diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..44802c3 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,13 +6,23 @@ package frc.robot;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.command.GrimperHaut;
+import frc.robot.command.GrimpeurBas;
+import frc.robot.subsystems.Grimpeur;
 
 public class RobotContainer {
+  CommandXboxController manette1 = new CommandXboxController(0);
+  CommandXboxController manette2 = new CommandXboxController(0);
+  Grimpeur grimpeur = new Grimpeur();
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    manette1.leftBumper().whileTrue(new GrimperHaut(grimpeur));
+    manette1.rightBumper().whileTrue(new GrimpeurBas(grimpeur));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
diff --git a/src/main/java/frc/robot/command/GrimperHaut.java b/src/main/java/frc/robot/command/GrimperHaut.java
index 37279f0..5951e90 100644
--- a/src/main/java/frc/robot/command/GrimperHaut.java
+++ b/src/main/java/frc/robot/command/GrimperHaut.java
@@ -11,7 +11,7 @@ import frc.robot.subsystems.Grimpeur;
 public class GrimperHaut extends Command {
   private Grimpeur grimpeur;
   /** Creates a new Grimper. */
-  public GrimperHaut(GrimperHaut grimper) {
+  public GrimperHaut(Grimpeur grimpeur) {
     this.grimpeur = new Grimpeur();
     addRequirements(grimpeur);
     // Use addRequirements() here to declare subsystem dependencies.