grip_cube_command.h

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#pragma once
 
#include <commands/set_arm_pose_command.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/InstantCommand.h>
#include <subsystems/bash_guard_subsystem.h>
#include <subsystems/intake_subsystem.h>
#include <subsystems/lifter_subsystem.h>
 
#include <memory>
 
class GripCubeCommand : public frc2::CommandHelper<frc2::CommandBase, GripCubeCommand> {
 public:
  GripCubeCommand(LifterSubsystem& lifter, BashGuardSubsystem& bash, IntakeSubsystem& intake);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  LifterSubsystem& m_lifter;
  IntakeSubsystem& m_intake;
  BashGuardSubsystem& m_bash;
 
  frc2::CommandPtr m_allCommands;
};