diff --git a/src/main/deploy/pathplanner/paths/3.1.path b/src/main/deploy/pathplanner/paths/3.1.path
index e11f7a1..bb40a31 100644
--- a/src/main/deploy/pathplanner/paths/3.1.path
+++ b/src/main/deploy/pathplanner/paths/3.1.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.7,
-        "y": 7.0
+        "x": 2.7155331803541096,
+        "y": 6.958021893251764
       },
       "prevControl": {
-        "x": 2.6949379619996434,
-        "y": 7.0
+        "x": 2.727570849247609,
+        "y": 6.978871747379996
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -88.31533329176997,
+    "rotation": 56.65929265352304,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/5.1.path b/src/main/deploy/pathplanner/paths/5.1.path
index 1e1753c..b1d8eb7 100644
--- a/src/main/deploy/pathplanner/paths/5.1.path
+++ b/src/main/deploy/pathplanner/paths/5.1.path
@@ -20,8 +20,8 @@
         "y": 4.1
       },
       "prevControl": {
-        "x": 13.990250241783144,
-        "y": 4.090250241783143
+        "x": 14.011940966373402,
+        "y": 4.093105879849931
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -88.30255667497883,
+    "rotation": -155.07456608690077,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 66da0bf..4e05ed8 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -28,6 +28,7 @@ import frc.robot.command.GuiderHaut;
 import frc.robot.command.Lancer;
 import frc.robot.command.LancerAmp;
 import frc.robot.command.LancerNote;
+import frc.robot.command.LancerTrape;
 import frc.robot.command.Lancerampli;
 import frc.robot.command.Limelight_tracker;
 import frc.robot.command.PistonFerme;
@@ -93,7 +94,7 @@ public class RobotContainer {
     joystick.button(5).whileTrue(new LancerAmp(lanceur, accumulateur));
     joystick.button(4).whileTrue(new ParallelCommandGroup(new Lancer(lanceur,limelight),new Limelight_tracker(limelight,drive)));
     joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive)));
-    
+    joystick.button(6).whileTrue(new LancerTrape(lanceur, accumulateur));
     // deplacement
     configureBindings();
       drive.setDefaultCommand(new RunCommand(()->{
diff --git a/src/main/java/frc/robot/command/LancerTrape.java b/src/main/java/frc/robot/command/LancerTrape.java
new file mode 100644
index 0000000..3a7a0c5
--- /dev/null
+++ b/src/main/java/frc/robot/command/LancerTrape.java
@@ -0,0 +1,53 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Accumulateur;
+import frc.robot.subsystem.Lanceur;
+
+public class LancerTrape extends Command {
+  private Lanceur lancer;
+  private Accumulateur accumulateur;
+  /** Creates a new LancerNote. */
+  public LancerTrape(Lanceur lancer, Accumulateur accumulateur) {
+    this.lancer = lancer;
+    this.accumulateur = accumulateur;
+    addRequirements(lancer);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    lancer.pid();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double vitesse = 0.8;
+    lancer.Lancertrape();
+    if(lancer.vitesse(vitesse)>vitesse){
+      accumulateur.Accumuler();
+    }
+    else{
+      accumulateur.Accumuler(0);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lancer.lancer(0);
+    accumulateur.Accumuler(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index 830a3cc..c377812 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -86,6 +86,9 @@ public class Lanceur extends SubsystemBase {
   }
   public void lancerspeaker(){
     lancer(vitesse.getDouble(0.8));
+  }
+   public void Lancertrape(){
+    lancer(vitesse.getDouble(0.8));
   }
   public void lanceramp(){
     lancer(vitesseamp.getDouble(0.1));