diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 6d6e398..e46be4b 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -10,11 +10,8 @@ public class Constants {
     
     //moteur
     public static int leverGratte = 0;
-<<<<<<< HEAD
     public static int baiserGratte = 1;
-=======
     public static int baisserGratte = 1;
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
 
     // 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 c239352..de3edd1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,7 +3,13 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
+import java.util.Map;
+
 import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -34,7 +40,7 @@ import frc.robot.commands.bras.PivoteBrasMilieux;
 
 
 public class RobotContainer {
-   CameraServer.startAutomaticCapture();
+  
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems
@@ -57,7 +63,24 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
 PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
 PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
+Reculer reculer = new Reculer(basePilotable);
+
+SendableChooser<String> chooser = new SendableChooser<>();
+String enhaut = "en bas";
+String aumilieux = "au milieux";
+String enbas = "en bas";
+String nulpart = "nul part";
+ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto");
+GenericEntry autobalance = layoutauto.add("choix balance",true).getEntry();
+GenericEntry autosortir = layoutauto.add("choix sorit",false).getEntry();
 public RobotContainer() {
+    chooser.setDefaultOption(enhaut, enhaut);
+    chooser.addOption(enbas, enbas);
+    chooser.addOption(aumilieux, aumilieux);
+    chooser.addOption(nulpart, nulpart);
+    layoutauto.add("choix hauteur",chooser);
+
+
     configureBindings();
 
     basePilotable.setDefaultCommand(new RunCommand(() -> {
@@ -79,20 +102,25 @@ public RobotContainer() {
     manette2.povRight().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheBas, brasTelescopique::PivotChercheBas, brasTelescopique));
     manette2.povLeft().toggleOnTrue(Commands.startEnd(brasTelescopique::PivotChercheHaut, brasTelescopique::PivotChercheHaut, brasTelescopique));
     manette2.rightBumper().toggleOnTrue(Commands.startEnd(null, null, null));
-<<<<<<< HEAD
     manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/
-=======
     manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
     
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   }
 
   public Command getAutonomousCommand() {
+    chooser.getSelected();
+    autobalance.getBoolean(true);
     return new SequentialCommandGroup(
-      new PivoteBrasMilieux(brasTelescopique, pivot),
-      new OuvrePince(pince),
-      new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
-      new Gyro(basePilotable)
+      Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true)),
+      Commands.either(reculer, Commands.none(),()-> autosortir.getBoolean(true)),
+      Commands.select(Map.ofEntries(
+        Map.entry(enhaut,pivoteBrasHaut),
+        Map.entry(aumilieux,null),
+        Map.entry(enbas,null),
+        Map.entry(nulpart,null)
+      ), chooser::getSelected)
     );
+
+
   }
 }
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index 88aec83..06271ec 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -23,11 +23,11 @@ public class Gyro extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(basePilotable.getpitch()>4) 
+  if(basePilotable.getpitch()>10) 
    { 
     basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
-   else if(basePilotable.getpitch()<-4) 
+   else if(basePilotable.getpitch()<-10) 
    { 
     basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 7176d4f..4fefe9f 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -14,11 +14,7 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
-<<<<<<< HEAD
-ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
-=======
  ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
 .withSize(2, 2);
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index cb92af3..8ddbd77 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -24,16 +24,10 @@ public class BrasTelescopique extends SubsystemBase {
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
   .getLayout("layout", BuiltInLayouts.kList)
   .withSize(2, 2);
-<<<<<<< HEAD
- ShuffleboardLayout bras = Shuffleboard.getTab("teb")
- .getLayout("bras", BuiltInLayouts.kList)
- .withSize(2, 2);
-=======
   
 ShuffleboardLayout bras = Shuffleboard.getTab("teb")
 .getLayout("bras", BuiltInLayouts.kList)
 .withSize(2, 2);
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index e82eecc..acab25c 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -14,11 +14,7 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
-<<<<<<< HEAD
-ShuffleboardTab teb = Shuffleboard.getTab("teb");
-=======
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -43,14 +39,11 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb");
     teb .add("encodeur", 0.1);
     teb .add ("encodeur pivot",0.1);
   }
-<<<<<<< HEAD
-}
+
   
  
 
-=======
   {
   teb.add ("encodeur pivot",0.1);
  }
 }
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0