diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d189131..a9bc803 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -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(()->{
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index 6b71405..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.CTREPCM, Constants.pistondroite);
+  final Solenoid pistondroite= new Solenoid(PneumaticsModuleType.REVPH, Constants.pistondroite);
   //fonction
   public Grimpeur() {
     pistonouvre();