diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000..18ff083
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,13 @@
+default:
+  image: gradle:jdk11
+  tags:
+    - robot
+
+stages:          # List of stages for jobs, and their order of execution
+  - build
+
+build-job:       # This job runs in the build stage, which runs first.
+  stage: build
+  script:
+    - chmod +x gradlew
+    - ./gradlew build
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 50229b4..2da5318 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -6,7 +6,6 @@ package frc.robot;
 
 
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 53f9f6d..8b4539a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,16 +4,12 @@
 
 package frc.robot;
 
-import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
-import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
 //subsystems
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Gratte;
@@ -36,8 +32,8 @@ import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
 
 public class RobotContainer {
-XboxController manette1 = new XboxController(0);
-XboxController manette2 = new XboxController(1);
+CommandXboxController manette1 = new CommandXboxController(0);
+CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems
 BasePilotable basePilotable = new BasePilotable();
 Gratte gratte = new Gratte();
@@ -68,10 +64,8 @@ public RobotContainer() {
 }
 
   private void configureBindings() {
-    
-
-
-
+    manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
+    manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
 
 
   }