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

@@ -20,7 +20,9 @@ public class LancerAmp extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize(){}
+  public void initialize(){
+    lancer.pid();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -21,7 +21,9 @@ public class LancerNote extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    lancer.pid();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

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

@@ -48,7 +48,7 @@ public class Lanceur extends SubsystemBase {
   private final MutableMeasure<Angle> angle = mutable(Rotations.of(0));
   // Mutable holder for unit-safe linear velocity values, persisted to avoid reallocation.
   private final MutableMeasure<Velocity<Angle>> velocity = mutable(RotationsPerSecond.of(0));
-  public void pidspeaker(){
+  public void pid(){
     lanceur1.getPIDController().setP(0.000006824);
     lanceur2.getPIDController().setP(0.0051335);
     lanceur3.getPIDController().setP(0.00079046);