diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index bc9b7f1..5fcb0a5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -5,18 +5,15 @@
 package frc.robot;
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 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.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
-import frc.robot.commands.Force1;
 import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Lanceur;
diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java
new file mode 100644
index 0000000..1e61eca
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Avancer.java
@@ -0,0 +1,36 @@
+// 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.Drive;
+
+public class Avancer extends CommandBase {
+  private Drive drive;
+  /** Creates a new Avancer. */
+  public Avancer(Drive drive) {
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java
index dc3e8d5..09b74c1 100644
--- a/src/main/java/frc/robot/commands/Force1.java
+++ b/src/main/java/frc/robot/commands/Force1.java
@@ -6,16 +6,20 @@ package frc.robot.commands;
 
 
 import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Lanceur;
 
 public class Force1 extends CommandBase {
   private Lanceur lanceur;
+  private Accumulateur accumulateur;
   GenericEntry force1;
   
   /** Creates a new Force1. */
-  public Force1(Lanceur lanceur, GenericEntry force1) {
+  public Force1(Lanceur lanceur,Accumulateur accumulateur, GenericEntry force1) {
     this.lanceur = lanceur;
+    this.accumulateur = accumulateur;
     addRequirements(lanceur);
     this.force1 = force1; 
     // Use addRequirements() here to declare subsystem dependencies.
@@ -31,8 +35,15 @@ public class Force1 extends CommandBase {
   @Override
   public void execute() {
     lanceur.lancer(force1.getDouble(0));
-  
+    double vitesse = SmartDashboard.getNumber("Force Lanceur", 100);
+    if (lanceur.vitesse() > vitesse ){
+      accumulateur.tourneavant();
+      accumulateur.tournearriere();
+      } else {
+        accumulateur.stop();
+      }
   }
+  
 
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/commands/Force2.java b/src/main/java/frc/robot/commands/Force2.java
index d359ed5..51a8f33 100644
--- a/src/main/java/frc/robot/commands/Force2.java
+++ b/src/main/java/frc/robot/commands/Force2.java
@@ -4,15 +4,19 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Lanceur;
 
 public class Force2 extends CommandBase {
   private Lanceur lanceur;
+  private Accumulateur accumulateur;
 
   /** Creates a new Force1. */
-  public Force2(Lanceur lancer) {
+  public Force2(Lanceur lancer,Accumulateur accumulateur) {
     this.lanceur = lanceur;
+    this.accumulateur = accumulateur;
     addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -26,7 +30,13 @@ public class Force2 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(500);
+    double vitesse = SmartDashboard.getNumber("Force Lanceur", 200);
+    if (lanceur.vitesse() > vitesse ){
+      accumulateur.tourneavant();
+      accumulateur.tournearriere();
+      } else {
+        accumulateur.stop();
+      }
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/Force3.java b/src/main/java/frc/robot/commands/Force3.java
index 71c9e95..574cda2 100644
--- a/src/main/java/frc/robot/commands/Force3.java
+++ b/src/main/java/frc/robot/commands/Force3.java
@@ -44,9 +44,12 @@ public class Force3 extends CommandBase {
   public void execute() {
 
     double vitesse = SmartDashboard.getNumber("Force Lanceur", 300);
-      lanceur.lancer(200);
-    lanceur.lancer(force3.getDouble(0));}
-  public void end(boolean interrupted) {
+      if (lanceur.vitesse() > vitesse ){
+        accumulateur.tourneavant();
+        accumulateur.tournearriere();
+        } else {
+          accumulateur.stop();
+        }
     }
     @Override
     public boolean isFinished() {
diff --git a/src/main/java/frc/robot/commands/Force4.java b/src/main/java/frc/robot/commands/Force4.java
index 498cc4b..17329d7 100644
--- a/src/main/java/frc/robot/commands/Force4.java
+++ b/src/main/java/frc/robot/commands/Force4.java
@@ -38,7 +38,7 @@ public class Force4 extends CommandBase {
   @Override
   public void execute() {
     double vitesse = SmartDashboard.getNumber("Force Lanceur", 400);
-      lanceur.lancer(200);
+      lanceur.lancer(400);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
       accumulateur.tournearriere();
diff --git a/src/main/java/frc/robot/commands/Force5.java b/src/main/java/frc/robot/commands/Force5.java
index 669dae0..d085a11 100644
--- a/src/main/java/frc/robot/commands/Force5.java
+++ b/src/main/java/frc/robot/commands/Force5.java
@@ -38,7 +38,7 @@ public class Force5 extends CommandBase {
   @Override
   public void execute() {
     double vitesse = SmartDashboard.getNumber("Force Lanceur", 500);
-      lanceur.lancer(200);
+      lanceur.lancer(500);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
       accumulateur.tournearriere();
diff --git a/src/main/java/frc/robot/commands/Force6.java b/src/main/java/frc/robot/commands/Force6.java
index 2cbf863..6fc9fe3 100644
--- a/src/main/java/frc/robot/commands/Force6.java
+++ b/src/main/java/frc/robot/commands/Force6.java
@@ -39,7 +39,7 @@ public class Force6 extends CommandBase {
   @Override
   public void execute() {
     double vitesse = SmartDashboard.getNumber("Force Lanceur", 600);
-      lanceur.lancer(200);
+      lanceur.lancer(600);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
       accumulateur.tournearriere();
diff --git a/src/main/java/frc/robot/commands/Force7.java b/src/main/java/frc/robot/commands/Force7.java
index 6558569..24f4e52 100644
--- a/src/main/java/frc/robot/commands/Force7.java
+++ b/src/main/java/frc/robot/commands/Force7.java
@@ -38,7 +38,7 @@ public class Force7 extends CommandBase {
   @Override
   public void execute() {
     double vitesse = SmartDashboard.getNumber("Force Lanceur", 700);
-      lanceur.lancer(200);
+      lanceur.lancer(700);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
       accumulateur.tournearriere();
diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index 637b22c..049ee3f 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -30,7 +30,9 @@ public class Drive extends SubsystemBase {
       e.printStackTrace();
     }
   }
-
+  public void reset(){
+    
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run