diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2880b5b..c96a2e3 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -43,85 +43,85 @@ import frc.robot.subsystems.Limelight3G;
 import frc.robot.subsystems.Pince;
 
 public class RobotContainer {
-    private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
-    private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
+  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
+  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 
-    /* Setting up bindings for necessary control of the swerve drive platform */
-    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
-            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
-            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
+  /* Setting up bindings for necessary control of the swerve drive platform */
+  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
+    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
+    .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors
 
-    private final Telemetry logger = new Telemetry(MaxSpeed);
+  private final Telemetry logger = new Telemetry(MaxSpeed);
 
-    private final CommandXboxController manette1 = new CommandXboxController(0);
-    private final CommandXboxController manette2 = new CommandXboxController(1);
-   
-    public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
-    Elevateur elevateur = new Elevateur();
-    Pince pince = new Pince();
-    ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
-    PinceManuel pinceManuel = new PinceManuel(pince);
-    PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
-    private final SendableChooser<Command> autoChooser;
-    Bougie bougie = new Bougie();
-    Limelight3G limelight3g = new Limelight3G();
-    Limelight3 limelight3 = new Limelight3();
-    Pose2d pose = new Pose2d();
-    private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
+  private final CommandXboxController manette1 = new CommandXboxController(0);
+  private final CommandXboxController manette2 = new CommandXboxController(1);
+  
+  public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
+  Elevateur elevateur = new Elevateur();
+  Pince pince = new Pince();
+  ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
+  PinceManuel pinceManuel = new PinceManuel(pince);
+  PinceManuel2 pinceManuel2 = new PinceManuel2(pince);
+  private final SendableChooser<Command> autoChooser;
+  Bougie bougie = new Bougie();
+  Limelight3G limelight3g = new Limelight3G();
+  Limelight3 limelight3 = new Limelight3();
+  Pose2d pose = new Pose2d();
+  private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
 
-    public double getAngle() {
-        return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
-    }
-    public RobotContainer() {
-    autoChooser = AutoBuilder.buildAutoChooser("New Auto");
-    SmartDashboard.putData("Auto Mode", autoChooser);
-    configureBindings();
-    NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
-    }
-    private void configureBindings() {
-      elevateur.setDefaultCommand(new RunCommand(()->{
-        elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
-      }, elevateur));
-      pince.setDefaultCommand(new RunCommand(()->{
-        pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
-      }, pince));
-        // Note that X is defined as forward according to WPILib convention,
-        // and Y is defined as to the left according to WPILib convention.
-        drivetrain.setDefaultCommand(
-            // Drivetrain will execute this command periodically
-            drivetrain.applyRequest(() ->
-                drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.2)) // Drive forward with negative Y (forward)
-                    .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.2)) // Drive left with negative X (left)
-                    .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left)
-            )
-        );
+  public double getAngle() {
+      return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
+  }
+  public RobotContainer() {
+  autoChooser = AutoBuilder.buildAutoChooser("New Auto");
+  SmartDashboard.putData("Auto Mode", autoChooser);
+  configureBindings();
+  NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
+  }
+  private void configureBindings() {
+    // Elevateur manuel
+
+    elevateur.setDefaultCommand(new RunCommand(()->{
+      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY(), 0.2));
+    }, elevateur));
+
+    //Pince manuel
+    pince.setDefaultCommand(new RunCommand(()->{
+      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()/5, 0.2));
+    }, pince));
+
+      // Note that X is defined as forward according to WPILib convention,
+      // and Y is defined as to the left according to WPILib convention.
+      drivetrain.setDefaultCommand(
+          // Drivetrain will execute this command periodically
+          drivetrain.applyRequest(() ->
+            drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.2)) // Drive forward with negative Y (forward)
+              .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.2)) // Drive left with negative X (left)
+              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left)
+        )
+      );
 
         
-        // reset the field-centric heading on left bumper press
-        manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
-        manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
-        manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
-        manette1.a().whileTrue(new reset(elevateur,pince));
-        manette1.b().whileTrue(new L2(elevateur, pince));
-        
-
-       // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
-
-
-
-        drivetrain.registerTelemetry(logger::telemeterize);
-    }
+    // reset the field-centric heading on left bumper press
+    manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+    manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
+    manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
+    manette1.a().whileTrue(new reset(elevateur,pince));
+    manette1.b().whileTrue(new L2(elevateur, pince));
+    
+    // manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
+    drivetrain.registerTelemetry(logger::telemeterize);
+  }  
 
     public Command getAutonomousCommand() {
-        return new SequentialCommandGroup(Commands.runOnce(()->{
-            boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
-            if(flip){
-                drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
-            }
-            else{
-                drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
-            }
-        }),autoChooser.getSelected(), new RainBow(bougie));
-    }
-             
-}
+      return new SequentialCommandGroup(Commands.runOnce(()->{
+        boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
+        if(flip){
+            drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
+        }
+        else{
+            drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
+        }
+      }),autoChooser.getSelected(), new RainBow(bougie));
+    }    
+}
\ No newline at end of file