diff --git a/bin/main/frc/robot/Constants.class b/bin/main/frc/robot/Constants.class
index aba154f..e6d7920 100644
Binary files a/bin/main/frc/robot/Constants.class and b/bin/main/frc/robot/Constants.class differ
diff --git a/bin/main/frc/robot/commands/Gyro.class b/bin/main/frc/robot/commands/Gyro.class
index 48c1e8d..9bfcf27 100644
Binary files a/bin/main/frc/robot/commands/Gyro.class and b/bin/main/frc/robot/commands/Gyro.class differ
diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 62da180..96315e4 100644
Binary files a/bin/main/frc/robot/subsystems/BasePilotable.class and b/bin/main/frc/robot/subsystems/BasePilotable.class differ
diff --git a/build/classes/java/main/frc/robot/subsystems/BrasTelescopique.class b/build/classes/java/main/frc/robot/subsystems/BrasTelescopique.class
new file mode 100644
index 0000000..602c22e
Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/BrasTelescopique.class differ
diff --git a/build/classes/java/main/frc/robot/subsystems/Pince.class b/build/classes/java/main/frc/robot/subsystems/Pince.class
new file mode 100644
index 0000000..f1b877d
Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/Pince.class differ
diff --git a/build/classes/java/main/frc/robot/subsystems/Pivot.class b/build/classes/java/main/frc/robot/subsystems/Pivot.class
new file mode 100644
index 0000000..7316aa8
Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/Pivot.class differ
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 44ac11c..427cfff 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -20,29 +20,7 @@ public class Constants {
     public static int limitbg = 2;
     public static int limithd = 3;
     public static int limithg = 1;
-    
-
 
     public static int BrasTelescopique = 5;
-
-
-
-
-
-
-<<<<<<< HEAD
-
-
-    public static int actuateur = 4;
-
-    public static int actuateur = 4;
-    // pneumatique
-    public static int pistonpinceouvre = 0;
-    public static int pistonpinceferme = 1;
-    public static int BrasTelescopique = 5;
-    public static int actuateur = 4;
-=======
-    
->>>>>>> 0c37463a91f99a8623a1405743145ad70a140362
-
 }
+  
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index ffc3a22..f2dd5b8 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -33,7 +33,7 @@ public class Gyro extends CommandBase {
    }
    else
    {
-     basvjePilotable.drive(0, 0, 0); 
+     basePilotable.drive(0, 0, 0); 
    }
 }
 
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 312ba79..220799e 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -10,6 +10,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -23,9 +24,12 @@ public class BasePilotable extends SubsystemBase {
   final MotorControllerGroup droit = new MotorControllerGroup(avantdroit, arrieredroit);
   final MotorControllerGroup gauche = new MotorControllerGroup(avantgauche, arrieregauche);
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
+  //piston
+  private DoubleSolenoid brakedroit = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakedroit, Constants.brakedroit);
+  private DoubleSolenoid brakegauche = new DoubleSolenoid(PneumaticsModuleType.CTREPCM,Constants.brakegauche, Constants.brakegauche);
+  //gyro
   private AHRS gyroscope = new AHRS();public double getangle() {return gyroscope.getAngle();}
-
-  public double getpitch() {
+   public double getpitch() {
     return gyroscope.getPitch();
   }
 
@@ -44,7 +48,14 @@ public class BasePilotable extends SubsystemBase {
     arrieredroit.getEncoder().setPosition(0);
     arrieregauche.getEncoder().setPosition(0);
   }
-
+public void BrakeOuvre(){
+  brakedroit.set(Value.kForward);
+  brakegauche.set(Value.kForward);
+}
+public void BrakeFerme(){
+  brakedroit.set(Value.kReverse);
+  brakegauche.set(Value.kReverse);
+}
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);