diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 13b0abe..692915c 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -11,8 +11,8 @@ public class Constants {
     //moteur
 
 
-    public static int GratteD = 7;
-    public static int GratteG = 8;
+    public static int GratteD = 8;
+    public static int GratteG = 7;
 
 
     // pneumatique
diff --git a/src/main/java/frc/robot/commands/ActiverLimeLight.java b/src/main/java/frc/robot/commands/ActiverLimeLight.java
index 79e7fe9..3458798 100644
--- a/src/main/java/frc/robot/commands/ActiverLimeLight.java
+++ b/src/main/java/frc/robot/commands/ActiverLimeLight.java
@@ -28,7 +28,9 @@ public class ActiverLimeLight extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    limelight.joueurhumain1();
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/commands/Apriltag.java b/src/main/java/frc/robot/commands/Apriltag.java
index 9ef54b3..3e83057 100644
--- a/src/main/java/frc/robot/commands/Apriltag.java
+++ b/src/main/java/frc/robot/commands/Apriltag.java
@@ -32,7 +32,7 @@ public class Apriltag extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(),false);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java
index 0b94017..f7d37a1 100644
--- a/src/main/java/frc/robot/commands/Avancer.java
+++ b/src/main/java/frc/robot/commands/Avancer.java
@@ -7,9 +7,6 @@ package frc.robot.commands;
 
 import java.util.function.DoubleSupplier;
 
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
@@ -33,12 +30,14 @@ public class Avancer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(0.3,0);
+    basePilotable.drive(0.4,0);
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    basePilotable.drive(0,0);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java
index 9d1292f..b1fc1cd 100644
--- a/src/main/java/frc/robot/commands/GratteBaisser.java
+++ b/src/main/java/frc/robot/commands/GratteBaisser.java
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gratte;
 
@@ -20,23 +20,23 @@ public class GratteBaisser extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-  gratte.setenHaut(false);
+ 
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     if(gratte.basd()){
-      gratte.baiserd(0);
+      gratte.bougerd(0);
     }
     else{
-      gratte.baiserd(0.5);
+      gratte.bougerd(0.3);
     }
     if(gratte.basg()){
-      gratte.baiserg(0);
+      gratte.bougerg(0);
     }
     else{
-      gratte.baiserg(0.5);
+      gratte.bougerg(0.3);
     }
    
 
@@ -45,8 +45,8 @@ public class GratteBaisser extends CommandBase {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    gratte.baiserd(0);
-    gratte.baiserg(0);
+    gratte.bougerd(0);
+    gratte.bougerg(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/commands/GratteMonte.java b/src/main/java/frc/robot/commands/GratteMonte.java
index 0fd83fa..5dce6f8 100644
--- a/src/main/java/frc/robot/commands/GratteMonte.java
+++ b/src/main/java/frc/robot/commands/GratteMonte.java
@@ -20,31 +20,30 @@ public class GratteMonte extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    gratte.setenHaut(true);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     if(gratte.hautd()){
-      gratte.Leverd(0);
+      gratte.bougerd(0);
     }
     else{
-      gratte.Leverd(0.5);
+      gratte.bougerd(-0.3);
     }
     if(gratte.hautg()) {
-      gratte.Leverg(0);
+      gratte.bougerg(0);
     }
     else{
-      gratte.Leverg(0.5);
+      gratte.bougerg(-0.3);
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    gratte.Leverd(0);
-    gratte.Leverg(0);
+    gratte.bougerd(0);
+    gratte.bougerg(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index 0917326..5d6b948 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -4,8 +4,6 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
@@ -27,11 +25,11 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()>6) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+    basePilotable.drive(0.4*basePilotable.getpitch()/12, 0);
    }
    else if(basePilotable.getpitch()<-6) 
    { 
-    basePilotable.drive(0.3*basePilotable.getpitch()/12, 0);
+    basePilotable.drive(0.4*basePilotable.getpitch()/12, 0);
    }
    else
    {
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index ecc904f..903b216 100644
--- a/src/main/java/frc/robot/commands/Reculer.java
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -35,7 +35,9 @@ public class Reculer extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    basePilotable.drive(0,0);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/commands/Tape.java b/src/main/java/frc/robot/commands/Tape.java
index e1346f0..02a9a81 100644
--- a/src/main/java/frc/robot/commands/Tape.java
+++ b/src/main/java/frc/robot/commands/Tape.java
@@ -32,7 +32,7 @@ public class Tape extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw(),false);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/bras/DescendrePivotBras.java b/src/main/java/frc/robot/commands/bras/DescendrePivotBras.java
index 83cecb7..8b4a615 100644
--- a/src/main/java/frc/robot/commands/bras/DescendrePivotBras.java
+++ b/src/main/java/frc/robot/commands/bras/DescendrePivotBras.java
@@ -18,8 +18,10 @@ public class DescendrePivotBras extends SequentialCommandGroup {
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
+      
       new Bougerbras(brasTelescopique, distanceBras),
       new Bougerpivot(pivot, distancePivot)
+      
     );
   }
 }
diff --git a/src/main/java/frc/robot/commands/bras/MonterPivotBras.java b/src/main/java/frc/robot/commands/bras/MonterPivotBras.java
index a7d8153..b0e6441 100644
--- a/src/main/java/frc/robot/commands/bras/MonterPivotBras.java
+++ b/src/main/java/frc/robot/commands/bras/MonterPivotBras.java
@@ -4,7 +4,7 @@
 
 package frc.robot.commands.bras;
 
