diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index f0e2a60..28536f3 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -15,15 +15,16 @@ import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.Aspirer;
 import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
 import frc.robot.commands.Lancer;
+import frc.robot.commands.LancerAspirer;
 import frc.robot.commands.LancerBaseVitesse;
 import frc.robot.commands.Limelighter;
 import frc.robot.commands.ModeOposer;
+import frc.robot.commands.ModeOposerDemeleur;
 import frc.robot.commands.MonterBalyeuse;
 import frc.robot.commands.MonterGrimpeur;
 import frc.robot.commands.ModeAuto.AspirerAuto;
@@ -52,6 +53,7 @@ public class RobotContainer {
   Limelight3G limeLight3G = new Limelight3G();
   Led led = new Led();
   CommandXboxController manette = new CommandXboxController(0);
+  CommandXboxController manette1 = new CommandXboxController(1);
   private double MaxSpeed = 1.0 * TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
     private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 
@@ -93,15 +95,21 @@ public class RobotContainer {
              .withRotationalRate(MathUtil.applyDeadband(-manette.getRightX()*Math.abs(-manette.getRightX())*MaxAngularRate, 0.05))
         )
       );
+    //manette 1
     manette.povUp().whileTrue(new LancerAuto(lanceur));
     manette.a().whileTrue(new Lancer(lanceur,limeLight3G,balayeuse,led));
-    manette.y().whileTrue(new ModeOposer(lanceur, balayeuse));
-    manette.x().whileTrue(new LancerBaseVitesse(lanceur, limeLight3, balayeuse, led));
+    manette.x().whileTrue(new LancerBaseVitesse(lanceur, limeLight3));
     manette.rightTrigger().whileTrue(new MonterGrimpeur(grimpeur));
     manette.leftTrigger().whileTrue(new DescendreGrimpeur(grimpeur));
     manette.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
     manette.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
+
     manette.b().whileTrue(new Aspirer(balayeuse,led));
+    //manette 2
+
+    manette1.povDown().whileTrue(new LancerAspirer(lanceur, balayeuse, limeLight3, led));
+    manette1.y().whileTrue(new ModeOposer(lanceur, balayeuse));
+    manette1.x().whileTrue(new ModeOposerDemeleur(lanceur));
   }
 
   public Command getAutonomousCommand() {
diff --git a/src/main/java/frc/robot/commands/Lancer.java b/src/main/java/frc/robot/commands/Lancer.java
index c4a3db4..7d3677f 100644
--- a/src/main/java/frc/robot/commands/Lancer.java
+++ b/src/main/java/frc/robot/commands/Lancer.java
@@ -82,7 +82,7 @@ public class Lancer extends Command {
       double output = vitesse; /*pidController.calculate(lanceur.Vitesse(),vitesse);*/
       lanceur.Lancer(output);
       if(lanceur.Vitesse() >= vitesse){
-        lanceur.Demeler(0.5);
+        lanceur.Demeler(0.1);
       }
     // }
 
diff --git a/src/main/java/frc/robot/commands/LancerAspirer.java b/src/main/java/frc/robot/commands/LancerAspirer.java
new file mode 100644
index 0000000..9b9967f
--- /dev/null
+++ b/src/main/java/frc/robot/commands/LancerAspirer.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import frc.robot.subsystems.Balayeuse;
+import frc.robot.subsystems.Lanceur;
+import frc.robot.subsystems.Led;
+import frc.robot.subsystems.LimeLight3;
+import frc.robot.subsystems.Limelight3G;
+
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class LancerAspirer extends ParallelCommandGroup {
+  /** Creates a new LacerAspirer. */
+  public LancerAspirer(Lanceur lanceur, Balayeuse balayeuse, LimeLight3 limeLight3, Led led) {
+    addCommands(new LancerBaseVitesse(lanceur, limeLight3), new Aspirer(balayeuse, led));
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+  }
+}
diff --git a/src/main/java/frc/robot/commands/LancerBaseVitesse.java b/src/main/java/frc/robot/commands/LancerBaseVitesse.java
index 44e88e0..ccf8a34 100644
--- a/src/main/java/frc/robot/commands/LancerBaseVitesse.java
+++ b/src/main/java/frc/robot/commands/LancerBaseVitesse.java
@@ -7,9 +7,7 @@ package frc.robot.commands;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
 import frc.robot.subsystems.LimeLight3;
 import frc.robot.subsystems.Limelight3G;
 
