drive_over_charging_station.h

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#pragma once
 
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include <frc2/command/SequentialCommandGroup.h>
 
#include "subsystems/swerve_drive_subsystem.h"
 
class DriveOverChargingStation : public frc2::CommandHelper<frc2::CommandBase, DriveOverChargingStation> {
 public:
  DriveOverChargingStation(SwerveDriveSubsystem* drive,
                           units::degree_t approachAngle,
                           units::degree_t robotYaw,
                           bool extraDrive = true);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  SwerveDriveSubsystem* m_pDrive;         
  const units::degree_t m_approachAngle;  
  units::degree_t m_robotYawAngle;        
  const bool m_extraDrive;
  const bool m_approachForward;
  const int m_initialPitchSign;
  frc2::CommandPtr m_commands;  
};