diff --git a/src/main/deploy/pathplanner/autos/B.H.5.2.auto b/src/main/deploy/pathplanner/autos/B.H.5.2.auto
new file mode 100644
index 0000000..c55ff2e
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/B.H.5.2.auto
@@ -0,0 +1,95 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7,
+      "y": 6.7
+    },
+    "rotation": 150.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "3.1"
+                }
+              },
+              {
+                "type": "deadline",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.7
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balayer"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3.2"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": "3",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/B.H.5.auto b/src/main/deploy/pathplanner/autos/B.H.5.auto
index c55ff2e..9ba6bef 100644
--- a/src/main/deploy/pathplanner/autos/B.H.5.auto
+++ b/src/main/deploy/pathplanner/autos/B.H.5.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.7,
-      "y": 6.7
+      "x": 1.3,
+      "y": 5.55
     },
-    "rotation": 150.0
+    "rotation": 90.0
   },
   "command": {
     "type": "sequential",
@@ -37,7 +37,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "3.1"
+                  "pathName": "Copy of 1.1"
                 }
               },
               {
@@ -47,7 +47,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 3.7
+                        "waitTime": 6.0
                       }
                     },
                     {
@@ -65,7 +65,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "3.2"
+            "pathName": "Copy of 1.2"
           }
         },
         {
@@ -90,6 +90,6 @@
       ]
     }
   },
-  "folder": "3",
+  "folder": "1",
   "choreoAuto": false
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Copy of B.C.5.auto b/src/main/deploy/pathplanner/autos/Copy of B.H.5.auto
similarity index 100%
rename from src/main/deploy/pathplanner/autos/Copy of B.C.5.auto
rename to src/main/deploy/pathplanner/autos/Copy of B.H.5.auto
diff --git a/src/main/java/frc/robot/command/GrimpeurDroit.java b/src/main/java/frc/robot/command/GrimpeurDroit.java
index 44c937f..135a12e 100644
--- a/src/main/java/frc/robot/command/GrimpeurDroit.java
+++ b/src/main/java/frc/robot/command/GrimpeurDroit.java
@@ -30,16 +30,6 @@ public class GrimpeurDroit extends Command {
   @Override
   public void execute() {
     grimpeur.droit(doubleSupplier.getAsDouble());
-   if(grimpeur.getpitch()<-15){
-    grimpeur.droit(-doubleSupplier.getAsDouble());
-    
-  }
-  else if(grimpeur.getpitch()>15){
-    grimpeur.droit(doubleSupplier.getAsDouble());
-  }
-  else{
-    grimpeur.droit(0);
-  }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/command/GrimpeurGauche.java b/src/main/java/frc/robot/command/GrimpeurGauche.java
index a1b071b..05b78ea 100644
--- a/src/main/java/frc/robot/command/GrimpeurGauche.java
+++ b/src/main/java/frc/robot/command/GrimpeurGauche.java
@@ -31,21 +31,6 @@ public class GrimpeurGauche extends Command {
   @Override
   public void execute() {
     grimpeur.gauche(doubleSupplier.getAsDouble());
-   if(grimpeur.getpitch()<-15){
-      grimpeur.gauche(doubleSupplier.getAsDouble());
-    }
-    else if(grimpeur.getpitch()>15){
-      grimpeur.gauche(-doubleSupplier.getAsDouble());
-    }
-    else{
-      grimpeur.gauche(0);
-    }
-    if(grimpeur.encoderg()<0){
-      grimpeur.gauche(doubleSupplier.getAsDouble());
-    }
-  else{
-    grimpeur.gauche(0);
-  }
   }
 
   // Called once the command ends or is interrupted.