autonomous_balance.h

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#pragma once
 
#include <commands/autonomous/autonomous_command.h>
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include <subsystems/bash_guard_subsystem.h>
#include <subsystems/intake_subsystem.h>
#include <subsystems/lifter_subsystem.h>
#include <subsystems/simple_led_subsystem.h>
#include <subsystems/swerve_drive_subsystem.h>
 
#include <string>
 
class AutonomousBalance
    : public frc2::CommandHelper<frc2::CommandBase, AutonomousBalance>
    , public AutonomousCommand {
 public:
  AutonomousBalance(SwerveDriveSubsystem& drive,
                    BashGuardSubsystem& bash,
                    LifterSubsystem& lifter,
                    SimpleLedSubsystem& leds,
                    IntakeSubsystem& intake);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
  std::string GetName() const final;
  frc2::Command* GetCommand() final;
 
 private:
  SwerveDriveSubsystem& m_drive;
  BashGuardSubsystem& m_bashGuard;
  LifterSubsystem& m_lifter;
  SimpleLedSubsystem& m_leds;
  IntakeSubsystem& m_intake;
 
  frc2::CommandPtr m_allCommands;
};