diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1acf40d..4d521cb 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -115,12 +115,12 @@ public class RobotContainer {
     manette1.leftBumper().whileTrue(aprilTag);
     manette1.rightBumper().whileTrue(tape);
     manette1.povUp().whileTrue(creerCommandBras(51, -37));
-    manette1.povDown().whileTrue(creerCommandBras(9, -12));
+    manette1.povDown().whileTrue(creerCommandBras(12, -9));
     manette1.povRight().whileTrue(creerCommandBras(45, -13));
     manette1.povLeft().whileTrue(creerCommandBras(0, 0));
     manette1.y().whileTrue(activerLimeLight);
     //manette 2
-    manette2.povDown().whileTrue(creerCommandBras(9, -18));
+    manette2.povDown().whileTrue(creerCommandBras(5, -12));
     manette2.povUp().whileTrue(creerCommandBras(44, 0));
     manette2.rightBumper().whileTrue(cube);
     manette2.leftBumper().whileTrue(cone);
@@ -128,7 +128,6 @@ public class RobotContainer {
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
     manette2.a().whileTrue(gratteMonte);
     manette2.b().whileTrue(gratteBaisser);
-
   }
 
   private Command creerCommandBras(double distancePivot, double distanceBras) {
@@ -142,12 +141,13 @@ public class RobotContainer {
     chooser.getSelected();
     autobalance.getBoolean(true);
     return Commands.deadline(
+        Commands.waitSeconds(14),
         Commands.waitSeconds(14),
         new SequentialCommandGroup(
             Commands.select(Map.ofEntries(
                 Map.entry(enhaut, creerCommandBras(51, -40)),
-                Map.entry(aumilieux, creerCommandBras(9, -14)),
-                Map.entry(enbas, creerCommandBras(44, -17)),
+                Map.entry(aumilieux, creerCommandBras(45, -13)),
+                Map.entry(enbas, creerCommandBras(12, -9)),
                 Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected),
             new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
             Commands.waitSeconds(1),
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index e6b1598..5d6b948 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -25,11 +25,11 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>6) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+    basePilotable.drive(0.4*basePilotable.getpitch()/12, 0);
    }
    else if(basePilotable.getpitch()<-6) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+    basePilotable.drive(0.4*basePilotable.getpitch()/12, 0);
    }
    else
    {