diff --git a/src/main/java/frc/robot/Pixy.java b/src/main/java/frc/robot/Pixy.java
deleted file mode 100644
index 94c01b5..0000000
--- a/src/main/java/frc/robot/Pixy.java
+++ /dev/null
@@ -1,73 +0,0 @@
-package frc.robot;
-
-
-import edu.wpi.first.wpilibj.SerialPort;
-import edu.wpi.first.wpilibj.SerialPort.Port;
-//Warning: if the pixy is plugged in through mini usb, this code WILL NOT WORK b/c the pixy is smart and detects where it should send data
-public class Pixy {
-	SerialPort pixy;
-	Port port = Port.kMXP;
-	PixyPacket[] packets;
-	PixyException pExc;
-	String print;
-
-	public Pixy() {
-		pixy = new SerialPort(19200, port);
-		pixy.setReadBufferSize(14);
-		packets = new PixyPacket[7];
-		pExc = new PixyException(print);
-	}
-	//This method parses raw data from the pixy into readable integers
-	public int cvt(byte upper, byte lower) {
-		return (((int)upper & 0xff) << 8) | ((int)lower & 0xff);
-	}
-	public void pixyReset(){
-		pixy.reset();
-	}
-	//This method gathers data, then parses that data, and assigns the ints to global variables
-	public PixyPacket readPacket(int Signature) throws PixyException {
-		int Checksum;
-		int Sig;
-		byte[] rawData = new byte[32];
-		try{
-			rawData = pixy.read(32);
-		} catch (RuntimeException e){
-			
-		}
-		if(rawData.length < 32){
-			return null;
-		}
-		for (int i = 0; i <= 16; i++) {
-			int syncWord = cvt(rawData[i+1], rawData[i+0]); //Parse first 2 bytes
-			if (syncWord == 0xaa55) {   //Check is first 2 bytes equal a "sync word", which indicates the start of a packet of valid data
-				syncWord = cvt(rawData[i+3], rawData[i+2]); //Parse the next 2 bytes
-				
-				if (syncWord != 0xaa55){ //Shifts everything in the case that one syncword is sent
-					i -= 2;              
-				}
-				//This next block parses the rest of the data
-					Checksum = cvt(rawData[i+5], rawData[i+4]);					
-					Sig = cvt(rawData[i+7], rawData[i+6]);
-					if(Sig <= 0 || Sig > packets.length){
-						break;
-					}
-					packets[Sig - 1] = new PixyPacket();
-					packets[Sig - 1].X = cvt(rawData[i+9], rawData[i+8]);
-					packets[Sig - 1].Y = cvt(rawData[i+11], rawData[i+10]);
-					packets[Sig - 1].Width = cvt(rawData[i+13], rawData[i+12]);
-					packets[Sig - 1].Height = cvt(rawData[i+15], rawData[i+14]);
-					//Checks whether the data is valid using the checksum *This if block should never be entered*
-					if (Checksum != Sig + packets[Sig - 1].X + packets[Sig - 1].Y + packets[Sig - 1].Width + packets[Sig - 1].Height) {
-						packets[Sig - 1] = null;
-						throw pExc;
-					}
-					break;
-			}
-		}
-		//Assigns our packet to a temp packet, then deletes data so that we dont return old data
-		
-		PixyPacket pkt = packets[Signature - 1];
-		packets[Signature - 1] = null;
-		return pkt;
-	}
-} 
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6df4895..9368be5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -37,6 +37,7 @@ import frc.robot.subsystem.Grimpeur;
 import frc.robot.subsystem.Guideur;
 import frc.robot.subsystem.LED;
 import frc.robot.subsystem.Lanceur;
+import frc.robot.subsystem.Pixy;
 
 
 public class RobotContainer {
@@ -59,6 +60,7 @@ public class RobotContainer {
   GrimpeurGauche grimpeurGauche = new GrimpeurGauche(grimpeur, manette::getLeftY);
   LED LED = new LED();
   AllumeLED allumeLED = new AllumeLED(LED);
+  Pixy pixy = new Pixy();
