diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 881999f..650fed4 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -74,21 +74,19 @@ public class RobotContainer {
   AllumeLED allumeLED = new AllumeLED(LED, accumulateur); 
   Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
   public RobotContainer() {
+
     dashboard.addCamera("limelight", "limelight","limelight.local:5800")
     .withSize(3,4)
     .withPosition(7,0); 
+
     dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream")
     .withSize(4, 4)
     .withPosition(3, 0);
+
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
     NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
     autoChooser = AutoBuilder.buildAutoChooser();
-
-    manette.a().whileTrue(new GuiderBas(guideur));
-    dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream")
-    .withSize(4, 4)
-    .withPosition(3, 0);
     
     manette.a().whileTrue(new GuiderBas(guideur));
     manette.b().whileTrue(new GuiderHaut(guideur));
@@ -110,7 +108,7 @@ public class RobotContainer {
     grimpeur.setDefaultCommand(new RunCommand(()->{
     grimpeur.droit(MathUtil.applyDeadband(-manette.getLeftY(), 0.2));
     grimpeur.gauche(MathUtil.applyDeadband(-manette.getRightY(),0.2 ));}
-      ,grimpeur));
+    ,grimpeur));
 
       LED.setDefaultCommand(allumeLED);
       
diff --git a/src/main/java/frc/robot/command/LancerAmp.java b/src/main/java/frc/robot/command/LancerAmp.java
index 30380ef..df9bf7e 100644
--- a/src/main/java/frc/robot/command/LancerAmp.java
+++ b/src/main/java/frc/robot/command/LancerAmp.java
@@ -25,7 +25,7 @@ public class LancerAmp extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = 0.1;
+    double vitesse = 0.15;
     lancer.lanceramp();
     if(lancer.vitesse(vitesse)>vitesse){
       accumulateur.Accumuler();
diff --git a/src/main/java/frc/robot/subsystem/Drive.java b/src/main/java/frc/robot/subsystem/Drive.java
index 54c88ab..d55cd6e 100644
--- a/src/main/java/frc/robot/subsystem/Drive.java
+++ b/src/main/java/frc/robot/subsystem/Drive.java
@@ -21,9 +21,9 @@ import swervelib.parser.SwerveParser;
 public class Drive extends SubsystemBase {
   /** Creates a new Drive. */
 
-  public static final boolean kFrontLeftDriveMotorReversed = false;
-  public static final boolean kBackLeftDriveMotorReversed = false;
-  public static final boolean kFrontRightDriveMotorReversed = true;
+  public static final boolean kFrontLeftDriveMotorReversed = true;
+  public static final boolean kBackLeftDriveMotorReversed = true;
+  public static final boolean kFrontRightDriveMotorReversed = false;
   public static final boolean kBackRightDriveMotorReversed = true;
 
    SwerveDrive swerveDrive;