diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c560d69..2d62d08 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -79,7 +79,7 @@ public class RobotContainer {
     NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
     autoChooser = AutoBuilder.buildAutoChooser();
 
-    /*manette.a().whileTrue(new GuiderBas(guideur));
+    manette.a().whileTrue(new GuiderBas(guideur));
     dashboard.addCamera("USB Camera 0", "USB Camera 0","http://roborio-5618-frc.local:1181/?action=stream")
     .withSize(4, 4)
     .withPosition(3, 0);
@@ -92,11 +92,11 @@ public class RobotContainer {
     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),new GuiderHaut(guideur)));*/
+    joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive),new GuiderHaut(guideur)));
     
     // deplacement
     configureBindings();
-    /*  drive.setDefaultCommand(new RunCommand(()->{
+      drive.setDefaultCommand(new RunCommand(()->{
      drive.drive(MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(joystick.getX(),0.2), MathUtil.applyDeadband(joystick.getZ(), 0.2));
     },drive));
 
@@ -109,23 +109,8 @@ public class RobotContainer {
       LED.setDefaultCommand(allumeLED);
       dashboard.add("autochooser",autoChooser)
       .withSize(2,1)
-      .withPosition(1,1);*/
-      manette
-        .a()
-        .and(manette.rightBumper())
-        .whileTrue(lanceur.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
-    manette
-        .b()
-        .and(manette.rightBumper())
-        .whileTrue(lanceur.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
-    manette
-        .x()
-        .and(manette.rightBumper())
-        .whileTrue(lanceur.sysIdDynamic(SysIdRoutine.Direction.kForward));
-    manette
-        .y()
-        .and(manette.rightBumper())
-        .whileTrue(lanceur.sysIdDynamic(SysIdRoutine.Direction.kReverse));
+      .withPosition(1,1);
+     
 
   }
 
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index ba1580d..b34b5b0 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -69,7 +69,7 @@ public class Lanceur extends SubsystemBase {
           new SysIdRoutine.Mechanism(
               // Tell SysId how to plumb the driving voltage to the motor(s).
               (Measure<Voltage> volts) -> {
-                lanceur1.setVoltage(volts.in(Volts));
+                lanceur4.setVoltage(volts.in(Volts));
               },
               // Tell SysId how to record a frame of data for each motor on the mechanism being
               // characterized.
@@ -78,10 +78,10 @@ public class Lanceur extends SubsystemBase {
                 log.motor("shooter-wheel")
                     .voltage(
                         appliedVoltage.mut_replace(
-                            lanceur1.get() * RobotController.getBatteryVoltage(), Volts))
-                    .angularPosition(angle.mut_replace(lanceur1.getEncoder().getPosition(), Rotations))
+                            lanceur4.get() * RobotController.getBatteryVoltage(), Volts))
+                    .angularPosition(angle.mut_replace(lanceur4.getEncoder().getPosition(), Rotations))
                     .angularVelocity(
-                        velocity.mut_replace(lanceur1.getEncoder().getVelocity(), RotationsPerSecond));
+                        velocity.mut_replace(lanceur4.getEncoder().getVelocity(), RotationsPerSecond));
               },
               // Tell SysId to make generated commands require this subsystem, suffix test state in
               // WPILog with this subsystem's name ("shooter")