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wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/RobotContainer.hpp

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+// 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 <frc/XboxController.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
+
+#include "Constants.h"
+#include "commands/ComplexAuto.h"
+#include "commands/DefaultDrive.h"
+#include "commands/DriveDistance.h"
+#include "subsystems/DriveSubsystem.h"
+#include "subsystems/HatchSubsystem.h"
+
+/**
+ * This class is where the bulk of the robot should be declared.  Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls).  Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RobotContainer {
+ public:
+  RobotContainer();
+
+  frc2::Command* GetAutonomousCommand();
+
+ private:
+  // The robot's subsystems and commands are defined here...
+
+  // The robot's subsystems
+  DriveSubsystem m_drive;
+  HatchSubsystem m_hatch;
+
+  // The autonomous routines
+  DriveDistance m_simpleAuto{AutoConstants::kAutoDriveDistanceInches,
+                             AutoConstants::kAutoDriveSpeed, &m_drive};
+  ComplexAuto m_complexAuto{&m_drive, &m_hatch};
+
+  // The chooser for the autonomous routines
+  frc::SendableChooser<frc2::Command*> m_chooser;
+
+  // The driver's controller
+  frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+
+  void ConfigureButtonBindings();
+};