diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
index 50df969..0d3c214 100644
--- a/src/main/deploy/swerve/modules/backleft.json
+++ b/src/main/deploy/swerve/modules/backleft.json
@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 0.416259765625,
+  "absoluteEncoderOffset":209.443,
   "drive": {
     "type": "sparkmax",
     "id": 8,
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
index f2e6b3f..a2b0c92 100644
--- a/src/main/deploy/swerve/modules/backright.json
+++ b/src/main/deploy/swerve/modules/backright.json
@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": -0.023193359375,
+  "absoluteEncoderOffset": 5.537,
   "drive": {
     "type": "sparkmax",
     "id": 11,
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
index efab94a..5cd53a4 100644
--- a/src/main/deploy/swerve/modules/frontleft.json
+++ b/src/main/deploy/swerve/modules/frontleft.json
@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 0.2744140625,
+  "absoluteEncoderOffset":258.223 ,
   "drive": {
     "type": "sparkmax",
     "id": 2,
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
index 18c69fb..cd1f7a6 100644
--- a/src/main/deploy/swerve/modules/frontright.json
+++ b/src/main/deploy/swerve/modules/frontright.json
@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": -0.297119140625,
+  "absoluteEncoderOffset": 110.215,
   "drive": {
     "type": "sparkmax",
     "id": 18,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ab16101..6f8f9b0 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -30,9 +30,8 @@ import frc.robot.command.LancerNote;
 import frc.robot.command.LancerTrape;
 import frc.robot.command.Lancerampli;
 import frc.robot.command.Limelight_tracker;
-import frc.robot.command.PistonFerme;
-import frc.robot.command.PistonOuvre;
 import frc.robot.command.RestGyro;
+import frc.robot.command.Debalayer;
 // Subsystems
 import frc.robot.subsystem.Accumulateur;
 import frc.robot.subsystem.Balayeuse;
@@ -59,7 +58,6 @@ public class RobotContainer {
   CommandXboxController manette = new CommandXboxController(1);
 
    //command
-  PistonFerme pistonFerme = new PistonFerme(grimpeur);
   Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
   GuiderBas guiderBas = new GuiderBas(guideur);
@@ -68,6 +66,8 @@ public class RobotContainer {
   Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
   GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftY);
   GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getRightY);
+  Debalayer debalayer = new Debalayer(balayeuse, accumulateur);
+
   public RobotContainer() {
 
     dashboard.addCamera("limelight", "limelight","limelight.local:5800")
@@ -82,13 +82,14 @@ public class RobotContainer {
 
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
-    NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
     autoChooser = AutoBuilder.buildAutoChooser();
-    
+
+    //manette
+    manette.start().whileTrue(new RestGyro(drive));
     manette.a().whileTrue(new GuiderBas(guideur));
     manette.b().whileTrue(new GuiderHaut(guideur));
-    manette.x().whileTrue(new PistonFerme(grimpeur));
-    manette.y().whileTrue(new PistonOuvre(grimpeur));
+
+    //joystick
     joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur));
     joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
     joystick.button(5).whileTrue(new LancerAmp(lanceur, accumulateur));
@@ -96,11 +97,12 @@ public class RobotContainer {
     joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive)));
     joystick.button(6).whileTrue(new LancerTrape(lanceur, accumulateur));
     joystick.button(7).whileTrue(new Limelight_tracker(limelight, drive));
-    manette.start().whileTrue(new RestGyro(drive));
+    joystick.button(8).whileTrue(new Debalayer(balayeuse, accumulateur));
+    
     // deplacement
     configureBindings();
       drive.setDefaultCommand(new RunCommand(()->{
-     drive.drive(MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(joystick.getX(),0.2), MathUtil.applyDeadband(joystick.getZ(), 0.2));
+     drive.drive(MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(joystick.getX(),0.2), MathUtil.applyDeadband(joystick.getZ(), 0.35));
     },drive));
 
     // grimpeur manuel
diff --git a/src/main/java/frc/robot/command/Balayer.java b/src/main/java/frc/robot/command/Balayer.java
index 9b3e158..de0f6e6 100644
--- a/src/main/java/frc/robot/command/Balayer.java
+++ b/src/main/java/frc/robot/command/Balayer.java
@@ -29,7 +29,7 @@ public class Balayer extends Command {
     accumulateur.Accumuler(0);
   }
   else{
-    balayeuse.balaye(0.3);
+    balayeuse.balaye(0.55);
     accumulateur.Accumuler();
   }
 }
diff --git a/src/main/java/frc/robot/command/GrimpeurDroit.java b/src/main/java/frc/robot/command/GrimpeurDroit.java
index 135a12e..7e131d6 100644
--- a/src/main/java/frc/robot/command/GrimpeurDroit.java
+++ b/src/main/java/frc/robot/command/GrimpeurDroit.java
@@ -36,7 +36,6 @@ public class GrimpeurDroit extends Command {
   @Override
   public void end(boolean interrupted) {
     grimpeur.droit(0);
-    grimpeur.pistonouvre();
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/command/GuiderBas.java b/src/main/java/frc/robot/command/GuiderBas.java
index 4d6e5d2..fb8d1e7 100644
--- a/src/main/java/frc/robot/command/GuiderBas.java
+++ b/src/main/java/frc/robot/command/GuiderBas.java
@@ -27,7 +27,7 @@ public class GuiderBas extends Command {
       guideur.guider(0);
     }
     else{
-      guideur.guider(0.5);
+      guideur.guider(0.6);
     }
   }
 
