src/main/java/frc/robot/RobotContainer.java

@@ -83,7 +83,7 @@ public class RobotContainer {
     joystick.button(1).whileTrue(new LancerNote(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),new GuiderHaut(guideur)));
-   
+    
     // deplacement
     configureBindings();
      drive.setDefaultCommand(new RunCommand(()->{

src/main/java/frc/robot/command/GrimpeurGauche.java

@@ -36,7 +36,6 @@ public class GrimpeurGauche extends Command {
     }
     else if(grimpeur.getpitch()<-15){
       grimpeur.gauche(doubleSupplier.getAsDouble());
-      
     }
     else if(grimpeur.getpitch()>15){
       grimpeur.gauche(-doubleSupplier.getAsDouble());

src/main/java/frc/robot/command/LancerNote.java

@@ -31,11 +31,17 @@ public class LancerNote extends Command {
     if(lancer.vitesse(vitesse)>vitesse){
       accumulateur.Accumuler(0.6);
     }
+    else{
+      accumulateur.Accumuler(0);
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+    lancer.vitesse(0);
+    accumulateur.Accumuler(0);
+  }
 
   // Returns true when the command should end.
   @Override

src/main/java/frc/robot/subsystem/Drive.java

@@ -38,7 +38,7 @@ public class Drive extends SubsystemBase {
       e.printStackTrace();
     }
     AutoBuilder.configureHolonomic(swerveDrive::getPose, swerveDrive::resetOdometry, swerveDrive::getRobotVelocity, swerveDrive::setChassisSpeeds, new HolonomicPathFollowerConfig(
-      new PIDConstants(5,0,0), new PIDConstants(5,0,0), 4.5,
+      new PIDConstants(5,0,0), new PIDConstants(5,0,0), 15,
       0.275,
       new ReplanningConfig()
       ), ()->{