diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6f0cecc..2e84c89 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -53,6 +53,8 @@ public class RobotContainer {
    CommandXboxController manette = new CommandXboxController(1);
   
   public RobotContainer() {
+    NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
+    NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
     autoChooser = AutoBuilder.buildAutoChooser();
 
     CameraServer.startAutomaticCapture();
@@ -62,8 +64,7 @@ public class RobotContainer {
      drive.setDefaultCommand(new RunCommand(()->{
      drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
     },drive));
-    NamedCommands.registerCommand("balayer",balayer);
-    NamedCommands.registerCommand("lancer", lancernote);
+    
   }
 
   private void configureBindings() {
diff --git a/src/main/java/frc/robot/subsystem/Drive.java b/src/main/java/frc/robot/subsystem/Drive.java
index 44bb959..7770387 100644
--- a/src/main/java/frc/robot/subsystem/Drive.java
+++ b/src/main/java/frc/robot/subsystem/Drive.java
@@ -7,10 +7,14 @@ package frc.robot.subsystem;
 import java.io.File;
 import java.io.IOException;
 
-
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
+import com.pathplanner.lib.util.PIDConstants;
+import com.pathplanner.lib.util.ReplanningConfig;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import swervelib.SwerveDrive;
@@ -28,6 +32,17 @@ public class Drive extends SubsystemBase {
   }
   
   public Drive() {
+    AutoBuilder.configureHolonomic(swerveDrive::getPose, swerveDrive::resetOdometry, swerveDrive::getRobotVelocity, swerveDrive::setChassisSpeeds, new HolonomicPathFollowerConfig(
+      new PIDConstants(5,0,0), new PIDConstants(5,0,0), 4.5,
+      0.275,
+      new ReplanningConfig()
+      ), ()->{
+        var alliance = DriverStation.getAlliance();
+        if(alliance.isPresent()){
+          return alliance.get() == DriverStation.Alliance.Red;
+        }
+        return false;
+         }, this);
      try {
       this.swerveDrive = new SwerveParser(swerveJsonDirectory).createSwerveDrive(2);
     } catch (IOException e) {