swappable_controllers_subsystem.h

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#pragma once
 
#include <frc2/command/SubsystemBase.h>
 
#include "argos_lib/controller/xbox_controller.h"
 
namespace argos_lib {
 
  class SwappableControllersSubsystem : public frc2::SubsystemBase {
   public:
    SwappableControllersSubsystem() = delete;
    SwappableControllersSubsystem(int driverControllerPort, int operatorControllerPort);
 
    void Swap();
 
    argos_lib::XboxController& DriverController();
    argos_lib::XboxController& OperatorController();
 
    void Periodic() override;
 
    void VibrateAll(argos_lib::VibrationModel newModel);
 
   private:
    argos_lib::XboxController m_driverController;    
    argos_lib::XboxController m_operatorController;  
    bool m_swapped;                                  
 
    void UpdateVibration();
  };
 
}  // namespace argos_lib