diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 5a2e212..21dedaf 100644
--- a/src/main/java/frc/robot/subsystems/BasePilotable.java
+++ b/src/main/java/frc/robot/subsystems/BasePilotable.java
@@ -22,6 +22,22 @@ public class BasePilotable extends SubsystemBase {
 
   final DifferentialDrive drive = new DifferentialDrive(gauche, droit);
 
+  public void drive(double xSpeed, double zRotation){
+    drive.arcadeDrive(xSpeed, zRotation);
+  }
+  public double distance(){
+    return (-avantdroit.getEncoder().getPosition()
+    +avantgauche.getEncoder().getPosition()
+    -arrieredroit.getEncoder().getPosition()
+    +arrieregauche.getEncoder().getPosition()) / 4;
+  }
+  public void Reset() {
+    avantdroit.getEncoder().setPosition(0);
+    avantgauche.getEncoder().setPosition(0);
+    arrieredroit.getEncoder().setPosition(0);
+    arrieregauche.getEncoder().setPosition(0);
+  }
+
   /** Creates a new BasePilotable. */
   public BasePilotable() {
     droit.setInverted(true);