diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
deleted file mode 100644
index 9d83fb8..0000000
Binary files a/bin/main/frc/robot/subsystems/BasePilotable.class and /dev/null differ
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 7b935de..b39e5f9 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -2,15 +2,24 @@ package frc.robot;
 
 public class Constants {
     public static int avantdroit = 1;
-    public static int avantgauche = 4;
+    public static int avantgauche = 2;
     public static int arrieredroit = 3;
     public static int arrieregauche = 5;
     public static int BrasTelescopique = 2;
     public static int pivot = 6;
     
     //moteur
+<<<<<<< HEAD
     public static int leverGratte = 7;
     public static int baiserGratte = 8;
+=======
+    public static int leverGratte = 0;
+    public static int baiserGratte = 1;
+<<<<<<< HEAD
+    public static int baisserGratte = 2;
+=======
+>>>>>>> 23806ebfa2db43d63673f9b4cfc37aa3b9b23491
+>>>>>>> feb8cc033e5eefa2d6b104c4ab7de16e0527fc5f
 
     // pneumatique
     public static int pistonpinceouvre = 0;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d802160..3270fb5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,13 +3,19 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-import java.util.Map;
+import org.photonvision.estimation.CameraTargetRelation;
 
 import edu.wpi.first.cameraserver.CameraServer;
+<<<<<<< HEAD
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
+=======
+>>>>>>> feb8cc033e5eefa2d6b104c4ab7de16e0527fc5f
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import java.util.Map;
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -82,6 +88,13 @@ Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
 Reculer reculers = new Reculer(basePilotable, ()->reculerdistances.getDouble(0));
 Reculer reculerb = new Reculer(basePilotable, ()->reculerdistanceb.getDouble(0));
 Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
+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);
+ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
+Reculer reculer = new Reculer(basePilotable);
 
 public RobotContainer() {
     chooser.setDefaultOption(enhaut, enhaut);
@@ -92,14 +105,18 @@ public RobotContainer() {
 
 
     configureBindings();
-
-    basePilotable.setDefaultCommand(new RunCommand(() -> {
-      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
-    },basePilotable));
-    
-}
-
+    CameraServer.startAutomaticCapture();
+    teb.add (CameraServer.startAutomaticCapture(null, 0));
+      basePilotable.setDefaultCommand(new RunCommand() -> {
+      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0);
+      }
+    }
   private void configureBindings() {
+    // manette 1
+    manette1.povDown().onTrue(pivoteBrasHaut);
+    manette1.povUp().onTrue(pivoteBrasBas);
+    manette1.povLeft().onTrue(pivoteBrasMilieux);
+    manette1.povRight().onTrue(pivotBrasRentre);
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
     manette1.y().whileTrue(gyro);
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index 0e627cb..50b77b9 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -32,7 +32,8 @@ ShuffleboardLayout bras = Shuffleboard.getTab("teb")
   public BrasTelescopique() {
     teb .add("photocell",0.1);
     teb .add("winch",0.1);
-    teb .add("encodeur",0.1);}
+    teb .add("encodeur",0.1);
+  }
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
   private DigitalInput photocell = new DigitalInput(Constants.photocell);
   private DoubleSolenoid brakewinch = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakewinchf, Constants.brakewinchb);