/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <frc/Encoder.h>
#include <frc/PWMVictorSPX.h>
#include <frc/controller/SimpleMotorFeedforward.h>
#include <frc2/command/PIDSubsystem.h>
#include <units/units.h>

class ShooterSubsystem : public frc2::PIDSubsystem {
 public:
  ShooterSubsystem();

  void UseOutput(double output, double setpoint) override;

  double GetMeasurement() override;

  bool AtSetpoint();

  void RunFeeder();

  void StopFeeder();

 private:
  frc::PWMVictorSPX m_shooterMotor;
  frc::PWMVictorSPX m_feederMotor;
  frc::Encoder m_shooterEncoder;
  frc::SimpleMotorFeedforward<units::turns> m_shooterFeedforward;
};