RobotContainer.h

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#pragma once
 
#include <frc/Compressor.h>
#include <frc2/command/Command.h>
 
#include <memory>
 
#include "Constants.h"
#include "argos_lib/config/config_types.h"
#include "argos_lib/general/interpolation.h"
#include "argos_lib/general/nt_subscriber.h"
#include "argos_lib/subsystems/swappable_controllers_subsystem.h"
#include "commands/autonomous/autonomous_center_1ball.h"
#include "commands/autonomous/autonomous_center_1ball_delay.h"
#include "commands/autonomous/autonomous_center_left_2ball.h"
#include "commands/autonomous/autonomous_center_left_2ball_defense.h"
#include "commands/autonomous/autonomous_center_left_2ball_delay.h"
#include "commands/autonomous/autonomous_center_right_2ball.h"
#include "commands/autonomous/autonomous_center_right_2ball_delay.h"
#include "commands/autonomous/autonomous_nothing.h"
#include "commands/autonomous/autonomous_right_2ball.h"
#include "commands/autonomous/autonomous_right_2ball_delay.h"
#include "commands/autonomous/autonomous_right_5ball.h"
#include "commands/autonomous/autonomous_right_5ballDef.h"
#include "commands/autonomous/autonomous_right_5ball_gap.h"
#include "commands/climb_command.h"
#include "commands/home_climber_arm_command.h"
#include "commands/home_climber_hook_command.h"
#include "commands/home_hood_command.h"
#include "subsystems/climber_subsystem.h"
#include "subsystems/intake_subsystem.h"
#include "subsystems/shooter_subsystem.h"
#include "subsystems/swerve_drive_subsystem.h"
#include "utils/auto_selector.h"
#include "utils/network_tables_wrapper.h"
#include "utils/sensor_conversions.h"
 
class RobotContainer {
 public:
  RobotContainer();
 
  frc2::Command* GetAutonomousCommand();
 
  void Disable();
 
 private:
  std::shared_ptr<NetworkTablesWrapper> m_pNetworkTable;
 
  // The robot's subsystems and commands are defined here...
  // Interpolation of controller inputs. Used for making the inputs non-linear, allowing finer control of how the robot responds to the joystick.
  argos_lib::InterpolationMap<decltype(controllerMap::driveSpeed.front().inVal), controllerMap::driveSpeed.size()>
      m_driveSpeedMap;
  argos_lib::InterpolationMap<decltype(controllerMap::driveRotSpeed.front().inVal), controllerMap::driveRotSpeed.size()>
      m_driveRotSpeed;
 
  argos_lib::InterpolationMap<decltype(controllerMap::hookSpeed.front().inVal), controllerMap::hookSpeed.size()>
      m_hookSpeedMap;
  argos_lib::InterpolationMap<decltype(controllerMap::armSpeed.front().inVal), controllerMap::armSpeed.size()>
      m_armSpeedMap;
 
  argos_lib::InterpolationMap<decltype(controllerMap::turretSpeed.front().inVal), controllerMap::turretSpeed.size()>
      m_turretSpeedMap;
  argos_lib::InterpolationMap<decltype(controllerMap::hoodSpeed.front().inVal), controllerMap::hoodSpeed.size()>
      m_hoodSpeedMap;
 
  const argos_lib::RobotInstance m_instance;
 
  frc::Compressor m_compressor;
 
  argos_lib::SwappableControllersSubsystem m_controllers;
  SwerveDriveSubsystem m_swerveDrive;
  IntakeSubsystem m_intake;
  std::unique_ptr<ClimberSubsystem> m_pClimber;
  ShooterSubsystem m_shooter;
 
  HomeHoodCommand m_homeHoodCommand;
  HomeClimberArmCommand m_homeClimberArmCommand;
  HomeClimberHookCommand m_homeClimberHookCommand;
  ClimbCommand m_climbCommand;
 
  // Tuning stuff
  units::degree_t m_hoodTargetPosition;
  units::revolutions_per_minute_t m_shooterTargetVelocity;
  units::inch_t m_climberArmTargetExtension;
  units::inches_per_second_t m_climberArmCruiseVelocity;
  units::inches_per_second_squared_t m_climberArmAccel;
  units::inch_t m_climberHookTargetExtension;
  units::inches_per_second_t m_climberHookCruiseVelocity;
  units::inches_per_second_squared_t m_climberHookAccel;
  units::degree_t m_turretTargetPosition;
  units::inch_t m_targetShotDistance;
  argos_lib::NTSubscriber m_NTMonitor;
 
  // Drive profile tuning
  double m_driveFollowerLinearkP;
  double m_driveFollowerLinearkI;
  double m_driveFollowerLinearkD;
  double m_driveFollowerRotationalkP;
  double m_driveFollowerRotationalkI;
  double m_driveFollowerRotationalkD;
  units::degrees_per_second_t m_driveFollowerRotationalVelocity;
  units::degrees_per_second_squared_t m_driveFollowerRotationalAcceleration;
 
  units::inch_t m_driveProfileDistX;
  units::inch_t m_driveProfileDistY;
  units::degree_t m_driveProfileRot;
  units::feet_per_second_t m_driveProfileMaxLinearVel;
  units::feet_per_second_squared_t m_driveProfileMaxLinearAccel;
  units::degrees_per_second_t m_driveProfileMaxRotationalVel;
  units::degrees_per_second_squared_t m_driveProfileMaxRotationalAccel;
 
  // Autonomous Commands
  AutonomousCenter1ball m_autoCenter1ball;
  AutonomousCenter1ballDelay m_autoCenter1ballDelay;
  AutonomousCenterLeft2ball m_autoCenterLeft2Ball;
  AutonomousCenterLeft2ballDefense m_autoCenterLeft2BallDefense;
  AutonomousCenterLeft2ballDelay m_autoCenterLeft2BallDelay;
  AutonomousCenterRight2ball m_autoCenterRight2Ball;
  AutonomousCenterRight2ballDelay m_autoCenterRight2BallDelay;
  AutonomousRight2ball m_autoRight2Ball;
  AutonomousRight2ballDelay m_autoRight2BallDelay;
  AutonomousRight5ball m_autoRight5Ball;
  AutonomousRight5ballDef m_autoRight5BallDef;
  AutonomousRight5ballGap m_autoRight5BallGap;
  AutonomousNothing m_autoNothing;
 
  // Autonomous Selector
  AutoSelector m_autoRoutineSelector;
 
  void ConfigureButtonBindings();
};