RobotContainer.h

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#pragma once
 
#include <argos_lib/config/config_types.h>
#include <argos_lib/general/generic_debouncer.h>
#include <argos_lib/subsystems/swappable_controllers_subsystem.h>
#include <commands/bashguard_homing_command.h>
#include <commands/drive_to_position.h>
#include <commands/home_arm_extension_command.h>
#include <commands/score_cone_command.h>
#include <frc/filter/SlewRateLimiter.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/button/CommandXboxController.h>
 
#include "Constants.h"
#include "commands/autonomous/autonomous_balance.h"
#include "commands/autonomous/autonomous_cable_protector_2gp.h"
#include "commands/autonomous/autonomous_cable_protector_3gp_oui_oui.h"
#include "commands/autonomous/autonomous_cable_protector_place_exit.h"
#include "commands/autonomous/autonomous_cable_protector_slam_grab_balance.h"
#include "commands/autonomous/autonomous_drive_forward.h"
#include "commands/autonomous/autonomous_drive_tuning.h"
#include "commands/autonomous/autonomous_loading_station_2_cone.h"
#include "commands/autonomous/autonomous_loading_station_3gp.h"
#include "commands/autonomous/autonomous_loading_station_3gp_tune.h"
#include "commands/autonomous/autonomous_loading_station_cone_cube_score.h"
#include "commands/autonomous/autonomous_nothing.h"
#include "commands/autonomous/autonomous_only_balance.h"
#include "commands/autonomous/autonomous_place_exit.h"
#include "commands/autonomous/autonomous_score_cone_pickup_balance.h"
#include "controls/operator_control_box.h"
#include "subsystems/bash_guard_subsystem.h"
#include "subsystems/intake_subsystem.h"
#include "subsystems/lifter_subsystem.h"
#include "subsystems/oui_oui_placer_subsystem.h"
#include "subsystems/simple_led_subsystem.h"
#include "subsystems/swerve_drive_subsystem.h"
#include "subsystems/vision_subsystem.h"
#include "utils/auto_selector.h"
 
class RobotContainer {
 public:
  RobotContainer();
 
  frc2::Command* GetAutonomousCommand();
 
  void Disable();
 
  void Enable();
 
  void AllianceChanged();
 
  void SetLedsConnectedBrightness(bool connected);
 
 private:
  // Interpolation of controller inputs. Used for making the inputs non-linear, allowing finer control of how the robot responds to the joystick.
  argos_lib::InterpolationMap<decltype(controllerMap::driveSpeed.front().inVal), controllerMap::driveSpeed.size()>
      m_driveSpeedMap;
  argos_lib::InterpolationMap<decltype(controllerMap::driveRotSpeed.front().inVal), controllerMap::driveRotSpeed.size()>
      m_driveRotSpeed;
  argos_lib::InterpolationMap<decltype(controllerMap::shoulderSpeed.front().inVal), controllerMap::shoulderSpeed.size()>
      m_shoulderSpeed;
  argos_lib::InterpolationMap<decltype(controllerMap::armExtensionSpeed.front().inVal),
                              controllerMap::armExtensionSpeed.size()>
      m_armExtenderSpeed;
  argos_lib::InterpolationMap<decltype(controllerMap::wristSpeed.front().inVal), controllerMap::wristSpeed.size()>
      m_wristSpeed;
  argos_lib::InterpolationMap<decltype(controllerMap::bashSpeed.front().inVal), controllerMap::bashSpeed.size()>
      m_bashSpeed;
  argos_lib::InterpolationMap<decltype(controllerMap::ouiOuiSpeed.front().inVal), controllerMap::ouiOuiSpeed.size()>
      m_ouiOuiSpeed;
 
  const argos_lib::RobotInstance m_instance;
 
  // The robot's subsystems are defined here...
  argos_lib::SwappableControllersSubsystem m_controllers;
  OperatorControlBox m_buttonBox;
  SwerveDriveSubsystem m_swerveDrive;
  LifterSubsystem m_lifter;
  IntakeSubsystem m_intake;
  BashGuardSubsystem m_bash;
  SimpleLedSubsystem m_ledSubSystem;
  VisionSubsystem m_visionSubSystem;
  OuiOuiPlacerSubsystem m_ouiOuiPlacerSubsystem;
  HomeArmExtensionCommand m_homeArmExtensionCommand;
  ScoreConeCommand m_scoreConeCommand;
 
  // Autonomous
  AutonomousNothing m_autoNothing;
  AutonomousDriveForward m_autoDriveForward;
  AutonomousDriveTuning m_autoDriveTuning;
  AutonomousBalance m_autoBalance;
  AutonomousOnlyBalance m_autoOnlyBalance;
  AutonomousLoadingStation2Cone m_autoLoadingStation2Cone;
  AutonomousLoadingStationConeCubeScore m_autoConeCubeScore;
  AutonomousLoadingStation3GP m_auto3gp;
  AutonomousLoadingStation3GPTune m_auto3gp_tune;
  AutonomousPlaceExit m_autoPlaceExit;
  AutonomousCableProtector2Gp m_autoCableProtector2Gp;
  AutonomousCableProtector3GPOuiOui m_autoCableProtector3GpOuiOui;
  AutonomousCableProtectorPlaceExit m_autoCablePlaceExit;
  AutonomousScoreConePickupBalance m_autoScorePickupBalanceCone;
  AutoCableProtectSlamGrabBalance m_autoCableProtectorSlamGrabBalance;
 
  AutoSelector m_autoSelector;
 
  void ConfigureBindings();
 
  /* —————————————————— PID TESTING SETPOINT NT OBJECTS —————————————————— */
 
  nt::GenericEntry* p_wristSetpoint;
  frc::SlewRateLimiter<units::scalar> m_lateralNudgeRate;
  frc::SlewRateLimiter<units::scalar> m_rotationalNudgeRate;
  frc::SlewRateLimiter<units::scalar> m_distanceNudgeRate;
  argos_lib::GenericDebouncer<AlignLedStatus> m_alignLedDebouncer;
};