diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
index a6015d7..8f029b3 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
@@ -31,21 +31,21 @@ public class PivoteBrasBas extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()>-13.5){
+    if(brasTelescopique.distance()>-8.5){
       brasTelescopique.AvanceRecule(-0.2);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<-15.5) {
+  else if(brasTelescopique.distance()<-9.5) {
     brasTelescopique.AvanceRecule(0.2);
     }
     else {
       brasTelescopique.AvanceRecule(0);
       brasTelescopique.ouvrir();
     }
-    if (pivot.distance()<8.5){
+    if (pivot.distance()<12.5){
       pivot.monteDescendre(0.4);
     }
-    else if(pivot.distance()>10.5) {
+    else if(pivot.distance()>13.5) {
       pivot.monteDescendre(-0.4);
     }
     else{
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
index 764050b..4494a33 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
@@ -29,11 +29,11 @@ public class PivoteBrasMilieux extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if(brasTelescopique.distance()>-16.5){
+    if(brasTelescopique.distance()>-12.5){
       brasTelescopique.AvanceRecule(-0.15);
       brasTelescopique.fermer();
     }
-  else if(brasTelescopique.distance()<-17.5) {
+  else if(brasTelescopique.distance()<-13.5) {
     brasTelescopique.AvanceRecule(0.15);
     }
     else {