diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 8bcbc56..8d90da9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -96,9 +96,9 @@ public class RobotContainer {
   private void configureBindings() {
     drivetrain.setDefaultCommand(
           drivetrain.applyRequest(() ->
-            drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05)) 
-              .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*Math.abs(-manette.getLeftY())*MaxSpeed, 0.05)) 
-             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05))
+            drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*MaxSpeed, 0.05)) 
+              .withVelocityX(MathUtil.applyDeadband(-manette.getLeftY()*MaxSpeed, 0.05)) 
+             .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*MaxAngularRate, 0.05))
         )
       );
     //manette 1
diff --git a/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java b/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
index a617c26..a5011c0 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
@@ -43,13 +43,14 @@ public class LancerAuto extends Command {
   public void execute() {
     double[] BotPose = new double[6];
     if(limelight3g.getV()){
-     
+      if(alliance.isPresent()){
       if(alliance.get() == Alliance.Blue){
         BotPose = limelight3g.getBotPoseBlue();
       }
       else{
         BotPose = limelight3g.getBotPoseRed();
       } 
+    }
       botx = BotPose[0];
       boty = BotPose[1];
     }                                        
diff --git a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
index 516fec2..0258f9c 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LimelighterAuto.java
@@ -30,7 +30,7 @@ public class LimelighterAuto extends Command {
   double boty;
   double angle;
   double calcul;
-   Optional<Alliance> alliance = DriverStation.getAlliance(); 
+  Optional<Alliance> alliance = DriverStation.getAlliance(); 
   private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
       .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
       .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
@@ -45,7 +45,9 @@ public class LimelighterAuto extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -53,13 +55,14 @@ public class LimelighterAuto extends Command {
     double[] BotPose = new double[6];
     System.out.println("e");
     if (limelight3g.getV()) {
-      if(alliance.get() == Alliance.Blue){
+      if(alliance.isPresent()){
+        if(alliance.get() == Alliance.Blue){
         BotPose = limelight3g.getBotPoseBlue();
       }
       else{
         BotPose = limelight3g.getBotPoseRed();
       }
-      
+      }
       botx = BotPose[1];
       boty = BotPose[0];
       angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();