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https://github.com/wpilibsuite/allwpilib
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64 lines
2.2 KiB
C
64 lines
2.2 KiB
C
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <frc/Joystick.h>
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#include <frc/smartdashboard/SendableChooser.h>
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#include <frc/xrp/XRPOnBoardIO.h>
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#include <frc2/command/Command.h>
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#include <frc2/command/CommandPtr.h>
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#include <frc2/command/button/Trigger.h>
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#include "Constants.h"
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#include "commands/AutonomousDistance.h"
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#include "commands/AutonomousTime.h"
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#include "subsystems/Arm.h"
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#include "subsystems/Drivetrain.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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// NOTE: The I/O pin functionality of the 5 exposed I/O pins depends on the
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// hardware "overlay"
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// that is specified when launching the wpilib-ws server on the Romi raspberry
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// pi. By default, the following are available (listed in order from inside of
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// the board to outside):
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// - DIO 8 (mapped to Arduino pin 11, closest to the inside of the board)
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// - Analog In 0 (mapped to Analog Channel 6 / Arduino Pin 4)
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// - Analog In 1 (mapped to Analog Channel 2 / Arduino Pin 20)
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// - PWM 2 (mapped to Arduino Pin 21)
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// - PWM 3 (mapped to Arduino Pin 22)
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//
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// Your subsystem configuration should take the overlays into account
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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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// Assumes a gamepad plugged into channel 0
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frc::Joystick m_controller{0};
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frc::SendableChooser<frc2::Command*> m_chooser;
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// The robot's subsystems
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Drivetrain m_drive;
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Arm m_arm;
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frc::XRPOnBoardIO m_onboardIO;
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// Example button
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frc2::Trigger m_userButton{
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[this] { return m_onboardIO.GetUserButtonPressed(); }};
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// Autonomous commands.
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AutonomousDistance m_autoDistance{&m_drive};
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AutonomousTime m_autoTime{&m_drive};
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void ConfigureButtonBindings();
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};
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