diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 493cfbe..eef6f29 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -76,7 +76,6 @@ public RobotContainer() {
     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.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
     manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
     // manette 2
@@ -87,7 +86,7 @@ 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));
-    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));  
+    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
     
   }
 
diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java
index de68b8f..0e79838 100644
--- a/src/main/java/frc/robot/commands/GratteBaisser.java
+++ b/src/main/java/frc/robot/commands/GratteBaisser.java
@@ -9,6 +9,7 @@ import frc.robot.subsystems.Gratte;
 
 public class GratteBaisser extends CommandBase {
   private Gratte gratte;
+  private int vitesse;
   /** Creates a new GratteBaisser. */
   public GratteBaisser(Gratte gratte) {
     this.gratte = gratte;
@@ -41,7 +42,9 @@ public class GratteBaisser extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 8707d45..3f727ef 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -25,6 +25,7 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   private DigitalInput limithg = new DigitalInput(Constants.limithg);
   private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
   private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
+public boolean baiser;
   
   public boolean hautd(){
     return limithd.get();
@@ -34,7 +35,7 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     return limithg.get();
   }
 
-  public boolean basd(){
+  public boolean basd(int i, String string){
     return limitbd.get();
   }
   public boolean basg(){
@@ -61,4 +62,8 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
   }
+
+public boolean basd() {
+    return false;
+}
 }