diff --git a/src/main/java/frc/robot/command/GrimpeurBas.java b/src/main/java/frc/robot/command/GrimpeurBas.java
new file mode 100644
index 0000000..47b2a53
--- /dev/null
+++ b/src/main/java/frc/robot/command/GrimpeurBas.java
@@ -0,0 +1,51 @@
+// 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 GrimpeurBas extends Command {
+  private Grimpeur grimpeur;
+  /** Creates a new GrimpeurBas. */
+  public GrimpeurBas(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.resetencodeurd();
+    grimpeur.resetencodeurg();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(grimpeur.droite()){
+      grimpeur.resetencodeurd();
+      grimpeur.gauche(0);
+    }
+    if(grimpeur.gauche()){
+      grimpeur.resetencodeurg();
+      grimpeur.gauche(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    grimpeur.droit(0);
+    grimpeur.gauche(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/GrimpeurHaut.java b/src/main/java/frc/robot/command/GrimpeurHaut.java
index a14a6fb..2fbe288 100644
--- a/src/main/java/frc/robot/command/GrimpeurHaut.java
+++ b/src/main/java/frc/robot/command/GrimpeurHaut.java
@@ -26,29 +26,32 @@ public class GrimpeurHaut extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(grimpeur.droite()){
-      grimpeur.resetencodeurd();
-    }
-    else if(grimpeur.gauche()){
-      grimpeur.resetencodeurg();
-    }
-  else if(grimpeur.encoderd()>261){
+    
+  if(grimpeur.encoderd()>261 ){
     grimpeur.droit(0);
   }
   else if(grimpeur.getpitch()<-15){
     grimpeur.droit(0.6);
-    grimpeur.gauche(-0.6);
+    
   }
   else if(grimpeur.getpitch()>15){
-    grimpeur.gauche(0.6);
     grimpeur.droit(-0.6);
   }
-  else if(grimpeur.encoderg()>261){
+  else{
+    grimpeur.droit(0);
+  }
+  if(grimpeur.encoderg()>261 ){
+    grimpeur.gauche(0);
+  }
+  else if(grimpeur.getpitch()<-15){
     grimpeur.gauche(0.6);
+    
+  }
+  else if(grimpeur.getpitch()>15){
+    grimpeur.gauche(-0.6);
   }
   else{
     grimpeur.gauche(0);
-    grimpeur.gauche(0);
   }
   }