diff --git a/bin/main/frc/robot/commands/BrakeFerme.class b/bin/main/frc/robot/commands/BrakeFerme.class
deleted file mode 100644
index 9911767..0000000
Binary files a/bin/main/frc/robot/commands/BrakeFerme.class and /dev/null differ
diff --git a/bin/main/frc/robot/commands/BrakeOuvre.class b/bin/main/frc/robot/commands/BrakeOuvre.class
deleted file mode 100644
index 17058de..0000000
Binary files a/bin/main/frc/robot/commands/BrakeOuvre.class and /dev/null differ
diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
deleted file mode 100644
index a2332e1..0000000
Binary files a/bin/main/frc/robot/subsystems/BasePilotable.class and /dev/null differ
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..71542a8 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,11 +4,53 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+//subsystems
+import frc.robot.subsystems.BasePilotable;
+import frc.robot.subsystems.Gratte;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pince;
+import frc.robot.subsystems.bras.Pivot;
+import frc.robot.subsystems.Limelight;
+// command
+import frc.robot.commands.BrakeFerme;
+import frc.robot.commands.BrakeOuvre;
+import frc.robot.commands.GratteBaisser;
+import frc.robot.commands.GratteMonte;
+import frc.robot.commands.Gyro;
+import frc.robot.commands.bras.FermePince;
+import frc.robot.commands.bras.OuvrePince;
+import frc.robot.commands.bras.PivotBrasRentre;
+import frc.robot.commands.bras.PivoteBrasBas;
+import frc.robot.commands.bras.PivoteBrasHaut;
+import frc.robot.commands.bras.PivoteBrasMilieux;
 
 public class RobotContainer {
-  public RobotContainer() {
+XboxController manette1 = new XboxController(0);
+XboxController manette2 = new XboxController(1);
+// subsystems
+BasePilotable basePilotable = new BasePilotable();
+Gratte gratte = new Gratte();
+BrasTelescopique brasTelescopique = new BrasTelescopique();
+Pince pince = new Pince();
+Pivot pivot = new Pivot();
+Limelight limelight = new Limelight();
+//commands
+BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
+BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
+GratteBaisser gratteBaisser = new GratteBaisser(gratte);
+GratteMonte gratteMonte = new GratteMonte(gratte);
+Gyro gyro = new Gyro(basePilotable);
+FermePince fermePince = new FermePince(pince);
+OuvrePince ouvrePince = new OuvrePince(pince);
+PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
+PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
+PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
+PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
+
+public RobotContainer() {
     configureBindings();
   }
 
diff --git a/src/main/java/frc/robot/commands/limelight.java b/src/main/java/frc/robot/commands/limelight.java
deleted file mode 100644
index 3853a09..0000000
--- a/src/main/java/frc/robot/commands/limelight.java
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot.commands;
-
-import edu.wpi.first.wpilibj2.command.CommandBase;
-
-public class limelight extends CommandBase {
-  /** Creates a new limelight. */
-  public limelight() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return false;
-  }
-}
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index befd637..ac1d815 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -4,11 +4,39 @@
 
 package frc.robot.subsystems;
 
+import org.photonvision.PhotonCamera;
+import org.photonvision.common.hardware.VisionLEDMode;
+
+import edu.wpi.first.net.PortForwarder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+
 public class Limelight extends SubsystemBase {
+  PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
-  public Limelight() {}
+  public Limelight() {
+    PortForwarder.add(5800, "photonvision.local", 5800);
+  }
+
+  public void cube()  {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(3);
+  }
+
+  public void cone() {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(2);
+  }
+
+  public void apriltag() {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(0);
+  }
+
+  public void tape() {
+    limelight.setLED(VisionLEDMode.kOn);
+    limelight.setPipelineIndex(1);
+  }
 
   @Override
   public void periodic() {
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
new file mode 100644
index 0000000..4f378c4
--- /dev/null
+++ b/vendordeps/photonlib.json
@@ -0,0 +1,41 @@
+{
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2023.3.0",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004 ",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonLib-cpp",
+            "version": "v2023.3.0",
+            "libName": "Photon",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonLib-java",
+            "version": "v2023.3.0"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonTargeting-java",
+            "version": "v2023.3.0"
+        }
+    ]
+}
\ No newline at end of file