diff --git a/src/main/java/frc/robot/Commands/Lancer.java b/src/main/java/frc/robot/Commands/Lancer.java
index f1b0b52..9f35fe5 100644
--- a/src/main/java/frc/robot/Commands/Lancer.java
+++ b/src/main/java/frc/robot/Commands/Lancer.java
@@ -5,24 +5,34 @@
 package frc.robot.Commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Subsystems.Lanceur;
 
 public class Lancer extends Command {
+  private Lanceur lanceur;
   /** Creates a new Lancer. */
-  public Lancer() {
+  public Lancer(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    lanceur.setPID(0, 0, 0);
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
+  public void execute() {
+    lanceur.lance(0.5);
+  }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    lanceur.lance(0);
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index 4ac34b8..b46a05a 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -7,6 +7,7 @@ package frc.robot.Subsystems;
 
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
@@ -15,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 public class Lanceur extends SubsystemBase {
   /** Creates a new Lanceur. */
   public Lanceur() {}
+  
   final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
   final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed);
@@ -25,6 +27,8 @@ public class Lanceur extends SubsystemBase {
   public void tourelRotation(double vitesse){
     tourel.set(vitesse);
   }
+  public void setPID(double p, double i, int d) {
+  }
   @Override
   public void periodic() {
     // This method will be called oncehttps://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json per scheduler run