diff --git a/src/main/java/frc/robot/command/GrimpeurHaut.java b/src/main/java/frc/robot/command/GrimpeurHaut.java
index 840c475..a14a6fb 100644
--- a/src/main/java/frc/robot/command/GrimpeurHaut.java
+++ b/src/main/java/frc/robot/command/GrimpeurHaut.java
@@ -18,17 +18,46 @@ public class GrimpeurHaut extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  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();
+    }
+    else if(grimpeur.gauche()){
+      grimpeur.resetencodeurg();
+    }
+  else 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){
+    grimpeur.gauche(0.6);
+  }
+  else{
+    grimpeur.gauche(0);
+    grimpeur.gauche(0);
+  }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    grimpeur.droit(0);
+    grimpeur.gauche(0);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index ed02bda..4f595c4 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -45,7 +45,12 @@ public void resetencodeurd(){
 public void resetencodeurg(){
   grimpeurg.getEncoder().setPosition(0);
 }
-
+public double encoderd(){
+ return grimpeurd.getEncoder().getPosition();
+}
+public double encoderg(){
+  return grimpeurg.getEncoder().getPosition();
+}
 public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();