diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java
index 476601e..69e0047 100644
--- a/src/main/java/frc/robot/commands/Avancer.java
+++ b/src/main/java/frc/robot/commands/Avancer.java
@@ -4,13 +4,25 @@
 
 package frc.robot.commands;
 
+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.CommandBase;
 import frc.robot.subsystems.Drive;
 
 public class Avancer extends CommandBase {
   private Drive drive;
+  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+  ShuffleboardLayout avancer = Shuffleboard.getTab("Dashboard")
+  .getLayout("Avancer", BuiltInLayouts.kList)
+  .withSize(3, 3);
   /** Creates a new Avancer. */
   public Avancer(Drive drive) {
+    avancer.add("x", 1);
+    avancer.add("y", 2);
+    avancer.add("z", 3);
+
     this.drive = drive;
     addRequirements(drive);
     // Use addRequirements() here to declare subsystem dependencies.
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index 9d67460..a075f23 100644
--- a/src/main/java/frc/robot/commands/Reculer.java
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -4,13 +4,24 @@
 
 package frc.robot.commands;
 
+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.CommandBase;
 import frc.robot.subsystems.Drive;
 
 public class Reculer extends CommandBase {
   private Drive drive;
+  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+  ShuffleboardLayout reculer = Shuffleboard.getTab("Dashboard")
+  .getLayout("Reculer", BuiltInLayouts.kList)
+  .withSize(3, 3);
   /** Creates a new Reculer. */
   public Reculer(Drive drive) {
+    reculer.add("x", 1);
+    reculer.add("y", 2);
+    reculer.add("z", 3);
     this.drive = drive;
     addRequirements(drive);
     // Use addRequirements() here to declare subsystem dependencies.
diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java
index 1a26f5f..929fed9 100644
--- a/src/main/java/frc/robot/subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/subsystems/Lanceur.java
@@ -7,12 +7,23 @@ package frc.robot.subsystems;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+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.SubsystemBase;
 import frc.robot.Constants;
 
 public class Lanceur extends SubsystemBase {
-  
-  public Lanceur(){}
+  ShuffleboardTab dashboard = Shuffleboard.getTab("Dashboard");
+  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);
+  }
   final CANSparkMax lanceur = new CANSparkMax(Constants.lanceur, MotorType.kBrushless); 
 
   public void lancer(double vitesse){