diff --git a/src/main/java/frc/robot/Commands/FollowAprilTag.java b/src/main/java/frc/robot/Commands/FollowAprilTag.java
index 86ce2bd..89fd4e0 100644
--- a/src/main/java/frc/robot/Commands/FollowAprilTag.java
+++ b/src/main/java/frc/robot/Commands/FollowAprilTag.java
@@ -32,11 +32,11 @@ public class FollowAprilTag extends Command {
 
     if (enlignement.getv()==1)
     {
-      drive.drive(0, 0, enlignement.getx()/30);
+      lanceur.tourelRotation(0,0, enlignement.getx()/30);
     }
     else
     {
-      drive.drive(0, 0, 0);
+      lanceur.tourelRotation(0, 0, 0);
     }
 
   }
@@ -44,7 +44,7 @@ public class FollowAprilTag extends Command {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    drive.drive(0, 0, 0);
+    lanceur.tourelRotation(0, 0, 0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index 7d73f1d..ecb14c8 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -36,8 +36,8 @@ public class Lanceur extends SubsystemBase {
   public void lance(double vitesse){
     lanceur1.set(vitesse);
   }
-  public void tourelRotation(double vitesse){
-    tourelle.set(vitesse);
+  public void tourelRotation(double x, double y, double rotation){
+    tourelle.set(rotation);
   }
   public double distancetourel(){
     return(tourelle.getEncoder().getPosition());