diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
index 7201f79..768028c 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperMur.java
@@ -64,7 +64,7 @@ public class GrimperMur extends Command {
      x = 1.11;
      angle = 0;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
+      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
     }
     else{
       if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
@@ -80,7 +80,7 @@ public class GrimperMur extends Command {
      y = 6.959326;
      angle = 180;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170 && drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190){
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
+      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
     }
     else{
       if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
diff --git a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
index ab44170..381b213 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/GrimperReservoir.java
@@ -64,7 +64,7 @@ public class GrimperReservoir extends Command {
      x = 13.57966;
      angle = 180;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() < 190 && drivetrain.getPigeon2().getYaw().getValueAsDouble() > 170){
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
+      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
     }
     else{
       if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
@@ -80,7 +80,7 @@ public class GrimperReservoir extends Command {
      x = 1.11;
      angle = 0;
      if(drivetrain.getPigeon2().getYaw().getValueAsDouble() > 350 || drivetrain.getPigeon2().getYaw().getValueAsDouble() < 10){
-      drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
+      drivetrain.setControl(drive.withVelocityY(y-boty).withVelocityX(x-botx));
     }
     else{
       if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
diff --git a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
index 7de1e8a..02351f6 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
@@ -69,11 +69,11 @@ public class LimelighterAuto extends Command {
       if(angle >180){
         angle -= 360;
       }
-      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 3;  
+      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle) / 5;  
       drivetrain.setControl(
           drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
       System.out.println(calcul);
-      if (calcul < 0.2 && calcul > -0.2) {
+      if (calcul < 0.1 && calcul > -0.1) {
       drivetrain.setControl(drive.withRotationalRate(0));
       }
     }
@@ -92,7 +92,7 @@ public class LimelighterAuto extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return calcul < 0.2 && calcul > -0.2;
+    return calcul < 0.1 && calcul > -0.1;
   }
 }
 
diff --git a/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java b/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
index 891e776..24249d7 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/TournerVersMur.java
@@ -51,10 +51,10 @@ public class TournerVersMur extends Command {
       angle = 180;
     }
     if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>0 && drivetrain.getPigeon2().getYaw().getValueAsDouble()<180){
-      drivetrain.setControl(drive.withRotationalRate(force));
+      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
     }
     else if(drivetrain.getPigeon2().getYaw().getValueAsDouble()>180){
-      drivetrain.setControl(drive.withRotationalRate(-force));
+      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
     }
   }
 
@@ -65,6 +65,6 @@ public class TournerVersMur extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 5;
+    return drivetrain.getPigeon2().getYaw().getValueAsDouble()> angle && drivetrain.getPigeon2().getYaw().getValueAsDouble()< angle + 10;
   }
 }
diff --git a/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java b/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
index 86932ce..0e537eb 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/TournerVersReservoir.java
@@ -42,19 +42,21 @@ public class TournerVersReservoir extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(alliance.get() == Alliance.Blue){
+    if(alliance.isPresent()){
+     if(alliance.get() == Alliance.Blue){
       force = 0.5;
       angle = 180;
     }
     else{
       force = -0.5;
       angle = 0;
+    } 
     }
     if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
-      drivetrain.setControl(drive.withRotationalRate(-force));
+      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
     }
     else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
-      drivetrain.setControl(drive.withRotationalRate(force));
+      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
     }
   }
 
@@ -65,6 +67,6 @@ public class TournerVersReservoir extends Command {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return  drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 5;
+    return  drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
   }
 }