diff --git a/simgui.json b/simgui.json
index 395e7c0..24f3f80 100644
--- a/simgui.json
+++ b/simgui.json
@@ -1,10 +1,5 @@
 {
   "HALProvider": {
-    "DIO": {
-      "window": {
-        "visible": true
-      }
-    },
     "Other Devices": {
       "SPARK MAX [10]": {
         "header": {
@@ -27,11 +22,14 @@
         }
       }
     },
+<<<<<<< HEAD
     "Solenoids": {
       "window": {
         "visible": true
       }
     },
+=======
+>>>>>>> 88c4a9552f1a0b19d806a7672f738c1a9b60846b
     "Timing": {
       "window": {
         "visible": false
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
index a9a2d30..a42b4ff 100644
--- a/src/main/deploy/swerve/modules/backleft.json
+++ b/src/main/deploy/swerve/modules/backleft.json
@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 80.332,
+  "absoluteEncoderOffset": 299.443,
   "drive": {
     "type": "sparkmax",
     "id": 8,
@@ -24,7 +24,7 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 7,
+    "id": 6,
     "canbus": null
   }
 }
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
index 679f08d..41915eb 100644
--- a/src/main/deploy/swerve/modules/backright.json
+++ b/src/main/deploy/swerve/modules/backright.json
@@ -3,7 +3,7 @@
     "front": -12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 28.74,
+  "absoluteEncoderOffset": 95.537,
   "drive": {
     "type": "sparkmax",
     "id": 11,
@@ -24,7 +24,7 @@
   },
   "encoder": {
     "type": "cancoder",
-    "id": 6,
+    "id": 7,
     "canbus": null
   }
 }
\ No newline at end of file
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
index 3c37753..64f8268 100644
--- a/src/main/deploy/swerve/modules/frontleft.json
+++ b/src/main/deploy/swerve/modules/frontleft.json
@@ -3,7 +3,7 @@
     "front": 12.375,
     "left": 12.375
   },
-  "absoluteEncoderOffset": 98.438,
+  "absoluteEncoderOffset": 348.223 ,
   "drive": {
     "type": "sparkmax",
     "id": 2,
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
index 87f8cd9..36202ee 100644
--- a/src/main/deploy/swerve/modules/frontright.json
+++ b/src/main/deploy/swerve/modules/frontright.json
@@ -3,15 +3,15 @@
     "front": 12.375,
     "left": -12.375
   },
-  "absoluteEncoderOffset": 17.227,
+  "absoluteEncoderOffset": 200.215,
   "drive": {
     "type": "sparkmax",
-    "id": 17,
+    "id": 18,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 18,
+    "id": 17,
     "canbus": null
   },
   "inverted": {
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 2b43ab2..45fada4 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -27,8 +27,8 @@ public class Constants {
     public static int grimpeurg = 27;
 
     // Swerve
-    public static int AvantDroitDrive = 17;
-    public static int AvantDroitAngle = 18;
+    public static int AvantDroitDrive = 18;
+    public static int AvantDroitAngle = 17;
     public static int AvantGaucheDrive = 2; 
     public static int AvantGaucheAngle = 3;
     public static int ArriereDroitDrive = 11;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 015628c..cecc364 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -87,7 +87,7 @@ public class RobotContainer {
     // deplacement
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{
-     drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
+     drive.drive(MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(joystick.getX(),0.2), MathUtil.applyDeadband(joystick.getZ(), 0.2));
     },drive));
 
     // grimpeur manuel
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index c2e53e2..f85e6c3 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -12,8 +12,6 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
-import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 
 public class Accumulateur extends SubsystemBase {
   /** Creates a new Accumulateur. */
diff --git a/src/main/java/frc/robot/subsystem/Balayeuse.java b/src/main/java/frc/robot/subsystem/Balayeuse.java
index 79ed37f..6a10544 100644
--- a/src/main/java/frc/robot/subsystem/Balayeuse.java
+++ b/src/main/java/frc/robot/subsystem/Balayeuse.java
@@ -6,7 +6,6 @@ package frc.robot.subsystem;
 
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
diff --git a/src/main/java/frc/robot/subsystem/Drive.java b/src/main/java/frc/robot/subsystem/Drive.java
index c7d72da..4e03980 100644
--- a/src/main/java/frc/robot/subsystem/Drive.java
+++ b/src/main/java/frc/robot/subsystem/Drive.java
@@ -6,12 +6,10 @@ package frc.robot.subsystem;
 
 import java.io.File;
 import java.io.IOException;
-
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
 import com.pathplanner.lib.util.PIDConstants;
 import com.pathplanner.lib.util.ReplanningConfig;
-
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
 import edu.wpi.first.wpilibj.DriverStation;
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index 6589c72..ee22c02 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -7,9 +7,6 @@ package frc.robot.subsystem;
 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.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
diff --git a/src/main/java/frc/robot/subsystem/Guideur.java b/src/main/java/frc/robot/subsystem/Guideur.java
index dd8db40..66f34e9 100644
--- a/src/main/java/frc/robot/subsystem/Guideur.java
+++ b/src/main/java/frc/robot/subsystem/Guideur.java
@@ -5,7 +5,6 @@
 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.ShuffleboardLayout;
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index 7b1e61a..bb100d7 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -6,7 +6,6 @@ package frc.robot.subsystem;
 
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
-
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
diff --git a/src/main/java/frc/robot/subsystem/Limelight.java b/src/main/java/frc/robot/subsystem/Limelight.java
index 944b8c0..c4441bd 100644
--- a/src/main/java/frc/robot/subsystem/Limelight.java
+++ b/src/main/java/frc/robot/subsystem/Limelight.java
@@ -4,7 +4,6 @@
 
 package frc.robot.subsystem;
 
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;