diff --git a/src/main/.vscode/settings.json b/src/main/.vscode/settings.json
new file mode 100644
index 0000000..2b898f6
--- /dev/null
+++ b/src/main/.vscode/settings.json
@@ -0,0 +1,5 @@
+{
+    "java.project.sourcePaths": [
+        "java/frc/robot/commands"
+    ]
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/ActiverBlockeur.java b/src/main/java/frc/robot/commands/ActiverBlockeur.java
new file mode 100644
index 0000000..c352de2
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ActiverBlockeur.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.CommandBase;
+import frc.robot.subsystems.Poussoir;
+
+public class ActiverBlockeur extends CommandBase {
+  private Poussoir poussoir;
+  /** Creates a new ActiverBlockeur. */
+  public ActiverBlockeur(Poussoir poussoir) {
+    this.poussoir = poussoir;
+
+    addRequirements(poussoir);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+    poussoir.bloquer();
+  }
+
+  // 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/commands/Activer_poussoir.java b/src/main/java/frc/robot/commands/Activer_poussoir.java
index d8e0b59..2cec736 100644
--- a/src/main/java/frc/robot/commands/Activer_poussoir.java
+++ b/src/main/java/frc/robot/commands/Activer_poussoir.java
@@ -20,13 +20,15 @@ public class Activer_poussoir extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    
     poussoir.pousser();
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+
+    poussoir.tirer();
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/commands/Acctivershaker.java b/src/main/java/frc/robot/commands/Activershaker.java
similarity index 81%
rename from src/main/java/frc/robot/commands/Acctivershaker.java
rename to src/main/java/frc/robot/commands/Activershaker.java
index 12d2dd8..71d99fe 100644
--- a/src/main/java/frc/robot/commands/Acctivershaker.java
+++ b/src/main/java/frc/robot/commands/Activershaker.java
@@ -7,10 +7,10 @@ package frc.robot.commands;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Pistonshaker;
 
-public class Acctivershaker extends CommandBase {
+public class Activershaker extends CommandBase {
   private Pistonshaker pistonshaker;
   /** Creates a new Acctivershaker. */
-  public Acctivershaker(Pistonshaker pistonshaker) {
+  public Activershaker(Pistonshaker pistonshaker) {
     this.pistonshaker = pistonshaker;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(pistonshaker);
@@ -20,7 +20,7 @@ public class Acctivershaker extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    
+    pistonshaker.sortirpiston();
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -29,7 +29,9 @@ public class Acctivershaker extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    pistonshaker.rentrerpiston();
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/commands/DesactiverBlockeur.java b/src/main/java/frc/robot/commands/DesactiverBlockeur.java
new file mode 100644
index 0000000..42d672f
--- /dev/null
+++ b/src/main/java/frc/robot/commands/DesactiverBlockeur.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.CommandBase;
+import frc.robot.subsystems.Poussoir;
+
+public class DesactiverBlockeur extends CommandBase {
+  private Poussoir poussoir;
+  /** Creates a new DesactiverBlockeur. */
+  public DesactiverBlockeur(Poussoir poussoir) {
+    this.poussoir = poussoir;
+
+    addRequirements(poussoir);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+    poussoir.debloque();
+  }
+
+  // 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;
+  }
+}