autonomous_source1.h

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#pragma once
 
#include <argos_lib/subsystems/swappable_controllers_subsystem.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include <frc2/command/SequentialCommandGroup.h>
 
#include <string>
 
#include "commands/autonomous/autonomous_command.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"
 
class AutonomousSource1
    : public frc2::CommandHelper<frc2::Command, AutonomousSource1>
    , public AutonomousCommand {
 public:
  AutonomousSource1(IntakeSubsystem& intake,
                    ShooterSubsystem& shooter,
                    ElevatorSubsystem& elevator,
                    SwerveDriveSubsystem& swerve,
                    VisionSubsystem& vision,
                    argos_lib::SwappableControllersSubsystem& controllers,
                    SimpleLedSubsystem& leds);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
  std::string GetName() const final;
  frc2::Command* GetCommand() final;
 
 private:
  IntakeSubsystem& m_Intake;
  ShooterSubsystem& m_Shooter;
  ElevatorSubsystem& m_Elevator;
  SwerveDriveSubsystem& m_Swerve;
  VisionSubsystem& m_Vision;
  frc2::SequentialCommandGroup m_SeqCommands;
};