diff --git a/simgui-ds.json b/simgui-ds.json
index 73cc713..46c45d8 100644
--- a/simgui-ds.json
+++ b/simgui-ds.json
@@ -88,5 +88,10 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "030000006d04000015c2000000000000"
+    }
   ]
 }
diff --git a/simgui.json b/simgui.json
index 449f4b1..be49c52 100644
--- a/simgui.json
+++ b/simgui.json
@@ -1,7 +1,16 @@
 {
   "NTProvider": {
     "types": {
-      "/FMSInfo": "FMSInfo"
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Field": "Field2d",
+      "/SmartDashboard/navX-Sensor[1]": "Gyro"
+    },
+    "windows": {
+      "/SmartDashboard/Field": {
+        "window": {
+          "visible": true
+        }
+      }
     }
   }
 }
diff --git a/src/main/deploy/swerve/modules/backleft.json b/src/main/deploy/swerve/modules/backleft.json
index 3ae3fdd..9eecec3 100644
--- a/src/main/deploy/swerve/modules/backleft.json
+++ b/src/main/deploy/swerve/modules/backleft.json
@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 0,
   "drive": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 8,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 9,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 22,
     "canbus": null
   },
   "inverted": {
diff --git a/src/main/deploy/swerve/modules/backright.json b/src/main/deploy/swerve/modules/backright.json
index c896a6e..4d87807 100644
--- a/src/main/deploy/swerve/modules/backright.json
+++ b/src/main/deploy/swerve/modules/backright.json
@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 0,
   "drive": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 11,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 12,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 22,
     "canbus": null
   },
   "inverted": {
diff --git a/src/main/deploy/swerve/modules/frontleft.json b/src/main/deploy/swerve/modules/frontleft.json
index 018c523..e0168dc 100644
--- a/src/main/deploy/swerve/modules/frontleft.json
+++ b/src/main/deploy/swerve/modules/frontleft.json
@@ -11,12 +11,12 @@
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 1,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 22,
     "canbus": null
   },
   "inverted": {
diff --git a/src/main/deploy/swerve/modules/frontright.json b/src/main/deploy/swerve/modules/frontright.json
index d3ccba2..b0dd13b 100644
--- a/src/main/deploy/swerve/modules/frontright.json
+++ b/src/main/deploy/swerve/modules/frontright.json
@@ -6,17 +6,17 @@
   "absoluteEncoderOffset": 0,
   "drive": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 17,
     "canbus": null
   },
   "angle": {
     "type": "sparkmax",
-    "id": 0,
+    "id": 18,
     "canbus": null
   },
   "encoder": {
     "type": "cancoder",
-    "id": 0,
+    "id": 22,
     "canbus": null
   },
   "inverted": {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e34918e..ed090c1 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -3,26 +3,32 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot;
-
+import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc.robot.subsystems.Drive;
 
 public class RobotContainer {
-  CommandXboxController manette1 = new CommandXboxController(0);
-  CommandXboxController manette2 = new CommandXboxController(0);
+  CommandXboxController manette = new CommandXboxController(0);
+  Joystick joystick1 = new Joystick(0);
   Drive drive = new Drive();
   public RobotContainer() {
     configureBindings();
+   // drive.setDefaultCommand(new RunCommand(()->{
+     // drive.drive(manette.getLeftX(), manette.getLeftY(), manette.getRightX());
+    //},drive));
     drive.setDefaultCommand(new RunCommand(()->{
-      drive.drive(manette1.getLeftX(), manette1.getLeftY(), manette1.getRightX());
+     drive.drive(joystick1.getX(), -joystick1.getY(), -joystick1.getZ());
     },drive));
   }
   
-  private void configureBindings() {}
+  private void configureBindings() {
+    JoystickButton button =new JoystickButton(joystick1, 1);
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
diff --git a/src/main/java/frc/robot/commands/Accumuler.java b/src/main/java/frc/robot/commands/Accumuler.java
new file mode 100644
index 0000000..89a90e7
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Accumuler.java
@@ -0,0 +1,23 @@
+// 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.SequentialCommandGroup;
+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 Accumuler extends SequentialCommandGroup {
+  
+  public void Accumuler(Accumulateur accumulateur) {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(new Deaccumuler(accumulateur), new Reaccumuler(accumulateur));
+
+  }
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/Lancer.java b/src/main/java/frc/robot/commands/Lancer.java
index 784b73d..efecd99 100644
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -39,6 +39,6 @@ public class Lancer extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return false;
+    return lanceur.distance()>1;
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index 7337a17..637b22c 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -18,7 +18,7 @@ public class Drive extends SubsystemBase {
   File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
  
   public void drive(double x, double y, double zRotation){
-    swerveDrive.drive(new Translation2d(x, y), zRotation, true, true);
+    swerveDrive.drive(new Translation2d(x, y), zRotation, true, false);
   }
   
 
diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java
index c611a4b..4c1bbfa 100644
--- a/src/main/java/frc/robot/subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/subsystems/Lanceur.java
@@ -20,7 +20,7 @@ public class Lanceur extends SubsystemBase {
   }
 
   // encodeur
-  public double vitesse() {
+  public double distance() {
     return(lanceur.getEncoder().getPosition());
 
   }