autonomous_cable_protector_slam_grab_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 <string>
 
#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"
 
class AutoCableProtectSlamGrabBalance
    : public frc2::CommandHelper<frc2::CommandBase, AutoCableProtectSlamGrabBalance>
    , public AutonomousCommand {
 public:
  AutoCableProtectSlamGrabBalance(SwerveDriveSubsystem& drive,
                                  SimpleLedSubsystem& leds,
                                  OuiOuiPlacerSubsystem& ouiOui,
                                  LifterSubsystem& lifter,
                                  BashGuardSubsystem& bash,
                                  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;
  SimpleLedSubsystem& m_leds;
  OuiOuiPlacerSubsystem& m_ouiOui;
  LifterSubsystem& m_lifter;
  BashGuardSubsystem& m_bash;
  IntakeSubsystem& m_intake;
 
  frc2::CommandPtr m_allCommands;
};