diff --git a/piecewise/piecewise b/piecewise/piecewise
new file mode 100644
index 0000000..b0480fb
--- /dev/null
+++ b/piecewise/piecewise
@@ -0,0 +1,18 @@
+import numpy as np
+import matplotlib.pyplot as plt
+
+tot_time = 200
+
+time1 = 30
+time2 = 90
+time3 = 150
+
+depth0 = 0
+depth1 = 3
+depth2 = 5
+
+depth_des = np.arange(tot_time)
+
+depth_des = np.piecewise(depth_des, [depth_des < time1, (depth_des >= time1) & (depth_des < time2), (depth_des >= time2) & (depth_des < time3), depth_des >= time3], [depth0, depth1, depth2, depth0])
+
+plt.plot(depth_des)