diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 53f9f6d..cd7b010 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -36,8 +36,8 @@ 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();
@@ -68,8 +68,8 @@ 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));