diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4efd8e3..6d85b4b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -88,8 +88,8 @@ public class RobotContainer {
   Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
   Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
   Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
-  PivotManuel pivotManuel = new PivotManuel(pivot, manette2::getLeftX);
-  BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette2::getLeftY);
+  PivotManuel pivotManuel = new PivotManuel(pivot, manette2::getRightY);
+  BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette2::getLeftX);
 
   public RobotContainer() {
     chooser.addOption(enhaut, enhaut);
diff --git a/src/main/java/frc/robot/commands/bras/BrasManuel.java b/src/main/java/frc/robot/commands/bras/BrasManuel.java
index 844c681..25343bd 100644
--- a/src/main/java/frc/robot/commands/bras/BrasManuel.java
+++ b/src/main/java/frc/robot/commands/bras/BrasManuel.java
@@ -30,9 +30,11 @@ public class BrasManuel extends CommandBase {
   @Override
   public void execute() {
     if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){
-      brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
+      brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble()*0.5);
     }
-   
+   else{
+    brasTelescopique.AvanceRecule(0);
+   }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/bras/PivotManuel.java b/src/main/java/frc/robot/commands/bras/PivotManuel.java
index 32979d0..a802781 100644
--- a/src/main/java/frc/robot/commands/bras/PivotManuel.java
+++ b/src/main/java/frc/robot/commands/bras/PivotManuel.java
@@ -28,9 +28,13 @@ public class PivotManuel extends CommandBase {
   @Override
   public void execute() {
     if(doubleSupplier.getAsDouble()>0.2 || doubleSupplier.getAsDouble()<-0.2){
-      pivot.monteDescendre(doubleSupplier.getAsDouble());}
+      pivot.monteDescendre(-doubleSupplier.getAsDouble()*0.5)
+      ;}
+      else{
+        pivot.monteDescendre(0);
+       }
   }
-
+  
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {}