diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a66c3f2..f8ae3d7 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,28 +4,48 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.command.AlgueExpire;
 import frc.robot.command.CoralAlgueInspire;
 import frc.robot.command.CoralExpire;
+import frc.robot.command.Depart;
+import frc.robot.command.DepartPince;
+import frc.robot.command.ElevateurManuel;
+import frc.robot.command.L2;
+import frc.robot.command.L3;
+import frc.robot.command.L4;
+import frc.robot.command.StationPince;
 import frc.robot.subsystems.Elevateur;
 import frc.robot.subsystems.Pince;
 
 public class RobotContainer {
-  CommandXboxController manette = new CommandXboxController(0);
+  CommandXboxController manette1 = new CommandXboxController(0);
+  CommandXboxController manette2 = new CommandXboxController(0);
   Pince pince = new Pince();
   Elevateur elevateur = new Elevateur();
+  ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
   public RobotContainer() {
     configureBindings();
+    elevateur.setDefaultCommand(new RunCommand(()->{
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
+    }, elevateur));
   }
 
   private void configureBindings() {
-    manette.a().whileTrue(new AlgueExpire(pince));
-    manette.b().whileTrue(new CoralAlgueInspire(pince));
-    manette.x().whileTrue(new CoralExpire(pince));
-    manette.y().whileTrue(new CoralExpire(pince));
+    manette1.a().whileTrue(new AlgueExpire(pince));
+    manette1.b().whileTrue(new CoralAlgueInspire(pince));
+    manette1.x().whileTrue(new CoralExpire(pince));
+    manette1.y().whileTrue(new CoralExpire(pince));
+    manette1.povUp().toggleOnTrue(new L4(elevateur, pince));
+    manette1.povRight().toggleOnTrue(new L2(elevateur, pince));
+    manette1.povLeft().toggleOnTrue(new L3(elevateur, pince));
+    manette1.povDown().toggleOnTrue(new Depart(elevateur, pince));
+    manette2.leftBumper().toggleOnTrue(new DepartPince(pince));
+    manette2.a().whileTrue(new StationPince(pince));
   }
 
   public Command getAutonomousCommand() {