diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index bda0c2e..22cff35 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -5,9 +5,26 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
+    public static int leverGratte = 0;
+    public static int baisserGratte = 1;
+    public static int BrasTelescopique = 5;
     // pneumatique
     public static int pistonpinceouvre = 0;
     public static int pistonpinceferme = 1;
-    public static int BrasTelescopique = 5;
-    public static int actuateur = 4;
+     public static int actuateur = 4;
+    // DIO
+    public static int limitbd = 0;
+    public static int limitbg = 2;
+    public static int limithd = 3;
+    public static int limithg = 1;
+    
+    
+
+
+
+
+
+
+    
+
 }
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 5baa6b8..ce446f9 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -10,6 +10,40 @@ public class Gratte extends SubsystemBase {
   /** Creates a new Gratte. */
   public Gratte() {}
 
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.fasterxml.jackson.annotation.JacksonInject.Value;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Gratte extends SubsystemBase {
+  private WPI_TalonSRX baisserGratte = new WPI_TalonSRX(Constants.leverGratte);  
+  private WPI_TalonSRX leverGratte = new WPI_TalonSRX(Constants.baisserGratte);
+  private DigitalInput limithd = new DigitalInput(Constants.limithd);
+  private DigitalInput limithg = new DigitalInput(Constants.limithg);
+  private DigitalInput limitbd = new DigitalInput(Constants.limitbd);
+  private DigitalInput limitbg = new DigitalInput(Constants.limitbg);
+  public boolean hautd(){
+    return limithd.get();
+  }
+  
+  public boolean hautg(){
+    return limithg.get();
+  }
+
+  public boolean basd(){
+    return limitbd.get();
+  }
+  public boolean basg(){
+    return limitbg.get();
+  }
+  /** Creates a new Gratte. */
+  public Gratte() {}
+  public void BaisserLever(double vitesse){
+    baisserGratte.set(vitesse);
+    leverGratte.set(vitesse);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
diff --git a/src/main/java/frc/robot/subsystems/bras/Pince.java b/src/main/java/frc/robot/subsystems/bras/Pince.java
index 03e643c..a933219 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pince.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pince.java
@@ -14,15 +14,12 @@ public class Pince extends SubsystemBase {
   private DoubleSolenoid pistonPince = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.pistonpinceouvre, Constants.pistonpinceferme);
   /** Creates a new Pince. */
   public Pince() {
-   
   }
 public void fermer() {
      pistonPince.set(Value.kReverse);
-    
    }
    public void ouvrir() {
      pistonPince.set(Value.kForward);
-
    }
   @Override
   public void periodic() {