allwpilib/wpilibcExamples/src/main/cpp/templates/commandv2/include/subsystems/ExampleSubsystem.hpp

// 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.

#pragma once

#include "wpi/commands2/CommandPtr.hpp"
#include "wpi/commands2/SubsystemBase.hpp"

class ExampleSubsystem : public wpi::cmd::SubsystemBase {
 public:
  ExampleSubsystem();

  /**
   * Example command factory method.
   */
  wpi::cmd::CommandPtr ExampleMethodCommand();

  /**
   * An example method querying a boolean state of the subsystem (for example, a
   * digital sensor).
   *
   * @return value of some boolean subsystem state, such as a digital sensor.
   */
  bool ExampleCondition();

  /**
   * Will be called periodically whenever the CommandScheduler runs.
   */
  void Periodic() override;

  /**
   * Will be called periodically whenever the CommandScheduler runs during
   * simulation.
   */
  void SimulationPeriodic() override;

 private:
  // Components (e.g. motor controllers and sensors) should generally be
  // declared private and exposed only through public methods.
};