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src/main/java/frc/robot/commands/Reculer.java

@@ -30,7 +30,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(-0.5,0);
+    basePilotable.drive(-0.4,0);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc/robot/commands/bras/PivoteBrasBas.java

@@ -65,7 +65,7 @@ public class PivoteBrasBas extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return brasTelescopique.distance()>-13.5 && brasTelescopique.distance() <-15.5 && pivot.distance()<8.5 && pivot.distance()>10.5;
+    return brasTelescopique.distance()>-13.5 && brasTelescopique.distance() <-14.5 && pivot.distance()<8.5 && pivot.distance()>9.5;
 
   }
 }

src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java

@@ -41,10 +41,10 @@ public class PivoteBrasMilieux extends CommandBase {
       brasTelescopique.ouvrir();
     }
     if (pivot.distance()<43.5){
-      pivot.monteDescendre(0.7);
+      pivot.monteDescendre(0.6);
     }
     else if(pivot.distance()>44.5) {
-      pivot.monteDescendre(-0.7);
+      pivot.monteDescendre(-0.6);
     }
     else{
       pivot.monteDescendre(0);