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wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.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 <frc2/command/Command.h>
+#include <frc2/command/CommandHelper.h>
+
+#include "subsystems/HatchSubsystem.h"
+
+/**
+ * A simple command that releases a hatch with the HatchSubsystem.  Written
+ * explicitly for pedagogical purposes.  Actual code should inline a command
+ * this simple with InstantCommand.
+ *
+ * @see InstantCommand
+ */
+class ReleaseHatch : public frc2::CommandHelper<frc2::Command, ReleaseHatch> {
+ public:
+  explicit ReleaseHatch(HatchSubsystem* subsystem);
+
+  void Initialize() override;
+
+  bool IsFinished() override;
+
+ private:
+  HatchSubsystem* m_hatch;
+};