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46 lines
1.5 KiB
C++
46 lines
1.5 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 <frc/XboxController.h>
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#include <frc/controller/PIDController.h>
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#include <frc/smartdashboard/SendableChooser.h>
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#include <frc2/command/CommandPtr.h>
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#include <frc2/command/InstantCommand.h>
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#include "Constants.h"
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#include "subsystems/DriveSubsystem.h"
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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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frc2::CommandPtr 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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// RobotContainer-owned commands
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frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(0.5); },
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{}};
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frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
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{}};
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void ConfigureButtonBindings();
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};
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