diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 39e0872..2de88e6 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -48,5 +48,5 @@ public class Constants {
     public static int photocellacc = 2;
 
     //piston
-    public static int pistondroiteouvre= 7;
+    public static int pistondroite= 7;
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 401822b..a9bc803 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -75,7 +75,7 @@ public class RobotContainer {
     .withPosition(7,0); 
 
     dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream")
-    .withSize(4, 4)
+    .withSize(4, 3)
     .withPosition(3, 0);
 
     CameraServer.startAutomaticCapture();
@@ -95,6 +95,7 @@ public class RobotContainer {
     joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive)));
     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));
     // deplacement
     configureBindings();
       drive.setDefaultCommand(new RunCommand(()->{
@@ -108,8 +109,8 @@ public class RobotContainer {
     ,grimpeur));
       
       dashboard.add("autochooser",autoChooser)
-      .withSize(2,1)
-      .withPosition(1,1);
+      .withSize(1,1)
+      .withPosition(2,2);
   }
 
   private void configureBindings() {}
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index c72aecf..e8d0b6b 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -20,7 +20,7 @@ public class Accumulateur extends SubsystemBase {
    private GenericEntry vitesse =
       dashboard.add("vitesseacc", 0.5)
       .withSize(1, 1)
-      .withPosition(2, 2)
+      .withPosition(0, 0)
       .getEntry(); 
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
@@ -34,7 +34,7 @@ public class Accumulateur extends SubsystemBase {
     
     dashboard.addBoolean("limitacc", this::limitswitch)
     .withSize(1, 1)
-    .withPosition(2, 0);
+    .withPosition(0, 1);
   }
   public void Accumuler(double vitesse){
     Moteuracc.set(-vitesse);
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index 0f6dd4e..47654d7 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -28,7 +28,7 @@ public class Grimpeur extends SubsystemBase {
   final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
   final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
   // limit switch
-  final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroiteouvre);
+  final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroite);
   //fonction
   public Grimpeur() {
     pistonouvre();
diff --git a/src/main/java/frc/robot/subsystem/Guideur.java b/src/main/java/frc/robot/subsystem/Guideur.java
index 4a59907..4b196c1 100644
--- a/src/main/java/frc/robot/subsystem/Guideur.java
+++ b/src/main/java/frc/robot/subsystem/Guideur.java
@@ -23,10 +23,10 @@ public class Guideur extends SubsystemBase {
       public Guideur() {
         dashboard.addBoolean("limitguideurhaut", guideurhaut::get)
         .withSize(1,1)
-        .withPosition(0,0);
+        .withPosition(1,1);
         dashboard.addBoolean("limitguideurbas", guideurbas::get)
         .withSize(1,1)
-        .withPosition(1,0);        
+        .withPosition(2,1);        
       }
       public void guider(double vitesse){
         guideur.set(vitesse);
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index c377812..7f488c9 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -12,7 +12,6 @@ import edu.wpi.first.units.Measure;
 import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Velocity;
 import edu.wpi.first.units.Voltage;
-import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -29,12 +28,12 @@ public class Lanceur extends SubsystemBase {
    private GenericEntry vitesse =
       dashboard.add("vitesse", 0.8)
       .withSize(1, 1)
-      .withPosition(2,1)
-         .getEntry();
-         private GenericEntry vitesseamp =
+      .withPosition(2,0)
+         .getEntry();         
+          private GenericEntry vitesseamp =
             dashboard.add("vitesseamp", 0.1)
             .withSize(1, 1)
-            .withPosition(2,3)
+            .withPosition(1,0)
               .getEntry();
   public Lanceur() {
     
diff --git a/src/main/java/frc/robot/subsystem/Limelight.java b/src/main/java/frc/robot/subsystem/Limelight.java
index a3aa993..383685a 100644
--- a/src/main/java/frc/robot/subsystem/Limelight.java
+++ b/src/main/java/frc/robot/subsystem/Limelight.java
@@ -24,12 +24,12 @@ public class Limelight extends SubsystemBase {
      /** Creates a new Limelight. */
   public Limelight() {
     for (int port = 5800; port <= 5807; port++) {
-    PortForwarder.add(port, "limelight.local", port);
-    }
+      PortForwarder.add(port, "limelight.local", port);
+  }
   }
   
   public  double getx(){
-    return tx.getDouble(0);
+    return tx.getDouble(0); 
   }
   public double gety(){
     return ty.getDouble(0);