diff --git a/bin/main/frc/robot/commands/BrakeFerme.class b/bin/main/frc/robot/commands/BrakeFerme.class
deleted file mode 100644
index 9911767..0000000
Binary files a/bin/main/frc/robot/commands/BrakeFerme.class and /dev/null differ
diff --git a/bin/main/frc/robot/commands/BrakeOuvre.class b/bin/main/frc/robot/commands/BrakeOuvre.class
deleted file mode 100644
index 17058de..0000000
Binary files a/bin/main/frc/robot/commands/BrakeOuvre.class and /dev/null differ
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 427cfff..f0fb8a8 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -5,7 +5,10 @@ public class Constants {
     public static int avantgauche = 1;
     public static int arrieredroit = 2;
     public static int arrieregauche = 3;
-
+    public static int BrasTelescopique = 4;
+    public static int pivot = 5;
+    
+    //moteur
     public static int leverGratte = 0;
     public static int baisserGratte = 1;
 
@@ -20,7 +23,9 @@ public class Constants {
     public static int limitbg = 2;
     public static int limithd = 3;
     public static int limithg = 1;
+    public static int photocell = 4;
+    public static int limitpivot = 5;
 
-    public static int BrasTelescopique = 5;
+    
 }
   
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..21dff0b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,17 +4,85 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+//subsystems
+import frc.robot.subsystems.BasePilotable;
+import frc.robot.subsystems.Gratte;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pince;
+import frc.robot.subsystems.bras.Pivot;
+import frc.robot.subsystems.Limelight;
+// command
+import frc.robot.commands.BrakeFerme;
+import frc.robot.commands.BrakeOuvre;
+import frc.robot.commands.GratteBaisser;
+import frc.robot.commands.GratteMonte;
+import frc.robot.commands.Gyro;
+import frc.robot.commands.Reculer;
+import frc.robot.commands.bras.FermePince;
+import frc.robot.commands.bras.OuvrePince;
+import frc.robot.commands.bras.PivotBrasRentre;
+import frc.robot.commands.bras.PivoteBrasBas;
+import frc.robot.commands.bras.PivoteBrasHaut;
+import frc.robot.commands.bras.PivoteBrasMilieux;
 
 public class RobotContainer {
-  public RobotContainer() {
-    configureBindings();
-  }
+XboxController manette1 = new XboxController(0);
+XboxController manette2 = new XboxController(1);
+// subsystems
+BasePilotable basePilotable = new BasePilotable();
+Gratte gratte = new Gratte();
+BrasTelescopique brasTelescopique = new BrasTelescopique();
+Pince pince = new Pince();
+Pivot pivot = new Pivot();
+Limelight limelight = new Limelight();
+//commands
+BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
+BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
+GratteBaisser gratteBaisser = new GratteBaisser(gratte);
+GratteMonte gratteMonte = new GratteMonte(gratte);
+Gyro gyro = new Gyro(basePilotable);
+FermePince fermePince = new FermePince(pince);
+OuvrePince ouvrePince = new OuvrePince(pince);
+PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
+PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
+PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
+PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 
-  private void configureBindings() {}
+public RobotContainer() {
+    configureBindings();
+
+    basePilotable.setDefaultCommand(new RunCommand(() -> {
+      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
+    },basePilotable));
+    
+}
+
+  private void configureBindings() {
+    
+
+
+
+
+
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
+    return new SequentialCommandGroup(
+      new PivoteBrasMilieux(brasTelescopique, pivot),
+      new OuvrePince(pince),
+      new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
+      new Gyro(basePilotable)
+    );
   }
 }
diff --git a/src/main/java/frc/robot/commands/GratteBaisser.java b/src/main/java/frc/robot/commands/GratteBaisser.java
index b423033..de68b8f 100644
--- a/src/main/java/frc/robot/commands/GratteBaisser.java
+++ b/src/main/java/frc/robot/commands/GratteBaisser.java
@@ -3,10 +3,10 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Gratte;
 
