diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index daf473c..239c7f8 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -12,10 +12,11 @@ import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 // Manette
-
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 // Manettes
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
@@ -29,6 +30,8 @@ import frc.robot.command.GuiderHaut;
 import frc.robot.command.Lancer;
 import frc.robot.command.LancerNote;
 import frc.robot.command.Lancerampli;
+import frc.robot.command.Limelight_tracker;
+import frc.robot.command.Pistongrimpeur;
 // Subsystems
 import frc.robot.subsystem.Accumulateur;
 import frc.robot.subsystem.Balayeuse;
@@ -55,6 +58,7 @@ public class RobotContainer {
    CommandJoystick joystick = new CommandJoystick(0);
    CommandXboxController manette = new CommandXboxController(1);
    //command
+   Limelight_tracker limelight_tracker = new Limelight_tracker(limelight,drive);
    Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
   GuiderBas guiderBas = new GuiderBas(guideur);
@@ -64,6 +68,7 @@ public class RobotContainer {
    GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
   GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
   AllumeLED allumeLED = new AllumeLED(LED);
+  Pistongrimpeur pistongrimpeur = new Pistongrimpeur(grimpeur, LED);
   public RobotContainer() {
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
@@ -74,6 +79,8 @@ public class RobotContainer {
     manette.b().whileTrue(guiderHaut);
     joystick.button(3).toggleOnTrue(balayer);
     joystick.button(1).whileTrue(lancernote);
+    joystick.button(4).whileTrue(new ParallelCommandGroup(lancer,limelight_tracker));
+    joystick.button(2).whileTrue(new ParallelCommandGroup(lancerampli,limelight_tracker,guiderHaut));
     
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{
@@ -83,6 +90,7 @@ public class RobotContainer {
       grimpeur.droit(manette.getLeftX());}
       ,grimpeur));
       LED.setDefaultCommand(allumeLED);
+      
   }
 
   private void configureBindings() {
diff --git a/src/main/java/frc/robot/command/Pistongrimpeur.java b/src/main/java/frc/robot/command/Pistongrimpeur.java
new file mode 100644
index 0000000..56df958
--- /dev/null
+++ b/src/main/java/frc/robot/command/Pistongrimpeur.java
@@ -0,0 +1,49 @@
+// 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;
+import frc.robot.subsystem.LED;
+
+public class Pistongrimpeur extends Command {
+  private LED LED;
+  private Grimpeur grimpeur;
+  /** Creates a new Pistongrimpeur. */
+  public Pistongrimpeur(Grimpeur grimpeur,LED LED) {
+    this.grimpeur = grimpeur;
+    this.LED = LED;
+    addRequirements(grimpeur,LED);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    grimpeur.pistonouvre();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    
+    if(grimpeur.pistonouvre()){
+      LED.couleur(0, 0, 255);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    LED.couleur(0, 0, 0);
+    grimpeur.pistonferme();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystem/Grimpeur.java b/src/main/java/frc/robot/subsystem/Grimpeur.java
index e2cbc93..3ba9d85 100644
--- a/src/main/java/frc/robot/subsystem/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystem/Grimpeur.java
@@ -76,13 +76,15 @@ public AHRS gyroscope = new AHRS();
   public double getpitch(){
     return gyroscope.getPitch();
   }
-  public void pistonouvre(){
+  public boolean pistonouvre(){
     pistondroite.set(Value.kForward);
     pistondgauche.set(Value.kForward);
+    return pistondroite.isFwdSolenoidDisabled();
   }
   public void pistonferme(){
     pistondroite.set(Value.kReverse);
     pistondgauche.set(Value.kReverse);
+  
   }
   @Override
   public void periodic() {