diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c79d61d..50c1543 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,8 +4,8 @@
 
 package frc.robot;
 
-//import com.pathplanner.lib.auto.AutoBuilder;
-//import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
@@ -18,21 +18,21 @@ import frc.robot.Commands.Desaccumuler;
 import frc.robot.Commands.FollowAprilTag;
 import frc.robot.Commands.Lancer;
 import frc.robot.Subsystems.Accumulateur;
-import frc.robot.Subsystems.Drive;
+//import frc.robot.Subsystems.Drive;
 import frc.robot.Subsystems.Lanceur;
 import frc.robot.Subsystems.Limelight3G;
 
 public class RobotContainer {
-//  private final SendableChooser<Command> autoChooser;
+  private final SendableChooser<Command> autoChooser;
   Lanceur lanceur= new Lanceur();
   Accumulateur accumulateur = new Accumulateur();
   Limelight3G limelight3G = new Limelight3G();
-  Drive drive = new Drive();
+  //Drive drive = new Drive();
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   CommandXboxController manette = new CommandXboxController(0);
   public RobotContainer() {
-  // NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
-   // autoChooser = AutoBuilder.buildAutoChooser();
+   NamedCommands.registerCommand("lancer", new Lancer(lanceur, accumulateur));
+   autoChooser = AutoBuilder.buildAutoChooser();
     dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
     .withSize(3,4)
     .withPosition(5,0);
@@ -40,12 +40,12 @@ public class RobotContainer {
     .withSize(3,4)
     .withPosition(2,0);  
     configureBindings();
-    drive.setDefaultCommand(new RunCommand(()->{
-     drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));
-    },drive));
-   // dashboard.add("autochooser",autoChooser)
-   //   .withSize(1,1)
-    //  .withPosition(8,0);
+    //drive.setDefaultCommand(new RunCommand(()->{
+    // drive.drive(-MathUtil.applyDeadband(manette.getRightX(),0.2), MathUtil.applyDeadband(-manette.getRightY(),0.2), MathUtil.applyDeadband(-manette.getRightX(), 0.2));
+    //},drive));
+   dashboard.add("autochooser",autoChooser)
+     .withSize(1,1)
+     .withPosition(8,0);
   }
   
   private void configureBindings() {
@@ -56,6 +56,6 @@ public class RobotContainer {
   }
 
   public Command getAutonomousCommand() {
-    return null;
+    return autoChooser.getSelected();
   }
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Subsystems/Drive.java b/src/main/java/frc/robot/Subsystems/Drive.java
index cfa2936..12ebe28 100644
--- a/src/main/java/frc/robot/Subsystems/Drive.java
+++ b/src/main/java/frc/robot/Subsystems/Drive.java
@@ -2,7 +2,7 @@
 // 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.Subsystems;
+/*package frc.robot.Subsystems;
 import java.io.File;
 import java.io.IOException;
 import com.ctre.phoenix6.hardware.Pigeon2;
@@ -45,4 +45,4 @@ public class Drive extends SubsystemBase {
   public void periodic() {
     // This method will be called once per scheduler run
   }
-}
+}*/