diff --git a/src/main/java/frc/robot/command/Balayer.java b/src/main/java/frc/robot/command/Balayer.java
index d4e9972..d13cb6d 100644
--- a/src/main/java/frc/robot/command/Balayer.java
+++ b/src/main/java/frc/robot/command/Balayer.java
@@ -13,11 +13,9 @@ public class Balayer extends Command {
   private Accumulateur accumulateur;
   /** Creates a new Balayer. */
   public Balayer(Balayeuse balayeuse, Accumulateur accumulateur) {
-    this.balayeuse = balayeuse;
-    addRequirements(balayeuse, 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() {}
@@ -25,16 +23,26 @@ public class Balayer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    
+    if(accumulateur.limitswitch()){
+    balayeuse.balaye(0);
+    accumulateur.Accumuler(0);
   }
+  else{
+    balayeuse.balaye(0.6);
+    accumulateur.Accumuler(0.6);
+  }
+}
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    balayeuse.balaye(0);
+    accumulateur.Accumuler(0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return accumulateur.limitswitch()==true;
   }
 }
diff --git a/src/main/java/frc/robot/command/Debalayer.java b/src/main/java/frc/robot/command/Debalayer.java
new file mode 100644
index 0000000..1ec655c
--- /dev/null
+++ b/src/main/java/frc/robot/command/Debalayer.java
@@ -0,0 +1,42 @@
+// 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 Debalayer extends Command {
+  private Balayeuse balayeuse;
+  private Accumulateur accumulateur;
+  /** Creates a new Balayer. */
+  public Debalayer(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() {
+    balayeuse.balaye(-0.6);
+    accumulateur.Accumuler(-0.6);
+}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    balayeuse.balaye(0);
+    accumulateur.Accumuler(0);
+  }
+
+  // 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 23038ca..9c51357 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -16,15 +16,22 @@ public class Accumulateur extends SubsystemBase {
 
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
-  final DigitalInput limitacc = new DigitalInput(Constants.limitacc); 
-  final DigitalInput limitacc2 = new DigitalInput(Constants.limitacc2); 
-  public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);}
-  public void moteuraccfollow(){Moteuracc.follow(Moteuracc2); Moteuracc.setInverted(true);}
-  public boolean limitswitch1(){return limitacc.get();}
-  public boolean limitswitch2(){return limitacc2.get();}
+  final DigitalInput limitacc = new DigitalInput(Constants.limitacc);  
+  public void Deaccumuler(double vitesse){  
+    Moteuracc2.set(vitesse);
+  }
+  public void moteuraccfollow(){
+    Moteuracc.follow(Moteuracc2);
+    Moteuracc.setInverted(true);
+  }
+  public boolean limitswitch(){
+    return limitacc.get();
+  }
   public Accumulateur() {}
-  public void Accumuler(double vitesse){Moteuracc.set(vitesse);}
-  public void Accumuler2(double vitesse){Moteuracc2.set(vitesse);}
+  public void Accumuler(double vitesse){
+    Moteuracc.set(vitesse);
+    Moteuracc2.set(vitesse);
+  }
 
   @Override
   public void periodic() {
diff --git a/src/main/java/frc/robot/subsystem/Balayeuse.java b/src/main/java/frc/robot/subsystem/Balayeuse.java
index 625bb2d..8fc5987 100644
--- a/src/main/java/frc/robot/subsystem/Balayeuse.java
+++ b/src/main/java/frc/robot/subsystem/Balayeuse.java
@@ -15,10 +15,19 @@ public class Balayeuse extends SubsystemBase {
  
   public Balayeuse() {}
   final WPI_TalonSRX roue = new WPI_TalonSRX(Constants.roue);
-  final TalonSRX etoile = new TalonSRX(Constants.etoile);
+  final WPI_TalonSRX etoile = new WPI_TalonSRX(Constants.etoile);
 
-  public void Accumulation(double vitesse){roue.set(vitesse);}
-  public void balayeuse(){etoile.follow(roue); etoile.setInverted(true);}
+  public void Accumulation(double vitesse){
+    roue.set(vitesse);
+  }
+  public void balayeuse(){
+    etoile.follow(roue); 
+    etoile.setInverted(true);
+  }
+  public void balaye(double vitesse){
+    roue.set(vitesse); 
+    etoile.set(vitesse);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run