diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 710e70d..bfc6d3b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -17,6 +17,7 @@ import frc.robot.subsystems.bras.BrasTelescopique;
 import frc.robot.subsystems.bras.Pince;
 import frc.robot.subsystems.bras.Pivot;
 import frc.robot.subsystems.Limelight;
+import frc.robot.commands.Apriltag;
 // command
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
@@ -31,6 +32,10 @@ import frc.robot.commands.bras.PivotBrasRentre;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
+import frc.robot.commands.bras.PivotChercheBas;
+import frc.robot.commands.bras.PivotChercheHaut;
+import frc.robot.commands.Cube;
+import frc.robot.commands.Tape;
 
 
 public class RobotContainer {
@@ -57,6 +62,12 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
 PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
 PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
+PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
+PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
+Cube cube = new Cube(limelight, basePilotable, null);
+Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
+Tape tape = new Tape(limelight, basePilotable, null);
+
 public RobotContainer() {
     configureBindings();
 
@@ -67,19 +78,23 @@ 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.y().whileTrue(gyro);
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
-    /*manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
-    manette2.a().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasHaut, brasTelescopique::pivoteBrasHaut));
-    manette2.b().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasBas, brasTelescopique::pivoteBrasBas, brasTelescopique));
-    manette2.x().toggleOnTrue(Commands.startEnd(brasTelescopique::pivoteBrasMilieux, brasTelescopique::pivoteBrasMilieux, brasTelescopique));
-    manette2.y().toggleOnTrue(Commands.startEnd(brasTelescopique::pivotBrasRentre, brasTelescopique::pivotBrasRentre, brasTelescopique));
-    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));**/
+    manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
+    manette1.leftBumper().toggleOnTrue(aprilTag);
+    manette1.rightBumper().toggleOnTrue(tape);
+    // manette 2
+    manette2.a().onTrue(pivoteBrasHaut);
+    manette2.b().onTrue(pivoteBrasBas);
+    manette2.x().onTrue(pivoteBrasMilieux);
+    manette2.y().onTrue(pivotBrasRentre);
+    manette2.povRight().onTrue(pivotChercheBas);
+    manette2.povLeft().onTrue(pivotChercheHaut);
+    manette2.rightBumper().toggleOnTrue(cube);
+    manette2.leftBumper().toggleOnTrue(cone);
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java
index 8984475..61c7240 100644
--- a/src/main/java/frc/robot/commands/GratteBaisser.java
+++ b/src/main/java/frc/robot/commands/GratteBaisser.java
@@ -18,7 +18,9 @@ public class GratteBaisser extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+  gratte.setenHaut(false);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -41,9 +43,7 @@ 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/commands/GratteMonte.java b/src/main/java/frc/robot/commands/GratteMonte.java
index 3581712..507b90d 100644
--- a/src/main/java/frc/robot/commands/GratteMonte.java
+++ b/src/main/java/frc/robot/commands/GratteMonte.java
@@ -19,7 +19,9 @@ public class GratteMonte extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    gratte.setenHaut(true);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 1657537..056c6da 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -3,7 +3,6 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.subsystems;
-
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
@@ -24,8 +23,16 @@ 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 baiser;
+  boolean enHaut = true;
+  public void setenHaut(boolean enHaut){
+    this.enHaut = enHaut;
+  }
+  public boolean getenHaut(){
+    return enHaut;
+    
+  }
+
   public boolean hautd(){
     return limithd.get();
   }
@@ -34,13 +41,13 @@ public boolean baiser;
     return limithg.get();
   }
 
-  public boolean basd(int i, String string){
+  public boolean basd(){
     return limitbd.get();
   }
   public boolean basg(){
     return limitbg.get();
   }
-  /** Creates a new Gratte. */
+ 
   public Gratte() {   
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
@@ -56,11 +63,10 @@ public boolean baiser;
     Gratteg.set(-vitesse);
   }
   @Override
-  public void periodic() {
-
-  }
-
-public boolean basd() {
-    return false;
-}
+  public void periodic(){
+    limitswitchgratte.add ("limitbd", 0.1);
+    limitswitchgratte.add ("limithg", 0.1);
+    limitswitchgratte.add ("limithd", 0.1);
+    limitswitchgratte.add ("limitbg", 0.1);
 }
+}
\ No newline at end of file