diff --git a/src/main/java/frc/robot/command/Balayer.java b/src/main/java/frc/robot/command/Balayer.java
new file mode 100644
index 0000000..d4e9972
--- /dev/null
+++ b/src/main/java/frc/robot/command/Balayer.java
@@ -0,0 +1,40 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Accumulateur;
+import frc.robot.subsystem.Balayeuse;
+
+public class Balayer extends Command {
+  private Balayeuse balayeuse;
+  private Accumulateur accumulateur;
+  /** Creates a new Balayer. */
+  public Balayer(Balayeuse balayeuse, Accumulateur accumulateur) {
+    this.balayeuse = balayeuse;
+    addRequirements(balayeuse, accumulateur);
+    // 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/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index 04b7821..23038ca 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -12,7 +12,7 @@ import frc.robot.Constants;
 
 public class Accumulateur extends SubsystemBase {
   /** Creates a new Accumulateur. */
-  public Accumulateur() {}
+ 
 
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
@@ -22,6 +22,10 @@ public class Accumulateur extends SubsystemBase {
   public void moteuraccfollow(){Moteuracc.follow(Moteuracc2); Moteuracc.setInverted(true);}
   public boolean limitswitch1(){return limitacc.get();}
   public boolean limitswitch2(){return limitacc2.get();}
+  public Accumulateur() {}
+  public void Accumuler(double vitesse){Moteuracc.set(vitesse);}
+  public void Accumuler2(double vitesse){Moteuracc2.set(vitesse);}
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
diff --git a/src/main/java/frc/robot/subsystem/Balayeuse.java b/src/main/java/frc/robot/subsystem/Balayeuse.java
index bf971ab..625bb2d 100644
--- a/src/main/java/frc/robot/subsystem/Balayeuse.java
+++ b/src/main/java/frc/robot/subsystem/Balayeuse.java
@@ -16,6 +16,7 @@ public class Balayeuse extends SubsystemBase {
   public Balayeuse() {}
   final WPI_TalonSRX roue = new WPI_TalonSRX(Constants.roue);
   final TalonSRX etoile = new TalonSRX(Constants.etoile);
+
   public void Accumulation(double vitesse){roue.set(vitesse);}
   public void balayeuse(){etoile.follow(roue); etoile.setInverted(true);}
   @Override