diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 73fa1ef..e46be4b 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -10,6 +10,7 @@ public class Constants {
     
     //moteur
     public static int leverGratte = 0;
+    public static int baiserGratte = 1;
     public static int baisserGratte = 1;
 
     // pneumatique
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3734664..bfb40f7 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,7 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-
+//import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -16,7 +16,6 @@ import frc.robot.subsystems.Gratte;
 import frc.robot.subsystems.bras.BrasTelescopique;
 import frc.robot.subsystems.bras.Pince;
 import frc.robot.subsystems.bras.Pivot;
-import pabeles.concurrency.ConcurrencyOps.Reset;
 import frc.robot.subsystems.Limelight;
 import frc.robot.commands.Apriltag;
 // command
@@ -33,6 +32,7 @@ import frc.robot.commands.bras.PivotBrasRentre;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
+<<<<<<< HEAD
 import frc.robot.commands.bras.PivotChercheBas;
 import frc.robot.commands.bras.PivotChercheHaut;
 import edu.wpi.first.apriltag.AprilTag;
@@ -40,8 +40,12 @@ import edu.wpi.first.math.spline.CubicHermiteSpline;
 import frc.robot.commands.Cube;
 import frc.robot.commands.Cone;
 import frc.robot.commands.Tape;
+=======
+
+>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
 
 public class RobotContainer {
+//CameraServer.startAutomaticCapture();
 CommandXboxController manette1 = new CommandXboxController(0);
 CommandXboxController manette2 = new CommandXboxController(1);
 // subsystems
@@ -80,11 +84,15 @@ public RobotContainer() {
 }
 
   private void configureBindings() {
+<<<<<<< HEAD
     // manette 1
+=======
+>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
     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.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
+<<<<<<< HEAD
     manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
     manette1.leftBumper().toggleOnTrue(aprilTag);
     manette1.rightBumper().toggleOnTrue(tape);
@@ -97,6 +105,17 @@ public RobotContainer() {
     manette2.povLeft().onTrue(pivotChercheHaut);
     manette2.rightBumper().toggleOnTrue(cube);
     manette2.leftBumper().toggleOnTrue(cone);    
+=======
+    /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
+    manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
+    manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
+    manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
+    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));
+    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/
+>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index dcb7893..e8742ba 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -4,13 +4,18 @@
 
 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;
 
 public class Gyro extends CommandBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private BasePilotable basePilotable;
   /** Creates a new Gyro. */
   public Gyro(BasePilotable basePilotable) {
+    teb.add("angleGyro", 0.1);
+    teb.add("vitesseGyro", 0.1);
     this.basePilotable = basePilotable;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
@@ -23,13 +28,13 @@ public class Gyro extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(basePilotable.getpitch()<10) 
+  if(basePilotable.getpitch()>4) 
    { 
-    basePilotable.drive(0.4, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
-   else if(basePilotable.getpitch()>-10) 
+   else if(basePilotable.getpitch()<-4) 
    { 
-    basePilotable.drive(-0.4, 0);
+    basePilotable.drive(0.3*basePilotable.getpitch()/15, 0);
    }
    else
    {
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 0aec4ea..fb14cae 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -8,7 +8,6 @@ import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
@@ -35,7 +34,7 @@ public class BasePilotable extends SubsystemBase {
   //gyro
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
-  .getLayout ("encodeurs base pilotable", BuiltInLayouts.kList)
+  .getLayout ("distance", BuiltInLayouts.kList)
   .withSize(2, 2);
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
    public double getpitch() {
@@ -71,12 +70,11 @@ public void resetGyro(){
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);
+    layout .addDouble("distance", this::distance);
   }
 
   @Override
   public void periodic() {
-    teb .add("distance",0.1);
-    teb .add("brakedroit",0.1);
-    teb .add("brakegauche", 0.1);
+
   }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 0934180..df518c7 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -14,18 +14,17 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
- ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
 .withSize(2, 2);
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
-  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
+  private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baiserGratte);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
@@ -55,12 +54,21 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     return limitbg.get();
   }
   /** Creates a new Gratte. */
+<<<<<<< HEAD
   public Gratte() {
    
   }
   
   
 
+=======
+  public Gratte() {   
+    limitswitchgratte.add ("limitbd", 0.1);
+    limitswitchgratte.add ("limithg", 0.1);
+    limitswitchgratte.add ("limithd", 0.1);
+    limitswitchgratte.add ("limitbg", 0.1);
+  }
+>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
   public void Lever(double vitesse){
     Gratted.set(vitesse);
     Gratteg.set(vitesse);
@@ -70,10 +78,15 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     Gratteg.set(-vitesse);
   }
   @Override
+<<<<<<< HEAD
   public void periodic(){
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
+=======
+  public void periodic() {
+
+>>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
   }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index 58d30f8..abdddaf 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -21,6 +21,8 @@ public class Limelight extends SubsystemBase {
   PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
   public Limelight() {
+    CameraServer.startAutomaticCapture();
+    teb .add("limelight", 0.1);
     PortForwarder.add(5800, "photonvision.local", 5800);
   }
 
@@ -58,7 +60,5 @@ public class Limelight extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    CameraServer.startAutomaticCapture();
-    teb .add("limelight", 0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 8ddbd77..e10ed52 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -24,12 +24,15 @@ public class BrasTelescopique extends SubsystemBase {
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
   .getLayout("layout", BuiltInLayouts.kList)
   .withSize(2, 2);
+ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
+ .getLayout("bras", BuiltInLayouts.kList)
+ .withSize(2, 2);
   
-ShuffleboardLayout bras = Shuffleboard.getTab("teb")
-.getLayout("bras", BuiltInLayouts.kList)
-.withSize(2, 2);
   /** Creates a new BrasTelescopique. */
-  public BrasTelescopique() {}
+  public BrasTelescopique() {
+    teb .add("photocell",0.1);
+    teb .add("winch",0.1);
+    bras.add ("encodeur",0.1);}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
   private DigitalInput photocell = new DigitalInput(Constants.photocell);
   private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);
@@ -53,8 +56,6 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
     }
   @Override
   public void periodic() {
-    teb .add("photocell",0.1);
-    teb .add("winch",0.1);
-    bras.add ("encodeur",0.1);
+    
   }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java
index 62022de..6044d4c 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pince.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pince.java
@@ -8,8 +8,6 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
-import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index ad36e3a..7fa1c28 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -14,7 +14,8 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+ ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -23,6 +24,10 @@ public class Pivot extends SubsystemBase {
   public void monteDescendre(double vitesse) {
     pivot.set (vitesse);
   } 
+  public Pivot(){
+    teb .add ("encodeurpivot",0.1);
+    teb .add ("limitpivot",0.1);
+  }
   // encodeur
   public double distance(){
     return (pivot.getEncoder().getPosition());
@@ -36,9 +41,6 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    teb .add("encodeur", 0.1);
   }
-  {
-  teb.add ("encodeur pivot",0.1);
- }
-}
+}  
+