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20dbae0cee
Refactor some examples to use newer features, such as HID factories, library-provided command factories, CommandPtr (C++), as well as new idioms such as static/instance command factories.
73 lines
2.6 KiB
C++
73 lines
2.6 KiB
C++
// 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 <frc2/command/Command.h>
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#include <frc2/command/CommandPtr.h>
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#include <frc2/command/Commands.h>
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#include <frc2/command/button/CommandXboxController.h>
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#include "Constants.h"
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#include "subsystems/DriveSubsystem.h"
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#include "subsystems/ShooterSubsystem.h"
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namespace ac = AutoConstants;
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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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public:
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RobotContainer();
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// The chooser for the autonomous routines
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frc2::Command* GetAutonomousCommand();
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private:
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// The driver's controller
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frc2::CommandXboxController m_driverController{
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OIConstants::kDriverControllerPort};
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// The robot's subsystems
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DriveSubsystem m_drive;
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ShooterSubsystem m_shooter;
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// RobotContainer-owned commands
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// (These variables will still be valid after binding, because we don't move
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// ownership)
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frc2::CommandPtr m_spinUpShooter =
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frc2::cmd::RunOnce([this] { m_shooter.Enable(); }, {&m_shooter});
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frc2::CommandPtr m_stopShooter =
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frc2::cmd::RunOnce([this] { m_shooter.Disable(); }, {&m_shooter});
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// An autonomous routine that shoots the loaded frisbees
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frc2::CommandPtr m_autonomousCommand =
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frc2::cmd::Sequence(
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// Start the command by spinning up the shooter...
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frc2::cmd::RunOnce([this] { m_shooter.Enable(); }, {&m_shooter}),
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// Wait until the shooter is at speed before feeding the frisbees
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frc2::cmd::WaitUntil([this] { return m_shooter.AtSetpoint(); }),
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// Start running the feeder
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frc2::cmd::RunOnce([this] { m_shooter.RunFeeder(); }, {&m_shooter}),
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// Shoot for the specified time
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frc2::cmd::Wait(ac::kAutoShootTimeSeconds))
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// Add a timeout (will end the command if, for instance, the shooter
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// never gets up to speed)
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.WithTimeout(ac::kAutoTimeoutSeconds)
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// When the command ends, turn off the shooter and the feeder
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.AndThen(frc2::cmd::RunOnce([this] {
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m_shooter.Disable();
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m_shooter.StopFeeder();
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}));
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void ConfigureButtonBindings();
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};
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