diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c18db2b..9f25d03 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -73,11 +73,12 @@ public class RobotContainer {
     joystick1.button(1).whileTrue(lancertest);
     
   }
+  
  
   public Command getAutonomousCommand() {
-    return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
+    return null;
+    /* new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
     , new Lancer(lanceur, accumulateur, force1), new Reculer(drive));
-  }
+ */ }
 }
-   /* return new SequentialCommandGroup(new Avancer(drive), new Force7(lanceur, force7, accumulateur)
-    , new Force1(lanceur, accumulateur, force1), new Reculer(drive));*/
+
diff --git a/src/main/java/frc/robot/commands/Lancer.java b/src/main/java/frc/robot/commands/Lancer.java
index 61aed0f..ebce965 100644
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -4,8 +4,6 @@
 
 package frc.robot.commands;
 
-import java.util.function.DoubleSupplier;
-
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -13,14 +11,11 @@ import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
 import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Lanceur;
 
-// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
-// information, see:
-// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class Lancer extends ParallelCommandGroup {
   private Lanceur lanceur;
   private Accumulateur accumulateur;
   
-  /** Creates a new Force1. */
+    
   public Lancer(Lanceur lanceur,Accumulateur accumulateur,GenericEntry vitesse) {
     this.lanceur = lanceur;
     this.accumulateur = accumulateur;
@@ -28,7 +23,7 @@ public class Lancer extends ParallelCommandGroup {
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
     addCommands(new Lancez(lanceur),
-    new SequentialCommandGroup(new WaitUntilCommand(()->lanceur.vitesse()>vitesse.getDouble(1)))
-    ,new AccAvancer(accumulateur),new AccReculer(accumulateur));
+    new SequentialCommandGroup(new WaitUntilCommand(()->lanceur.vitesse()>vitesse.getDouble(0))),
+    new AccAvancer(accumulateur),new AccReculer(accumulateur));
   }
 }
diff --git a/src/main/java/frc/robot/commands/Lancez.java b/src/main/java/frc/robot/commands/Lancez.java
index 029a806..23ce090 100644
--- a/src/main/java/frc/robot/commands/Lancez.java
+++ b/src/main/java/frc/robot/commands/Lancez.java
@@ -5,7 +5,6 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Lanceur;
 
 public class Lancez extends CommandBase {