shooter_command.h

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#pragma once
 
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include <units/time.h>
 
#include <chrono>
 
#include "constants/measure_up.h"
#include "subsystems/shooter_subsystem.h"
 
class ShooterCommand : public frc2::CommandHelper<frc2::Command, ShooterCommand> {
 public:
  explicit ShooterCommand(ShooterSubsystem* shooter, bool endAfterShot = false, units::millisecond_t timeout = 500_ms);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  ShooterSubsystem* m_pShooter;
  bool m_endAfterShot;
  bool m_notePresent;
  bool m_noteShot;
  units::millisecond_t m_timeout;
  std::chrono::time_point<std::chrono::steady_clock> m_startTime;
};