src/main/java/frc/robot/RobotContainer.java

@@ -84,11 +84,15 @@ public class RobotContainer {
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
     NamedCommands.registerCommand("piston", new PistonFerme(grimpeur));
     autoChooser = AutoBuilder.buildAutoChooser();
-    
+
+    //manette
+    manette.start().whileTrue(new RestGyro(drive));
     manette.a().whileTrue(new GuiderBas(guideur));
     manette.b().whileTrue(new GuiderHaut(guideur));
     manette.x().whileTrue(new PistonFerme(grimpeur));
     manette.y().whileTrue(new PistonOuvre(grimpeur));
+    
+    //joystick
     joystick.button(3).whileTrue(new Balayer(balayeuse, accumulateur));
     joystick.button(1).whileTrue(new LancerNote(lanceur, accumulateur));
     joystick.button(5).whileTrue(new LancerAmp(lanceur, accumulateur));
@@ -96,7 +100,7 @@ public class RobotContainer {
     joystick.button(2).whileTrue(new ParallelCommandGroup(new Lancerampli(lanceur,limelight),new Limelight_tracker(limelight,drive)));
     joystick.button(6).whileTrue(new LancerTrape(lanceur, accumulateur));
     joystick.button(7).whileTrue(new Limelight_tracker(limelight, drive));
-    manette.start().whileTrue(new RestGyro(drive));
+    
     // deplacement
     configureBindings();
       drive.setDefaultCommand(new RunCommand(()->{

src/main/java/frc/robot/command/RestGyro.java

@@ -18,13 +18,13 @@ public class RestGyro extends Command {
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    drive.restgyroscope();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {
-    drive.restgyroscope();
-  }
+  public void execute() {}
 
   // Called once the command ends or is interrupted.
   @Override