diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2e84c89..12bf559 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -47,6 +47,7 @@ public class RobotContainer {
   Balayer balayer = new Balayer(balayeuse, accumulateur);
   GuiderHaut guiderHaut = new GuiderHaut(guideur);
   GuiderBas guiderBas = new GuiderBas(guideur);
+  Lancer lancer = new Lancer(lanceur);
   LancerNote lancernote = new LancerNote(lanceur, accumulateur);
   Lancerampli lancerampli = new Lancerampli(lanceur);
    CommandJoystick joystick = new CommandJoystick(0);
diff --git a/src/main/java/frc/robot/command/Balayer.java b/src/main/java/frc/robot/command/Balayer.java
index 61a1dc7..58e3531 100644
--- a/src/main/java/frc/robot/command/Balayer.java
+++ b/src/main/java/frc/robot/command/Balayer.java
@@ -26,7 +26,7 @@ public class Balayer extends Command {
   public void execute() {
     if(accumulateur.limitswitch()){
     balayeuse.balaye(0);
-    accumulateur.Accumuler(0);
+    accumulateur.Accumuler();
   }
   else{
     balayeuse.balaye(0.6);
diff --git a/src/main/java/frc/robot/command/Lancer.java b/src/main/java/frc/robot/command/Lancer.java
index 20e58e1..de4314e 100644
--- a/src/main/java/frc/robot/command/Lancer.java
+++ b/src/main/java/frc/robot/command/Lancer.java
@@ -26,7 +26,7 @@ public class Lancer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(0.3);
+    lanceur.lancerspeaker();
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/command/LancerNote.java b/src/main/java/frc/robot/command/LancerNote.java
index 76fed0d..d653184 100644
--- a/src/main/java/frc/robot/command/LancerNote.java
+++ b/src/main/java/frc/robot/command/LancerNote.java
@@ -26,7 +26,7 @@ public class LancerNote extends Command {
   @Override
   public void execute() {
     double vitesse = 100;
-    lancer.lancer(vitesse);
+    lancer.lancerspeaker();
     if(lancer.vitesse(vitesse)>vitesse){
       accumulateur.Accumuler(0.6);
     }
diff --git a/src/main/java/frc/robot/command/Lancerampli.java b/src/main/java/frc/robot/command/Lancerampli.java
index 81701e7..450c87a 100644
--- a/src/main/java/frc/robot/command/Lancerampli.java
+++ b/src/main/java/frc/robot/command/Lancerampli.java
@@ -28,7 +28,7 @@ public class Lancerampli extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    lanceur.lancer(0.1);
+    lanceur.lanceramp();
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java
index f5a58cc..b14978d 100644
--- a/src/main/java/frc/robot/subsystem/Lanceur.java
+++ b/src/main/java/frc/robot/subsystem/Lanceur.java
@@ -7,15 +7,24 @@ package frc.robot.subsystem;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
-
+import edu.wpi.first.networktables.GenericEntry;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class Lanceur extends SubsystemBase {
   /** Creates a new Lanceur. */
-  
-
-  public Lanceur() {}
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+   private GenericEntry vitesse =
+      dashboard.add("vitesse", 1)
+         .getEntry();
+         private GenericEntry vitesseamp =
+            dashboard.add("vitesseamp", 1)
+               .getEntry();
+  public Lanceur() {
+    
+  }
   final CANSparkMax lanceur1 = new CANSparkMax(Constants.lanceur, MotorType.kBrushless);
   final CANSparkMax lanceur2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless);
   final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless);
@@ -26,6 +35,12 @@ public class Lanceur extends SubsystemBase {
   public void lancer(double vitesse){
     lanceur1.set(vitesse);
   }
+  public void lancerspeaker(){
+    lancer(vitesse.getDouble(0.1));
+  }
+  public void lanceramp(){
+    lancer(vitesseamp.getDouble(0.5));
+  }
   public double vitesse(double vitesse){
     return lanceur1.getEncoder().getVelocity();
   }