diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f2b68f4..974b246 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -67,8 +67,7 @@ public class RobotContainer {
    Limelight_tracker limelight_tracker = new Limelight_tracker(limelight,drive);
    Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
-  GuiderBas guiderBas = new GuiderBas(guideur);
-    Lancer lancer = new Lancer(lanceur,limelight);
+  Lancer lancer = new Lancer(lanceur,limelight);
   LancerNote lancernote = new LancerNote(lanceur, accumulateur);
   Lancerampli lancerampli = new Lancerampli(lanceur,limelight);
    GrimpeurDroit grimpeurDroit = new GrimpeurDroit(grimpeur, manette::getLeftX);
@@ -83,10 +82,10 @@ public class RobotContainer {
     autoChooser = AutoBuilder.buildAutoChooser();
 
     CameraServer.startAutomaticCapture();
-    manette.a().whileTrue(guiderBas);
-    manette.b().whileTrue(guiderHaut);
-    joystick.button(3).toggleOnTrue(balayer);
-    joystick.button(1).whileTrue(lancernote);
+    manette.a().whileTrue(new GuiderBas(guideur));
+    manette.b().whileTrue(new GuiderHaut(guideur));
+    joystick.button(3).toggleOnTrue(new Balayer(balayeuse, accumulateur));
+    joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
     joystick.button(4).whileTrue(new ParallelCommandGroup(lancer,limelight_tracker));
     joystick.button(2).whileTrue(new ParallelCommandGroup(lancerampli,limelight_tracker,guiderHaut));