diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ffad133..a8ed80b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 import java.util.Map;
+import java.util.function.DoubleSupplier;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.networktables.GenericEntry;
@@ -95,8 +96,8 @@ 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);
-PivotManuel pivotManuel = new PivotManuel(pivot);
-BrasManuel brasManuel = new BrasManuel(brasTelescopique);
+PivotManuel pivotManuel = new PivotManuel(pivot,manette2.getLeftX());
+BrasManuel brasManuel = new BrasManuel(brasTelescopique,manette2::getLeftY);
 
 
 public RobotContainer() {
@@ -110,6 +111,8 @@ public RobotContainer() {
     basePilotable.setDefaultCommand(new RunCommand(() -> {
       basePilotable.drive(-manette1.getLeftY(), -manette1.getLeftX());
     }, basePilotable));
+    brasTelescopique.setDefaultCommand(brasManuel);
+    pivot.setDefaultCommand(pivotManuel);
   }
   private void configureBindings() {
     // manette 1
@@ -130,8 +133,7 @@ public RobotContainer() {
     manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
     manette2.a().whileTrue(gratteMonte);
     manette2.b().whileTrue(gratteBaisser);
-    manette2.leftStick().whileTrue(brasManuel);
-    manette2.rightStick().whileTrue(pivotManuel);
+
   }
 
   public Command getAutonomousCommand() {
@@ -148,7 +150,7 @@ 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))
-    ).deadlineWith(Commands.waitSeconds(14)).andThen(brakeOuvre);
+    ).deadlineWith(Commands.waitSeconds(14.6)).andThen(brakeOuvre);
 
 
   }
diff --git a/src/main/java/frc/robot/commands/bras/BrasManuel.java b/src/main/java/frc/robot/commands/bras/BrasManuel.java
index 2b8824e..36b3535 100644
--- a/src/main/java/frc/robot/commands/bras/BrasManuel.java
+++ b/src/main/java/frc/robot/commands/bras/BrasManuel.java
@@ -4,15 +4,22 @@
 
 package frc.robot.commands.bras;
 
+import java.util.function.DoubleSupplier;
+
+
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.bras.BrasTelescopique;
 
 public class BrasManuel extends CommandBase {
   private BrasTelescopique brasTelescopique;
+  private DoubleSupplier doubleSupplier;
   /** Creates a new BrasManuel. */
-  public BrasManuel(BrasTelescopique brasTelescopique) {
+  public BrasManuel(BrasTelescopique brasTelescopique,DoubleSupplier doubleSupplier) {
     this.brasTelescopique = brasTelescopique;
+    this.doubleSupplier = doubleSupplier;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
   }
 
   // Called when the command is initially scheduled.
@@ -22,7 +29,7 @@ public class BrasManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    brasTelescopique.AvanceRecule(0.3);
+    brasTelescopique.AvanceRecule(doubleSupplier.getAsDouble());
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/bras/PivotManuel.java b/src/main/java/frc/robot/commands/bras/PivotManuel.java
index ee0e15a..f49d39e 100644
--- a/src/main/java/frc/robot/commands/bras/PivotManuel.java
+++ b/src/main/java/frc/robot/commands/bras/PivotManuel.java
@@ -4,14 +4,18 @@
 
 package frc.robot.commands.bras;
 
+import java.util.function.DoubleSupplier;
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.bras.Pivot;
 
 public class PivotManuel extends CommandBase {
   private Pivot pivot;
+  private DoubleSupplier doubleSupplier;
   /** Creates a new PivotManuel. */
-  public PivotManuel(Pivot pivot) {
+  public PivotManuel(Pivot pivot,double d) {
     this.pivot = pivot;
+      
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(pivot);
   }
@@ -23,7 +27,7 @@ public class PivotManuel extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    pivot.monteDescendre(0.3);
+    pivot.monteDescendre(doubleSupplier.getAsDouble());
   }
 
   // Called once the command ends or is interrupted.