diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index e306ca1..f0fb8a8 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -6,8 +6,9 @@ public class Constants {
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
     public static int BrasTelescopique = 4;
+    public static int pivot = 5;
     
-    //moteur gris
+    //moteur
     public static int leverGratte = 0;
     public static int baisserGratte = 1;
 
@@ -23,6 +24,7 @@ public class Constants {
     public static int limithd = 3;
     public static int limithg = 1;
     public static int photocell = 4;
+    public static int limitpivot = 5;
 
     
 }
diff --git a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
index e9af669..192dc88 100644
--- a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
+++ b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
@@ -35,6 +35,17 @@ public class PivotBrasRentre extends CommandBase {
     }
     else if(brasTelescopique.photocell()){
       brasTelescopique.Reset();
+      brasTelescopique.AvanceRecule(0);
+    }
+    else{
+      brasTelescopique.AvanceRecule(.5);
+    }
+    if(pivot.limitpivot()){
+      pivot.Reset();
+      pivot.monteDescendre(0);
+    }
+    else{
+      pivot.monteDescendre(0.5);
     }
   }
   
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index e8d5dbb..b2e3214 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -4,14 +4,17 @@
 
 package frc.robot.subsystems.bras;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkMaxLowLevel.MotorType; 
-import static frc.robot.Constants.*;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 public class Pivot extends SubsystemBase {
   // moteur
-  private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless);
+  private CANSparkMax pivot = new CANSparkMax(Constants.pivot,MotorType.kBrushless);
+  private DigitalInput limitpivot = new DigitalInput(Constants.limitpivot);
 
   // function
   public void monteDescendre(double vitesse) {
@@ -23,6 +26,10 @@ public class Pivot extends SubsystemBase {
   }
   public void Reset(){
     pivot.getEncoder().setPosition(0);
+    
+  }
+  public boolean limitpivot(){
+    return limitpivot.get();
   }
   @Override
   public void periodic() {