src/main/java/frc/robot/command/Pistongrimpeur.java

@@ -0,0 +1,49 @@
+// 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.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystem.Grimpeur;
+import frc.robot.subsystem.LED;
+
+public class Pistongrimpeur extends Command {
+  private LED LED;
+  private Grimpeur grimpeur;
+  /** Creates a new Pistongrimpeur. */
+  public Pistongrimpeur(Grimpeur grimpeur,LED LED) {
+    this.grimpeur = grimpeur;
+    this.LED = LED;
+    addRequirements(grimpeur,LED);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    grimpeur.pistonouvre();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    
+    if(grimpeur.pistonouvre()){
+      LED.couleur(0, 0, 255);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    LED.couleur(0, 0, 0);
+    grimpeur.pistonferme();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}