diff --git a/src/main/deploy/pathplanner/autos/baleeuse.auto b/src/main/deploy/pathplanner/autos/baleeuse.auto
new file mode 100644
index 0000000..e826bd1
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/baleeuse.auto
@@ -0,0 +1,43 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "New Path"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "baleeuse"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "baleeuse sort"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
index c864bb5..809037b 100644
--- a/src/main/deploy/pathplanner/paths/New Path.path	
+++ b/src/main/deploy/pathplanner/paths/New Path.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.8820696721311476,
-        "y": 6.0
+        "x": 7.564241803278687,
+        "y": 3.899129098360655
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.8706512438743716,
-        "y": 5.690872003047288
+        "x": 6.506996649367605,
+        "y": 3.898163120386143
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.8820696721311476,
-        "y": 3.1279999999999997
+        "x": 6.269569672131147,
+        "y": 3.899129098360655
       },
       "prevControl": {
-        "x": 1.8863317961339294,
-        "y": 3.3779636659576444
+        "x": 7.259410179761819,
+        "y": 3.9002985318003183
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f0f55db..e0ba8ad 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -102,6 +102,8 @@ public class RobotContainer {
     NamedCommands.registerCommand("L3", new L3(elevateur, pince));
     NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
     NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
+    NamedCommands.registerCommand("baleeuse",new L1Requin(requin, bougie));
+    NamedCommands.registerCommand("baleeuse sort", new ExpireCorail(requin, bougie));
     }
   private void configureBindings() {
     drivetrain.registerTelemetry(logger::telemeterize);