src/main/java/frc/robot/Subsystems/Accumulateur.java

@@ -47,6 +47,7 @@ public class Accumulateur extends SubsystemBase {
   }
   public void masterslave2(){
     rouesbleues.follow(strap);
+    rouesbleues.setInverted(true);
   }
   public void Petitlanceur(double vitesse){
     roueRouge1.set(vitesse);
@@ -55,6 +56,9 @@ public class Accumulateur extends SubsystemBase {
   public void desaccumule(){
     desaccumule(vitesse.getDouble(0.9));
   }
+  public void rouesbleue(double vitesse){
+    rouesbleues.set(vitesse);
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

src/main/java/frc/robot/Subsystems/CommandSwerveDrivetrain.java

@@ -0,0 +1,83 @@
+package frc.robot.Subsystems;
+
+import java.util.function.Supplier;
+
+import com.ctre.phoenix6.Utils;
+import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrain;
+import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants;
+import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants;
+import com.ctre.phoenix6.mechanisms.swerve.SwerveRequest;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.Notifier;
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Subsystem;
+
+/**
+ * Class that extends the Phoenix SwerveDrivetrain class and implements
+ * subsystem so it can be used in command-based projects easily.
+ */
+public class CommandSwerveDrivetrain extends SwerveDrivetrain implements Subsystem {
+    private static final double kSimLoopPeriod = 0.005; // 5 ms
+    private Notifier m_simNotifier = null;
+    private double m_lastSimTime;
+
+    /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
+    private final Rotation2d BlueAlliancePerspectiveRotation = Rotation2d.fromDegrees(0);
+    /* Red alliance sees forward as 180 degrees (toward blue alliance wall) */
+    private final Rotation2d RedAlliancePerspectiveRotation = Rotation2d.fromDegrees(180);
+    /* Keep track if we've ever applied the operator perspective before or not */
+    private boolean hasAppliedOperatorPerspective = false;
+
+    public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, double OdometryUpdateFrequency, SwerveModuleConstants... modules) {
+        super(driveTrainConstants, OdometryUpdateFrequency, modules);
+        if (Utils.isSimulation()) {
+            startSimThread();
+        }
+    }
+    public CommandSwerveDrivetrain(SwerveDrivetrainConstants driveTrainConstants, SwerveModuleConstants... modules) {
+        super(driveTrainConstants, modules);
+        if (Utils.isSimulation()) {
+            startSimThread();
+        }
+    }
+
+    public Command applyRequest(Supplier<SwerveRequest> requestSupplier) {
+        return run(() -> this.setControl(requestSupplier.get()));
+    }
+
+    private void startSimThread() {
+        m_lastSimTime = Utils.getCurrentTimeSeconds();
+
+        /* Run simulation at a faster rate so PID gains behave more reasonably */
+        m_simNotifier = new Notifier(() -> {
+            final double currentTime = Utils.getCurrentTimeSeconds();
+            double deltaTime = currentTime - m_lastSimTime;
+            m_lastSimTime = currentTime;
+
+            /* use the measured time delta, get battery voltage from WPILib */
+            updateSimState(deltaTime, RobotController.getBatteryVoltage());
+        });
+        m_simNotifier.startPeriodic(kSimLoopPeriod);
+    }
+
+    @Override
+    public void periodic() {
+        /* Periodically try to apply the operator perspective */
+        /* If we haven't applied the operator perspective before, then we should apply it regardless of DS state */
+        /* This allows us to correct the perspective in case the robot code restarts mid-match */
+        /* Otherwise, only check and apply the operator perspective if the DS is disabled */
+        /* This ensures driving behavior doesn't change until an explicit disable event occurs during testing*/
+        if (!hasAppliedOperatorPerspective || DriverStation.isDisabled()) {
+            DriverStation.getAlliance().ifPresent((allianceColor) -> {
+                this.setOperatorPerspectiveForward(
+                        allianceColor == Alliance.Red ? RedAlliancePerspectiveRotation
+                                : BlueAlliancePerspectiveRotation);
+                hasAppliedOperatorPerspective = true;
+            });
+        }
+    }
+}

src/main/java/frc/robot/Subsystems/Lanceur.java

@@ -61,7 +61,7 @@ public class Lanceur extends SubsystemBase {
     lanceur1.set(vitesse);
   }
   public void lance(){  
-    lance(vitesse.getDouble(0.2));
+    lance(vitesse.getDouble(0.9));
   }
   public void tourelRotation(double x, double y, double rotation){
     tourelle.set(rotation);