diff --git a/src/main/java/frc/robot/Commands/Desaccumuler.java b/src/main/java/frc/robot/Commands/Desaccumuler.java
index e3899e5..4301dec 100644
--- a/src/main/java/frc/robot/Commands/Desaccumuler.java
+++ b/src/main/java/frc/robot/Commands/Desaccumuler.java
@@ -22,7 +22,8 @@ public class Desaccumuler extends Command {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    accumulateur.desaccumule(0.1);
+    if(accumulateur.photocell()){accumulateur.desaccumule(0.1);}
+    
   }
   // Called once the command ends or is interrupted.
   @Override
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a82b460..47d0d47 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,10 +4,16 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+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.Lanceur;
@@ -19,6 +25,7 @@ public class RobotContainer {
   Limelight3G limelight3G = new Limelight3G();
   Drive drive = new Drive();
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
+  CommandXboxController manette = new CommandXboxController(0);
   public RobotContainer() {
     dashboard.addCamera("limelight3G", "limelight3G","limelight.local:5800")
     .withSize(3,4)
@@ -27,9 +34,19 @@ public class RobotContainer {
     .withSize(3,4)
     .withPosition(3,0);  
     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));
+  }
+  
+  private void configureBindings() {
+    Lancer lancer= new Lancer(lanceur);
+    Desaccumuler desaccumuler = new Desaccumuler(accumulateur);
+    FollowAprilTag aprilTag = new FollowAprilTag(limelight3G, lanceur);
+    manette.x().whileTrue(new Lancer(lanceur));
+    manette.leftBumper().toggleOnTrue(new FollowAprilTag(limelight3G, lanceur));
+    manette.a().whileTrue(new Desaccumuler(accumulateur));
   }
-
-  private void configureBindings() {}
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
diff --git a/src/main/java/frc/robot/Subsystems/Accumulateur.java b/src/main/java/frc/robot/Subsystems/Accumulateur.java
index f7ba6af..ad890d2 100644
--- a/src/main/java/frc/robot/Subsystems/Accumulateur.java
+++ b/src/main/java/frc/robot/Subsystems/Accumulateur.java
@@ -12,9 +12,8 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 public class Accumulateur extends SubsystemBase {
   
   /** Creates a new Accumulateur. */
-  public Accumulateur() {dashboard.addBoolean("photocellacc", this::limitswitch)
-    .withSize(1, 1)
-    .withPosition(0, 1);
+  public Accumulateur() {dashboard.addBoolean("photocellacc", this::photocell).withSize(1, 1).withPosition(0, 1);
+   
     }
   ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   
@@ -29,8 +28,8 @@ public class Accumulateur extends SubsystemBase {
   final DigitalInput photocell = new DigitalInput(94);
   public void encodeur(){
   }
-  public boolean limitswitch(){
-    return !photocell.get();
+  public boolean photocell(){
+    return photocell.get();
   }
   public void desaccumule(double vitesse){
     accumulateur1.set(vitesse);
diff --git a/src/main/java/frc/robot/Subsystems/Lanceur.java b/src/main/java/frc/robot/Subsystems/Lanceur.java
index 45d5f34..7b14e92 100644
--- a/src/main/java/frc/robot/Subsystems/Lanceur.java
+++ b/src/main/java/frc/robot/Subsystems/Lanceur.java
@@ -30,6 +30,11 @@ public class Lanceur extends SubsystemBase {
         .withSize(0,0)
         .withPosition(1, 4)
         .getEntry();
+        private GenericEntry rotation =
+        dashboard.add("rottourel", 0.2)
+        .withSize(0,0)
+        .withPosition(1, 5)
+        .getEntry();
   public void encodeur(double distance){
     lanceur1.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
     lanceur2.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative);
@@ -40,14 +45,17 @@ public class Lanceur extends SubsystemBase {
     lanceur2.setInverted(true);
   }
   public void lance(double vitesse){
-    lanceur1.set(vitesse);
+    lanceur1.set(vitesse);lanceur2.set(vitesse);
   }
-  public void lance(){
+  public void lance(){  
     lance(vitesse.getDouble(0.2));
   }
   public void tourelRotation(double x, double y, double rotation){
     tourelle.set(rotation);
   }
+  public void tourelRotation(){
+    tourelle.set(rotation.getDouble(0.1));
+  }
   public double vitessetourel(){
    return(tourelle.getEncoder().getVelocity()); 
   }
diff --git a/src/main/java/frc/robot/Subsystems/Limelight3G.java b/src/main/java/frc/robot/Subsystems/Limelight3G.java
index 2fdba8f..b11532c 100644
--- a/src/main/java/frc/robot/Subsystems/Limelight3G.java
+++ b/src/main/java/frc/robot/Subsystems/Limelight3G.java
@@ -6,11 +6,15 @@ package frc.robot.Subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.net.PortForwarder;
+import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 
 public class Limelight3G extends SubsystemBase {
+  ShuffleboardTab dashboard = Shuffleboard.getTab("dashboard");
   NetworkTable table = NetworkTableInstance.getDefault().getTable("limelight");
   NetworkTableEntry tx = table.getEntry("tx");
   NetworkTableEntry ty = table.getEntry("ty");