diff --git a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
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index 0000000..9624497
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+++ b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.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.bras;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotBrasRentre extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
+  /** Creates a new PivotBrasRentre. */
+  public PivotBrasRentre(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
+  }
+
+  // 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(brasTelescopique.distance()>1){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+    if (pivot.distance()>1){
+      pivot.monteDescendre(0.5);
+    }
+  }
+  
+  // 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;
+  }
+}