diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6c93e0c..f3ed18d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -45,7 +45,8 @@ public class RobotContainer {
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   ShuffleboardLayout forces = Shuffleboard.getTab("Dashboard")
   .getLayout("forces", BuiltInLayouts.kList)
-  .withSize(3, 7);
+  .withSize(1, 7)
+  .withPosition(1, 0);
   
   GenericEntry force1 = forces.add("Force1", 2).getEntry();
   GenericEntry force2 = forces.add("Force2", 4).getEntry();
@@ -58,7 +59,7 @@ public class RobotContainer {
   CommandXboxController manette = new CommandXboxController(0);
   CommandJoystick joystick1 = new CommandJoystick(0);
   public RobotContainer() {
-    
+    CameraServer.startAutomaticCapture();
     configureBindings();
     drive.setDefaultCommand(new RunCommand(()->{
      drive.drive(-joystick1.getY(), -joystick1.getX(), MathUtil.applyDeadband(-joystick1.getZ(), 0.2));
diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java
index 4886a11..42e9c70 100644
--- a/src/main/java/frc/robot/commands/Avancer.java
+++ b/src/main/java/frc/robot/commands/Avancer.java
@@ -16,7 +16,8 @@ public class Avancer extends CommandBase {
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
   .getLayout("Avancer", BuiltInLayouts.kList)
-  .withSize(3, 3);
+  .withSize(1, 4)
+  .withPosition(4, 0);
   /** Creates a new Avancer. */
   public Avancer(Drive drive) {
     //avancer.add("vitesse x", 1);
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index b0303ab..9571c64 100644
--- a/src/main/java/frc/robot/commands/Reculer.java
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -16,7 +16,8 @@ public class Reculer extends CommandBase {
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
   ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
   .getLayout("Reculer", BuiltInLayouts.kList)
-  .withSize(3, 3);
+  .withSize(1, 4)
+   .withPosition(6,0);
   /** Creates a new Reculer. */
   public Reculer(Drive drive) {
     reculer.add("vitesse x", 1);
diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index 1032e73..5b8b66a 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -7,6 +7,13 @@ package frc.robot.subsystems;
 import java.io.File;
 import java.io.IOException;
 
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.wpilibj.Filesystem;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
@@ -23,6 +30,14 @@ import swervelib.parser.SwerveParser;
 
 public class Drive extends SubsystemBase {
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+  ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
+  .getLayout("Avancer", BuiltInLayouts.kList)
+  .withSize(1, 4)
+  .withPosition(4, 0);
+  ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
+  .getLayout("Reculer", BuiltInLayouts.kList)
+  .withSize(1, 4)
+  .withPosition(3,0);
   SwerveDrive swerveDrive;
   File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
  /*  final CanAndCoderSwerve avantdroitdrive = new CanAndCoderSwerve(Constants.avantdroitDrive); 
@@ -37,17 +52,26 @@ public class Drive extends SubsystemBase {
     swerveDrive.drive(new Translation2d(x, y), zRotation, false, false);
   }
   
+  
 
   /** Creates a new Drive. */
   public Drive() {
-    
+    reculer.add("vitesse x", 1);
+    reculer.add("vitesse y", 2);
+    reculer.add("vitesse z", 3);
+    reculer.add("distance", 4);
+    avancer.add("vitesse x", 1);
+    avancer.add("vitesse y", 2);
+    avancer.add("vitesse z", 3);
+    avancer.add("distance", 4);
     try {
       this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive();
     } catch (IOException e) {
       e.printStackTrace();
     }
   }
-   public SwerveModulePosition[] distance(){
+
+  public SwerveModulePosition[] distance(){
     return swerveDrive.getModulePositions();
   }
 public void reset(){
diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java
index dddd1b3..7dd7e59 100644
--- a/src/main/java/frc/robot/subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/subsystems/Lanceur.java
@@ -7,6 +7,7 @@ package frc.robot.subsystems;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
@@ -18,14 +19,16 @@ public class Lanceur extends SubsystemBase {
   ShuffleboardTab dash2 = Shuffleboard.getTab("Dashboard2.0");
   
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
-  //ShuffleboardLayout pid = Shuffleboard.getTab("Dashboard")
-  //.getLayout("Pid", BuiltInLayouts.kList)
-  //.withSize(3, 7);
+  ShuffleboardLayout pid = Shuffleboard.getTab("Dashboard")
+  .getLayout("Pid", BuiltInLayouts.kList)
+  .withSize(1, 3)
+  .withPosition(0, 0);
+  private GenericEntry p = pid.add("p", 1).getEntry();
+  
   public Lanceur(){
-    dash2.add("test", 1); 
-    dashboard.add("p", 1);
-    dashboard.add("i", 2);
-    dashboard.add("d", 3);
+    double P = p.getDouble(1.0);
+    pid.add("i", 2).getEntry();
+    pid.add("d", 3).getEntry();
   }
   final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);