diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 10c2a43..24fa703 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -61,9 +61,9 @@ public class RobotContainer {
       .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
   GenericEntry autobalance = layoutauto.add("choix balance", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
   GenericEntry autosortir = layoutauto.add("choix sortir", false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", 0).getEntry();
-  GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
-  GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 0).getEntry();
+  GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", -66).getEntry();
+  GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry();
+  GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 35).getEntry();
 
   // subsystems
   BasePilotable basePilotable = new BasePilotable();
@@ -142,6 +142,7 @@ public class RobotContainer {
     return Commands.deadline(
         Commands.waitSeconds(14),
         new SequentialCommandGroup(
+          new BrakeFerme(basePilotable),
             Commands.select(Map.ofEntries(
                 Map.entry(enhaut, creerCommandBras(51, -40)),
                 Map.entry(aumilieux, creerCommandBras(45, -13)),
diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java
index 68c0200..f7d37a1 100644
--- a/src/main/java/frc/robot/commands/Avancer.java
+++ b/src/main/java/frc/robot/commands/Avancer.java
@@ -30,7 +30,7 @@ public class Avancer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(0.3,0);
+    basePilotable.drive(0.4,0);
   }
 
   // Called once the command ends or is interrupted.