diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java
index 1e61eca..3ad931a 100644
--- a/src/main/java/frc/robot/commands/Avancer.java
+++ b/src/main/java/frc/robot/commands/Avancer.java
@@ -17,12 +17,14 @@ public class Avancer extends CommandBase {
   // 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() {}
+  public void execute() {
+   drive.drive(0.5, 0.2, 0); 
+  }
 
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/commands/Force1.java b/src/main/java/frc/robot/commands/Force1.java
index 09b74c1..ca5b1cb 100644
--- a/src/main/java/frc/robot/commands/Force1.java
+++ b/src/main/java/frc/robot/commands/Force1.java
@@ -35,7 +35,8 @@ public class Force1 extends CommandBase {
   @Override
   public void execute() {
     lanceur.lancer(force1.getDouble(0));
-    double vitesse = SmartDashboard.getNumber("Force Lanceur", 100);
+    double vitesse = (600);
+    lanceur.lancer(100);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
       accumulateur.tournearriere();
diff --git a/src/main/java/frc/robot/commands/Force2.java b/src/main/java/frc/robot/commands/Force2.java
index 51a8f33..918cd0f 100644
--- a/src/main/java/frc/robot/commands/Force2.java
+++ b/src/main/java/frc/robot/commands/Force2.java
@@ -30,7 +30,8 @@ public class Force2 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = SmartDashboard.getNumber("Force Lanceur", 200);
+    double vitesse = (200);
+    lanceur.lancer(200);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
       accumulateur.tournearriere();
diff --git a/src/main/java/frc/robot/commands/Force3.java b/src/main/java/frc/robot/commands/Force3.java
index 574cda2..2c3b1a5 100644
--- a/src/main/java/frc/robot/commands/Force3.java
+++ b/src/main/java/frc/robot/commands/Force3.java
@@ -43,7 +43,8 @@ public class Force3 extends CommandBase {
   @Override
   public void execute() {
 
-    double vitesse = SmartDashboard.getNumber("Force Lanceur", 300);
+    double vitesse = (300);
+    lanceur.lancer(300);
       if (lanceur.vitesse() > vitesse ){
         accumulateur.tourneavant();
         accumulateur.tournearriere();
diff --git a/src/main/java/frc/robot/commands/Force4.java b/src/main/java/frc/robot/commands/Force4.java
index 17329d7..d766b9c 100644
--- a/src/main/java/frc/robot/commands/Force4.java
+++ b/src/main/java/frc/robot/commands/Force4.java
@@ -37,7 +37,7 @@ public class Force4 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = SmartDashboard.getNumber("Force Lanceur", 400);
+    double vitesse = (400);
       lanceur.lancer(400);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
diff --git a/src/main/java/frc/robot/commands/Force5.java b/src/main/java/frc/robot/commands/Force5.java
index d085a11..9dfa156 100644
--- a/src/main/java/frc/robot/commands/Force5.java
+++ b/src/main/java/frc/robot/commands/Force5.java
@@ -37,7 +37,7 @@ public class Force5 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = SmartDashboard.getNumber("Force Lanceur", 500);
+    double vitesse = (500);
       lanceur.lancer(500);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
diff --git a/src/main/java/frc/robot/commands/Force6.java b/src/main/java/frc/robot/commands/Force6.java
index 6fc9fe3..97cc71f 100644
--- a/src/main/java/frc/robot/commands/Force6.java
+++ b/src/main/java/frc/robot/commands/Force6.java
@@ -38,7 +38,7 @@ public class Force6 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = SmartDashboard.getNumber("Force Lanceur", 600);
+    double vitesse = (600);
       lanceur.lancer(600);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
diff --git a/src/main/java/frc/robot/commands/Force7.java b/src/main/java/frc/robot/commands/Force7.java
index 24f4e52..78af2af 100644
--- a/src/main/java/frc/robot/commands/Force7.java
+++ b/src/main/java/frc/robot/commands/Force7.java
@@ -37,7 +37,7 @@ public class Force7 extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = SmartDashboard.getNumber("Force Lanceur", 700);
+    double vitesse = (700);
       lanceur.lancer(700);
     if (lanceur.vitesse() > vitesse ){
       accumulateur.tourneavant();
diff --git a/src/main/java/frc/robot/subsystems/Drive.java b/src/main/java/frc/robot/subsystems/Drive.java
index 049ee3f..091680b 100644
--- a/src/main/java/frc/robot/subsystems/Drive.java
+++ b/src/main/java/frc/robot/subsystems/Drive.java
@@ -31,7 +31,6 @@ public class Drive extends SubsystemBase {
     }
   }
   public void reset(){
-    
   }
   @Override
   public void periodic() {