+
 public class GratteBaisser extends CommandBase {
   private Gratte gratte;
   /** Creates a new GratteBaisser. */
@@ -23,7 +23,20 @@ public class GratteBaisser extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    gratte.baiser(0.5);
+    if(gratte.basd()){
+      gratte.baiser(0);
+    }
+    else{
+      gratte.baiser(0.5);
+    }
+    if(gratte.basg()){
+      gratte.baiser(0);
+    }
+    else{
+      gratte.baiser(0.5);
+    }
+   
+
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/GratteMonte.java b/src/main/java/frc/robot/commands/GratteMonte.java
index 15f2b31..950dcd2 100644
--- a/src/main/java/frc/robot/commands/GratteMonte.java
+++ b/src/main/java/frc/robot/commands/GratteMonte.java
@@ -23,7 +23,18 @@ public class GratteMonte extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    gratte.Lever(0.5);
+    if(gratte.hautd()){
+      gratte.Lever(0);
+    }
+    else{
+      gratte.Lever(0.5);
+    }
+    if(gratte.hautg()) {
+      gratte.Lever(0.5);
+    }
+    else{
+      gratte.Lever(0.5);
+    }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index f2dd5b8..8492e0d 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -23,13 +23,13 @@ public class Gyro extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-  if(basePilotable.getpitch()<15) 
+  if(basePilotable.getpitch()<10) 
    { 
-    basePilotable.drive(0.2, 0, 0);
+    basePilotable.drive(0.4, 0, 0);
    }
-   else if(basePilotable.getpitch()>-15) 
+   else if(basePilotable.getpitch()>-10) 
    { 
-    basePilotable.drive(-0.2, 0, 0);
+    basePilotable.drive(-0.4, 0, 0);
    }
    else
    {
diff --git a/src/main/java/frc/robot/commands/StablePlateform.java b/src/main/java/frc/robot/commands/Reculer.java
similarity index 64%
rename from src/main/java/frc/robot/commands/StablePlateform.java
rename to src/main/java/frc/robot/commands/Reculer.java
index f223510..ce9aecf 100644
--- a/src/main/java/frc/robot/commands/StablePlateform.java
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -4,21 +4,30 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj2.command.CommandBase;
 
-public class StablePlateform extends CommandBase {
-  /** Creates a new StablePlateform. */
-  public StablePlateform() {
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class Reculer extends CommandBase {
+  BasePilotable basePilotable;
+  /** Creates a new Reculer. */
+  public Reculer(BasePilotable basePilotable) {
+    this.basePilotable = basePilotable;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    basePilotable.Reset();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    basePilotable.drive(0.2, 0, 0);
+  }
 
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
new file mode 100644
index 0000000..192dc88
--- /dev/null
+++ b/src/main/java/frc/robot/commands/bras/PivotBrasRentre.java
@@ -0,0 +1,61 @@
+// 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.bras;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
+
+public class PivotBrasRentre extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
+  /** Creates a new PivotBrasRentre. */
+  public PivotBrasRentre(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
+  }
+
+  // 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() {
+    if(brasTelescopique.distance()>1){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+    if (pivot.distance()>1){
+      pivot.monteDescendre(0.5);
+    }
+    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);
+    }
+  }
+  
+  // 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/commands/bras/PivoteBrasBas.java b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
index db26146..038ec51 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasBas.java
@@ -4,12 +4,22 @@
 
 package frc.robot.commands.bras;
 
+
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
 
 public class PivoteBrasBas extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
   /** Creates a new PivoteBrasBas. */
-  public PivoteBrasBas() {
+  public PivoteBrasBas(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
   }
 
   // Called when the command is initially scheduled.
@@ -18,7 +28,28 @@ public class PivoteBrasBas extends CommandBase {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(0);
+    }
+    }
+  
+  
 
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
index 4932ad2..2ba3c74 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasHaut.java
@@ -5,11 +5,19 @@
 package frc.robot.commands.bras;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
 
 public class PivoteBrasHaut extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
   /** Creates a new PivoteBrasHaut. */
-  public PivoteBrasHaut() {
+  public PivoteBrasHaut(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
   }
 
   // Called when the command is initially scheduled.
@@ -18,7 +26,26 @@ public class PivoteBrasHaut extends CommandBase {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(0);
+    }
+    }
 
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
index be7e44e..da8939b 100644
--- a/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
+++ b/src/main/java/frc/robot/commands/bras/PivoteBrasMilieux.java
@@ -5,11 +5,19 @@
 package frc.robot.commands.bras;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.bras.BrasTelescopique;
+import frc.robot.subsystems.bras.Pivot;
 
 public class PivoteBrasMilieux extends CommandBase {
+  private BrasTelescopique brasTelescopique;
+  private Pivot pivot;
   /** Creates a new PivoteBrasMilieux. */
-  public PivoteBrasMilieux() {
+  public PivoteBrasMilieux(BrasTelescopique brasTelescopique, Pivot pivot) {
+    this.brasTelescopique = brasTelescopique;
+    this.pivot = pivot;
     // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(brasTelescopique);
+    addRequirements(pivot);
   }
 
   // Called when the command is initially scheduled.
@@ -18,7 +26,27 @@ public class PivoteBrasMilieux extends CommandBase {
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    if(brasTelescopique.distance()<10){
+      brasTelescopique.AvanceRecule(0.5);
+    }
+  else if(brasTelescopique.distance()>11) {
+    brasTelescopique.AvanceRecule(-0.5);
+    }
+    else {
+      brasTelescopique.AvanceRecule(0);
+    }
+    if (pivot.distance()<10){
+      pivot.monteDescendre(0.5);
+    }
+    else if(pivot.distance()>11) {
+      pivot.monteDescendre(-0.5);
+    }
+    else{
+      pivot.monteDescendre(0);
+    }
+    }
+  
 
