diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 5be0daa..9000847 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -34,6 +34,7 @@ import frc.robot.generated.TunerConstants;
 //import com.pathplanner.lib.auto.AutoBuilder;
 //import com.pathplanner.lib.auto.NamedCommands;
 public class RobotContainer {
+  CommandXboxController manette = new CommandXboxController(0);
   private double MaxSpeed = TunerConstants.kSpeedAt12VoltsMps; // kSpeedAt12VoltsMps desired top speed
   private double MaxAngularRate = 1.5 * Math.PI; // 3/4 of a rotation per second max angular velocity
 
@@ -44,19 +45,17 @@ public class RobotContainer {
       .withDeadband(MaxSpeed * 0.15).withRotationalDeadband(MaxAngularRate * 0.15) // Add a 10% deadband
       .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // I want field-centric
                                                                // driving in open loop
-  private final SwerveRequest.SwerveDriveBrake brake = new SwerveRequest.SwerveDriveBrake();
   private final SwerveRequest.PointWheelsAt point = new SwerveRequest.PointWheelsAt();
 
   private final Telemetry logger = new Telemetry(MaxSpeed);
  private void configureBindings() {
     drivetrain.setDefaultCommand( // Drivetrain will execute this command periodically
-        drivetrain.applyRequest(() -> drive.withVelocityX(-manette.getLeftY() * MaxSpeed*0.25) // Drive forward with
+        drivetrain.applyRequest(() -> drive.withVelocityX(-manette.getLeftY() * MaxSpeed) // Drive forward with
                                                                                            // negative Y (forward)
-            .withVelocityY(-manette.getLeftX() * MaxSpeed*0.25) // Drive left with negative X (left)
-            .withRotationalRate(-manette.getRightX() * MaxAngularRate*0.25) // Drive counterclockwise with negative X (left)
+            .withVelocityY(-manette.getLeftX() * MaxSpeed) // Drive left with negative X (left)
+            .withRotationalRate(-manette.getRightX() * MaxAngularRate) // Drive counterclockwise with negative X (left)
         ));
 
-    manette.a().whileTrue(drivetrain.applyRequest(() -> brake));
     manette.b().whileTrue(drivetrain
         .applyRequest(() -> point.withModuleDirection(new Rotation2d(-manette.getLeftY(), -manette.getLeftX()))));
 
@@ -76,7 +75,7 @@ public class RobotContainer {
   LED led = new LED();
   //Drive drive = new Drive();
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
-  CommandXboxController manette = new CommandXboxController(0);
+  
   public RobotContainer() {
    //NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
    //NamedCommands.registerCommand("Desaccumuler", new Desaccumuler(accumulateur));
@@ -87,18 +86,8 @@ public class RobotContainer {
     dashboard.addCamera("limelight3", "limelight3","limelight.local:5800")
     .withSize(3,4)
     .withPosition(2,0);  
-    final double MaxSpeed = TunerConstants.kSpeedAt12VoltsMps; // kSpeedAt12VoltsMps desired top speed
-    final double MaxAngularRate = 1.5 * Math.PI; // 3/4 of a rotation per second max angular velocity
+    
 
-  /* Setting up bindings for necessary control of the swerve drive platform */ // My joystick
-  
-
-    //drive.setDefaultCommand(new RunCommand(()->{
-    // drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));
-    //},drive));
-  // dashboard.add("autochooser",autoChooser)
-     //.withSize(1,1)
-    // .withPosition(8,0);
     manette.x().whileTrue(new Lancer(lanceur,accumulateur));
     manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
     manette.a().whileTrue(new Desaccumuler(accumulateur));