diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 21e30aa..1206c23 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -45,8 +45,7 @@ public class Constants {
     // Limit switch
     public static int guideurhaut = 0;
     public static int guideurbas = 1;
-    public static int limitacc = 2;
-    public static int limitacc2 = 3;
+    public static int photocellacc = 2;
     public static int limithaut = 4;
     public static int limitbas = 5;
 
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3fb4b54..7b50586 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -54,6 +54,7 @@ public class RobotContainer {
   Lancerampli lancerampli = new Lancerampli(lanceur);
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
+   //command
    GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
   GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
   public RobotContainer() {
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index 82ade1e..2c43a06 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -24,7 +24,7 @@ public class Accumulateur extends SubsystemBase {
          .getEntry(); 
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
-  final DigitalInput limitacc = new DigitalInput(Constants.limitacc);
+  final DigitalInput photocellacc = new DigitalInput(Constants.photocellacc);
     
   public void Deaccumuler(double vitesse){  
     Moteuracc2.set(vitesse);
@@ -34,7 +34,7 @@ public class Accumulateur extends SubsystemBase {
     Moteuracc.setInverted(true);
   }
   public boolean limitswitch(){
-    return limitacc.get();
+    return photocellacc.get();
   }
   public Accumulateur() {
     
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index 4f595c4..e2cbc93 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -8,9 +8,12 @@ import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
@@ -18,7 +21,8 @@ import frc.robot.Constants;
 public class Grimpeur extends SubsystemBase {
   /** Creates a new Acrocheur. */
   // moteur
-  public Grimpeur() {}
+  
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   final CANSparkMax grimpeurd = new CANSparkMax(Constants.grimpeurd,MotorType.kBrushless);
   final CANSparkMax grimpeurg = new CANSparkMax(Constants.grimpeurg,MotorType.kBrushless); 
   // limit switch
@@ -27,6 +31,23 @@ public class Grimpeur extends SubsystemBase {
   final DoubleSolenoid pistondroite= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondroiteouvre, Constants.pistondroiteouvre);
   final DoubleSolenoid pistondgauche= new DoubleSolenoid(PneumaticsModuleType.CTREPCM, Constants.pistondgaucheouvre, Constants.pistondroiteouvre);
   //fonction
+  public Grimpeur() {
+    dashboard.add("limitgrimpeurd", droite())
+    .withSize(1, 1)
+    .withPosition(1, 5);
+    dashboard.add("limitgrimpeurd", droite())
+    .withSize(1, 1)
+    .withPosition(1, 4);
+    dashboard.add("grimpeurencodeurd", encoderd())
+    .withSize(1, 1)
+    .withPosition(1, 3);
+    dashboard.add("grimpeurencodeurg", encoderg())
+    .withSize(1, 1)
+    .withPosition(1, 2);
+    dashboard.add("pitchgyrogrimpeur", getpitch())
+    .withSize(1, 1)
+    .withPosition(1, 1);
+  }
 public void droit(double vitesse){
   grimpeurd.set(vitesse);
 } 
diff --git a/src/main/java/frc/robot/subsystem/Guideur.java b/src/main/java/frc/robot/subsystem/Guideur.java
index 359a04c..c801259 100644
--- a/src/main/java/frc/robot/subsystem/Guideur.java
+++ b/src/main/java/frc/robot/subsystem/Guideur.java
@@ -7,17 +7,22 @@ package frc.robot.subsystem;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class Guideur extends SubsystemBase {
   /** Creates a new Guideur. */
-  public Guideur() {}
   
+    ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
     final WPI_TalonSRX guideur = new WPI_TalonSRX(Constants.guideur);
     final DigitalInput guideurhaut = new DigitalInput(Constants.guideurhaut);
     final DigitalInput guideurbas = new DigitalInput(Constants.guideurbas);
-
+      public Guideur() {
+        dashboard.add("limitguideurhaut", haut());
+        dashboard.add("limitguideurbas", bas());
+      }
       public void guider(double vitesse){
         guideur.set(vitesse);
       }