diff --git a/simgui-ds.json b/simgui-ds.json
index 73cc713..1fa3b25 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -88,5 +88,14 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "030000006d04000015c2000000000000"
+    },
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
   ]
 }
diff --git a/simgui.json b/simgui.json
index 4da2b3d..5febc02 100644
--- a/simgui.json
+++ b/simgui.json
@@ -1,12 +1,61 @@
 {
+  "HALProvider": {
+    "DIO": {
+      "window": {
+        "visible": true
+      }
+    }
+  },
   "NTProvider": {
     "types": {
       "/FMSInfo": "FMSInfo",
+      "/Shuffleboard/dashboard/autochooser": "String Chooser",
       "/SmartDashboard/Field": "Field2d",
       "/SmartDashboard/Pigeon IMU [0]": "Gyro"
+    },
+    "windows": {
+      "/SmartDashboard/Field": {
+        "bottom": 1476,
+        "height": 8.210550308227539,
+        "left": 150,
+        "right": 2961,
+        "top": 79,
+        "width": 16.541748046875,
+        "window": {
+          "visible": true
+        }
+      }
     }
   },
-  "NetworkTables Info": {
-    "visible": true
+  "NetworkTables": {
+    "transitory": {
+      "SmartDashboard": {
+        "Field": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  },
+  "NetworkTables View": {
+    "visible": false
+  },
+  "Plot": {
+    "Plot <0>": {
+      "plots": [
+        {
+          "backgroundColor": [
+            0.0,
+            0.0,
+            0.0,
+            0.8500000238418579
+          ],
+          "height": 332
+        }
+      ],
+      "window": {
+        "visible": false
+      }
+    }
   }
 }
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d9eb65f..9461c4a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -64,7 +64,6 @@ public class RobotContainer {
    CommandXboxController manette = new CommandXboxController(1);
    //command
    PistonFerme pistonFerme = new PistonFerme(grimpeur);
-   Limelight_tracker limelight_tracker = new Limelight_tracker(limelight,drive);
    Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
   Lancer lancer = new Lancer(lanceur,limelight);
@@ -86,8 +85,8 @@ public class RobotContainer {
     manette.b().whileTrue(new GuiderHaut(guideur));
     joystick.button(3).toggleOnTrue(new Balayer(balayeuse, accumulateur));
     joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
-    joystick.button(4).whileTrue(new ParallelCommandGroup(lancer,limelight_tracker));
-    joystick.button(2).whileTrue(new ParallelCommandGroup(lancerampli,limelight_tracker,guiderHaut));
+    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),new GuiderHaut(guideur)));
     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));