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https://github.com/wpilibsuite/allwpilib
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60 lines
2.0 KiB
C++
60 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <frc/XboxController.h>
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#include <frc/smartdashboard/SendableChooser.h>
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#include <frc2/command/Command.h>
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#include <frc2/command/ConditionalCommand.h>
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#include <frc2/command/InstantCommand.h>
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#include <frc2/command/ParallelRaceGroup.h>
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#include <frc2/command/RunCommand.h>
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#include <frc2/command/SequentialCommandGroup.h>
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#include <frc2/command/WaitCommand.h>
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#include <frc2/command/WaitUntilCommand.h>
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#include "Constants.h"
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#include "subsystems/ArmSubsystem.h"
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#include "subsystems/DriveSubsystem.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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/**
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* Disables all ProfiledPIDSubsystem and PIDSubsystem instances.
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* This should be called on robot disable to prevent integral windup.
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*/
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void DisablePIDSubsystems();
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frc2::Command* GetAutonomousCommand();
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private:
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// The driver's controller
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frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
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// The robot's subsystems and commands are defined here...
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// The robot's subsystems
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DriveSubsystem m_drive;
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ArmSubsystem m_arm;
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// The chooser for the autonomous routines
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void ConfigureButtonBindings();
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};
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