diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
new file mode 100644
index 0000000..1343530
--- /dev/null
+++ b/src/main/java/frc/robot/Constants.java
@@ -0,0 +1,20 @@
+package frc.robot;
+
+public class Constants {
+
+    //Moteur
+        public static int lanceur = 0;
+        public static int avantdroitDrive = 1;
+        public static int avantdroitAngle = 2;
+        public static int avantgaucheDrive = 3;
+        public static int avantgaucheAngle = 4;
+        public static int arrieredroitDrive = 5;
+        public static int arrieredroitAngle = 6;
+        public static int arrieregaucheDrive = 7;
+        public static int arrieregaucheAngle = 8;
+        public static int accumulateur = 9;
+        
+        //limit switch
+            public static int ballon = 10;
+
+}           
diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java
new file mode 100644
index 0000000..de24340
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Lanceur.java
@@ -0,0 +1,26 @@
+// 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.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Lanceur extends SubsystemBase {
+
+  final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
+  
+  public Lanceur() {}
+
+  public void lancer(double vitesse){
+    lanceur.set(vitesse);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}