diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9ec8880..adc8e01 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -17,14 +17,15 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.Avancer;
-import frc.robot.commands.Lancer;
-import frc.robot.commands.LancerTest;
+import frc.robot.commands.Force1;
+//import frc.robot.commands.Lancer;
 import frc.robot.commands.Force2;
 import frc.robot.commands.Force3;
 import frc.robot.commands.Force4;
 import frc.robot.commands.Force5;
 import frc.robot.commands.Force6;
 import frc.robot.commands.Force7;
+import frc.robot.commands.Force1;
 import frc.robot.commands.Reculer;
 import frc.robot.commands.accumulateurtest;
 import frc.robot.subsystems.Accumulateur;
@@ -64,22 +65,29 @@ public class RobotContainer {
   private void configureBindings() {
 
   accumulateurtest accumulateurtest = new accumulateurtest(accumulateur);
-  LancerTest lancertest = new LancerTest(lanceur);
-   // joystick1.button(7).onTrue(new Lancer(lanceur, accumulateur, force1));
-   /* joystick1.button(8).onTrue(new Lancer(lanceur, accumulateur, force2));
-    joystick1.button(9).onTrue(new Lancer(lanceur, accumulateur, force3));
-    joystick1.button(10).onTrue(new Lancer(lanceur, accumulateur, force4));
-    joystick1.button(11).onTrue(new Lancer(lanceur, accumulateur, force5)); 
-    joystick1.button(12).onTrue(new Lancer(lanceur, accumulateur, force6));*/
-   // joystick1.button(3).onTrue(new Lancer(lanceur, accumulateur, force7));
-    joystick1.button(5).whileTrue(accumulateurtest);
-    joystick1.button(1).whileTrue(lancertest);
-    
+  Force1 Force1 = new Force1(lanceur, force1);
+  Force2 Force2 = new Force2(lanceur, force2);
+  Force3 Force3 = new Force3(lanceur, force3);
+  Force4 Force4 = new Force4(lanceur, force4);
+  Force5 Force5 = new Force5(lanceur, force5);
+  Force6 Force6 = new Force6(lanceur, force6);
+  Force7 Force7 = new Force7(lanceur, force7);
+
+  //touche
+
+    joystick1.button(3).whileTrue(accumulateurtest);
+    joystick1.button(1).whileTrue(Force1);
+    joystick1.button(7).whileTrue(Force2);
+    joystick1.button(8).whileTrue(Force3);
+    joystick1.button(9).whileTrue(Force4);
+    joystick1.button(10).whileTrue(Force5);
+    joystick1.button(11).whileTrue(Force6);
+    joystick1.button(12).whileTrue(Force7);
   }
   
  
   public Command getAutonomousCommand() {
-    return new SequentialCommandGroup(new ParallelCommandGroup(new LancerTest(lanceur).withTimeout(5),new accumulateurtest(accumulateur).withTimeout(5))
+    return new SequentialCommandGroup(new ParallelCommandGroup(new Force1(lanceur).withTimeout(5),new accumulateurtest(accumulateur).withTimeout(5))
     ,new Avancer(drive));
   }
 }
diff --git a/src/main/java/frc/robot/commands/LancerTest.java b/src/main/java/frc/robot/commands/Force1.java
similarity index 86%
rename from src/main/java/frc/robot/commands/LancerTest.java
rename to src/main/java/frc/robot/commands/Force1.java
index 03ed1ab..31d2ae0 100644
--- a/src/main/java/frc/robot/commands/LancerTest.java
+++ b/src/main/java/frc/robot/commands/Force1.java
@@ -10,12 +10,12 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
-public class LancerTest extends CommandBase {
+public class Force1 extends CommandBase {
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
 
   private Lanceur lanceur;
   /** Creates a new LancerTest. */
-  public LancerTest(Lanceur lanceur) {
+  public Force1(Lanceur lanceur, g) {
     dashboard.add("vitesse lanceur", 0.5);
     this.lanceur = lanceur;
     addRequirements(lanceur);
@@ -24,12 +24,14 @@ public class LancerTest extends CommandBase {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    lanceur.setPID(0.000000000000075572, 0, 0);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(0.5);
+    lanceur.lancer(0.3);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/commands/Force2.java b/src/main/java/frc/robot/commands/Force2.java
index ea8564c..b8c46bc 100644
--- a/src/main/java/frc/robot/commands/Force2.java
+++ b/src/main/java/frc/robot/commands/Force2.java
@@ -6,39 +6,27 @@ package frc.robot.commands;
 
 import edu.wpi.first.networktables.GenericEntry;
 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;
-  GenericEntry force2;
-  /** Creates a new Force1. */
-  public Force2(Lanceur lanceur,Accumulateur accumulateur, GenericEntry force2) {
+  /** Creates a new LancerTest. */
+  public Force2(Lanceur lanceur, GenericEntry force2) {
     this.lanceur = lanceur;
-    this.accumulateur = accumulateur;
-    addRequirements(lanceur, accumulateur);
-    this.force2 = force2;
+    addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0,0,0);
+    lanceur.setPID(0.000000000000075572, 0, 0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = (200);
-    lanceur.lancer(force2.getDouble(200));
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
+    lanceur.lancer(0.35);
   }
 
