diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index b325967..0000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,14 +0,0 @@
-default:
-  image: gradle:jdk11
-  tags:
-    - robot
-
-stages:          # List of stages for jobs, and their order of execution
-  - build
-
-build-job:       # This job runs in the build stage, which runs first.
-  stage: build
-  script:
-    - chmod +x gradlew
-    - ./gradlew build
-
diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
deleted file mode 100644
index 20fa95d..0000000
Binary files a/bin/main/frc/robot/subsystems/BasePilotable.class and /dev/null differ
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index b68462c..50229b4 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -4,7 +4,10 @@
 
 package frc.robot;
 
+
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
@@ -35,7 +38,6 @@ public class Robot extends TimedRobot {
   @Override
   public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();
     }
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index 6485bd0..7ff9989 100644
--- a/src/main/java/frc/robot/commands/Reculer.java
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -5,6 +5,7 @@
 package frc.robot.commands;
 
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
@@ -26,7 +27,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(0.2, 0);
+    basePilotable.drive(SmartDashboard.getNumber("vitesse auto", -0.3), 0);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 9bc4bb1..3aa09ac 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -7,6 +7,7 @@ package frc.robot.subsystems;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
@@ -42,6 +43,9 @@ public class Gratte extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    Shuffleboard.getTab("SmartDashBoard") .add("limithd",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("limitbd",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("limithg",0.1);
+    Shuffleboard.getTab("SmartDashBoard") .add("limitbg",0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index ac1d815..7e88f9b 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -4,6 +4,8 @@
 
 package frc.robot.subsystems;
 
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import org.photonvision.PhotonCamera;
 import org.photonvision.common.hardware.VisionLEDMode;
 
@@ -40,6 +42,7 @@ public class Limelight extends SubsystemBase {
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
+    CameraServer.startAutomaticCapture();
+    Shuffleboard.getTab("SmartDashBoard") .add("limelight",0.1);
   }
 }