oui_oui_placer_subsystem.h

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#pragma once
 
#include <argos_lib/config/config_types.h>
#include <argos_lib/general/debouncer.h>
#include <argos_lib/general/nt_motor_pid_tuner.h>
#include <ctre/Phoenix.h>
#include <frc2/command/SubsystemBase.h>
 
class OuiOuiPlacerSubsystem : public frc2::SubsystemBase {
 public:
  explicit OuiOuiPlacerSubsystem(argos_lib::RobotInstance instance);
 
  void Periodic() override;
 
  void SetOuiOuiSpeed(double percentOutput, bool overrideSoftLimits = false);
 
  void StopOuiOuiPlacer();
 
  units::degree_t GetOuiOuiAngle();
 
  void EnablePlacerSoftLimits();
 
  void DisablePlacerSoftLimits();
 
  bool ForwardSoftLimitExceeded();
 
  bool ReverseSoftLimitExceeded();
 
  bool IsStalled();
 
 private:
  argos_lib::RobotInstance m_instance;
  bool m_manualOverride;
  WPI_TalonFX m_ouiOuiDrive;
  argos_lib::NTMotorPIDTuner m_ouiOuiTuner;
  argos_lib::Debouncer m_stallDebounce;
  bool m_stalled;
  bool m_softLimitsEnabled;
};