diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index f242ae6..bd03482 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -10,6 +10,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.Encoder;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Lanceur extends SubsystemBase {
@@ -19,6 +21,10 @@ 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);
+  Encoder encoder = new Encoder(0, 1);
+  public void encodeur(double distance){
+    encoder.setDistancePerPulse(distance);
+  }
   public void lance(double vitesse){
     lanceur1.set(vitesse);
     lanceur2.set(-vitesse);