diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6f8f9b0..ae00d35 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -70,10 +70,6 @@ public class RobotContainer {
 
   public RobotContainer() {
 
-    dashboard.addCamera("limelight", "limelight","limelight.local:5800")
-    .withSize(3,4)
-    .withPosition(7,0); 
-
     dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream")
     .withSize(4, 3)
     .withPosition(3, 0);
@@ -93,11 +89,6 @@ public class RobotContainer {
     joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur));
     joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
     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));
-    joystick.button(7).whileTrue(new Limelight_tracker(limelight, drive));
-    joystick.button(8).whileTrue(new Debalayer(balayeuse, accumulateur));
     
     // deplacement
     configureBindings();
diff --git a/src/main/java/frc/robot/command/Balayer.java b/src/main/java/frc/robot/command/Balayer.java
index de0f6e6..533fbb6 100644
--- a/src/main/java/frc/robot/command/Balayer.java
+++ b/src/main/java/frc/robot/command/Balayer.java
@@ -29,7 +29,7 @@ public class Balayer extends Command {
     accumulateur.Accumuler(0);
   }
   else{
-    balayeuse.balaye(0.55);
+    balayeuse.balaye(0.9);
     accumulateur.Accumuler();
   }
 }
diff --git a/src/main/java/frc/robot/command/LancerAmp.java b/src/main/java/frc/robot/command/LancerAmp.java
index 35d02da..d426528 100644
--- a/src/main/java/frc/robot/command/LancerAmp.java
+++ b/src/main/java/frc/robot/command/LancerAmp.java
@@ -27,7 +27,7 @@ public class LancerAmp extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = 0.3;
+    double vitesse = 0.4;
     lancer.lanceramp();
     if(lancer.vitesse(vitesse)>vitesse){
       accumulateur.Accumuler();
diff --git a/src/main/java/frc/robot/command/LancerNote.java b/src/main/java/frc/robot/command/LancerNote.java
index 1e2eef7..91430c6 100644
--- a/src/main/java/frc/robot/command/LancerNote.java
+++ b/src/main/java/frc/robot/command/LancerNote.java
@@ -28,9 +28,9 @@ public class LancerNote extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = 0.8;
+    double vitesse = 1;
     lancer.lancerspeaker();
-    if(lancer.vitesse(vitesse)>0.9999999999999999999999999999999999999999999999999999999){
+    if(lancer.vitesse(vitesse)>0.999999999999999999999999999999999999999999999999999){
       accumulateur.Accumuler();
     }
     else{
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index e6a5502..66acfd4 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -18,7 +18,7 @@ public class Accumulateur extends SubsystemBase {
  
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
    private GenericEntry vitesse =
-      dashboard.add("vitesseacc", 0.7)
+      dashboard.add("vitesseacc", 0.9)
       .withSize(1, 1)
       .withPosition(0, 0)
       .getEntry(); 
@@ -41,7 +41,7 @@ public class Accumulateur extends SubsystemBase {
     Moteuracc2.set(-vitesse);
   }
   public void Accumuler(){
-    Accumuler(vitesse.getDouble(0.7));
+    Accumuler(vitesse.getDouble(0.9));
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystem/Drive.java b/src/main/java/frc/robot/subsystem/Drive.java
index 10771e4..4085e50 100644
--- a/src/main/java/frc/robot/subsystem/Drive.java
+++ b/src/main/java/frc/robot/subsystem/Drive.java
@@ -28,7 +28,7 @@ public class Drive extends SubsystemBase {
   public AHRS Gyro = new AHRS();
    
   public void drive(double x, double y, double zRotation){
-    swerveDrive.drive(new Translation2d(x*5, y*5), zRotation*4, false, false);
+    swerveDrive.drive(new Translation2d(x*6, y*6), zRotation*5, false, false);
   }
   
   public Drive() {
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index 0cf7f2a..9eebd86 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -26,12 +26,12 @@ public class Lanceur extends SubsystemBase {
   /** Creates a new Lanceur. */
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
    private GenericEntry vitesse =
-      dashboard.add("vitesse", 0.9)
+      dashboard.add("vitesse", 1)
       .withSize(1, 1)
       .withPosition(2,0)
          .getEntry();         
           private GenericEntry vitesseamp =
-            dashboard.add("vitesseamp", 0.3)
+            dashboard.add("vitesseamp", 0.25)
             .withSize(1, 1)
             .withPosition(1,0)
               .getEntry();