diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index 9e457e4..db4e4bf 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -49,18 +49,10 @@ public class Lanceur extends SubsystemBase {
   // Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
   private final MutableMeasure<Velocity<Angle>> velocity = mutable(RotationsPerSecond.of(0));
   public void pidspeaker(){
-    lanceur1.getPIDController().setP(0.5);
-    lanceur1.getPIDController().setI(0.5);
-    lanceur1.getPIDController().setD(0.5);
-    lanceur2.getPIDController().setP(0.5);
-    lanceur2.getPIDController().setI(0.5);
-    lanceur2.getPIDController().setD(0.5);
-    lanceur3.getPIDController().setP(0.5);
-    lanceur3.getPIDController().setI(0.5);
-    lanceur3.getPIDController().setD(0.5);
-    lanceur4.getPIDController().setP(0.5);
-    lanceur4.getPIDController().setI(0.5);
-    lanceur4.getPIDController().setD(0.5);
+    lanceur1.getPIDController().setP(0.000006824);
+    lanceur2.getPIDController().setP(0.0051335);
+    lanceur3.getPIDController().setP(0.00079046);
+    lanceur4.getPIDController().setP(0.0000049791);
   }
    private final SysIdRoutine sysIdRoutine =
       new SysIdRoutine(