diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 83534a3..da51045 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -92,21 +92,7 @@ public class RobotContainer {
    */
   public Command getAutonomousCommand() {
     // An ExampleCommand will run in autonomous
-    return null;
-    /**(
-    new Reculer(basePilotable).withTimeout(SmartDashboard.getNumber("temps reculer", 1)),
-      new TournerGauche(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne gauche1",1)),
-      new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avencer1",1)),
-      new TournerDroite(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne droite1",1)),
-      new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer2",1)),
-      new TournerGauche(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne gauche2",1)),
-      new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer3",1)),
-      new TournerDroite(basePilotable).withTimeout(SmartDashboard.getNumber("temps tourne droite 2",1)),
-      new Avancer(basePilotable).withTimeout(SmartDashboard.getNumber("temps avancer4",1)),
-      new DesactiverBlockeur(poussoir).withTimeout(SmartDashboard.getNumber("temps du b1",0.8)),
-      new Activer_poussoir(poussoir).withTimeout(SmartDashboard.getNumber("temps pousser1",1)),
-      new Activershaker(pistonshaker).withTimeout(SmartDashboard.getNumber("temps du b2",1)),
-      new Activer_poussoir(poussoir).withTimeout(SmartDashboard.getNumber("temps pousser2",1))); */
-      
+    return new Avancer(basePilotable, SmartDashboard.getNumber("AvancerVit",0)).withTimeout(SmartDashboard.getNumber("avancer", 1));
+    
   }
 }
diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java
index b669a57..3a6c415 100644
--- a/src/main/java/frc/robot/commands/Avancer.java
+++ b/src/main/java/frc/robot/commands/Avancer.java
@@ -9,9 +9,11 @@ import frc.robot.subsystems.BasePilotable;
 
 public class Avancer extends CommandBase {
   private BasePilotable basePilotable;
+  private double vitesse;
   /** Creates a new Avancer. */
-  public Avancer(BasePilotable basePilotable) {
-    basePilotable = new BasePilotable();
+  public Avancer(BasePilotable basePilotable, double vitesse) {
+    this.basePilotable = basePilotable;
+    this.vitesse = vitesse;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(basePilotable);
   }
@@ -23,7 +25,8 @@ public class Avancer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(0.5, 0.5, 0);
+    basePilotable.drive(vitesse, 0, 0);
+
   }
 
   // Called once the command ends or is interrupted.