diff --git a/src/main/java/frc/robot/command/CoralAlgueInspire.java b/src/main/java/frc/robot/command/CoralAlgueInspire.java
index 64d0e1d..4823613 100644
--- a/src/main/java/frc/robot/command/CoralAlgueInspire.java
+++ b/src/main/java/frc/robot/command/CoralAlgueInspire.java
@@ -24,12 +24,7 @@ public class CoralAlgueInspire extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(pince.emperagecoral()>8){
-    pince.aspirealgue(-0.5);  
-    }
-    else{
-      pince.aspirealgue(0);
-    }
+    pince.aspirecoral(.5);
     if(pince.emperagealgue()>8){
       pince.aspirealgue(0);
      } 
diff --git a/src/main/java/frc/robot/command/L2Pince.java b/src/main/java/frc/robot/command/L2Pince.java
index a39c34c..febefc9 100644
--- a/src/main/java/frc/robot/command/L2Pince.java
+++ b/src/main/java/frc/robot/command/L2Pince.java
@@ -37,7 +37,9 @@ public class L2Pince extends Command {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/command/L3Pince.java b/src/main/java/frc/robot/command/L3Pince.java
new file mode 100644
index 0000000..a56a809
--- /dev/null
+++ b/src/main/java/frc/robot/command/L3Pince.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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 L3Pince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public L3Pince(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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(pince.encodeurpivot()>=700 && pince.encodeurpivot()<=710){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=710){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/L4Pince.java b/src/main/java/frc/robot/command/L4Pince.java
new file mode 100644
index 0000000..b113b92
--- /dev/null
+++ b/src/main/java/frc/robot/command/L4Pince.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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 L4Pince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public L4Pince(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=810){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=810){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/StationPince.java b/src/main/java/frc/robot/command/StationPince.java
new file mode 100644
index 0000000..9721590
--- /dev/null
+++ b/src/main/java/frc/robot/command/StationPince.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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Pince;
+
+/* 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 StationPince extends Command {
+  private Pince pince;
+  /** Creates a new L2Pince. */
+  public StationPince(Pince pince) {
+    this.pince = pince;
+    addRequirements(pince);
+    // 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(pince.encodeurpivot()>=900 && pince.encodeurpivot()<=910){
+      pince.pivote(0);
+    }
+    else if(pince.encodeurpivot()>=910){
+      pince.pivote(-0.5);
+    }
+    else{
+      pince.pivote(0.5);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    pince.pivote(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}