diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6827398..dc06d05 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -38,7 +38,8 @@ public class RobotContainer {
 
     private final Telemetry logger = new Telemetry(MaxSpeed);
 
-    private final CommandXboxController joystick = new CommandXboxController(0);
+    private final CommandXboxController manette1 = new CommandXboxController(0);
+    private final CommandXboxController manette2 = new CommandXboxController(0);
 
     public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
     
@@ -58,21 +59,21 @@ public class RobotContainer {
         drivetrain.setDefaultCommand(
             // Drivetrain will execute this command periodically
             drivetrain.applyRequest(() ->
-                drive.withVelocityX(-joystick.getLeftY() * MaxSpeed) // Drive forward with negative Y (forward)
-                    .withVelocityY(-joystick.getLeftX() * MaxSpeed) // Drive left with negative X (left)
-                    .withRotationalRate(-joystick.getRightX() * MaxAngularRate) // Drive counterclockwise with negative X (left)
+                drive.withVelocityX(-manette1.getLeftY() * MaxSpeed) // Drive forward with negative Y (forward)
+                    .withVelocityY(-manette1.getLeftX() * MaxSpeed) // Drive left with negative X (left)
+                    .withRotationalRate(-manette1.getRightX() * MaxAngularRate) // Drive counterclockwise with negative X (left)
             )
         );
 
         // Run SysId routines when holding back/start and X/Y.
         // Note that each routine should be run exactly once in a single log.
-        joystick.back().and(joystick.y()).whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
-        joystick.back().and(joystick.x()).whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
-        joystick.start().and(joystick.y()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
-        joystick.start().and(joystick.x()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));
+        manette1.back().and(manette1.y()).whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
+        manette1.back().and(manette1.x()).whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
+        manette1.start().and(manette1.y()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
+        manette1.start().and(manette1.x()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));
 
         // reset the field-centric heading on left bumper press
-        joystick.leftBumper().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
+        manette1.leftBumper().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
 
         drivetrain.registerTelemetry(logger::telemeterize);
     }