diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index cf31264..ca8a00f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -46,6 +46,7 @@ public class Constants {
     public static int guideurhaut = 23;
     public static int guideurbas = 24;
     public static int limitacc = 25;
+    public static int limitacc2 = 76;
     public static int limithaut = 28;
     public static int limitbas = 29;
   
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index de2c9d0..b22c47b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -4,12 +4,45 @@
 
 package frc.robot;
 
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+
+// Manette
+import edu.wpi.first.wpilibj2.command.button.CommandJoystick;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+
+// Subsystem
+import frc.robot.subsystem.Accumulateur;
+import frc.robot.subsystem.Balayeuse;
+import frc.robot.subsystem.Drive;
+import frc.robot.subsystem.Grimpeur;
+import frc.robot.subsystem.Guideur;
+import frc.robot.subsystem.Lanceur;
+
 
 public class RobotContainer {
+  
+  Drive drive = new Drive();
+  Accumulateur accumulateur = new Accumulateur();
+  Balayeuse balayeuse = new Balayeuse();
+  Grimpeur grimpeur = new Grimpeur();
+  Guideur guideur = new Guideur();
+  Lanceur lanceur = new Lanceur();
+
+   CommandJoystick joystick = new CommandJoystick(0);
+   CommandXboxController manette = new CommandXboxController(1);
+  
   public RobotContainer() {
+
+    CameraServer.startAutomaticCapture();
+
     configureBindings();
+     drive.setDefaultCommand(new RunCommand(()->{
+     drive.drive(-MathUtil.applyDeadband(joystick.getY(),0.2), MathUtil.applyDeadband(-joystick.getX(),0.2), MathUtil.applyDeadband(-joystick.getZ(), 0.2));
+    },drive));
   }
 
   private void configureBindings() {}
diff --git a/src/main/java/frc/robot/subsystem/Accumulateur.java b/src/main/java/frc/robot/subsystem/Accumulateur.java
index 622df2e..04b7821 100644
--- a/src/main/java/frc/robot/subsystem/Accumulateur.java
+++ b/src/main/java/frc/robot/subsystem/Accumulateur.java
@@ -16,10 +16,12 @@ public class Accumulateur extends SubsystemBase {
 
   final WPI_TalonSRX Moteuracc2 = new WPI_TalonSRX(Constants.Moteuracc2);
   final WPI_TalonSRX Moteuracc = new WPI_TalonSRX(Constants.Moteuracc);
-  final DigitalInput limitacc = new DigitalInput(0);
+  final DigitalInput limitacc = new DigitalInput(Constants.limitacc); 
+  final DigitalInput limitacc2 = new DigitalInput(Constants.limitacc2); 
   public void Deaccumuler(double vitesse){Moteuracc2.set(vitesse);}
   public void moteuraccfollow(){Moteuracc.follow(Moteuracc2); Moteuracc.setInverted(true);}
-
+  public boolean limitswitch1(){return limitacc.get();}
+  public boolean limitswitch2(){return limitacc2.get();}
   @Override
   public void periodic() {
     // This method will be called once per scheduler run