   // 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 4c1e363..5e1607e 100644
--- a/src/main/java/frc/robot/commands/Force3.java
+++ b/src/main/java/frc/robot/commands/Force3.java
@@ -2,54 +2,42 @@
 // 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.
 
-// 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 frc.robot.subsystems.Accumulateur;
-
 
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force3 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force3;
-  
-  /** Creates a new Force1. */
-  public Force3(Lanceur lanceur,GenericEntry force3, Accumulateur accumulateur) {
+  /** Creates a new LancerTest. */
+  public Force3(Lanceur lanceur, GenericEntry force3) {
     this.lanceur = lanceur;
-    addRequirements(lanceur, accumulateur);
-    this.force3 = force3; 
-    this.accumulateur = accumulateur;
+    addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.setPID(0.000000000000075572, 0, 0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-
-    double vitesse = (300);
-    lanceur.lancer(force3.getDouble(300));
-      if (lanceur.vitesse() > vitesse ){
-        accumulateur.tourneavant();
-        accumulateur.tournearriere();
-        } else {
-          accumulateur.stop();
-        }
-    }
-    @Override
-    public boolean isFinished() {
-      return false;
-    }
+    lanceur.lancer(0.4);
   }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.lancer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/Force4.java b/src/main/java/frc/robot/commands/Force4.java
index 1c3ed02..94e1726 100644
--- a/src/main/java/frc/robot/commands/Force4.java
+++ b/src/main/java/frc/robot/commands/Force4.java
@@ -3,59 +3,41 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-import frc.robot.subsystems.Accumulateur;
-
 
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force4 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force4;
-  
-  /** Creates a new Force1. */
-  public Force4(Lanceur lanceur,GenericEntry force4, Accumulateur accumulateur) {
+  /** Creates a new LancerTest. */
+  public Force4(Lanceur lanceur, GenericEntry force4) {
     this.lanceur = lanceur;
-    addRequirements(lanceur, accumulateur);
-    this.force4 = force4; 
-    this.accumulateur = accumulateur;
+    addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.setPID(0.000000000000075572, 0, 0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = (400);
-      lanceur.lancer(force4.getDouble(400));
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
-    
+    lanceur.lancer(0.45);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
-    }
+    lanceur.lancer(0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/commands/Force5.java b/src/main/java/frc/robot/commands/Force5.java
index f9612a6..f686549 100644
--- a/src/main/java/frc/robot/commands/Force5.java
+++ b/src/main/java/frc/robot/commands/Force5.java
@@ -3,59 +3,41 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-import frc.robot.subsystems.Accumulateur;
-
 
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force5 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force5;
-  
-  /** Creates a new Force1. */
-  public Force5(Lanceur lanceur,GenericEntry force5, Accumulateur accumulateur) {
+  /** Creates a new LancerTest. */
+  public Force5(Lanceur lanceur, GenericEntry force5) {
     this.lanceur = lanceur;
-    addRequirements(lanceur, accumulateur);
-    this.force5 = force5; 
-    this.accumulateur = accumulateur;
+    addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.setPID(0.000000000000075572, 0, 0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = (500);
-      lanceur.lancer(force5.getDouble(500));
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
-    
+    lanceur.lancer(0.5);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
-    }
+    lanceur.lancer(0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/commands/Force6.java b/src/main/java/frc/robot/commands/Force6.java
index 2305577..9d8a2e6 100644
--- a/src/main/java/frc/robot/commands/Force6.java
+++ b/src/main/java/frc/robot/commands/Force6.java
@@ -3,58 +3,41 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-import frc.robot.subsystems.Accumulateur;
+
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force6 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force6;
-  
-  
-  /** Creates a new Force1. */
-  public Force6(Lanceur lanceur, GenericEntry force6, Accumulateur accumulateur) {
+  /** Creates a new LancerTest. */
+  public Force6(Lanceur lanceur, GenericEntry force6) {
     this.lanceur = lanceur;
-    addRequirements(lanceur, accumulateur);
-    this.force6 = force6;
-    this.accumulateur = accumulateur;
+    addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.setPID(0.000000000000075572, 0, 0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = (600);
-      lanceur.lancer(force6.getDouble(600));
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
-    
+    lanceur.lancer(0.55);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
-    }
+    lanceur.lancer(0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/commands/Force7.java b/src/main/java/frc/robot/commands/Force7.java
index 034f228..05c9468 100644
--- a/src/main/java/frc/robot/commands/Force7.java
+++ b/src/main/java/frc/robot/commands/Force7.java
@@ -3,56 +3,41 @@
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.commands;
-import frc.robot.subsystems.Accumulateur;
+
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.Lanceur;
 
