diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 9d83fb8..30a8c07 100644
Binary files a/bin/main/frc/robot/subsystems/BasePilotable.class and b/bin/main/frc/robot/subsystems/BasePilotable.class differ
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 6d6e398..e46be4b 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -10,11 +10,8 @@ public class Constants {
     
     //moteur
     public static int leverGratte = 0;
-<<<<<<< HEAD
     public static int baiserGratte = 1;
-=======
     public static int baisserGratte = 1;
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
 
     // 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 b9a7dd2..5924a25 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -78,12 +78,7 @@ public RobotContainer() {
     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));
-<<<<<<< HEAD
     manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));**/
-=======
-    manette2.leftBumper().toggleOnTrue(Commands.startEnd(null, null, null));
-    
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index dcb7893..a20e5aa 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -4,13 +4,18 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
 public class Gyro extends CommandBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private BasePilotable basePilotable;
   /** Creates a new Gyro. */
   public Gyro(BasePilotable basePilotable) {
+    teb.add("angleGyro", 0.1);
+    teb.add("vitesseGyro", 0.1);
     this.basePilotable = basePilotable;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 4cbec8e..fb14cae 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -8,7 +8,6 @@ import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 7176d4f..1657537 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -14,11 +14,7 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
-<<<<<<< HEAD
 ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
-=======
- ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
 ShuffleboardLayout limitswitchgratte = Shuffleboard.getTab("teb")
 .getLayout("limitswitchsgratte", BuiltInLayouts.kList)
 .withSize(2, 2);
@@ -45,7 +41,12 @@ public boolean baiser;
     return limitbg.get();
   }
   /** Creates a new Gratte. */
-  public Gratte() {}
+  public Gratte() {   
+    limitswitchgratte.add ("limitbd", 0.1);
+    limitswitchgratte.add ("limithg", 0.1);
+    limitswitchgratte.add ("limithd", 0.1);
+    limitswitchgratte.add ("limitbg", 0.1);
+  }
   public void Lever(double vitesse){
     Gratted.set(vitesse);
     Gratteg.set(vitesse);
@@ -56,14 +57,7 @@ public boolean baiser;
   }
   @Override
   public void periodic() {
-    teb .add("limithd", 0.1);
-    teb .add("limithg", 0.1);
-    teb .add("limitbd", 0.1);
-    teb .add("limitbg", 0.1);
-    limitswitchgratte.add ("limitbd", 0.1);
-    limitswitchgratte.add ("limithg", 0.1);
-    limitswitchgratte.add ("limithd", 0.1);
-    limitswitchgratte.add ("limitbg", 0.1);
+
   }
 
 public boolean basd() {
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index 58d30f8..abdddaf 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -21,6 +21,8 @@ public class Limelight extends SubsystemBase {
   PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
   public Limelight() {
+    CameraServer.startAutomaticCapture();
+    teb .add("limelight", 0.1);
     PortForwarder.add(5800, "photonvision.local", 5800);
   }
 
@@ -58,7 +60,5 @@ public class Limelight extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    CameraServer.startAutomaticCapture();
-    teb .add("limelight", 0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index cb92af3..0ba43ff 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -24,16 +24,10 @@ public class BrasTelescopique extends SubsystemBase {
   ShuffleboardLayout layout = Shuffleboard.getTab("teb")
   .getLayout("layout", BuiltInLayouts.kList)
   .withSize(2, 2);
-<<<<<<< HEAD
  ShuffleboardLayout bras = Shuffleboard.getTab("teb")
  .getLayout("bras", BuiltInLayouts.kList)
  .withSize(2, 2);
-=======
   
-ShuffleboardLayout bras = Shuffleboard.getTab("teb")
-.getLayout("bras", BuiltInLayouts.kList)
-.withSize(2, 2);
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java
index a8a7c81..6044d4c 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pince.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pince.java
@@ -8,7 +8,6 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-
 import frc.robot.Constants;
 
 
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index e82eecc..7fa1c28 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -14,11 +14,8 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
-<<<<<<< HEAD
-ShuffleboardTab teb = Shuffleboard.getTab("teb");
-=======
-  ShuffleboardTab teb = Shuffleboard.getTab("teb");
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0
+ ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -27,6 +24,10 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb");
   public void monteDescendre(double vitesse) {
     pivot.set (vitesse);
   } 
+  public Pivot(){
+    teb .add ("encodeurpivot",0.1);
+    teb .add ("limitpivot",0.1);
+  }
   // encodeur
   public double distance(){
     return (pivot.getEncoder().getPosition());
@@ -40,17 +41,6 @@ ShuffleboardTab teb = Shuffleboard.getTab("teb");
   }
   @Override
   public void periodic() {
-    teb .add("encodeur", 0.1);
-    teb .add ("encodeur pivot",0.1);
   }
-<<<<<<< HEAD
-}
-  
- 
+}  
 
-=======
-  {
-  teb.add ("encodeur pivot",0.1);
- }
-}
->>>>>>> cd7604e30f9d6c974930cf5af86554639315c8a0