diff --git a/src/main/java/frc/robot/commands/BalayeuseAlgue.java b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
new file mode 100644
index 0000000..e97fec5
--- /dev/null
+++ b/src/main/java/frc/robot/commands/BalayeuseAlgue.java
@@ -0,0 +1,63 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class BalayeuseAlgue extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseAlgue(Requin requin, Bougie bougie) {
+    this.requin = requin;
+    this.bougie =bougie;
+    addRequirements(requin,bougie);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+     if(requin.encodeur()>=500 &&  requin.encodeur()<=510)
+     {
+       requin.rotationer(0);
+       if(requin.amp()> 60){
+       requin.balaye(0);
+       bougie.Vert();
+     }
+      else
+      {
+           requin.balaye(0.5);
+      }
+     }
+     else if(requin.encodeur()>=510){
+     requin.rotationer(0.5);
+     }
+     else{
+      requin.rotationer(-0.5);
+     }
+    
+   }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/BalayeuseBas.java b/src/main/java/frc/robot/commands/BalayeuseBas.java
new file mode 100644
index 0000000..6aefaeb
--- /dev/null
+++ b/src/main/java/frc/robot/commands/BalayeuseBas.java
@@ -0,0 +1,40 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class BalayeuseBas extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseBas(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+  requin.rotationer(-0.5);
+  }
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/BalayeuseCoral.java b/src/main/java/frc/robot/commands/BalayeuseCoral.java
new file mode 100644
index 0000000..2f53b19
--- /dev/null
+++ b/src/main/java/frc/robot/commands/BalayeuseCoral.java
@@ -0,0 +1,67 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class BalayeuseCoral extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public BalayeuseCoral(Requin requin, Bougie bougie) {
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+     if(requin.encodeur()>=100 &&  requin.encodeur()<=110){
+       requin.rotationer(0);
+      if(requin.amp()>60){
+      requin.balaye(0);
+       bougie.Vert();
+       if(requin.enHaut()){
+        requin.rotationer(0);
+       }
+        else{
+          requin.rotationer(0.5);
+        }
+    }
+     else{
+       requin.balaye(0.5);
+     }
+     }
+     else if(requin.encodeur()>=110){
+     requin.rotationer(0.5);
+     }
+     else{
+       requin.rotationer(-0.5);
+     }
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/BalayeuseHaut.java b/src/main/java/frc/robot/commands/BalayeuseHaut.java
new file mode 100644
index 0000000..5bf884f
--- /dev/null
+++ b/src/main/java/frc/robot/commands/BalayeuseHaut.java
@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class BalayeuseHaut extends Command {
+  private Requin requin;
+  /** Creates a new Balayeuse. */
+  public BalayeuseHaut(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(requin.enHaut()==true){
+      requin.rotationer(0);
+      requin.reset();
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/ExpireAlgue.java b/src/main/java/frc/robot/commands/ExpireAlgue.java
new file mode 100644
index 0000000..fea308e
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ExpireAlgue.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class ExpireAlgue extends Command {
+  private Requin requin;
+  /** Creates a new ExpireAlgue. */
+  public ExpireAlgue(Requin requin) {
+    this.requin = requin;
+    addRequirements(requin);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    requin.balaye(0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/L1Requin.java b/src/main/java/frc/robot/commands/L1Requin.java
new file mode 100644
index 0000000..3b871ce
--- /dev/null
+++ b/src/main/java/frc/robot/commands/L1Requin.java
@@ -0,0 +1,65 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Bougie;
+import frc.robot.subsystems.Requin;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class L1Requin extends Command {
+  private Requin requin;
+  private Bougie bougie;
+  /** Creates a new Balayeuse. */
+  public L1Requin(Requin requin,Bougie bougie) {
+    this.requin = requin;
+    this.bougie = bougie;
+    addRequirements(requin,bougie);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    
+    if(requin.encodeur()>=800 &&  requin.encodeur()<=810){
+      requin.rotationer(0);
+      if(requin.amp()>8){
+      requin.balaye(-0.5);
+    }
+        else{
+          requin.balaye(0); 
+          bougie.Rouge();
+      }
+    }
+    else if(requin.encodeur()>=810){
+    requin.rotationer(0.5);
+    }
+    else{
+      requin.rotationer(-0.5);
+    }
+    
+    
+      
+    
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/aspire.java b/src/main/java/frc/robot/commands/aspire.java
new file mode 100644
index 0000000..96ce671
--- /dev/null
+++ b/src/main/java/frc/robot/commands/aspire.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class aspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  public aspire(Requin requin) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    requin.balaye(0.3);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/exspire.java b/src/main/java/frc/robot/commands/exspire.java
new file mode 100644
index 0000000..5229cc9
--- /dev/null
+++ b/src/main/java/frc/robot/commands/exspire.java
@@ -0,0 +1,41 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class exspire extends Command {
+  /** Creates a new aspire. */
+  private Requin requin;
+  public exspire(Requin requin) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    requin.balaye(-0.3);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.balaye(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/requin_manuel.java b/src/main/java/frc/robot/commands/requin_manuel.java
new file mode 100644
index 0000000..30d8d7b
--- /dev/null
+++ b/src/main/java/frc/robot/commands/requin_manuel.java
@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Requin;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class requin_manuel extends Command {
+  /** Creates a new requin_manuel. */
+  private Requin requin;
+  private DoubleSupplier x;
+  public requin_manuel(Requin requin) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    this.requin = requin;
+    addRequirements(requin);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if(requin.enHaut()){
+    requin.rotationer(0);  
+    }
+    else{
+      requin.rotationer(x.getAsDouble());
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    requin.rotationer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/Bougie.java b/src/main/java/frc/robot/subsystems/Bougie.java
index 02cd2a8..4c2dcb5 100644
--- a/src/main/java/frc/robot/subsystems/Bougie.java
+++ b/src/main/java/frc/robot/subsystems/Bougie.java
@@ -43,8 +43,12 @@ public class Bougie extends SubsystemBase {
    candle.setLEDs(255, 215, 0,0,48,8);
    candle.setLEDs(255, 215, 0,0,64,8);
    }
-  public void RainBow(){candle.animate(rainbowAnim);}
-  public void RainBowStop(){candle.animate(null);}
+  public void RainBow(){
+    candle.animate(rainbowAnim);
+  }
+  public void RainBowStop(){
+    candle.animate(null);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
diff --git a/src/main/java/frc/robot/subsystems/Requin.java b/src/main/java/frc/robot/subsystems/Requin.java
new file mode 100644
index 0000000..db0e3c4
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Requin.java
@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+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;
+
+public class Requin extends SubsystemBase {
+  /** Creates a new Requin. */
+  ShuffleboardTab teb = Shuffleboard.getTab("teb");
+  public Requin() {
+    teb.addBoolean("limit requin", this::enHaut);
+  }
+   
+  final SparkFlex balaye = new SparkFlex(15, MotorType.kBrushless);
+  final SparkMax rotatione = new SparkMax(17, MotorType.kBrushless);
+  final DigitalInput limit3 = new DigitalInput(1);
+    
+  public void balaye(double vitesse){
+    balaye.set(vitesse);
+  }
+  public void rotationer(double vitesse){
+  rotatione.set(vitesse);
+  }
+  public boolean enHaut(){
+  return limit3.get();
+  } 
+  public double encodeur(){
+  return rotatione.getEncoder().getPosition();
+  }
+  public void reset(){
+    rotatione.getEncoder().setPosition(0);
+  }
+  public double amp(){
+    return balaye.getOutputCurrent();
+  }
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}