diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 294a6d2..12bb4c1 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -13,11 +13,11 @@ public class Constants {
     public static int lancer4 = 15;
     // Ballayeuse
     public static int roue = 16;
-    public static int etoile = 19;
+    public static int etoile = 21;
 
     // Accumulateur
     public static int Moteuracc2 = 20;
-    public static int Moteuracc = 21;
+    public static int Moteuracc = 19;
 
     // Guideur
     public static int guideur = 22;
@@ -43,8 +43,8 @@ public class Constants {
     public static int ArriereGauche = 6;
 
     // Limit switch
-    public static int guideurhaut = 0;
-    public static int guideurbas = 1;
+    public static int guideurhaut = 4;
+    public static int guideurbas = 5;
     public static int photocellacc = 2;
     public static int limithaut = 4;
     public static int limitbas = 5;
diff --git a/src/main/java/frc/robot/command/Balayer.java b/src/main/java/frc/robot/command/Balayer.java
index 58e3531..9b3e158 100644
--- a/src/main/java/frc/robot/command/Balayer.java
+++ b/src/main/java/frc/robot/command/Balayer.java
@@ -26,10 +26,10 @@ public class Balayer extends Command {
   public void execute() {
     if(accumulateur.limitswitch()){
     balayeuse.balaye(0);
-    accumulateur.Accumuler();
+    accumulateur.Accumuler(0);
   }
   else{
-    balayeuse.balaye(0.6);
+    balayeuse.balaye(0.3);
     accumulateur.Accumuler();
   }
 }
diff --git a/src/main/java/frc/robot/command/LancerNote.java b/src/main/java/frc/robot/command/LancerNote.java
index 15b74c1..8cc3a4a 100644
--- a/src/main/java/frc/robot/command/LancerNote.java
+++ b/src/main/java/frc/robot/command/LancerNote.java
@@ -26,10 +26,10 @@ public class LancerNote extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    double vitesse = 100;
+    double vitesse = 0.5;
     lancer.lancerspeaker();
     if(lancer.vitesse(vitesse)>vitesse){
-      accumulateur.Accumuler(0.6);
+      accumulateur.Accumuler();
     }
     else{
       accumulateur.Accumuler(0);
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index f85e6c3..11c5d3c 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", 1)
+      dashboard.add("vitesseacc", 0.5)
       .withSize(1, 1)
       .withPosition(4, 3)
       .getEntry(); 
@@ -27,11 +27,11 @@ public class Accumulateur extends SubsystemBase {
   final DigitalInput photocellacc = new DigitalInput(Constants.photocellacc);
     
   public void Deaccumuler(double vitesse){  
-    Moteuracc2.set(vitesse);
+    Moteuracc2.set(-vitesse);
+    Moteuracc.set(-vitesse);
   }
   public void moteuraccfollow(){
-    Moteuracc.follow(Moteuracc2);
-    Moteuracc.setInverted(true);
+    
   }
   public boolean limitswitch(){
     return photocellacc.get();
@@ -45,7 +45,7 @@ public class Accumulateur extends SubsystemBase {
     Moteuracc2.set(vitesse);
   }
   public void Accumuler(){
-    Accumuler(vitesse.getDouble(0.1));
+    Accumuler(vitesse.getDouble(0.3));
   }
 
   @Override
diff --git a/src/main/java/frc/robot/subsystem/Balayeuse.java b/src/main/java/frc/robot/subsystem/Balayeuse.java
index 5ebdd36..4dc3991 100644
--- a/src/main/java/frc/robot/subsystem/Balayeuse.java
+++ b/src/main/java/frc/robot/subsystem/Balayeuse.java
@@ -15,13 +15,8 @@ public class Balayeuse extends SubsystemBase {
   public Balayeuse() {}
   final WPI_TalonSRX roue = new WPI_TalonSRX(Constants.roue);
   final WPI_TalonSRX etoile = new WPI_TalonSRX(Constants.etoile);
-
-  public void Accumulation(double vitesse){
-    roue.set(vitesse);
-  }
   public void balayeuse(){
-    etoile.follow(roue); 
-    etoile.setInverted(true);
+    
   }
   public void balaye(double vitesse){
     roue.set(vitesse);
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index bb100d7..bd4f7fc 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -16,12 +16,12 @@ public class Lanceur extends SubsystemBase {
   /** Creates a new Lanceur. */
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
    private GenericEntry vitesse =
-      dashboard.add("vitesse", 1)
+      dashboard.add("vitesse", 0.5)
       .withSize(1, 1)
       .withPosition(3, 3)
          .getEntry();
          private GenericEntry vitesseamp =
-            dashboard.add("vitesseamp", 1)
+            dashboard.add("vitesseamp", 0.4)
             .withSize(1, 1)
             .withPosition(3, 4)
                .getEntry();
@@ -36,23 +36,22 @@ public class Lanceur extends SubsystemBase {
     lanceur1.getPIDController();
   }
   public void lancer(double vitesse){
-    lanceur1.set(vitesse);
+    lanceur1.set(-vitesse);
+    lanceur2.set(-vitesse);
+    lanceur3.set(vitesse);
+    lanceur4.set(-vitesse);
   }
   public void lancerspeaker(){
-    lancer(vitesse.getDouble(0.1));
+    lancer(vitesse.getDouble(0.5));
   }
   public void lanceramp(){
-    lancer(vitesseamp.getDouble(0.5));
+    lancer(vitesseamp.getDouble(0.4));
   }
   public double vitesse(double vitesse){
     return lanceur1.getEncoder().getVelocity();
   }
     public void lanceur(){
-    lanceur2.follow(lanceur1);
-    lanceur3.follow(lanceur1);
-    lanceur4.follow(lanceur1);
-    lanceur3.setInverted(true);
-    lanceur4.setInverted(true);
+   
   }
 
   @Override