climber_homing_command.h

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#pragma once
 
#include <argos_lib/config/config_types.h>
#include <argos_lib/general/debouncer.h>
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include <subsystems/climber_subsystem.h>
 
class ClimberHomingCommand : public frc2::CommandHelper<frc2::Command, ClimberHomingCommand> {
 public:
  explicit ClimberHomingCommand(ClimberSubsystem& subsystem, const argos_lib::RobotInstance instance);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  ClimberSubsystem& m_climberSubsystem;
  argos_lib::Debouncer m_climberMovingDebounce;
  std::chrono::time_point<std::chrono::steady_clock> m_startTime;
  const argos_lib::RobotInstance m_instance;
};