diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 12bf559..3fb4b54 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -22,6 +22,8 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 // Commands
 import frc.robot.command.Balayer;
+import frc.robot.command.GrimpeurDroit;
+import frc.robot.command.GrimpeurGauche;
 import frc.robot.command.GuiderBas;
 import frc.robot.command.GuiderHaut;
 import frc.robot.command.Lancer;
@@ -52,7 +54,8 @@ public class RobotContainer {
   Lancerampli lancerampli = new Lancerampli(lanceur);
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
-  
+   GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
+  GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
   public RobotContainer() {
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
@@ -69,8 +72,8 @@ public class RobotContainer {
   }
 
   private void configureBindings() {
-
-   joystick.button(3).toggleOnTrue(balayer);
+  
+  joystick.button(3).toggleOnTrue(balayer);
 
   }
 
diff --git a/src/main/java/frc/robot/command/GrimpeurHautDroit.java b/src/main/java/frc/robot/command/GrimpeurDroit.java
similarity index 67%
rename from src/main/java/frc/robot/command/GrimpeurHautDroit.java
rename to src/main/java/frc/robot/command/GrimpeurDroit.java
index 324501f..0aa2c46 100644
--- a/src/main/java/frc/robot/command/GrimpeurHautDroit.java
+++ b/src/main/java/frc/robot/command/GrimpeurDroit.java
@@ -4,13 +4,17 @@
 
 package frc.robot.command;
 
+import java.util.function.DoubleSupplier;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystem.Grimpeur;
 
-public class GrimpeurHautDroit extends Command {
+public class GrimpeurDroit extends Command {
+  private DoubleSupplier doubleSupplier;
   private Grimpeur grimpeur;
   /** Creates a new GrimpeurHaut. */
-  public GrimpeurHautDroit(Grimpeur grimpeur) {
+  public GrimpeurDroit(Grimpeur grimpeur, DoubleSupplier doubleSupplier) {
+    this.doubleSupplier = doubleSupplier;
     this.grimpeur = grimpeur;
     addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -20,26 +24,32 @@ public class GrimpeurHautDroit extends Command {
   @Override
   public void initialize() {
     grimpeur.resetencodeurd();
-    grimpeur.resetencodeurg();
+    grimpeur.pistonferme();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    
-  if(grimpeur.encoderd()>261 ){
+    grimpeur.droit(doubleSupplier.getAsDouble());
+  if(grimpeur.encoderd()>261){
     grimpeur.droit(0);
+    
   }
   else if(grimpeur.getpitch()<-15){
-    grimpeur.droit(-0.6);
+    grimpeur.droit(-doubleSupplier.getAsDouble());
     
   }
   else if(grimpeur.getpitch()>15){
-    grimpeur.droit(0.6);
+    grimpeur.droit(doubleSupplier.getAsDouble());
   }
   else{
     grimpeur.droit(0);
   }
+  if(grimpeur.encoderd()>0){
+    grimpeur.resetencodeurd();
+    grimpeur.droit(0);
+    
+  }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/command/GrimpeurHautGauche.java b/src/main/java/frc/robot/command/GrimpeurGauche.java
similarity index 69%
rename from src/main/java/frc/robot/command/GrimpeurHautGauche.java
rename to src/main/java/frc/robot/command/GrimpeurGauche.java
index 2bd6593..11a5685 100644
--- a/src/main/java/frc/robot/command/GrimpeurHautGauche.java
+++ b/src/main/java/frc/robot/command/GrimpeurGauche.java
@@ -4,13 +4,17 @@
 
 package frc.robot.command;
 
+import java.util.function.DoubleSupplier;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystem.Grimpeur;
 
-public class GrimpeurHautGauche extends Command {
+public class GrimpeurGauche extends Command {
+  private DoubleSupplier doubleSupplier;
   private Grimpeur grimpeur;
   /** Creates a new GrimpeurHautGauche. */
-  public GrimpeurHautGauche(Grimpeur grimpeur) {
+  public GrimpeurGauche(Grimpeur grimpeur,DoubleSupplier doubleSupplier) {
+    this.doubleSupplier = doubleSupplier;
     this.grimpeur = grimpeur;
     addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.
@@ -26,19 +30,25 @@ public class GrimpeurHautGauche extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.encoderg()>261 ){
+    grimpeur.gauche(doubleSupplier.getAsDouble());
+    if(grimpeur.encoderg()>261){
       grimpeur.gauche(0);
     }
     else if(grimpeur.getpitch()<-15){
-      grimpeur.gauche(0.6);
+      grimpeur.gauche(doubleSupplier.getAsDouble());
       
     }
     else if(grimpeur.getpitch()>15){
-      grimpeur.gauche(-0.6);
+      grimpeur.gauche(-doubleSupplier.getAsDouble());
     }
     else{
       grimpeur.gauche(0);
     }
+    if(grimpeur.encoderd()>0){
+      grimpeur.resetencodeurg();
+      grimpeur.gauche(0);
+      
+    }
   }
 
   // Called once the command ends or is interrupted.