home_climber_hook_command.h

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#pragma once
 
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
 
#include <chrono>
 
#include "argos_lib/general/debouncer.h"
#include "subsystems/climber_subsystem.h"
 
class HomeClimberHookCommand : public frc2::CommandHelper<frc2::CommandBase, HomeClimberHookCommand> {
 public:
  explicit HomeClimberHookCommand(ClimberSubsystem* subsystem);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  ClimberSubsystem* m_pClimberSubsystem;
  argos_lib::Debouncer m_hookMovingDebounce;
  std::chrono::time_point<std::chrono::steady_clock> m_startTime;
};