diff --git a/src/main/java/frc/robot/command/GrimpeurHaut.java b/src/main/java/frc/robot/command/GrimpeurHautDroit.java
similarity index 78%
rename from src/main/java/frc/robot/command/GrimpeurHaut.java
rename to src/main/java/frc/robot/command/GrimpeurHautDroit.java
index 2fbe288..324501f 100644
--- a/src/main/java/frc/robot/command/GrimpeurHaut.java
+++ b/src/main/java/frc/robot/command/GrimpeurHautDroit.java
@@ -7,10 +7,10 @@ package frc.robot.command;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystem.Grimpeur;
 
-public class GrimpeurHaut extends Command {
+public class GrimpeurHautDroit extends Command {
   private Grimpeur grimpeur;
   /** Creates a new GrimpeurHaut. */
-  public GrimpeurHaut(Grimpeur grimpeur) {
+  public GrimpeurHautDroit(Grimpeur grimpeur) {
     this.grimpeur = grimpeur;
     addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -31,35 +31,21 @@ public class GrimpeurHaut extends Command {
     grimpeur.droit(0);
   }
   else if(grimpeur.getpitch()<-15){
-    grimpeur.droit(0.6);
+    grimpeur.droit(-0.6);
     
   }
   else if(grimpeur.getpitch()>15){
-    grimpeur.droit(-0.6);
+    grimpeur.droit(0.6);
   }
   else{
     grimpeur.droit(0);
   }
-  if(grimpeur.encoderg()>261 ){
-    grimpeur.gauche(0);
-  }
-  else if(grimpeur.getpitch()<-15){
-    grimpeur.gauche(0.6);
-    
-  }
-  else if(grimpeur.getpitch()>15){
-    grimpeur.gauche(-0.6);
-  }
-  else{
-    grimpeur.gauche(0);
-  }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     grimpeur.droit(0);
-    grimpeur.gauche(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/command/GrimpeurHautGauche.java b/src/main/java/frc/robot/command/GrimpeurHautGauche.java
new file mode 100644
index 0000000..2bd6593
--- /dev/null
+++ b/src/main/java/frc/robot/command/GrimpeurHautGauche.java
@@ -0,0 +1,55 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Grimpeur;
+
+public class GrimpeurHautGauche extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurHautGauche. */
+  public GrimpeurHautGauche(Grimpeur grimpeur) {
+    this.grimpeur = grimpeur;
+    addRequirements(grimpeur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    grimpeur.resetencodeurd();
+    grimpeur.resetencodeurg();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.encoderg()>261 ){
+      grimpeur.gauche(0);
+    }
+    else if(grimpeur.getpitch()<-15){
+      grimpeur.gauche(0.6);
+      
+    }
+    else if(grimpeur.getpitch()>15){
+      grimpeur.gauche(-0.6);
+    }
+    else{
+      grimpeur.gauche(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.gauche(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}