diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a1966a9..8ecee90 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -8,6 +8,8 @@ import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import frc.robot.subsystems.BasePilotable;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -17,12 +19,19 @@ import edu.wpi.first.wpilibj2.command.Command;
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
-
-
+  XboxController manette = new XboxController(0);
+  
+  BasePilotable basePilotable = new BasePilotable();
+  
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
+
+    basePilotable.setDefaultCommand(
+      new RunCommand(
+        ()-> basePilotable.drive(manette.getLeftY(), manette.getLeftX(), manette.getLeftTriggerAxis()-manette.getRightTriggerAxis()), basePilotable)
+    );
   }
 
   /**