diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 24fa703..4e80b9f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -64,7 +64,7 @@ public class RobotContainer {
   GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir", -66).getEntry();
   GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", -31).getEntry();
   GenericEntry avancerdistance = layoutauto.addPersistent("avancer", 35).getEntry();
-
+  
   // subsystems
   BasePilotable basePilotable = new BasePilotable();
   Gratte gratte = new Gratte();
@@ -110,8 +110,8 @@ public class RobotContainer {
   private void configureBindings() {
     // manette 1
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
-    manette1.x().onTrue(brakeOuvre);
-    manette1.b().onTrue(brakeFerme);
+    manette2.a().onTrue(brakeOuvre);
+    manette2.b().onTrue(brakeFerme);
     manette1.leftBumper().whileTrue(aprilTag);
     manette1.rightBumper().whileTrue(tape);
     manette1.povUp().whileTrue(creerCommandBras(51, -37));
@@ -126,8 +126,8 @@ public class RobotContainer {
     manette2.leftBumper().whileTrue(cone);
     manette2.y().whileTrue(gyro);
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
-    manette2.a().whileTrue(gratteMonte);
-    manette2.b().whileTrue(gratteBaisser);
+    manette1.b().whileTrue(gratteMonte);
+    manette1.x().whileTrue(gratteBaisser);
   }
 
   private Command creerCommandBras(double distancePivot, double distanceBras) {
diff --git a/src/main/java/frc/robot/commands/bras/Bougerbras.java b/src/main/java/frc/robot/commands/bras/Bougerbras.java
index 6390c94..d807832 100644
--- a/src/main/java/frc/robot/commands/bras/Bougerbras.java
+++ b/src/main/java/frc/robot/commands/bras/Bougerbras.java
@@ -28,11 +28,11 @@ public class Bougerbras extends CommandBase {
   @Override
   public void execute() {
     if(brasTelescopique.distance()>distance+0.5 ) {
-      brasTelescopique.AvanceRecule(-0.3);
+      brasTelescopique.AvanceRecule(-0.35);
       
     }
     else if(brasTelescopique.distance()<distance-0.5) {
-      brasTelescopique.AvanceRecule(0.3);
+      brasTelescopique.AvanceRecule(0.35);
     }
     else {
       brasTelescopique.AvanceRecule(0);