diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 4a5c923..c6ffe06 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -5,6 +5,7 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
+<<<<<<< HEAD
     public static int BrasTelescopique = 5;
 
 
@@ -12,4 +13,7 @@ public class Constants {
 
 
 
+=======
+    public static int actuateur = 4;
+>>>>>>> 91d5a71d52bad9fc56b40c68d78207113e16cd21
 }
diff --git a/src/main/java/frc/robot/commands/Drive.java b/src/main/java/frc/robot/commands/Drive.java
deleted file mode 100644
index 4288b6a..0000000
--- a/src/main/java/frc/robot/commands/Drive.java
+++ /dev/null
@@ -1,32 +0,0 @@
-// 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;
-
-public class Drive extends CommandBase {
-  /** Creates a new Drive. */
-  public Drive() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // 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() {}
-
-  // 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/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
new file mode 100644
index 0000000..5baa6b8
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -0,0 +1,17 @@
+// 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.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Gratte extends SubsystemBase {
+  /** Creates a new Gratte. */
+  public Gratte() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/bras/Pivot.java b/src/main/java/frc/robot/subsystems/bras/Pivot.java
index 2742df8..e8d5dbb 100644
--- a/src/main/java/frc/robot/subsystems/bras/Pivot.java
+++ b/src/main/java/frc/robot/subsystems/bras/Pivot.java
@@ -5,11 +5,25 @@
 package frc.robot.subsystems.bras;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType; 
+import static frc.robot.Constants.*;
 
 public class Pivot extends SubsystemBase {
-  /** Creates a new Pivot. */
-  public Pivot() {}
+  // moteur
+  private CANSparkMax pivot = new CANSparkMax(actuateur, MotorType.kBrushless);
 
+  // function
+  public void monteDescendre(double vitesse) {
+    pivot.set (vitesse);
+  } 
+  // encoder
+  public double distance(){
+    return (pivot.getEncoder().getPosition());
+  }
+  public void Reset(){
+    pivot.getEncoder().setPosition(0);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run