diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index a1ecf8d..6df9577 100644
Binary files a/bin/main/frc/robot/subsystems/BasePilotable.class and b/bin/main/frc/robot/subsystems/BasePilotable.class differ
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 4243b3c..cf26a10 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -13,7 +13,9 @@ import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -32,6 +34,9 @@ public class BasePilotable extends SubsystemBase {
   private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
   //gyro
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+  .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList)
+  .withSize(2, 2);
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
     return gyroscope.getPitch();
@@ -67,10 +72,6 @@ public void BrakeFerme(){
 
   @Override
   public void periodic() {
-    teb .add("encodeuravantdroit",0.1);
-    teb .add("encodeurarrieregauche",0.1);
-    teb .add("encodeurarrieredroit",0.1);
-    teb .add("encodeuravantgauche",0.1);  
     teb .add("distance",0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index e7e1cb6..8c5199a 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -12,13 +12,19 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 
 import edu.wpi.first.wpilibj.DigitalInput;
-
-
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 
 
 public class Gratte extends SubsystemBase {
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+.getLayout("limitswitchsgratte", BuiltInLayouts.kList)
+.withSize(2, 2);
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
   private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
@@ -51,6 +57,9 @@ public class Gratte extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    limitswitchgratte.add ("limitbd", 0.1);
+    limitswitchgratte.add ("limithg", 0.1);
+    limitswitchgratte.add ("limithd", 0.1);
+    limitswitchgratte.add ("limitbg", 0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 3f38ebc..797cc12 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -8,11 +8,19 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BrasTelescopique extends SubsystemBase {
+  
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+ShuffleboardLayout layout = Shuffleboard.getTab("teb")
+.getLayout("yeet", BuiltInLayouts.kList)
+.withSize(2, 2);
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
@@ -28,6 +36,6 @@ public class BrasTelescopique extends SubsystemBase {
 
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
+    yeet.add ("encodeur",0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index d9166ec..6e6e9c9 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -5,12 +5,14 @@
 package frc.robot.subsystems.bras;
 
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType; 
 import static frc.robot.Constants.*;
 
 public class Pivot extends SubsystemBase {
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
   // moteur
   private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless);
 
@@ -18,7 +20,7 @@ public class Pivot extends SubsystemBase {
   public void monteDescendre(double vitesse) {
     pivot.set (vitesse);
   } 
-  // encoder
+  // encodeur
   public double distance(){
     return (pivot.getEncoder().getPosition());
   }
@@ -27,6 +29,6 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
+  teb .add ("encodeur pivot",0.1);
  }
 }