diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index eba36bf..93e0d5c 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -85,7 +85,7 @@ public class RobotContainer {
   private final CommandXboxController manette2 = new CommandXboxController(1);
   private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
   public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
-  private final SendableChooser<Command> autoChooser;
+  //private final SendableChooser<Command> autoChooser;
   public double getAngle() {
     return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
   }
@@ -104,16 +104,16 @@ public class RobotContainer {
   public RobotContainer() {
   CameraServer.startAutomaticCapture();
   configureBindings();
-  NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
-  NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
-  NamedCommands.registerCommand("L4", new L4(elevateur, pince));
-  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));
-  autoChooser = AutoBuilder.buildAutoChooser("New Auto");
-  SmartDashboard.putData("Auto Mode", autoChooser);
+  // NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
+  // NamedCommands.registerCommand("Station",new StationPince(pince, elevateur,bougie));
+  // NamedCommands.registerCommand("L4", new L4(elevateur, pince));
+  // 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));
+  //autoChooser = AutoBuilder.buildAutoChooser("New Auto");
+  //SmartDashboard.putData("Auto Mode", autoChooser);
   }
 
   private void configureBindings() {
diff --git a/src/main/java/frc/robot/commands/AvancerAuto.java b/src/main/java/frc/robot/commands/AvancerAuto.java
index de51667..50e95ec 100644
--- a/src/main/java/frc/robot/commands/AvancerAuto.java
+++ b/src/main/java/frc/robot/commands/AvancerAuto.java
@@ -6,6 +6,7 @@ package frc.robot.commands;
 
 import static edu.wpi.first.units.Units.*;
 
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
 import com.ctre.phoenix6.swerve.SwerveRequest;
 
 import edu.wpi.first.wpilibj2.command.Command;
@@ -16,7 +17,8 @@ public class AvancerAuto extends Command {
    private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of
    private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
-    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1);
+    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
+    .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
   /** Creates a new AvancerAuto. */
   public AvancerAuto(SwerveRequest.RobotCentric drive) {
     // Use addRequirements() here to declare subsystem dependencies.
@@ -29,7 +31,7 @@ public class AvancerAuto extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    drive.withVelocityX(0.2);
+    drive.withVelocityX(0.2*MaxSpeed);
   }
 
   // Called once the command ends or is interrupted.