diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 21dff0b..53f9f6d 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -77,7 +77,6 @@ public RobotContainer() {
   }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
     return new SequentialCommandGroup(
       new PivoteBrasMilieux(brasTelescopique, pivot),
       new OuvrePince(pince),
diff --git a/src/main/java/frc/robot/commands/Gyro.java b/src/main/java/frc/robot/commands/Gyro.java
index 8492e0d..dcb7893 100644
--- a/src/main/java/frc/robot/commands/Gyro.java
+++ b/src/main/java/frc/robot/commands/Gyro.java
@@ -25,15 +25,15 @@ public class Gyro extends CommandBase {
   public void execute() {
   if(basePilotable.getpitch()<10) 
    { 
-    basePilotable.drive(0.4, 0, 0);
+    basePilotable.drive(0.4, 0);
    }
    else if(basePilotable.getpitch()>-10) 
    { 
-    basePilotable.drive(-0.4, 0, 0);
+    basePilotable.drive(-0.4, 0);
    }
    else
    {
-     basePilotable.drive(0, 0, 0); 
+     basePilotable.drive(0, 0); 
    }
 }
 
diff --git a/src/main/java/frc/robot/commands/Reculer.java b/src/main/java/frc/robot/commands/Reculer.java
index ce9aecf..6485bd0 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, 0);
+    basePilotable.drive(0.2, 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 4ed9d06..272c321 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){
+  public void drive(double xSpeed, double zRotation){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){