diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index dea7d5a..426f892 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -14,4 +14,5 @@ public class Constants {
 
 
 
+    public static int actuateur = 4;
 }
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 53ef9ba..1379188 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -22,6 +22,22 @@ public class BasePilotable extends SubsystemBase {
 
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
 
+  public void drive(double xSpeed, double zRotation){
+    drive.arcadeDrive(xSpeed, zRotation);
+  }
+  public double distance(){
+    return (-avantdroit.getEncoder().getPosition()
+    +avantgauche.getEncoder().getPosition()
+    -arrieredroit.getEncoder().getPosition()
+    +arrieregauche.getEncoder().getPosition()) / 4;
+  }
+  public void Reset() {
+    avantdroit.getEncoder().setPosition(0);
+    avantgauche.getEncoder().setPosition(0);
+    arrieredroit.getEncoder().setPosition(0);
+    arrieregauche.getEncoder().setPosition(0);
+  }
+
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);
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/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() {
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