 public class Force7 extends CommandBase {
-
   private Lanceur lanceur;
-  private Accumulateur accumulateur;
-  GenericEntry force7;
-   
-  /** Creates a new Force1. */
-  public Force7(Lanceur lanceur,GenericEntry force7, Accumulateur accumulateur) {
+  /** Creates a new LancerTest. */
+  public Force7(Lanceur lanceur, GenericEntry force7) {
     this.lanceur = lanceur;
-    addRequirements(lanceur, accumulateur);
-    this.force7 = force7; 
-    this.accumulateur = accumulateur;
+    addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.setPID(0.000000000000075572, 0, 0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = (700);
-      lanceur.lancer(force7.getDouble(700));
-    if (lanceur.vitesse() > vitesse ){
-      accumulateur.tourneavant();
-      accumulateur.tournearriere();
-      } else {
-        accumulateur.stop();
-      }
-      
+    lanceur.lancer(0.6);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lanceur.stop();
-    accumulateur.stop();
-    }
+    lanceur.lancer(0);
+  }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return lanceur.distance()>1;
+    return false;
   }
-}
\ 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 ebce965..90c6fa8 100644
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -1,7 +1,7 @@
 // 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.networktables.GenericEntry;
@@ -12,13 +12,13 @@ import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Lanceur;
 
 public class Lancer extends ParallelCommandGroup {
-  private Lanceur lanceur;
-  private Accumulateur accumulateur;
+ // private Lanceur lanceur;
+ // private Accumulateur accumulateur;
   
     
   public Lancer(Lanceur lanceur,Accumulateur accumulateur,GenericEntry vitesse) {
-    this.lanceur = lanceur;
-    this.accumulateur = accumulateur;
+   // this.lanceur = lanceur;
+   // this.accumulateur = accumulateur;
 
     // Add your commands in the addCommands() call, e.g.
     // addCommands(new FooCommand(), new BarCommand());
@@ -27,3 +27,4 @@ public class Lancer extends ParallelCommandGroup {
     new AccAvancer(accumulateur),new AccReculer(accumulateur));
   }
 }
+*/
\ No newline at end of file
diff --git a/src/main/java/frc/robot/commands/Lancez.java b/src/main/java/frc/robot/commands/Lancez.java
index 23ce090..ef3d3a7 100644
--- a/src/main/java/frc/robot/commands/Lancez.java
+++ b/src/main/java/frc/robot/commands/Lancez.java
@@ -1,7 +1,7 @@
 // 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;
@@ -9,7 +9,7 @@ import frc.robot.subsystems.Lanceur;
 
 public class Lancez extends CommandBase {
   private Lanceur lanceur;
-  /** Creates a new Lancez. */
+  /** Creates a new Lancez. 
   public Lancez(Lanceur lanceur) {
     this.lanceur = lanceur;
     addRequirements(lanceur);
@@ -19,7 +19,7 @@ public class Lancez extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    lanceur.setPID(0, 0, 0);
+    lanceur.setPID(0.19166, 0, 0);
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -43,3 +43,4 @@ public class Lancez extends CommandBase {
     return false;
   }
 }
+*/
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java
index 929fed9..dddd1b3 100644
--- a/src/main/java/frc/robot/subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/subsystems/Lanceur.java
@@ -15,14 +15,17 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class Lanceur extends SubsystemBase {
+  ShuffleboardTab dash2 = Shuffleboard.getTab("Dashboard2.0");
+  
   ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
-  ShuffleboardLayout pid = Shuffleboard.getTab("Dashboard")
-  .getLayout("Pid", BuiltInLayouts.kList)
-  .withSize(3, 7);
+  //ShuffleboardLayout pid = Shuffleboard.getTab("Dashboard")
+  //.getLayout("Pid", BuiltInLayouts.kList)
+  //.withSize(3, 7);
   public Lanceur(){
-    pid.add("p", 1);
-    pid.add("i", 2);
-    pid.add("d", 3);
+    dash2.add("test", 1); 
+    dashboard.add("p", 1);
+    dashboard.add("i", 2);
+    dashboard.add("d", 3);
   }
   final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);