D

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

@@ -8,7 +8,7 @@ import edu.wpi.first.math.estimator.KalmanFilter;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
-
+import edu.wpi.first.wpilibj.XboxController.Button;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -51,10 +51,12 @@ public class RobotContainer {
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
-
+    JoystickButton buttonA = new JoystickButton(manette, XboxController.Button.kA.value);
-    
+    buttonA.whileHeld(Poussoir);
-
+    JoystickButton rightbumper = new JoystickButton(manette, XboxController.Button.kLeftBumper.value);
-
+    rightbumper.whileHeld(Pistonshaker);
+    JoystickButton buttonY = new JoystickButton(manette, XboxController.Button.kY.value);
+    buttonY.whenPressed(DesactiverBlockeur, ActiverBlockeur);
 
   }
 

src/main/java/frc/robot/commands/BoutonY.java

@@ -0,0 +1,32 @@
+// 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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class boutonY extends CommandBase {
+  /** Creates a new boutonY. */
+  public boutonY() {
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}