diff --git a/src/main/java/frc/robot/command/GuiderHaut.java b/src/main/java/frc/robot/command/GuiderHaut.java
index ae0c13e..d8122d1 100644
--- a/src/main/java/frc/robot/command/GuiderHaut.java
+++ b/src/main/java/frc/robot/command/GuiderHaut.java
@@ -27,7 +27,7 @@ public class GuiderHaut extends Command {
       guideur.guider(0);
     }
     else{
-      guideur.guider(-0.4);
+      guideur.guider(-0.6);
     }
   }
 
diff --git a/src/main/java/frc/robot/command/LancerAmp.java b/src/main/java/frc/robot/command/LancerAmp.java
index fe1b5bb..35d02da 100644
--- a/src/main/java/frc/robot/command/LancerAmp.java
+++ b/src/main/java/frc/robot/command/LancerAmp.java
@@ -27,7 +27,7 @@ public class LancerAmp extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = 0.15;
+    double vitesse = 0.3;
     lancer.lanceramp();
     if(lancer.vitesse(vitesse)>vitesse){
       accumulateur.Accumuler();
diff --git a/src/main/java/frc/robot/command/PistonFerme.java b/src/main/java/frc/robot/command/PistonFerme.java
deleted file mode 100644
index c072790..0000000
--- a/src/main/java/frc/robot/command/PistonFerme.java
+++ /dev/null
@@ -1,40 +0,0 @@
-// 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 PistonFerme extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new PistonFerme. */
-  public PistonFerme(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.pistonouvre();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.pistonferme();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return true;
-  }
-}
diff --git a/src/main/java/frc/robot/command/PistonOuvre.java b/src/main/java/frc/robot/command/PistonOuvre.java
deleted file mode 100644
index c191b2a..0000000
--- a/src/main/java/frc/robot/command/PistonOuvre.java
+++ /dev/null
@@ -1,40 +0,0 @@
-// 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 PistonOuvre extends Command {
-  private Grimpeur grimpeur;
-  /** Creates a new PistonFerme. */
-  public PistonOuvre(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.pistonferme();
-  }
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {
-    grimpeur.pistonouvre();
-  }
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return true;
-  }
-}
diff --git a/src/main/java/frc/robot/command/RestGyro.java b/src/main/java/frc/robot/command/RestGyro.java
index 0c2c3fc..1da74be 100644
--- a/src/main/java/frc/robot/command/RestGyro.java
+++ b/src/main/java/frc/robot/command/RestGyro.java
@@ -18,13 +18,13 @@ public class RestGyro extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    drive.restgyroscope();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {
-    drive.restgyroscope();
-  }
+  public void execute() {}
 
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index 4d68ad3..e6a5502 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -18,7 +18,7 @@ public class Accumulateur extends SubsystemBase {
  
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
    private GenericEntry vitesse =
-      dashboard.add("vitesseacc", 0.5)
+      dashboard.add("vitesseacc", 0.7)
       .withSize(1, 1)
       .withPosition(0, 0)
       .getEntry(); 
@@ -41,7 +41,7 @@ public class Accumulateur extends SubsystemBase {
     Moteuracc2.set(-vitesse);
   }
   public void Accumuler(){
-    Accumuler(vitesse.getDouble(0.5));
+    Accumuler(vitesse.getDouble(0.7));
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index 47654d7..b1ccb08 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -4,7 +4,6 @@
 
 package frc.robot.subsystem;
 
-import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
@@ -31,10 +30,8 @@ public class Grimpeur extends SubsystemBase {
   final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroite);
   //fonction
   public Grimpeur() {
-    pistonouvre();
     layout.addDouble("grimpeurencodeurd", this::encoderd);
     layout.addDouble("grimpeurencodeurg", this::encoderg);
-    layout.addDouble("pitchgyrogrimpeur", this::getpitch);
   }
 public void droit(double vitesse){
   grimpeurd.set(vitesse);
@@ -54,19 +51,6 @@ public double encoderd(){
 public double encoderg(){
   return grimpeurg.getEncoder().getPosition();
 }
-public AHRS gyroscope = new AHRS();
-  public double getpitch(){
-    return gyroscope.getPitch();
-  }
-  public void pistonferme(){
-     pistondroite.set(true);
-  }
-  public void pistonouvre(){
-    pistondroite.set(false);
-  }
-  public boolean piston(){
-    return pistondroite.get();
-  }
 
  @Override
   public void periodic() {
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index ce081fb..0cf7f2a 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -31,7 +31,7 @@ public class Lanceur extends SubsystemBase {
       .withPosition(2,0)
          .getEntry();         
           private GenericEntry vitesseamp =
-            dashboard.add("vitesseamp", 0.15)
+            dashboard.add("vitesseamp", 0.3)
             .withSize(1, 1)
             .withPosition(1,0)
               .getEntry();
@@ -90,7 +90,7 @@ public class Lanceur extends SubsystemBase {
     lancer(vitesse.getDouble(0.8));
   }
   public void lanceramp(){
-    lancer(vitesseamp.getDouble(0.1));
+    lancer(vitesseamp.getDouble(0.3));
   }
   public double vitesse(double vitesse){
     return lanceur3.getEncoder().getVelocity();