diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index 1a6c4a6..b13621d 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -22,19 +22,20 @@ public class Lanceur extends SubsystemBase {
   
   final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
   final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(1);
-  final CANSparkMax tourel = new CANSparkMax(2, MotorType.kBrushed);
+  final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushed);
   public void encodeur(double distance){
     lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur1.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
     lanceur2.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 1);
+    lanceur1.configFactoryDefault();
   }
   public void lance(double vitesse){
     lanceur1.set(vitesse);
     lanceur2.set(-vitesse);
   }
   public void tourelRotation(double vitesse){
-    tourel.set(vitesse);
+    tourelle.set(vitesse);
   }
   public void setPID(double p, double i, int d) {
   }