shoot_command.h

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#pragma once
 
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include <units/time.h>
 
#include <chrono>
 
#include "subsystems/intake_subsystem.h"
 
class ShootCommand : public frc2::CommandHelper<frc2::CommandBase, ShootCommand> {
 public:
  explicit ShootCommand(IntakeSubsystem* subsystem);
  ShootCommand(IntakeSubsystem* subsystem, uint numCargo, units::millisecond_t timeout);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  IntakeSubsystem* m_pIntake;
  bool m_previousBallPresent;
  uint m_totalCargo;  
  uint m_cargoShot;   
 
  std::chrono::time_point<std::chrono::steady_clock> m_startTime;  
  units::millisecond_t m_timeout;                                  
};