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55 lines
1.6 KiB
C++
55 lines
1.6 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/CommandPtr.h>
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#include <frc2/command/button/CommandXboxController.h>
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#include "Constants.h"
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#include "subsystems/Drive.h"
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#include "subsystems/Intake.h"
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#include "subsystems/Pneumatics.h"
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#include "subsystems/Shooter.h"
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#include "subsystems/Storage.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 RapidReactCommandBot {
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public:
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/**
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* Use this method to define bindings between conditions and commands. These
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* are useful for automating robot behaviors based on button and sensor input.
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*
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* <p>Should be called in the robot class constructor.
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*
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* <p>Event binding methods are available on the frc2::Trigger class.
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*/
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void ConfigureBindings();
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/**
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* Use this to define the command that runs during autonomous.
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*
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* <p>Scheduled during Robot::AutonomousInit().
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*/
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frc2::CommandPtr GetAutonomousCommand();
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private:
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// The robot's subsystems
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Drive m_drive;
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Intake m_intake;
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Shooter m_shooter;
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Storage m_storage;
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Pneumatics m_pneumatics;
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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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};
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