diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index f0fb8a8..1518cc8 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -18,6 +18,8 @@ public class Constants {
      public static int actuateur = 2;
      public static int brakedroit = 3;
      public static int brakegauche = 4;
+     public static int brakewinchf = 5;
+     public static int brakewinchb = 5;
     // DIO
     public static int limitbd = 0;
     public static int limitbg = 2;
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d9ff154..a68150c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -32,6 +32,12 @@ import frc.robot.commands.bras.PivotBrasRentre;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
+import frc.robot.commands.bras.PivotChercheBas;
+import frc.robot.commands.bras.PivotChercheHaut;
+import edu.wpi.first.apriltag.AprilTag;
+import frc.robot.commands.Cube;
+import frc.robot.commands.Cone;
+import frc.robot.commands.Tape;
 
 public class RobotContainer {
 CommandXboxController manette1 = new CommandXboxController(0);
@@ -69,8 +75,20 @@ public RobotContainer() {
     manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
     manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
     manette1.y().whileTrue(gyro);
+<<<<<<< HEAD
     // manette1.b().toggleOnTrue(Commands.startEnd(gratte::baiser, gratte::Lever,gratte));
+=======
+>>>>>>> 4b22cac30fd2b3c5e7b1af3c7f890c4def2d21f7
     manette1.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
+    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));
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
index 192dc88..6efbb90 100644
--- a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
+++ b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
@@ -29,6 +29,7 @@ public class PivotBrasRentre extends CommandBase {
   public void execute() {
     if(brasTelescopique.distance()>1){
       brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.fermer();
     }
     if (pivot.distance()>1){
       pivot.monteDescendre(0.5);
@@ -36,9 +37,10 @@ public class PivotBrasRentre extends CommandBase {
     else if(brasTelescopique.photocell()){
       brasTelescopique.Reset();
       brasTelescopique.AvanceRecule(0);
+      brasTelescopique.ouvrir();
     }
     else{
-      brasTelescopique.AvanceRecule(.5);
+      brasTelescopique.AvanceRecule(0.5);
     }
     if(pivot.limitpivot()){
       pivot.Reset();
diff --git a/src/main/java/frc/robot/commands/bras/PivotChercheBas.java b/src/main/java/frc/robot/commands/bras/PivotChercheBas.java
index 33cc965..76367e4 100644
--- a/src/main/java/frc/robot/commands/bras/PivotChercheBas.java
+++ b/src/main/java/frc/robot/commands/bras/PivotChercheBas.java
@@ -29,12 +29,14 @@ public class PivotChercheBas extends CommandBase {
   public void execute() {
     if(brasTelescopique.distance()<10){
       brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.fermer();
     }
   else if(brasTelescopique.distance()>11) {
     brasTelescopique.AvanceRecule(-0.5);
     }
     else {
       brasTelescopique.AvanceRecule(0);
+      brasTelescopique.ouvrir();
     }
     if (pivot.distance()<10){
       pivot.monteDescendre(0.5);
diff --git a/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java b/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java
index 4288827..1bdd45a 100644
--- a/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java
+++ b/src/main/java/frc/robot/commands/bras/PivotChercheHaut.java
@@ -29,12 +29,14 @@ public class PivotChercheHaut extends CommandBase {
   public void execute() {
     if(brasTelescopique.distance()<10){
       brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.fermer();
     }
   else if(brasTelescopique.distance()>11) {
     brasTelescopique.AvanceRecule(-0.5);
     }
     else {
       brasTelescopique.AvanceRecule(0);
+      brasTelescopique.ouvrir();
     }
     if (pivot.distance()<10){
       pivot.monteDescendre(0.5);
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
index 038ec51..226454e 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
@@ -31,12 +31,14 @@ public class PivoteBrasBas extends CommandBase {
   public void execute() {
     if(brasTelescopique.distance()<10){
       brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.fermer();
     }
   else if(brasTelescopique.distance()>11) {
     brasTelescopique.AvanceRecule(-0.5);
     }
     else {
       brasTelescopique.AvanceRecule(0);
+      brasTelescopique.ouvrir();
     }
     if (pivot.distance()<10){
       pivot.monteDescendre(0.5);
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
index 2ba3c74..1968013 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
@@ -29,12 +29,14 @@ public class PivoteBrasHaut extends CommandBase {
   public void execute() {
     if(brasTelescopique.distance()<10){
       brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.fermer();
     }
   else if(brasTelescopique.distance()>11) {
     brasTelescopique.AvanceRecule(-0.5);
     }
     else {
       brasTelescopique.AvanceRecule(0);
+      brasTelescopique.ouvrir();
     }
     if (pivot.distance()<10){
       pivot.monteDescendre(0.5);
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
index da8939b..c230cfc 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
@@ -29,12 +29,14 @@ public class PivoteBrasMilieux extends CommandBase {
   public void execute() {
     if(brasTelescopique.distance()<10){
       brasTelescopique.AvanceRecule(0.5);
+      brasTelescopique.fermer();
     }
   else if(brasTelescopique.distance()>11) {
     brasTelescopique.AvanceRecule(-0.5);
     }
     else {
       brasTelescopique.AvanceRecule(0);
+      brasTelescopique.ouvrir();
     }
     if (pivot.distance()<10){
       pivot.monteDescendre(0.5);
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 5ec5abc..b628ceb 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -76,5 +76,7 @@ public void resetGyro(){
     teb .add("encodeurarrieredroit",0.1);
     teb .add("encodeuravantgauche",0.1);  
     teb .add("distance",0.1);
+    teb .add("brakedroit",0.1);
+    teb .add("brakegauche", 0.1);
   }
-}
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 4cefbae..0332f41 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -8,9 +8,11 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
 public class Gratte extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
   private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
   private DigitalInput limithd = new DigitalInput(Constants.limithd);
@@ -44,9 +46,9 @@ public class Gratte extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("limithd",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("limitbd",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("limithg",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("limitbg",0.1);
+    teb .add("limithd", 0.1);
+    teb .add("limithg", 0.1);
+    teb .add("limitbd", 0.1);
+    teb .add("limitbg", 0.1);
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index 1d41677..58d30f8 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -6,6 +6,8 @@ package frc.robot.subsystems;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+
 import org.photonvision.PhotonCamera;
 import org.photonvision.common.hardware.VisionLEDMode;
 
