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https://github.com/wpilibsuite/allwpilib
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51 lines
2.1 KiB
C
51 lines
2.1 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <frc2/command/Command.h>
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#include <frc2/command/PrintCommand.h>
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#include <frc2/command/SelectCommand.h>
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/**
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* This class is where the bulk of the robot should be declared. Since
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* Command-based is a "declarative" paradigm, very little robot logic should
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* actually be handled in the {@link Robot} periodic methods (other than the
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* scheduler calls). Instead, the structure of the robot (including subsystems,
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* commands, and button mappings) should be declared here.
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*/
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class RobotContainer {
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public:
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RobotContainer();
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frc2::Command* GetAutonomousCommand();
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private:
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// The enum used as keys for selecting the command to run.
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enum CommandSelector { ONE, TWO, THREE };
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// An example selector method for the selectcommand. Returns the selector
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// that will select which command to run. Can base this choice on logical
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// conditions evaluated at runtime.
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CommandSelector Select() { return ONE; }
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// The robot's subsystems and commands are defined here...
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// An example selectcommand. Will select from the three commands based on the
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// value returned by the selector method at runtime. Note that selectcommand
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// takes a generic type, so the selector does not have to be an enum; it could
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// be any desired type (string, integer, boolean, double...)
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frc2::SelectCommand<CommandSelector> m_exampleSelectCommand{
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[this] { return Select(); },
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// Maps selector values to commands
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std::pair{ONE, frc2::PrintCommand{"Command one was selected!"}},
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std::pair{TWO, frc2::PrintCommand{"Command two was selected!"}},
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std::pair{THREE, frc2::PrintCommand{"Command three was selected!"}}};
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void ConfigureButtonBindings();
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};
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