diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 906fbfe..08ea78e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -23,6 +23,7 @@ import frc.robot.commands.Force5;
 import frc.robot.commands.Force6;
 import frc.robot.commands.Force7;
 import frc.robot.commands.Reculer;
+import frc.robot.commands.accumulateurtest;
 import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Lanceur;
@@ -64,6 +65,7 @@ public class RobotContainer {
   Force5 Force5 = new Force5(lanceur, null, accumulateur);
   Force6 Force6 = new Force6(lanceur, null, accumulateur);
   Force7 Force7 = new Force7(lanceur, null, accumulateur);
+  accumulateurtest accumulateurtest = new accumulateurtest(accumulateur);
     joystick1.button(7).onTrue(Force1);
     joystick1.button(8).onTrue(Force2);
     joystick1.button(9).onTrue(Force3);
@@ -71,7 +73,7 @@ public class RobotContainer {
     joystick1.button(11).onTrue(Force5); 
     joystick1.button(12).onTrue(Force6);
     joystick1.button(3).onTrue(Force7);
-
+    joystick1.button(5).toggleOnTrue(accumulateurtest);
     
   }
  
diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java
index 8d4e567..78ccfd6 100644
--- a/src/main/java/frc/robot/commands/Force1.java
+++ b/src/main/java/frc/robot/commands/Force1.java
@@ -37,17 +37,24 @@ public class Force1 extends CommandBase {
     double vitesse = (100);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
+      accumulateur.Deaccumuler();
+       if(accumulateur.tourneavant()>1024) {
+        accumulateur.tournearriere();
+        accumulateur.reaccumuler();
       }
-  }
+    if(accumulateur.tournearriere()>-256){
+      accumulateur.stop();
+    }
+  }}
+      
+  
   
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     lanceur.lancer(0);
+    accumulateur.stop();
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/commands/accumulateurtest.java b/src/main/java/frc/robot/commands/accumulateurtest.java
new file mode 100644
index 0000000..3701643
--- /dev/null
+++ b/src/main/java/frc/robot/commands/accumulateurtest.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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Accumulateur;
+
+public class accumulateurtest extends CommandBase {
+  private Accumulateur accumulateur;
+  /** Creates a new accumulateurtest. */
+  public accumulateurtest(Accumulateur accumulateur) {
+    this.accumulateur = accumulateur;
+    addRequirements(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() {
+    accumulateur.reaccumuler();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    accumulateur.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/vendordeps/PathplannerLib2023.json b/vendordeps/PathplannerLib2023.json
new file mode 100644
index 0000000..51cdc33
--- /dev/null
+++ b/vendordeps/PathplannerLib2023.json
@@ -0,0 +1,36 @@
+{
+    "fileName": "PathplannerLib2023.json",
+    "name": "PathplannerLib",
+    "version": "2023.4.4",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2023",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib2023.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2023.4.4"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2023.4.4",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena"
+            ]
+        }
+    ]
+}
\ No newline at end of file