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/commands/limelight.java b/src/main/java/frc/robot/commands/limelight.java
deleted file mode 100644
index 3853a09..0000000
--- a/src/main/java/frc/robot/commands/limelight.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 limelight extends CommandBase {
-  /** Creates a new limelight. */
-  public limelight() {
-    // 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/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 220799e..4ed9d06 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -7,7 +7,6 @@ package frc.robot.subsystems;
 import com.kauailabs.navx.frc.AHRS;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
-
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
@@ -33,7 +32,7 @@ public class BasePilotable extends SubsystemBase {
     return gyroscope.getPitch();
   }
 
-  public void drive(double xSpeed, double zRotation, int i){
+  public void drive(double xSpeed, double zRotation, double d){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){
diff --git a/src/main/java/frc/robot/subsystems/Gratte.java b/src/main/java/frc/robot/subsystems/Gratte.java
index 72b98ba..54192a0 100644
--- a/src/main/java/frc/robot/subsystems/Gratte.java
+++ b/src/main/java/frc/robot/subsystems/Gratte.java
@@ -5,18 +5,14 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
-
-
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-
-
 import edu.wpi.first.wpilibj.DigitalInput;
+<<<<<<< HEAD
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+=======
+>>>>>>> b20ba544a81d82752f6f8e390de38cbcfdc79f08
 import frc.robot.Constants;
 
-
-
 public class Gratte extends SubsystemBase {
   private WPI_TalonSRX Gratted = new WPI_TalonSRX(Constants.leverGratte);  
   private WPI_TalonSRX Gratteg = new WPI_TalonSRX(Constants.baisserGratte);
diff --git a/src/main/java/frc/robot/subsystems/Limelight.java b/src/main/java/frc/robot/subsystems/Limelight.java
index d97c1ac..7e50b91 100644
--- a/src/main/java/frc/robot/subsystems/Limelight.java
+++ b/src/main/java/frc/robot/subsystems/Limelight.java
@@ -4,13 +4,44 @@
 
 package frc.robot.subsystems;
 
+<<<<<<< HEAD
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+=======
+import org.photonvision.PhotonCamera;
+import org.photonvision.common.hardware.VisionLEDMode;
+
+import edu.wpi.first.net.PortForwarder;
+>>>>>>> b20ba544a81d82752f6f8e390de38cbcfdc79f08
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+
 public class Limelight extends SubsystemBase {
+  PhotonCamera limelight = new PhotonCamera("limelight");
   /** Creates a new Limelight. */
-  public Limelight() {}
+  public Limelight() {
+    PortForwarder.add(5800, "photonvision.local", 5800);
+  }
+
+  public void cube()  {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(3);
+  }
+
+  public void cone() {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(2);
+  }
+
+  public void apriltag() {
+    limelight.setLED(VisionLEDMode.kOff);
+    limelight.setPipelineIndex(0);
+  }
+
+  public void tape() {
+    limelight.setLED(VisionLEDMode.kOn);
+    limelight.setPipelineIndex(1);
+  }
 
   @Override
   public void periodic() {
diff --git a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
index f4f1458..2808ceb 100644
--- a/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
+++ b/src/main/java/frc/robot/subsystems/bras/BrasTelescopique.java
@@ -8,6 +8,7 @@ package frc.robot.subsystems.bras;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -15,6 +16,7 @@ public class BrasTelescopique extends SubsystemBase {
   /** Creates a new BrasTelescopique. */
   public BrasTelescopique() {}
   final CANSparkMax Winch = new CANSparkMax(Constants.BrasTelescopique,MotorType.kBrushless);
+  private DigitalInput photocell = new DigitalInput(Constants.photocell);
   public void AvanceRecule(double vitesse) {
     Winch.set(vitesse);
   }
@@ -24,7 +26,9 @@ public class BrasTelescopique extends SubsystemBase {
   public void Reset() {
     Winch.getEncoder().setPosition(0);
   }
-
+  public boolean photocell(){
+    return photocell.get();
+  }
   @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 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() {
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
new file mode 100644
index 0000000..4f378c4
--- /dev/null
+++ b/vendordeps/photonlib.json
@@ -0,0 +1,41 @@
+{
+    "fileName": "photonlib.json",
+    "name": "photonlib",
+    "version": "v2023.3.0",
+    "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004 ",
+    "mavenUrls": [
+        "https://maven.photonvision.org/repository/internal",
+        "https://maven.photonvision.org/repository/snapshots"
+    ],
+    "jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/PhotonLib-json/1.0/PhotonLib-json-1.0.json",
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonLib-cpp",
+            "version": "v2023.3.0",
+            "libName": "Photon",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxathena",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonLib-java",
+            "version": "v2023.3.0"
+        },
+        {
+            "groupId": "org.photonvision",
+            "artifactId": "PhotonTargeting-java",
+            "version": "v2023.3.0"
+        }
+    ]
+}
\ No newline at end of file