diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 9fc957a..aff140e 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,6 +4,7 @@
 
 package frc.robot;
 
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -22,16 +23,19 @@ import frc.robot.subsystems.Limelight;
 import frc.robot.commands.BrakeFerme;
 import frc.robot.commands.BrakeOuvre;
 import frc.robot.commands.Cone;
+import frc.robot.commands.Cube;
 import frc.robot.commands.GratteBaisser;
 import frc.robot.commands.GratteMonte;
 import frc.robot.commands.Gyro;
 import frc.robot.commands.Reculer;
+import frc.robot.commands.Tape;
 import frc.robot.commands.bras.FermePince;
 import frc.robot.commands.bras.OuvrePince;
 import frc.robot.commands.bras.PivotBrasRentre;
 import frc.robot.commands.bras.PivoteBrasBas;
 import frc.robot.commands.bras.PivoteBrasHaut;
 import frc.robot.commands.bras.PivoteBrasMilieux;
+import frc.robot.commands.Apriltag;
 
 public class RobotContainer {
 CommandXboxController manette1 = new CommandXboxController(0);
@@ -56,6 +60,9 @@ PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
 PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
 PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
+Cube cube = new Cube(limelight, basePilotable, ()->-manette1.getLeftY());
+Apriltag aprilTag = new Apriltag(limelight, basePilotable, ()->-manette1.getLeftY());
+Tape tape = new Tape(limelight, basePilotable, ()->-manette1.getLeftY());
 public RobotContainer() {
     configureBindings();
 
diff --git a/src/main/java/frc/robot/commands/Apriltag.java b/src/main/java/frc/robot/commands/Apriltag.java
new file mode 100644
index 0000000..9ef54b3
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Apriltag.java
@@ -0,0 +1,49 @@
+// 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 java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+import frc.robot.subsystems.Limelight;
+
+public class Apriltag extends CommandBase {
+  private Limelight limelight;
+  private BasePilotable basePilotable;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new Apriltag. */
+  public Apriltag(Limelight limelight,BasePilotable basePilotable,DoubleSupplier doubleSupplier) {
+    this.basePilotable = basePilotable;
+    this.limelight = limelight;
+    this.doubleSupplier = doubleSupplier;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(limelight,basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    limelight.apriltag();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    limelight.pilote();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/Cube.java b/src/main/java/frc/robot/commands/Cube.java
new file mode 100644
index 0000000..d54839e
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Cube.java
@@ -0,0 +1,49 @@
+// 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 java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+import frc.robot.subsystems.Limelight;
+
+public class Cube extends CommandBase {
+  private Limelight limelight;
+  private BasePilotable basePilotable;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new cube. */
+  public Cube(Limelight limelight,BasePilotable basePilotable,DoubleSupplier doubleSupplier) {
+    this.basePilotable = basePilotable;
+    this.limelight = limelight;
+    this.doubleSupplier = doubleSupplier;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(limelight,basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    limelight.cube();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    limelight.pilote();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}
diff --git a/src/main/java/frc/robot/commands/Tape.java b/src/main/java/frc/robot/commands/Tape.java
new file mode 100644
index 0000000..e1346f0
--- /dev/null
+++ b/src/main/java/frc/robot/commands/Tape.java
@@ -0,0 +1,49 @@
+// 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 java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.BasePilotable;
+import frc.robot.subsystems.Limelight;
+
+public class Tape extends CommandBase {
+  private Limelight limelight;
+  private BasePilotable basePilotable;
+  private DoubleSupplier doubleSupplier;
+  /** Creates a new Tape. */
+  public Tape(Limelight limelight,BasePilotable basePilotable,DoubleSupplier doubleSupplier) {
+    this.basePilotable = basePilotable;
+    this.limelight = limelight;
+    this.doubleSupplier = doubleSupplier;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(limelight,basePilotable);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    limelight.tape();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    basePilotable.drive(doubleSupplier.getAsDouble(), limelight.getYaw());
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    limelight.pilote();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}