diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 12bb4c1..5735435 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -46,8 +46,6 @@ public class Constants {
     public static int guideurhaut = 4;
     public static int guideurbas = 5;
     public static int photocellacc = 2;
-    public static int limithaut = 4;
-    public static int limitbas = 5;
 
     //piston
     public static int pistondroiteouvre= 6;
diff --git a/src/main/java/frc/robot/command/LancerAmp.java b/src/main/java/frc/robot/command/LancerAmp.java
new file mode 100644
index 0000000..0392f21
--- /dev/null
+++ b/src/main/java/frc/robot/command/LancerAmp.java
@@ -0,0 +1,50 @@
+// 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 LancerAmp extends Command {
+  private Lanceur lancer;
+  private Accumulateur accumulateur;
+  /** Creates a new LancerNote. */
+  public LancerAmp(Lanceur lancer, Accumulateur accumulateur) {
+    this.lancer = lancer;
+    this.accumulateur = accumulateur;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize(){}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double vitesse = 0.1;
+    lancer.lanceramp();
+    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;
+  }
+}