@@ -19,28 +17,24 @@ public class LancerBaseVitesse extends Command {
   private PIDController pidController;
   private Limelight3G limeLight3G;
   private Timer timer;
-  private Balayeuse balayeuse;
-  private Led led;
   private double temp;
   /** Creates a new Lancer. */
-  public LancerBaseVitesse(Lanceur lanceur, LimeLight3 limeLight3, Balayeuse balayeuse,Led led) {
+  public LancerBaseVitesse(Lanceur lanceur, LimeLight3 limeLight3) {
     this.lanceur = lanceur;
-    this.balayeuse = balayeuse;
-    this.led = led;
-    this.timer = new Timer();
+   // this.timer = new Timer();
     this.limeLight3G = new Limelight3G();
-    addRequirements(lanceur, balayeuse, led, limeLight3G);
-    this.temp = 0;
+    addRequirements(lanceur, limeLight3G);
+    //this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    pidController = new PIDController(1, 0,0, 0);
-    timer.reset();
-    timer.start();
-    temp = lanceur.Amp();    
+    pidController = new PIDController(0.0007, 0,0, 0.001);
+    //timer.reset();
+    //timer.start();
+    //temp = lanceur.Amp();    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
@@ -65,10 +59,10 @@ public class LancerBaseVitesse extends Command {
     //   led.Jaune2();
     // }
     // else{
-      double vitesse = 0.4;
+      double vitesse = lanceur.vitesseDemander();
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);
       lanceur.Lancer(output);
-      if(lanceur.Vitesse() >= vitesse){
+      if(lanceur.Vitesse() >= 1200){
         lanceur.Demeler(0.5);
       }
     // }
@@ -80,7 +74,6 @@ public class LancerBaseVitesse extends Command {
   public void end(boolean interrupted) {
     lanceur.Demeler(0);
     lanceur.Lancer(0);
-    balayeuse.Pivoter(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java b/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
index 749233a..49740af 100644
--- a/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
+++ b/src/main/java/frc/robot/commands/ModeAuto/LancerAuto.java
@@ -15,6 +15,7 @@ public class LancerAuto extends Command {
   /** Creates a new LancerAuto. */
   public LancerAuto(Lanceur lanceur) {
     this.lanceur = lanceur;
+    timer = new Timer();
     addRequirements(lanceur);
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -29,9 +30,9 @@ public class LancerAuto extends Command {
   @Override
   public void execute() {
     lanceur.Lancer(0.5);
-    if(timer.get() > 1){
-      lanceur.Demeler(0.5);
-    }
+      if(timer.get() > 1){
+        lanceur.Demeler(0.1);
+     }
   }
 
   // Called once the command ends or is interrupted.
@@ -47,5 +48,6 @@ public class LancerAuto extends Command {
   @Override
   public boolean isFinished() {
     return timer.get() > 3;
+    //return false;
   }
 }
diff --git a/src/main/java/frc/robot/commands/ModeOposer.java b/src/main/java/frc/robot/commands/ModeOposer.java
index 068afc8..dc69a1e 100644
--- a/src/main/java/frc/robot/commands/ModeOposer.java
+++ b/src/main/java/frc/robot/commands/ModeOposer.java
@@ -29,7 +29,6 @@ public class ModeOposer extends Command {
   public void execute() {
     lanceur.Lancer(-0.2);
     lanceur.Demeler(-0.2);
-    balayeuse.Balayer(-0.2);
   }
 
   // Called once the command ends or is interrupted.
@@ -37,7 +36,6 @@ public class ModeOposer extends Command {
   public void end(boolean interrupted) {
     lanceur.Demeler(0);
     lanceur.Lancer(0);
-    balayeuse.Balayer(0);
   }
 
   // Returns true when the command should end.
diff --git a/src/main/java/frc/robot/commands/ModeOposerDemeleur.java b/src/main/java/frc/robot/commands/ModeOposerDemeleur.java
new file mode 100644
index 0000000..940308a
--- /dev/null
+++ b/src/main/java/frc/robot/commands/ModeOposerDemeleur.java
@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Lanceur;
+/* 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 ModeOposerDemeleur extends Command {
+  private Lanceur lanceur;
+  /** Creates a new Lancer. */
+  public ModeOposerDemeleur(Lanceur lanceur) {
+    this.lanceur = lanceur;
+    addRequirements(lanceur);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {  
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    lanceur.Demeler(-0.2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    lanceur.Demeler(0);
+    lanceur.Lancer(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/subsystems/Lanceur.java b/src/main/java/frc/robot/subsystems/Lanceur.java
index 3aee063..44a7aba 100644
--- a/src/main/java/frc/robot/subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/subsystems/Lanceur.java
@@ -18,11 +18,12 @@ public class Lanceur extends SubsystemBase {
   SparkFlex moteur2 = new SparkFlex(18, MotorType.kBrushless);
   SparkFlex Demeleur = new SparkFlex(19, MotorType.kBrushless);
   GenericEntry vitesse = 
-  teb.add("vitesse lanceur",0.5).getEntry();
+  teb.add("vitesse lanceur",4000).getEntry();
   GenericEntry AmpLanceur = 
   teb.add("ampérage lanceur",30).getEntry();
+  
   public void Lancer(double vitesse){
-    // moteur1.set(-vitesse);
+    moteur1.set(vitesse);
     moteur2.set(vitesse);
   }
   public void Demeler(double vitesse){
@@ -38,11 +39,12 @@ public class Lanceur extends SubsystemBase {
     return AmpLanceur.getDouble(30);
   }
   public double vitesseDemander(){
-    return vitesse.getDouble(0.5);
+    return vitesse.getDouble(4000);
   }
   /** Creates a new Lanceur. */
   public Lanceur() {
     teb.addDouble("amperage lanceur", this::Amp);
+    teb.addDouble("vitesse actuelle",this::Vitesse);
   }
 
   @Override