diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index 62d22be..b61e3c5 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -4,14 +4,52 @@
 
 package frc.robot.subsystem;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
 
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Acrocheur. */
+  // moteur
   public Grimpeur() {}
-
+  final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
+  final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
+  // limit switch
+  final DigitalInput limitdroite = new DigitalInput(Constants.limithaut);
+  final DigitalInput limitgauche = new DigitalInput(Constants.limitbas);
+  //fonction
+public void droit(double vitesse){
+  grimpeurd.set(vitesse);
+} 
+public void gauche(double vitesse){
+  grimpeurg.set(vitesse);
+} 
+public boolean droite(){
+  return limitdroite.get();
+}
+public boolean gauche(){
+  return limitgauche.get();
+}
+public void resetencodeurd(){
+  grimpeurd.getEncoder().setPosition(0);
+}
+public void resetencodeurg(){
+  grimpeurg.getEncoder().setPosition(0);
+}
+public void grimpeur(){
+  grimpeurg.follow(grimpeurd);
+}
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+    if(droite()) {
+      resetencodeurd();
+    }
+    if(gauche()) {
+      resetencodeurg();
+    }
   }
 }
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index dc7ee09..45e0a1e 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -18,11 +18,17 @@ public class Lanceur extends SubsystemBase {
   public Lanceur() {}
   final CANSparkMax lancer = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
   final CANSparkMax lancer2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
+  final CANSparkMax lancer3 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
+  final CANSparkMax lancer4 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
     public void lancer(double vitesse){
       lancer.set(vitesse);
   }
   public void lanceur(){
     lancer2.follow(lancer);
+    lancer3.follow(lancer);
+    lancer4.follow(lancer);
+    lancer3.setInverted(true);
+    lancer4.setInverted(true);
   }