diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 11a419e..6ba36d8 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -88,14 +88,9 @@ public class RobotContainer {
   Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
   Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
   Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
-<<<<<<< HEAD
   PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getRightY);
   BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getRightX);
-=======
-  PivotManuel pivotManuel = new PivotManuel(pivot, manette1::getLeftY);
-  BrasManuel brasManuel = new BrasManuel(brasTelescopique, manette1::getLeftX);
   ActiverLimeLight activerLimeLight = new ActiverLimeLight(limelight);
->>>>>>> 1da49837db76e3ae31f03d0e1593aec704cc02df
 
   public RobotContainer() {
     chooser.addOption(enhaut, enhaut);
@@ -123,12 +118,8 @@ public class RobotContainer {
     manette1.povDown().whileTrue(creerCommandBras(9, -14));
     manette1.povRight().whileTrue(creerCommandBras(44, -17));
     manette1.povLeft().whileTrue(creerCommandBras(0, 0));
-<<<<<<< HEAD
-    // manette 2
-=======
     manette1.y().whileTrue(activerLimeLight);
     //manette 2
->>>>>>> 1da49837db76e3ae31f03d0e1593aec704cc02df
     manette2.povDown().whileTrue(creerCommandBras(9, -18));
     manette2.povUp().whileTrue(creerCommandBras(44, 0));
     manette2.rightBumper().whileTrue(cube);
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
index a6015d7..8f029b3 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
@@ -31,21 +31,21 @@ public class PivoteBrasBas extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()>-13.5){
+    if(brasTelescopique.distance()>-8.5){
       brasTelescopique.AvanceRecule(-0.2);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<-15.5) {
+  else if(brasTelescopique.distance()<-9.5) {
     brasTelescopique.AvanceRecule(0.2);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<8.5){
+    if (pivot.distance()<12.5){
       pivot.monteDescendre(0.4);
     }
-    else if(pivot.distance()>10.5) {
+    else if(pivot.distance()>13.5) {
       pivot.monteDescendre(-0.4);
     }
     else{
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
index 764050b..4494a33 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()>-16.5){
+    if(brasTelescopique.distance()>-12.5){
       brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<-17.5) {
+  else if(brasTelescopique.distance()<-13.5) {
     brasTelescopique.AvanceRecule(0.15);
     }
     else {