diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index b39e5f9..5cc107f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -9,17 +9,12 @@ public class Constants {
     public static int pivot = 6;
     
     //moteur
-<<<<<<< HEAD
-    public static int leverGratte = 7;
+
+
     public static int baiserGratte = 8;
-=======
     public static int leverGratte = 0;
-    public static int baiserGratte = 1;
-<<<<<<< HEAD
     public static int baisserGratte = 2;
-=======
->>>>>>> 23806ebfa2db43d63673f9b4cfc37aa3b9b23491
->>>>>>> feb8cc033e5eefa2d6b104c4ab7de16e0527fc5f
+
 
     // pneumatique
     public static int pistonpinceouvre = 0;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3270fb5..3b35560 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -31,18 +31,23 @@ import frc.robot.subsystems.bras.BrasTelescopique;
 import frc.robot.subsystems.bras.Pince;
 import frc.robot.subsystems.bras.Pivot;
 import frc.robot.subsystems.Limelight;
+import frc.robot.commands.Apriltag;
 import frc.robot.commands.Avancer;
 // command
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
 import frc.robot.commands.Cone;
+import frc.robot.commands.Cube;
 import frc.robot.commands.GratteBaisser;
 import frc.robot.commands.GratteMonte;
 import frc.robot.commands.Gyro;
 import frc.robot.commands.Reculer;
+import frc.robot.commands.Tape;
 import frc.robot.commands.bras.FermePince;
 import frc.robot.commands.bras.OuvrePince;
 import frc.robot.commands.bras.PivotBrasRentre;
+import frc.robot.commands.bras.PivotChercheBas;
+import frc.robot.commands.bras.PivotChercheHaut;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
@@ -93,8 +98,8 @@ PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot
 Cube cube = new Cube(limelight, basePilotable, null);
 Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
 Tape tape = new Tape(limelight, basePilotable, null);
-ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
-Reculer reculer = new Reculer(basePilotable);
+
+
 
 public RobotContainer() {
     chooser.setDefaultOption(enhaut, enhaut);
@@ -106,11 +111,10 @@ public RobotContainer() {
 
     configureBindings();
     CameraServer.startAutomaticCapture();
-    teb.add (CameraServer.startAutomaticCapture(null, 0));
-      basePilotable.setDefaultCommand(new RunCommand() -> {
-      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0);
-      }
-    }
+    basePilotable.setDefaultCommand(new RunCommand(() -> {
+      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
+    }));
+  }
   private void configureBindings() {
     // manette 1
     manette1.povDown().onTrue(pivoteBrasHaut);