diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 38fcbe5..5eb7222 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -117,7 +117,8 @@ public RobotContainer() {
   private void configureBindings() {
     // manette 1
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
-    manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
+    manette1.x().onTrue(brakeOuvre);
+    manette1.b().onTrue(brakeFerme);
     manette1.leftBumper().toggleOnTrue(aprilTag);
     manette1.rightBumper().toggleOnTrue(tape);
     manette1.povUp().whileTrue(pivoteBrasHaut);
@@ -155,7 +156,7 @@ public RobotContainer() {
       Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
       avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
       Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
-    )).andThen(brakeOuvre);
+    )).andThen(new InstantCommand(basePilotable::BrakeOuvre));
 
 
   }
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
index 764050b..8d80105 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
@@ -41,10 +41,10 @@ public class PivoteBrasMilieux extends CommandBase {
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.6);
+      pivot.monteDescendre(0.7);
     }
     else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.6);
+      pivot.monteDescendre(-0.7);
     }
     else{
       pivot.monteDescendre(0);