@@ -15,6 +17,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 
 public class Limelight extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
   public Limelight() {
@@ -56,6 +59,6 @@ public class Limelight extends SubsystemBase {
   @Override
   public void periodic() {
     CameraServer.startAutomaticCapture();
-    Shuffleboard.getTab("SmartDashBoard") .add("limelight",0.1);
+    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 e015295..94ed0f7 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -9,15 +9,21 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class BrasTelescopique extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   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);
   public void AvanceRecule(double vitesse) {
     Winch.set(vitesse);
   }
@@ -28,11 +34,19 @@ public class BrasTelescopique extends SubsystemBase {
     Winch.getEncoder().setPosition(0);
   }
   public boolean photocell(){
-    return photocell.get();
+    return photocell.get(); 
   }
+  public void fermer() {
+    brakewinch.set(Value.kReverse);
+    }
+    public void ouvrir() {
+      brakewinch.set(Value.kForward);
+    }
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("photocell",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("winch",0.1);
+    teb .add("``photocell``",0.1);
+    teb .add("winch",0.1);
   }
+
+  
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java
index 2aa6540..62022de 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pince.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pince.java
@@ -8,9 +8,12 @@ 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 edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.robot.Constants;
 
-public class Pince extends SubsystemBase {
+
+public class Pince extends SubsystemBase{
   private DoubleSolenoid pistonPince = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
   /** Creates a new Pince. */
   public Pince() {
@@ -23,6 +26,5 @@ public class Pince extends SubsystemBase {
    }
   @Override
   public void periodic() {
-    
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index 58f24d2..42f5ef3 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -6,6 +6,7 @@ package frc.robot.subsystems.bras;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -13,6 +14,7 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
   // moteur
   private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
   private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
@@ -34,8 +36,6 @@ public class Pivot extends SubsystemBase {
   }
   @Override
   public void periodic() {
-    Shuffleboard.getTab("SmartDashBoard") .add("limitpivot",0.1);
-    Shuffleboard.getTab("SmartDashBoard") .add("pivot encodeur",0.1);
+    teb .add("encodeur", 0.1);
   }
- }
-
+}
\ No newline at end of file