diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 20a459a..d9ff154 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -69,7 +69,7 @@ public RobotContainer() {
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
     manette1.y().whileTrue(gyro);
-    manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
   }
 
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 6ed4487..5ec5abc 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -19,11 +19,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BasePilotable extends SubsystemBase {
-  final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
+  final CANSparkMax avantd = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
   final CANSparkMax avantgauche = new CANSparkMax(Constants.avantgauche, MotorType.kBrushless);
   final CANSparkMax arrieredroit = new CANSparkMax(Constants.arrieredroit, MotorType.kBrushless);
   final CANSparkMax arrieregauche = new CANSparkMax(Constants.arrieregauche, MotorType.kBrushless);
-  final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
+  final MotorControllerGroup droit = new MotorControllerGroup(avantd, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
   
@@ -41,13 +41,13 @@ public class BasePilotable extends SubsystemBase {
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){
-    return (-avantdroit.getEncoder().getPosition()
+    return (-avantd.getEncoder().getPosition()
     +avantgauche.getEncoder().getPosition()
     -arrieredroit.getEncoder().getPosition()
     +arrieregauche.getEncoder().getPosition()) / 4;
   }
   public void Reset() {
-    avantdroit.getEncoder().setPosition(0);
+    avantd.getEncoder().setPosition(0);
     avantgauche.getEncoder().setPosition(0);
     arrieredroit.getEncoder().setPosition(0);
     arrieregauche.getEncoder().setPosition(0);