diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index ce8b1e7..11ac9c5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,9 +4,11 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.estimator.KalmanFilter;
 import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
-
+import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import frc.robot.commands.ActiverBlockeur;
@@ -16,6 +18,9 @@ import frc.robot.commands.DesactiverBlockeur;
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Pistonshaker;
 import frc.robot.subsystems.Poussoir;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+
+
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -53,7 +58,15 @@ public class RobotContainer {
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
-  private void configureButtonBindings() {}
+  private void configureButtonBindings() {
+    JoystickButton buttonA = new JoystickButton(manette, XboxController.Button.kA.value);
+    buttonA.whileHeld(Poussoir);
+    JoystickButton rightbumper = new JoystickButton(manette, XboxController.Button.kLeftBumper.value);
+    rightbumper.whileHeld(Pistonshaker);
+    JoystickButton buttonY = new JoystickButton(manette, XboxController.Button.kY.value);
+    buttonY.whenPressed(DesactiverBlockeur, ActiverBlockeur);
+
+  }
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
diff --git a/src/main/java/frc/robot/commands/Avancer.java b/src/main/java/frc/robot/commands/Avancer.java
new file mode 100644
index 0000000..b669a57
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Avancer.java
@@ -0,0 +1,40 @@
+// 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.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class Avancer extends CommandBase {
+  private BasePilotable basePilotable;
+  /** Creates a new Avancer. */
+  public Avancer(BasePilotable basePilotable) {
+    basePilotable = new BasePilotable();
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // 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() {
+    basePilotable.drive(0.5, 0.5, 0);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    basePilotable.drive(0, 0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/BoutonA.java b/src/main/java/frc/robot/commands/BoutonA.java
new file mode 100644
index 0000000..5490290
--- /dev/null
+++ b/src/main/java/frc/robot/commands/BoutonA.java
@@ -0,0 +1,32 @@
+// 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.CommandBase;
+
+public class BoutonA extends CommandBase {
+  /** Creates a new boutonY. */
+  public BoutonA() {
+    // 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() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
new file mode 100644
index 0000000..8923870
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -0,0 +1,41 @@
+// 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.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class Reculer extends CommandBase {
+  private BasePilotable basePilotable;
+  /** Creates a new Reculer. */
+  public Reculer(BasePilotable basePilotable) {
+    basePilotable = new BasePilotable();
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // 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() {
+    basePilotable.drive(-0.5, -0.5, 0);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    basePilotable.drive(0, 0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/TournerDroite.java b/src/main/java/frc/robot/commands/TournerDroite.java
new file mode 100644
index 0000000..ef211a6
--- /dev/null
+++ b/src/main/java/frc/robot/commands/TournerDroite.java
@@ -0,0 +1,41 @@
+// 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.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class TournerDroite extends CommandBase {
+  private BasePilotable basePilotable;
+  /** Creates a new Tourner. */
+  public TournerDroite(BasePilotable basePilotable) {
+    basePilotable = new BasePilotable();
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // 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() {
+    basePilotable.drive(0, 0, 0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    basePilotable.drive(0, 0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/TournerGauche.java b/src/main/java/frc/robot/commands/TournerGauche.java
new file mode 100644
index 0000000..04e7b40
--- /dev/null
+++ b/src/main/java/frc/robot/commands/TournerGauche.java
@@ -0,0 +1,39 @@
+// 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.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+
+public class TournerGauche extends CommandBase {
+  private BasePilotable basePilotable;
+  /** Creates a new TournerGauche. */
+  public TournerGauche(BasePilotable basePilotable) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(basePilotable);
+  }
+
+  // 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() {
+    basePilotable.drive(0, 0, -0.5);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    basePilotable.drive(0, 0, 0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}