autonomous_center_left_2ball.h

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#pragma once
 
#include <commands/auto_position_aim_command.h>
#include <commands/auto_vision_aim_command.h>
#include <commands/delay_command.h>
#include <commands/drive_to_location.h>
#include <commands/home_hood_command.h>
#include <commands/initialize_odometry_command.h>
#include <commands/intake_command.h>
#include <commands/shoot_command.h>
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include <frc2/command/SequentialCommandGroup.h>
#include <subsystems/intake_subsystem.h>
#include <subsystems/shooter_subsystem.h>
#include <subsystems/swerve_drive_subsystem.h>
 
#include <string>
 
#include "autonomous_command.h"
 
class AutonomousCenterLeft2ball
    : public frc2::CommandHelper<frc2::CommandBase, AutonomousCenterLeft2ball>
    , public AutonomousCommand {
 public:
  AutonomousCenterLeft2ball(IntakeSubsystem* pIntake, ShooterSubsystem* pShooter, SwerveDriveSubsystem* pDrive);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
  std::string GetName() const final;
  frc2::Command* GetCommand() final;
 
 private:
  IntakeSubsystem* m_pIntake;
  ShooterSubsystem* m_pShooter;
  SwerveDriveSubsystem* m_pDrive;
 
  DelayCommand m_startDelay;
  DriveToLocation m_driveToBallC;
  HomeHoodCommand m_homeHoodCommand;
  IntakeCommand m_intakeCommand;
  ShootCommand m_shootCommand;
  AutoPositionAimCommand m_aimBallC;
  AutoVisionAimCommand m_visionAim;
  InitializeOdometryCommand m_initOdometry;
 
  frc2::SequentialCommandGroup m_allCommands;
};