diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3b35560..d211b64 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,34 +3,21 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-import org.photonvision.estimation.CameraTargetRelation;
+import java.util.Map;
 
 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;
 import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-
-//subsystems
-import frc.robot.subsystems.BasePilotable;
-import frc.robot.subsystems.Gratte;
-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;
 import frc.robot.commands.Avancer;
 // command
@@ -51,6 +38,13 @@ import frc.robot.commands.bras.PivotChercheHaut;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
+//subsystems
+import frc.robot.subsystems.BasePilotable;
+import frc.robot.subsystems.Gratte;
+import frc.robot.subsystems.Limelight;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pince;
+import frc.robot.subsystems.bras.Pivot;
 
 
 public class RobotContainer {
@@ -117,16 +111,22 @@ public RobotContainer() {
   }
   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);
-    manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
-    
-    
+    manette1.leftBumper().toggleOnTrue(aprilTag);
+    manette1.rightBumper().toggleOnTrue(tape);
+    manette1.povUp().onTrue(pivoteBrasHaut);
+    manette1.povDown().onTrue(pivoteBrasBas);
+    manette1.povRight().onTrue(pivoteBrasMilieux);
+    manette1.povLeft().onTrue(pivotBrasRentre);
+    //manette 2
+    manette2.povRight().onTrue(pivotChercheBas);
+    manette2.povLeft().onTrue(pivotChercheHaut);
+    manette2.rightBumper().toggleOnTrue(cube);
+    manette2.leftBumper().toggleOnTrue(cone);
+    manette2.y().whileTrue(gyro);
+    manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
+    manette2.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
   }
 
   public Command getAutonomousCommand() {
@@ -143,7 +143,7 @@ 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);
 
 
   }