diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index c137333..0b24b86 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -4,6 +4,8 @@
 
 package frc.robot;
 
+
+
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
  * constants. This class should not be used for any other purpose. All constants should be declared
@@ -15,4 +17,6 @@ package frc.robot;
 public final class Constants {
     public static final int PistonPousserR = 0;
     public static final int PistonPousserF = 1;
+    public static final int pistonQuiShakef = 0;
+    public static final int pistonQuiShakeb = 1;
 }
diff --git a/src/main/java/frc/robot/commands/Activer_poussoir.java b/src/main/java/frc/robot/commands/Activer_poussoir.java
new file mode 100644
index 0000000..f40f96f
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Activer_poussoir.java
@@ -0,0 +1,34 @@
+// 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.CommandBase;
+
+public class Activer_poussoir extends CommandBase {
+  /** Creates a new Activer_poussoir. */
+  public Activer_poussoir() {
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
+
+
diff --git a/src/main/java/frc/robot/subsystems/Pistonshaker.java b/src/main/java/frc/robot/subsystems/Pistonshaker.java
new file mode 100644
index 0000000..5599ac6
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Pistonshaker.java
@@ -0,0 +1,32 @@
+// 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 edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Pistonshaker extends SubsystemBase {
+  private DoubleSolenoid shaker = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonQuiShakef,Constants.pistonQuiShakeb);
+  /** Creates a new pistonshaker. */
+
+  public Pistonshaker() {
+    
+  }
+public void sortirpiston() {
+ shaker.set(Value.kForward);
+}
+public void rentrerpiston() {
+  shaker.set(Value.kReverse);
+ }
+ 
+  @Override
+  public void periodic() {
+  
+    // This method will be called once per scheduler run
+  }
+}