-import edu.wpi.first.wpilibj2.command.Commands;
+
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.robot.subsystems.bras.BrasTelescopique;
@@ -13,15 +13,17 @@ import frc.robot.subsystems.bras.Pivot;
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
-public class MonterPivotBras extends ParallelCommandGroup {
+public class MonterPivotBras extends SequentialCommandGroup {
   /** Creates a new Sequancepivotbras. */
   public MonterPivotBras(BrasTelescopique brasTelescopique, Pivot pivot, double distanceBras, double distancePivot) {
 
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(
-      new SequentialCommandGroup(Commands.waitUntil(()->pivot.distance()>8),new Bougerbras(brasTelescopique, distanceBras)), 
-      new Bougerpivot(pivot, distancePivot)
+      new Bougerpivot(pivot, 10).unless(()->pivot.distance()>10),
+      new ParallelCommandGroup(new Bougerpivot(pivot, distancePivot)),
+      new ParallelCommandGroup(new Bougerbras(brasTelescopique, distanceBras))
+      
       
     );
   }
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
index 4494a33..8d10a66 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
@@ -29,11 +29,11 @@ public class PivoteBrasMilieux extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()>-12.5){
+    if(brasTelescopique.distance()>-11){
       brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<-13.5) {
+  else if(brasTelescopique.distance()<-13) {
     brasTelescopique.AvanceRecule(0.15);
     }
     else {
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 8d0a0f1..a1e4c68 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -17,6 +17,7 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
+import frc.robot.commands.bras.Bougerbras;
 
 public class BasePilotable extends SubsystemBase {
   final CANSparkMax avantdroit = new CANSparkMax(Constants.avantdroit, MotorType.kBrushless);
@@ -42,6 +43,9 @@ public class BasePilotable extends SubsystemBase {
   public void drive(double xSpeed, double zRotation){
     drive.arcadeDrive(xSpeed, zRotation);
   }
+  public void drive(double xSpeed, double zRotation, boolean square){
+    drive.arcadeDrive(xSpeed, zRotation, square);
+  }
   public double distance(){
     return (-avantdroit.getEncoder().getPosition()
     +avantgauche.getEncoder().getPosition()
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index d5920cf..b78edad 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -24,15 +24,6 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
   private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
-  public boolean baiser;
-  boolean enHaut = true;
-  public void setenHaut(boolean enHaut){
-    this.enHaut = enHaut;
-  }
-  public boolean getenHaut(){
-    return enHaut;
-    
-  }
 
   public boolean hautd(){
     return limithd.get();
@@ -55,17 +46,11 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     limitswitchgratte.addBoolean ("limithd", this::hautd);
     limitswitchgratte.addBoolean ("limitbg", this::basg);
   }
-  public void Leverd(double vitesse){
-    Gratted.set(-vitesse);
+  public void bougerd(double vitesse){
+    Gratted.set(vitesse);
     
   }
-  public void Leverg(double vitesse){
-    Gratteg.set(-vitesse);
-  }
-  public void baiserd(double vitesse){
-    Gratted.set(vitesse);
-  }
-  public void baiserg(double vitesse){
+  public void bougerg(double vitesse){
     Gratteg.set(vitesse);
   }
   
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index 4663c1b..eae8e0f 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -4,7 +4,6 @@
 
 package frc.robot.subsystems;
 
-import edu.wpi.first.cameraserver.CameraServer;
 
 
 import org.photonvision.PhotonCamera;
@@ -20,7 +19,7 @@ public class Limelight extends SubsystemBase {
   PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
   public Limelight() {
-    CameraServer.startAutomaticCapture();
+
     PortForwarder.add(5800, "photonvision.local", 5800);
   }
 
@@ -42,12 +41,13 @@ public class Limelight extends SubsystemBase {
   public void tape() {
     limelight.setLED(VisionLEDMode.kOn);
     limelight.setPipelineIndex(1);
+
   }
 
   public double getYaw() {
     var result = limelight.getLatestResult();
     if(result.hasTargets()){
-    return   -result.getBestTarget().getYaw()/60;
+    return   -result.getBestTarget().getYaw()/45;
     }
     return 0;
   
@@ -57,6 +57,9 @@ public class Limelight extends SubsystemBase {
     limelight.setDriverMode(true);
   }
   public void joueurhumain(){
+    limelight.setLED(VisionLEDMode.kOn);
+  }
+  public void joueurhumain1(){
     limelight.setLED(VisionLEDMode.kOff);
   }
   @Override