nb

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

@@ -23,6 +23,7 @@ import frc.robot.commands.Force5;
 import frc.robot.commands.Force6;
 import frc.robot.commands.Force7;
 import frc.robot.commands.Reculer;
+import frc.robot.commands.accumulateurtest;
 import frc.robot.subsystems.Accumulateur;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Lanceur;
@@ -64,6 +65,7 @@ public class RobotContainer {
   Force5 Force5 = new Force5(lanceur, null, accumulateur);
   Force6 Force6 = new Force6(lanceur, null, accumulateur);
   Force7 Force7 = new Force7(lanceur, null, accumulateur);
+  accumulateurtest accumulateurtest = new accumulateurtest(accumulateur);
     joystick1.button(7).onTrue(Force1);
     joystick1.button(8).onTrue(Force2);
     joystick1.button(9).onTrue(Force3);
@@ -71,7 +73,7 @@ public class RobotContainer {
     joystick1.button(11).onTrue(Force5); 
     joystick1.button(12).onTrue(Force6);
     joystick1.button(3).onTrue(Force7);
-
+    joystick1.button(5).toggleOnTrue(accumulateurtest);
     
   }
  

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

@@ -0,0 +1,38 @@
+// 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;
+import frc.robot.subsystems.Accumulateur;
+
+public class accumulateurtest extends CommandBase {
+  private Accumulateur accumulateur;
+  /** Creates a new accumulateurtest. */
+  public accumulateurtest(Accumulateur accumulateur) {
+    this.accumulateur = accumulateur;
+    addRequirements(accumulateur);
+    // 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() {
+    accumulateur.reaccumuler();
+  }
+
+  // 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;
+  }
+}