RobotContainer.h

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#pragma once
 
#include <argos_lib/config/config_types.h>
#include <argos_lib/general/generic_debouncer.h>
#include <argos_lib/subsystems/swappable_controllers_subsystem.h>
#include <frc/filter/SlewRateLimiter.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/button/CommandXboxController.h>
 
#include "Constants.h"
#include "commands/auto_aim_command.h"
#include "commands/autonomous/autonomous_amp_side_2_piece.h"
#include "commands/autonomous/autonomous_amp_side_2_piece_chaos.h"
#include "commands/autonomous/autonomous_amp_side_2_piece_skip.h"
#include "commands/autonomous/autonomous_center2_wing.h"
#include "commands/autonomous/autonomous_center_subwoofer_4_piece.h"
#include "commands/autonomous/autonomous_center_subwoofer_6_piece.h"
#include "commands/autonomous/autonomous_choreo_test.h"
#include "commands/autonomous/autonomous_nothing.h"
#include "commands/autonomous/autonomous_source1.h"
#include "commands/autonomous/autonomous_source2.h"
#include "commands/autonomous/autonomous_source_side_3_piece_steal.h"
#include "commands/autonomous/autonomous_source_side_subwoofer_2_piece.h"
#include "commands/autonomous/autonomous_source_side_subwoofer_4_piece.h"
#include "commands/autonomous/autonomous_source_side_subwoofer_5_piece.h"
#include "commands/autonomous/autonomous_source_side_subwoofer_steal2.h"
#include "commands/autonomous/autonomous_zero_note.h"
#include "commands/climber_command.h"
#include "commands/climber_homing_command.h"
#include "commands/crossfield_shot_command.h"
#include "commands/go_to_amp_position_command.h"
#include "commands/go_to_podium_position_command.h"
#include "commands/go_to_subwoofer_position_command.h"
#include "commands/go_to_trap_position_command.h"
#include "commands/intake_command.h"
#include "commands/lower_climber_command.h"
#include "commands/raise_climber_command.h"
#include "commands/ready_for_climb_command.h"
#include "commands/reverse_climb_command.h"
#include "commands/shooter_command.h"
#include "subsystems/climber_subsystem.h"
#include "subsystems/elevator_subsystem.h"
#include "subsystems/intake_subsystem.h"
#include "subsystems/shooter_subsystem.h"
#include "subsystems/simple_led_subsystem.h"
#include "subsystems/swerve_drive_subsystem.h"
#include "subsystems/vision_subsystem.h"
#include "utils/auto_selector.h"
 
class RobotContainer {
 public:
  RobotContainer();
 
  frc2::Command* GetAutonomousCommand();
 
  void Disable();
 
  void Enable();
 
  void AllianceChanged();
 
  void SetLedsConnectedBrightness(bool connected);
 
 private:
  // Interpolation of controller inputs. Used for making the inputs non-linear, allowing finer control of how the robot responds to the joystick.
  argos_lib::InterpolationMap<decltype(controllerMap::driveSpeed.front().inVal), controllerMap::driveSpeed.size()>
      m_driveSpeedMap;
  argos_lib::InterpolationMap<decltype(controllerMap::driveRotSpeed.front().inVal), controllerMap::driveRotSpeed.size()>
      m_driveRotSpeed;
  argos_lib::InterpolationMap<decltype(controllerMap::elevatorSpeed.front().inVal), controllerMap::elevatorSpeed.size()>
      m_elevatorSpeedMap;
  argos_lib::InterpolationMap<decltype(controllerMap::elevatorRotateSpeed.front().inVal),
                              controllerMap::elevatorRotateSpeed.size()>
      m_elevatorRotateSpeedMap;
  argos_lib::InterpolationMap<decltype(controllerMap::climberSpeed.front().inVal), controllerMap::climberSpeed.size()>
      m_climberSpeedMap;
 
  const argos_lib::RobotInstance m_instance;
 
  // The robot's subsystems are defined here...
  argos_lib::SwappableControllersSubsystem m_controllers;
  SwerveDriveSubsystem m_swerveDrive;
  SimpleLedSubsystem m_ledSubSystem;
  ShooterSubsystem m_ShooterSubSystem;
  VisionSubsystem m_visionSubSystem;
  IntakeSubsystem m_intakeSubsystem;
  ClimberSubsystem m_climberSubsystem;
  ElevatorSubsystem m_elevatorSubsystem;
 
  IntakeCommand m_IntakeCommand;
  ShooterCommand m_ShooterCommand;
  AutoAimCommand m_autoAimCommand;
  ClimberHomingCommand m_ClimberHomeCommand;
  GoToAmpPositionCommand m_GoToAmpPositionCommand;
  GoToPodiumPositionCommand m_GoToHighPodiumPositionCommand;
  GoToPodiumPositionCommand m_GoToLowPodiumPositionCommand;
  GoToSubwooferPositionCommand m_GoToSubwooferPositionCommand;
  GoToTrapPositionCommand m_GoToTrapPositionCommand;
  ClimberCommand m_ClimberCommand;
  CrossfieldShotCommand m_CrossfieldShotCommand;
 
  // Autonomous
  AutonomousNothing m_autoNothing;
  AutonomousChoreoTest m_autoChoreoTest;
  AutonomousCenter2Wing m_autoCenter2wing;
  AutonomousSource1 m_autoSource1;
  AutonomousSourceSideSubwoofer2Piece m_autoSourceSideSubwoofer2Piece;
  AutonomousSource2 m_autoSource2;
  AutonomousSourceSideSteal2 m_autoSourceSideSteal2;
  AutonomousAmpSideSubwoofer2Piece m_autoAmpSideSubwoofer2Piece;
  AutonomousAmpSideSubwoofer2PieceSkip m_autoAmpSideSubwoofer2PieceSkip;
  AutonomousAmpSideSubwoofer2PieceSkip m_autoAmpSideSubwoofer2PieceChaos;
  AutonomousSourceSideSubwoofer3PieceSteal m_autoSourceSideSubwoofer3PieceSteal;
  AutonomousZeroNote m_autoZeroNote;
  AutonomousSourceSideSubwoofer4Piece m_autoSourceSideSubwoofer4Piece;
  AutonomousCenterSubwoofer4Piece m_autoCenterSubwoofer4Piece;
  AutonomousCenterSubwoofer6Piece m_autoCenterSubwoofer6Piece;
  AutonomousSourceSideSubwoofer5Piece m_autoSourceSideSubwoofer5Piece;
 
  AutoSelector m_autoSelector;
 
  bool m_transitionedFromAuto;  
 
  void ConfigureBindings();
};