prime_shooter_command.h

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#pragma once
 
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include <units/length.h>
 
#include <optional>
 
#include "subsystems/elevator_subsystem.h"
#include "subsystems/shooter_subsystem.h"
#include "subsystems/vision_subsystem.h"
 
class PrimeShooterCommand : public frc2::CommandHelper<frc2::Command, PrimeShooterCommand> {
 public:
  PrimeShooterCommand(ShooterSubsystem& shooter,
                      ElevatorSubsystem& elevator,
                      VisionSubsystem& vision,
                      const units::inch_t distance,
                      const std::optional<units::revolutions_per_minute_t> customSpeed = std::nullopt,
                      bool wait = true);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  ShooterSubsystem& m_Shooter;
  ElevatorSubsystem& m_Elevator;
  VisionSubsystem& m_Vision;
  const units::inch_t m_distance;
  const std::optional<units::revolutions_per_minute_t> m_customSpeed;
  bool m_wait;
};