climb_command.h

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#pragma once
 
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
 
#include <queue>
#include <vector>
 
#include "subsystems/climber_subsystem.h"
 
class ClimbCommand : public frc2::CommandHelper<frc2::CommandBase, ClimbCommand> {
 public:
  ClimbCommand(ClimberSubsystem* subsystem, std::vector<ClimberPoint> points);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  ClimberSubsystem* m_pClimberSubsystem;
  std::vector<ClimberPoint> m_initPoints;
  std::queue<ClimberPoint> m_climbPoints;
};