+            1.0,
+            1.0,
+            1.0,
+            255.0
+          ],
+          "color": [
+            1.0,
+            1.0,
+            1.0,
+            255.0
+          ],
+          "style": "Box/Image"
+        },
+        "XModules": {
+          "arrowColor": [
+            0.0,
+            1.0,
+            0.0,
+            255.0
+          ]
+        },
         "window": {
           "visible": true
         }
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
index bf4c653..68bde09 100644
--- a/src/main/deploy/swerve/modules/backleft.json
+++ b/src/main/deploy/swerve/modules/backleft.json
@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 80.684,
+  "absoluteEncoderOffset": 79.980, 
   "drive": {
     "type": "sparkmax",
     "id": 8,
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
index 04240b4..2f18ee7 100644
--- a/src/main/deploy/swerve/modules/backright.json
+++ b/src/main/deploy/swerve/modules/backright.json
@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 208.828 ,
+  "absoluteEncoderOffset": 28.652 ,
   "drive": {
     "type": "sparkmax",
     "id": 11,
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
index 2cc4e7a..deb18f7 100644
--- a/src/main/deploy/swerve/modules/frontleft.json
+++ b/src/main/deploy/swerve/modules/frontleft.json
@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 98.438,
+  "absoluteEncoderOffset": 98.262,
   "drive": {
     "type": "sparkmax",
     "id": 2,
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
index 9694a22..dc6a942 100644
--- a/src/main/deploy/swerve/modules/frontright.json
+++ b/src/main/deploy/swerve/modules/frontright.json
@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 196.963,
+  "absoluteEncoderOffset": 17.139,
   "drive": {
     "type": "sparkmax",
     "id": 17,
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 88ff911..293d7a5 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -3,18 +3,15 @@ package frc.robot;
 public class Constants {
 
     //Moteur
-        public static int lanceur = 0;
+        public static int lanceur = 10;
         public static int avantdroitDrive = 17;
         public static int avantdroitAngle = 18;
-        public static int avantgaucheDrive = 0;
-        public static int avantgaucheAngle = 1;
+        public static int avantgaucheDrive = 2;
+        public static int avantgaucheAngle = 3;
         public static int arrieredroitDrive = 11;
         public static int arrieredroitAngle = 12;
         public static int arrieregaucheDrive = 8;
         public static int arrieregaucheAngle = 9;
-        public static int accumulateur = 9;
-        
-        //limit switch
-            public static int ballon = 10;
+        public static int accumulateur = 19;
 
 }           
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d30e6db..edcb98d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -43,7 +43,7 @@ public class RobotContainer {
   GenericEntry force5 = forces.add("Force5", 0).getEntry();
   GenericEntry force6 = forces.add("Force6", 0).getEntry();
   GenericEntry force7 = forces.add("Force7", 0).getEntry();
-  
+
   CommandXboxController manette = new CommandXboxController(0);
   CommandJoystick joystick1 = new CommandJoystick(0);
   Drive drive = new Drive();
@@ -51,7 +51,7 @@ public class RobotContainer {
     
     configureBindings();
     drive.setDefaultCommand(new RunCommand(()->{
-     drive.drive(joystick1.getX(), -joystick1.getY(), -joystick1.getZ());
+     drive.drive(-joystick1.getY(), -joystick1.getX(), -joystick1.getZ());
     },drive));
   }