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

@@ -19,6 +19,7 @@ import frc.robot.subsystems.Pistonshaker;
 // commands
 import frc.robot.commands.Activer_poussoir;
 import frc.robot.commands.ActiverBlockeur;
+import frc.robot.commands.Activer_poussoir;
 import frc.robot.commands.Activershaker;
 import frc.robot.commands.DesactiverBlockeur;
 
@@ -66,13 +67,13 @@ public class RobotContainer {
     JoystickButton buttonA = new JoystickButton(manette, XboxController.Button.kA.value);
     buttonA.whileHeld(Activer_poussoir);
     JoystickButton rightbumper = new JoystickButton(manette, XboxController.Button.kLeftBumper.value);
-    rightbumper.whileHeld(Pistonshaker);
+    rightbumper.whileHeld(Activershaker);
     JoystickButton buttonY = new JoystickButton(manette, XboxController.Button.kY.value);
-    buttonY.whenPressed(DesactiverBlockeur, ActiverBlockeur);
+    buttonY.whenPressed(DesactiverBlockeur);
 
   }
 
-  /**
+  /** 
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
    * @return the command to run in autonomous

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

@@ -9,15 +9,22 @@ import frc.robot.subsystems.Poussoir;
 import frc.robot.subsystems.Pistonshaker;
 
 public class BoutonA extends CommandBase {
+  private Poussoir poussoir; 
+  private Pistonshaker pistonshaker;
   /** Creates a new boutonA. */
-  public BoutonA() {
-    
+  public BoutonA(Poussoir poussoir, Pistonshaker pistonshaker) {
+    this.poussoir = poussoir;
+    this.pistonshaker = pistonshaker;
+    addRequirements(poussoir, pistonshaker);
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {}
+  public void initialize() {
+    poussoir.pousser();
+    pistonshaker.rentrerpiston();
+  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
@@ -25,9 +32,11 @@ public class BoutonA extends CommandBase {
 
   // Called once the command ends or is interrupted.
   @Override
-  public void end(boolean interrupted) {}
+  public void end(boolean interrupted) {
+  poussoir.tirer();
+  pistonshaker.sortirpiston();
 
-  // Returns true when the command should end.
+  }
   @Override
   public boolean isFinished() {
     return false;