diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 62f6cad..ee10622 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -6,7 +6,6 @@ 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.BuiltInLayouts;
@@ -50,6 +49,7 @@ import frc.robot.commands.bras.MonterPivotBras;
 import frc.robot.commands.bras.OuvrePince;
 import frc.robot.commands.bras.PivotManuel;
 import frc.robot.commands.ActiverLimeLight;
+
 public class RobotContainer {
 
   CommandXboxController manette1 = new CommandXboxController(0);
@@ -71,7 +71,7 @@ public class RobotContainer {
   GenericEntry avancerforce = layoutauto.addPersistent("avancer force", 0.4).getEntry();
   GenericEntry reculerforce = layoutauto.addPersistent("reculer force", -0.45).getEntry();
   GenericEntry gyroforce = layoutauto.addPersistent("gyro force", 0.3).getEntry();
-  
+
   // subsystems
   BasePilotable basePilotable = new BasePilotable();
   Gratte gratte = new Gratte();
@@ -85,13 +85,13 @@ public class RobotContainer {
   BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
   GratteBaisser gratteBaisser = new GratteBaisser(gratte);
   GratteMonte gratteMonte = new GratteMonte(gratte);
-  Gyro gyro = new Gyro(basePilotable,()->gyroforce.getDouble(0));
+  Gyro gyro = new Gyro(basePilotable, () -> gyroforce.getDouble(0));
   FermePince fermePince = new FermePince(pince);
   OuvrePince ouvrePince = new OuvrePince(pince);
   Cone cone = new Cone(limelight, basePilotable, () -> -manette1.getLeftY());
-  Reculer reculers = new Reculer(basePilotable, () -> reculerdistances.getDouble(0),()->reculerforce.getDouble(0));
-  Reculer reculerb = new Reculer(basePilotable, () -> reculerdistanceb.getDouble(0),()->reculerforce.getDouble(0));
-  Avancer avancer = new Avancer(basePilotable, () -> avancerdistance.getDouble(0),()-> avancerforce.getDouble(0));
+  Reculer reculers = new Reculer(basePilotable, () -> reculerdistances.getDouble(0), () -> reculerforce.getDouble(0));
+  Reculer reculerb = new Reculer(basePilotable, () -> reculerdistanceb.getDouble(0), () -> reculerforce.getDouble(0));
+  Avancer avancer = new Avancer(basePilotable, () -> avancerdistance.getDouble(0), () -> avancerforce.getDouble(0));
   Cube cube = new Cube(limelight, basePilotable, () -> manette1.getLeftY());
   Apriltag aprilTag = new Apriltag(limelight, basePilotable, () -> manette1.getLeftY());
   Tape tape = new Tape(limelight, basePilotable, () -> manette1.getLeftY());
@@ -116,7 +116,7 @@ public class RobotContainer {
 
   private void configureBindings() {
     // manette 1
-    manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
+    manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer, pince));
     manette2.a().onTrue(brakeOuvre);
     manette2.b().onTrue(brakeFerme);
     manette1.leftBumper().whileTrue(aprilTag);
@@ -126,7 +126,7 @@ public class RobotContainer {
     manette1.povRight().whileTrue(creerCommandBras(44, -17));
     manette1.povLeft().whileTrue(creerCommandBras(0, 0));
     manette1.y().whileTrue(activerLimeLight);
-    //manette 2
+    // manette 2
     manette2.povDown().whileTrue(creerCommandBras(9, -18));
     manette2.povUp().whileTrue(creerCommandBras(44, 0));
     manette2.rightBumper().whileTrue(cube);
@@ -156,14 +156,17 @@ public class RobotContainer {
                 Map.entry(aumilieux, creerCommandBras(45, -13)),
                 Map.entry(enbas, creerCommandBras(12, -9)),
                 Map.entry(nulpart, creerCommandBras(0, 0))), chooser::getSelected),
-                //creerCommandBras(50, -40).unless(() -> !chooser.getSelected().equals(enhaut)),
-               //creerCommandBras(51, -40).unless(() -> !chooser.getSelected().equals(enhaut)),
+            // creerCommandBras(50, -40).unless(() ->
+            // !chooser.getSelected().equals(enhaut)),
+            // creerCommandBras(51, -40).unless(() ->
+            // !chooser.getSelected().equals(enhaut)),
             new OuvrePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
             Commands.waitSeconds(1),
-           new FermePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
-            new ParallelCommandGroup (creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
-            Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true))),
-            new Avancer(basePilotable, () -> avancerdistance.getDouble(0),()->avancerforce.getDouble(0)).unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
+            new FermePince(pince).unless(() -> chooser.getSelected().equals(nulpart)),
+            new ParallelCommandGroup(creerCommandBras(0, 0).unless(() -> chooser.getSelected().equals(nulpart)),
+                Commands.either(reculers, reculerb, () -> autosortir.getBoolean(true))),
+            new Avancer(basePilotable, () -> avancerdistance.getDouble(0), () -> avancerforce.getDouble(0))
+                .unless(() -> !autosortir.getBoolean(true) || !autobalance.getBoolean(false)),
             Commands.either(gyro, Commands.none(), () -> autobalance.getBoolean(true))))
         .andThen(brakeOuvre);
 
diff --git a/src/main/java/frc/robot/commands/bras/Bougerbras.java b/src/main/java/frc/robot/commands/bras/Bougerbras.java
index 8c658e0..20c3a99 100644
--- a/src/main/java/frc/robot/commands/bras/Bougerbras.java
+++ b/src/main/java/frc/robot/commands/bras/Bougerbras.java
@@ -30,11 +30,11 @@ public class Bougerbras extends CommandBase {
   @Override
   public void execute() {
     if(brasTelescopique.distance()>distance+0.5 ) {
-      brasTelescopique.AvanceRecule(0.35);
+      brasTelescopique.AvanceRecule(-0.35);
       
     }
     else if(brasTelescopique.distance()<distance-0.5) {
-      brasTelescopique.AvanceRecule(-0.35);
+      brasTelescopique.AvanceRecule(0.35);
     }
     else {
       brasTelescopique.AvanceRecule(0);
diff --git a/src/main/java/frc/robot/commands/bras/Bougerpivot.java b/src/main/java/frc/robot/commands/bras/Bougerpivot.java
index 72ca330..16e1203 100644
--- a/src/main/java/frc/robot/commands/bras/Bougerpivot.java
+++ b/src/main/java/frc/robot/commands/bras/Bougerpivot.java
@@ -27,10 +27,10 @@ public class Bougerpivot extends CommandBase {
   @Override
   public void execute() {
     if(pivot.distance()>distance+0.5 ) {
-      pivot.monteDescendre(0.5);
+      pivot.monteDescendre(-0.5);
     }
     else if(pivot.distance()<distance-0.5) {
-      pivot.monteDescendre(-0.5);
+      pivot.monteDescendre(0.5);
     }
     else {
       pivot.monteDescendre(0);