   public RobotContainer() {
     NamedCommands.registerCommand("balayer",new Balayer(balayeuse, accumulateur));
     NamedCommands.registerCommand("lancer", new LancerNote(lanceur, accumulateur));
diff --git a/src/main/java/frc/robot/subsystem/Pixy.java b/src/main/java/frc/robot/subsystem/Pixy.java
index 468a421..8cd59b9 100644
--- a/src/main/java/frc/robot/subsystem/Pixy.java
+++ b/src/main/java/frc/robot/subsystem/Pixy.java
@@ -1,17 +1,75 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
 package frc.robot.subsystem;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
+import frc.robot.PixyException;
+import frc.robot.PixyPacket;
+import edu.wpi.first.wpilibj.SerialPort;
+import edu.wpi.first.wpilibj.SerialPort.Port;
+//Warning: if the pixy is plugged in through mini usb, this code WILL NOT WORK b/c the pixy is smart and detects where it should send data
 public class Pixy extends SubsystemBase {
-  /** Creates a new Pixy. */
-  public Pixy() {}
+	SerialPort pixy;
+	Port port = Port.kMXP;
+	PixyPacket[] packets;
+	PixyException pExc;
+	String print;
 
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-}
+	public Pixy() {
+		pixy = new SerialPort(19200, port);
+		pixy.setReadBufferSize(14);
+		packets = new PixyPacket[7];
+		pExc = new PixyException(print);
+	}
+	//This method parses raw data from the pixy into readable integers
+	public int cvt(byte upper, byte lower) {
+		return (((int)upper & 0xff) << 8) | ((int)lower & 0xff);
+	}
+	public void pixyReset(){
+		pixy.reset();
+	}
+	//This method gathers data, then parses that data, and assigns the ints to global variables
+	public PixyPacket readPacket(int Signature) throws PixyException {
+		int Checksum;
+		int Sig;
+		byte[] rawData = new byte[32];
+		try{
+			rawData = pixy.read(32);
+		} catch (RuntimeException e){
+			
+		}
+		if(rawData.length < 32){
+			return null;
+		}
+		for (int i = 0; i <= 16; i++) {
+			int syncWord = cvt(rawData[i+1], rawData[i+0]); //Parse first 2 bytes
+			if (syncWord == 0xaa55) {   //Check is first 2 bytes equal a "sync word", which indicates the start of a packet of valid data
+				syncWord = cvt(rawData[i+3], rawData[i+2]); //Parse the next 2 bytes
+				
+				if (syncWord != 0xaa55){ //Shifts everything in the case that one syncword is sent
+					i -= 2;              
+				}
+				//This next block parses the rest of the data
+					Checksum = cvt(rawData[i+5], rawData[i+4]);					
+					Sig = cvt(rawData[i+7], rawData[i+6]);
+					if(Sig <= 0 || Sig > packets.length){
+						break;
+					}
+					packets[Sig - 1] = new PixyPacket();
+					packets[Sig - 1].X = cvt(rawData[i+9], rawData[i+8]);
+					packets[Sig - 1].Y = cvt(rawData[i+11], rawData[i+10]);
+					packets[Sig - 1].Width = cvt(rawData[i+13], rawData[i+12]);
+					packets[Sig - 1].Height = cvt(rawData[i+15], rawData[i+14]);
+					//Checks whether the data is valid using the checksum *This if block should never be entered*
+					if (Checksum != Sig + packets[Sig - 1].X + packets[Sig - 1].Y + packets[Sig - 1].Width + packets[Sig - 1].Height) {
+						packets[Sig - 1] = null;
+						throw pExc;
+					}
+					break;
+			}
+		}
+		//Assigns our packet to a temp packet, then deletes data so that we dont return old data
+		
+		PixyPacket pkt = packets[Signature - 1];
+		packets[Signature - 1] = null;
+		return pkt;
+	}
+} 
\ No newline at end of file