diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 4fa115f..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 017cf52..21dff0b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -27,6 +27,7 @@ import frc.robot.commands.BrakeOuvre;
 import frc.robot.commands.GratteBaisser;
 import frc.robot.commands.GratteMonte;
 import frc.robot.commands.Gyro;
+import frc.robot.commands.Reculer;
 import frc.robot.commands.bras.FermePince;
 import frc.robot.commands.bras.OuvrePince;
 import frc.robot.commands.bras.PivotBrasRentre;
@@ -77,6 +78,11 @@ public RobotContainer() {
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
-   
+    return new SequentialCommandGroup(
+      new PivoteBrasMilieux(brasTelescopique, pivot),
+      new OuvrePince(pince),
+      new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
+      new Gyro(basePilotable)
+    );
   }
 }
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index d7c8c67..ce9aecf 100644
--- a/src/main/java/frc/robot/commands/Reculer.java
+++ b/src/main/java/frc/robot/commands/Reculer.java
@@ -26,7 +26,7 @@ public class Reculer extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    basePilotable.drive(0.2, 0, 10, basePilotable);
+    basePilotable.drive(0.2, 0, 0);
   }
 
   // Called once the command ends or is interrupted.
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 2156046..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, double d, BasePilotable basePilotable){
+  public void drive(double xSpeed, double zRotation, double d){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){