diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 0a935f3..5fc7f7d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -145,9 +145,13 @@ public RobotContainer() {
         Map.entry(enbas,pivoteBrasBas),
         Map.entry(nulpart,pivotBrasRentre)
       ), chooser::getSelected),
-      ouvrePince.unless(()->chooser.getSelected().equals(nulpart)),
+      new OuvrePince(pince).unless(()->chooser.getSelected().equals(nulpart)),
+      Commands.waitSeconds(1),
+      new FermePince(pince).unless(()->chooser.getSelected().equals(nulpart)),
+      new PivotBrasRentre(brasTelescopique , pivot).unless(()->chooser.getSelected().equals(nulpart)),
+      Commands.waitSeconds(1),
       Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
-      avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
+      new Avancer(basePilotable,()-> avancerdistance.getDouble(0)).unless(()->!autosortir.getBoolean(true)|| autobalance.getBoolean(false)),
       Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
     ).deadlineWith(Commands.waitSeconds(14.6)).andThen(brakeOuvre);