diff --git a/src/main/deploy/pathplanner/autos/mode 1.auto b/src/main/deploy/pathplanner/autos/mode 1.auto
index 1934679..56b97ae 100644
--- a/src/main/deploy/pathplanner/autos/mode 1.auto	
+++ b/src/main/deploy/pathplanner/autos/mode 1.auto	
@@ -27,6 +27,18 @@
                   "waitTime": 2.0
                 }
               },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 1.0
+                }
+              },
               {
                 "type": "named",
                 "data": {
@@ -52,6 +64,18 @@
                   "waitTime": 2.0
                 }
               },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 1.0
+                }
+              },
               {
                 "type": "named",
                 "data": {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 493faa4..842a52d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -35,6 +35,7 @@ public class RobotContainer {
   CommandXboxController manette = new CommandXboxController(0);
   public RobotContainer() {
    //NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
+   //NamedCommands.registerCommand("Desaccumuler", new Desaccumuler(accumulateur));
    //autoChooser = AutoBuilder.buildAutoChooser();
     dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
     .withSize(3,4)
diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java
index 9606b3a..cd05cd7 100644
--- a/src/main/java/frc/robot/Subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java
@@ -23,10 +23,12 @@ public class Accumulateur extends SubsystemBase {
       .withPosition(0, 0)
       .getEntry(); 
       
-  final WPI_TalonSRX strap = new WPI_TalonSRX(0);
-  final WPI_TalonSRX roueRouge = new WPI_TalonSRX(10);
+  final WPI_TalonSRX strap = new WPI_TalonSRX(16);
+  final WPI_TalonSRX rouesbleues = new WPI_TalonSRX(21);
+  final WPI_TalonSRX roueRouge1 = new WPI_TalonSRX(14);
+  final WPI_TalonSRX roueRouge2 = new WPI_TalonSRX(22);
   final DigitalInput photocell = new DigitalInput(20);
-  final DigitalInput photocell2 = new DigitalInput(21);
+  final DigitalInput photocell2 = new DigitalInput(27);
   public void encodeur(){
   }
   public boolean photocell(){
@@ -39,8 +41,15 @@ public class Accumulateur extends SubsystemBase {
     strap.set(vitesse);
     
   }
+  public void masterslave(){
+    roueRouge2.follow(roueRouge1);
+    roueRouge1.setInverted(true);
+  }
+  public void masterslave2(){
+    rouesbleues.follow(strap);
+  }
   public void Petitlanceur(double vitesse){
-    roueRouge.set(vitesse);
+    roueRouge1.set(vitesse);
   }
   
   public void desaccumule(){
diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index 2e7b227..6756650 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -31,8 +31,8 @@ public class Lanceur extends SubsystemBase {
 }
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   
-  final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(0);
-  final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(2);
+  final WPI_TalonSRX lanceur1 = new WPI_TalonSRX(17);
+  final WPI_TalonSRX lanceur2 = new WPI_TalonSRX(15);
   final CANSparkMax tourelle = new CANSparkMax(2, MotorType.kBrushless);
   final DigitalInput limitswitch1 = new DigitalInput(0);
   final DigitalInput limitswitch2 = new DigitalInput(3);
@@ -55,7 +55,7 @@ public class Lanceur extends SubsystemBase {
   }
   public void masterslave(){
     lanceur2.follow(lanceur1);
-    lanceur2.setInverted(true);
+    lanceur1.setInverted(true);
   }
   public void lance(double vitesse){
     lanceur1.set(vitesse);