diff --git a/src/main/java/frc/robot/command/Lancer.java b/src/main/java/frc/robot/command/Lancer.java
index 0fdc5eb..2d62c50 100644
--- a/src/main/java/frc/robot/command/Lancer.java
+++ b/src/main/java/frc/robot/command/Lancer.java
@@ -12,14 +12,11 @@ import frc.robot.subsystem.Lanceur;
 
 public class Lancer extends Command {
   /** Creates a new Lanceur. */
-
-  private Lanceur lancer;
-  private Lanceur lancer2;
-  private Lanceur lancer3;
-  private Lanceur lancer4;
+  private Lanceur lanceur;
   public Lancer() {
+    this.lanceur = lanceur;
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(lancer,lancer2,lancer3,lancer4);
+    addRequirements(lanceur);
   }
 
   // Called when the command is initially scheduled.
@@ -29,13 +26,13 @@ public class Lancer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lancer.lancer(0.3);
+    lanceur.lancer(0.3);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lancer.lancer(0);
+    lanceur.lancer(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/command/LancerNote.java b/src/main/java/frc/robot/command/LancerNote.java
new file mode 100644
index 0000000..76fed0d
--- /dev/null
+++ b/src/main/java/frc/robot/command/LancerNote.java
@@ -0,0 +1,44 @@
+// 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 LancerNote extends Command {
+  private Lanceur lancer;
+  private Accumulateur accumulateur;
+  /** Creates a new LancerNote. */
+  public LancerNote(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 = 100;
+    lancer.lancer(vitesse);
+    if(lancer.vitesse(vitesse)>vitesse){
+      accumulateur.Accumuler(0.6);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/command/Lancerampli.java b/src/main/java/frc/robot/command/Lancerampli.java
index f3588b9..ef4ed14 100644
--- a/src/main/java/frc/robot/command/Lancerampli.java
+++ b/src/main/java/frc/robot/command/Lancerampli.java
@@ -13,13 +13,12 @@ import frc.robot.subsystem.Lanceur;
 public class Lancerampli extends Command {
   /** Creates a new Lanceur. */
 
-  private Lanceur lancer;
-  private Lanceur lancer2;
-  private Lanceur lancer3;
-  private Lanceur lancer4;
+  private Lanceur lanceur;
+  
   public Lancerampli() {
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(lancer,lancer2,lancer3,lancer4);
+    addRequirements(lanceur);
+    this.lanceur = lanceur;
   }
 
   // Called when the command is initially scheduled.
@@ -29,13 +28,13 @@ public class Lancerampli extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lancer.lancer(0.1);
+    lanceur.lancer(0.1);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    lancer.lancer(0);
+    lanceur.lancer(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index 9edc79b..ddae36a 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -25,6 +25,9 @@ public class Lanceur extends SubsystemBase {
   }
   public void lancer(double vitesse){
     lancer.set(vitesse);
+  }
+  public double vitesse(double vitesse){
+    return lancer.getEncoder().getVelocity();
   }
     public void lanceur(){
     lancer2.follow(lancer);