diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4c90db2..2baa8ef 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -21,6 +21,7 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.commands.Aspirer;
 import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
+import frc.robot.commands.DistanceLancer;
 import frc.robot.commands.Lancer;
 import frc.robot.commands.LancerAspirer;
 import frc.robot.commands.LancerBaseVitesse;
@@ -87,13 +88,14 @@ public class RobotContainer {
     NamedCommands.registerCommand("DescendreGrimpeur", new DescendreGrimpeur(grimpeur));
     autoChooser = AutoBuilder.buildAutoChooser();
     SmartDashboard.putData("Auto Chooser", autoChooser);
-
+    
     CameraServer.startAutomaticCapture();
     
     configureBindings();
   }
 
   private void configureBindings() {
+    led.setDefaultCommand(new DistanceLancer(limeLight3G, led));
     drivetrain.setDefaultCommand(
           drivetrain.applyRequest(() ->
             drive.withVelocityY(MathUtil.applyDeadband(-manette.getLeftX()*Math.abs(-manette.getLeftX())*MaxSpeed, 0.05)) 
diff --git a/src/main/java/frc/robot/commands/DitanceLancer.java b/src/main/java/frc/robot/commands/DistanceLancer.java
similarity index 65%
rename from src/main/java/frc/robot/commands/DitanceLancer.java
rename to src/main/java/frc/robot/commands/DistanceLancer.java
index 582a32f..2b7522f 100644
--- a/src/main/java/frc/robot/commands/DitanceLancer.java
+++ b/src/main/java/frc/robot/commands/DistanceLancer.java
@@ -9,11 +9,11 @@ import frc.robot.subsystems.Led;
 import frc.robot.subsystems.Limelight3G;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class DitanceLancer extends Command {
+public class DistanceLancer extends Command {
   private Led led;
   private Limelight3G limelight3g;
   /** Creates a new DitanceLancer. */
-  public DitanceLancer(Limelight3G limelight3g, Led led) {
+  public DistanceLancer(Limelight3G limelight3g, Led led) {
     this.led = led;
     this.limelight3g = limelight3g;
     addRequirements(led,limelight3g);
@@ -27,12 +27,31 @@ public class DitanceLancer extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    
+    double botx = 0;
+    double boty = 0;
+    double[] BotPose = new double[6];
+    double distance = 0;
+    if(limelight3g.getV()){
+      BotPose = limelight3g.getBotPoseBlue();
+      botx = BotPose[0];
+      boty = BotPose[1];
+    }                                        
+    if(limelight3g.getV()){
+      distance = Math.sqrt(Math.pow(Math.abs(4.625594-botx), 2) + Math.pow(Math.abs(4.034536-boty), 2));
+    }
+    if(distance > 1.7){
+      led.Jaune2();
+    }
+    else{
+      
+    }
   }
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+
+  }
 
   // Returns true when the command should end.
   @Override
diff --git a/src/main/java/frc/robot/subsystems/Led.java b/src/main/java/frc/robot/subsystems/Led.java
index 2230f29..e390952 100644
--- a/src/main/java/frc/robot/subsystems/Led.java
+++ b/src/main/java/frc/robot/subsystems/Led.java
@@ -68,16 +68,16 @@ public class Led extends SubsystemBase {
     CANDle.setLEDs(255, 255, 0,0,120,8);
     CANDle.setLEDs(255, 255, 0,0,136,8);
   }
-  public void Vert2(){
-    CANDle.setLEDs(0, 255, 0,0,8,8);
-    CANDle.setLEDs(0, 255, 0,0,24,8);
-    CANDle.setLEDs(0, 255, 0,0,40,8);
-    CANDle.setLEDs(0, 255, 0,0,56,8);
-    CANDle.setLEDs(0, 255, 0,0,72,8);
-    CANDle.setLEDs(0, 255, 0,0,88,8);
-    CANDle.setLEDs(0, 255, 0,0,104,8);
-    CANDle.setLEDs(0, 255, 0,0,120,8);
-    CANDle.setLEDs(0, 255, 0,0,136,8);
+  public void Rouge2(){
+    CANDle.setLEDs(255, 0, 0,0,8,8);
+    CANDle.setLEDs(255, 0, 0,0,24,8);
+    CANDle.setLEDs(255, 0, 0,0,40,8);
+    CANDle.setLEDs(255, 0, 0,0,56,8);
+    CANDle.setLEDs(255, 0, 0,0,72,8);
+    CANDle.setLEDs(255, 0, 0,0,88,8);
+    CANDle.setLEDs(255, 0, 0,0,104,8);
+    CANDle.setLEDs(255, 0, 0,0,120,8);
+    CANDle.setLEDs(255, 0, 0,0,136,8);
   }
   public void RainBow(){
     CANDle.animate(rainbowAnim);