diff --git a/bin/main/frc/robot/subsystems/BasePilotable.class b/bin/main/frc/robot/subsystems/BasePilotable.class
index 20fa95d..4fa115f 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 715aa36..a7c9738 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -55,8 +55,9 @@ public RobotContainer() {
     configureBindings();
 
     basePilotable.setDefaultCommand(brakeOuvre);
-    new RunCommand(basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette.getRightTriggerAxis()), basePilotable), null));
-  }
+    basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), -manette1.getLeftTriggerAxis()+manette1.getRightTriggerAxis(), basePilotable);
+}
+
 
   private void configureBindings() {}
 
diff --git a/src/main/java/frc/robot/subsystems/BasePilotable.java b/src/main/java/frc/robot/subsystems/BasePilotable.java
index 4ed9d06..2156046 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, double d, BasePilotable basePilotable){
     drive.arcadeDrive(xSpeed, zRotation);
   }
   public double distance(){