diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index a2332e1..20fa95d 100644
Binary files a/bin/main/frc/robot/subsystems/BasePilotable.class and b/bin/main/frc/robot/subsystems/BasePilotable.class differ
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 71542a8..715aa36 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,6 +7,7 @@ package frc.robot;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
 //subsystems
 import frc.robot.subsystems.BasePilotable;
 import frc.robot.subsystems.Gratte;
@@ -52,6 +53,9 @@ PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
 
 public RobotContainer() {
     configureBindings();
+
+    basePilotable.setDefaultCommand(brakeOuvre);
+    new RunCommand(basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette.getRightTriggerAxis()), basePilotable), null));
   }
 
   private void configureBindings() {}
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 9b1eb24..4ed9d06 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -32,7 +32,7 @@ public class BasePilotable extends SubsystemBase {
     return gyroscope.getPitch();
   }
 
-  public void drive(double xSpeed, double zRotation, int i){
+  public void drive(double xSpeed, double zRotation, double d){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){