diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2d6113b..040b53d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -48,6 +48,7 @@ import frc.robot.commands.reset;
 import frc.robot.subsystems.Bougie;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
 import frc.robot.subsystems.Elevateur;
+import frc.robot.subsystems.Grimpeur;
 import frc.robot.subsystems.Limelight3;
 import frc.robot.subsystems.Limelight3G;
 import frc.robot.subsystems.Pince;
@@ -81,9 +82,8 @@ public class RobotContainer {
   Limelight3G limelight3g = new Limelight3G();
   Limelight3 limelight3 = new Limelight3();
   Pose2d pose = new Pose2d();
+  Grimpeur Grimpeur = new Grimpeur();
   
-
-
   public RobotContainer() {
     autoChooser = AutoBuilder.buildAutoChooser("New Auto");
     SmartDashboard.putData("Auto Mode", autoChooser);
@@ -118,31 +118,35 @@ public class RobotContainer {
      
     
     // manette1
-    // reset the field-centric heading on left bumper press
+
+    // reset the field-centric heading on start press
     manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+
+    //elevateur
     manette1.a().whileTrue(new Depart(elevateur, pince));
     manette1.b().whileTrue(new L2(elevateur,pince));
     manette1.x().whileTrue(new L3(elevateur, pince));
     manette1.y().whileTrue(new L4(elevateur, pince));
+
+    //pince
     manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
     manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
     manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));
+
     //manette2
-    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
+
+    //pince
     manette2.a().whileTrue(new CorailAspir(pince));
     manette2.start().whileTrue(new reset(elevateur, pince));
     manette2.b().whileTrue(new Algue_inspire(pince));
+    manette2.start().whileTrue(new reset(elevateur,pince));
+    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));
+
+    //limelight
     manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
     manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
   }
   
-
-
-
-      // Note that X is defined as forward according to WPILib convention,
-      // and Y is defined as to the left according to WPILib convention.
-  
-    
     // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
     
     public Command getAutonomousCommand() {