intake_command.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 <units/time.h>
 
#include <chrono>
 
#include "subsystems/elevator_subsystem.h"
#include "subsystems/intake_subsystem.h"
#include "subsystems/shooter_subsystem.h"
#include "subsystems/simple_led_subsystem.h"
 
class IntakeCommand : public frc2::CommandHelper<frc2::Command, IntakeCommand> {
 public:
  IntakeCommand(IntakeSubsystem* intake,
                ShooterSubsystem* shooter,
                ElevatorSubsystem* elevator,
                argos_lib::SwappableControllersSubsystem* controllers,
                SimpleLedSubsystem* leds,
                bool endOnNoteAcquisition = false,
                units::millisecond_t timeout = 500_ms);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  IntakeSubsystem* m_pIntake;
  ShooterSubsystem* m_pShooter;
  ElevatorSubsystem* m_pElevator;
  argos_lib::SwappableControllersSubsystem* m_pControllers;
  SimpleLedSubsystem* m_pLeds;
  bool m_endOnNoteAcquisition;
  units::millisecond_t m_timeout;
  std::chrono::time_point<std::chrono::steady_clock> m_startTime;
};