diff --git a/src/main/java/frc/robot/subsystems/Balayeuse.java b/src/main/java/frc/robot/subsystems/Balayeuse.java
index 85eb747..b14cd0a 100644
--- a/src/main/java/frc/robot/subsystems/Balayeuse.java
+++ b/src/main/java/frc/robot/subsystems/Balayeuse.java
@@ -17,10 +17,10 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Balayeuse extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  SparkFlex Balaye1 = new SparkFlex(5, MotorType.kBrushless);
-  SparkFlex Balaye2 = new SparkFlex(6, MotorType.kBrushless);
-  SparkMax Pivot = new SparkMax(7, MotorType.kBrushless);
-  DigitalInput limit = new DigitalInput(0);
+  SparkFlex Balaye1 = new SparkFlex(2, MotorType.kBrushless);
+  SparkFlex Balaye2 = new SparkFlex(20, MotorType.kBrushless);
+  SparkMax Pivot = new SparkMax(8, MotorType.kBrushless);
+  DigitalInput limit = new DigitalInput(9);
   private GenericEntry EncodeurBalayeuse =
   teb.add("Position bas balayeuse", 10).getEntry();
   private GenericEntry AmpBaleyeuse =
diff --git a/src/main/java/frc/robot/subsystems/Grimpeur.java b/src/main/java/frc/robot/subsystems/Grimpeur.java
index 56b93cd..5d50e46 100644
--- a/src/main/java/frc/robot/subsystems/Grimpeur.java
+++ b/src/main/java/frc/robot/subsystems/Grimpeur.java
@@ -16,10 +16,10 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Grimpeur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  SparkMax grimpeur1 = new SparkMax(8,MotorType.kBrushless);
-  SparkMax grimpeur2 = new SparkMax(9,MotorType.kBrushless);
+  SparkMax grimpeur1 = new SparkMax(3,MotorType.kBrushless);
+  SparkMax grimpeur2 = new SparkMax(4,MotorType.kBrushless);
   SparkMaxConfig slaveConfig = new SparkMaxConfig();
-  DigitalInput limit = new DigitalInput(1);
+  DigitalInput limit = new DigitalInput(0);
     private GenericEntry EncodeurGrimpeur =
   teb.add("Position haut grimpeur", 10).getEntry();
   public void Grimper(double vitesse){
diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java
index eac8add..7931a6a 100644
--- a/src/main/java/frc/robot/subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/subsystems/Lanceur.java
@@ -14,9 +14,9 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Lanceur extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
-  SparkFlex moteur1 = new SparkFlex(2, MotorType.kBrushless);
-  SparkFlex moteur2 = new SparkFlex(3, MotorType.kBrushless);
-  SparkFlex Demeleur = new SparkFlex(4, MotorType.kBrushless);
+  SparkFlex moteur1 = new SparkFlex(15, MotorType.kBrushless);
+  SparkFlex moteur2 = new SparkFlex(18, MotorType.kBrushless);
+  SparkFlex Demeleur = new SparkFlex(19, MotorType.kBrushless);
   GenericEntry vitesse = 
   teb.add("vitesse lanceur",100).getEntry();
   GenericEntry AmpLanceur = 
diff --git a/src/main/java/frc/robot/subsystems/Led.java b/src/main/java/frc/robot/subsystems/Led.java
index 4885a13..f99e1c1 100644
--- a/src/main/java/frc/robot/subsystems/Led.java
+++ b/src/main/java/frc/robot/subsystems/Led.java
@@ -18,7 +18,7 @@ public class Led extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private GenericEntry equipe = 
   teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
-  CANdle CANDle = new CANdle(7);
+  CANdle CANDle = new CANdle(17);
   RainbowAnimation rainbowAnim = new RainbowAnimation();
     public void bleu(){
     CANDle.setLEDs(0, 0, 255,0,0,8);