auto_vision_aim_command.h

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#pragma once
 
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
 
#include "argos_lib/general/debouncer.h"
#include "subsystems/shooter_subsystem.h"
 
class AutoVisionAimCommand : public frc2::CommandHelper<frc2::CommandBase, AutoVisionAimCommand> {
 public:
  explicit AutoVisionAimCommand(ShooterSubsystem* subsystem);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  ShooterSubsystem* m_pShooter;
  argos_lib::Debouncer m_threshDebounce;
 
  template <typename T>
  bool InThreshold(T value, T threshold);
 
  bool InAcceptableRanges(AimValues targets, AimValues real);
};