diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bfb40f7..bfc6d3b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -32,17 +32,11 @@ import frc.robot.commands.bras.PivotBrasRentre;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
-<<<<<<< HEAD
 import frc.robot.commands.bras.PivotChercheBas;
 import frc.robot.commands.bras.PivotChercheHaut;
-import edu.wpi.first.apriltag.AprilTag;
-import edu.wpi.first.math.spline.CubicHermiteSpline;
 import frc.robot.commands.Cube;
-import frc.robot.commands.Cone;
 import frc.robot.commands.Tape;
-=======
 
->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
 
 public class RobotContainer {
 //CameraServer.startAutomaticCapture();
@@ -84,15 +78,11 @@ public RobotContainer() {
 }
 
   private void configureBindings() {
-<<<<<<< HEAD
     // manette 1
-=======
->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
     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));
-<<<<<<< HEAD
     manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
     manette1.leftBumper().toggleOnTrue(aprilTag);
     manette1.rightBumper().toggleOnTrue(tape);
@@ -104,18 +94,7 @@ public RobotContainer() {
     manette2.povRight().onTrue(pivotChercheBas);
     manette2.povLeft().onTrue(pivotChercheHaut);
     manette2.rightBumper().toggleOnTrue(cube);
-    manette2.leftBumper().toggleOnTrue(cone);    
-=======
-    /*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));**/
->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
+    manette2.leftBumper().toggleOnTrue(cone);
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index df518c7..056c6da 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -3,13 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.subsystems;
-
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-import javax.swing.text.StyledEditorKit.BoldAction;
-
-import org.apache.commons.collections4.functors.IfClosure;
-
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -53,22 +47,13 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
   public boolean basg(){
     return limitbg.get();
   }
-  /** Creates a new Gratte. */
-<<<<<<< HEAD
-  public Gratte() {
-   
-  }
-  
-  
-
-=======
+ 
   public Gratte() {   
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
   }
->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
   public void Lever(double vitesse){
     Gratted.set(vitesse);
     Gratteg.set(vitesse);
@@ -78,15 +63,10 @@ ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
     Gratteg.set(-vitesse);
   }
   @Override
-<<<<<<< HEAD
   public void periodic(){
     limitswitchgratte.add ("limitbd", 0.1);
     limitswitchgratte.add ("limithg", 0.1);
     limitswitchgratte.add ("limithd", 0.1);
     limitswitchgratte.add ("limitbg", 0.1);
-=======
-  public void periodic() {
-
->>>>>>> a50cbc2cf5643bf54839bb1e5520aa0bf79cd925
-  }
+}
 }
\ No newline at end of file