diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 5acd59c..bffe940 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,6 +7,7 @@ import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -73,7 +74,12 @@ public class RobotContainer {
     JoystickButton buttonX = new JoystickButton(manette, XboxController.Button.kX.value);
     buttonX.whenPressed(ActiverBlockeur);
     JoystickButton buttonstart = new JoystickButton(manette, XboxController.Button.kStart.value);
-    buttonstart.whenPressed(resetGyro);
+    buttonstart.whenPressed(
+      new InstantCommand(
+        () -> basePilotable.resetgyro(),
+        basePilotable
+      )
+    );
   }
 
   /** 
diff --git a/src/main/java/frc/robot/commands/ResetGyro.java b/src/main/java/frc/robot/commands/ResetGyro.java
index b209286..f602f87 100644
--- a/src/main/java/frc/robot/commands/ResetGyro.java
+++ b/src/main/java/frc/robot/commands/ResetGyro.java
@@ -4,7 +4,6 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.subsystems.BasePilotable;
 
@@ -20,12 +19,7 @@ public class ResetGyro extends CommandBase {
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    try {
-      basePilotable.resetgyro();
-    } catch( Exception e) {
-      DriverStation.reportError("Samuel", e.getStackTrace());
-    }
-    
+
   }
 
   // Called every time the scheduler runs while the command is scheduled.
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 1bac661..093c083 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -32,7 +32,12 @@ public void drive(double y, double x, double rot){
   mecanum.driveCartesian(y, rot, x, -getangle());
 }
 public void resetgyro(){
-gyroscope.zeroYaw();
+  try {
+    gyroscope.zeroYaw();
+  } catch( Exception e) {
+    e.printStackTrace();
+  }
+  
 }
   /** Creates a new BasePilotable. */
   public BasePilotable() {