RobotContainer.h

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#pragma once
 
#include <argos_lib/config/config_types.h>
#include <argos_lib/general/generic_debouncer.h>
#include <argos_lib/subsystems/swappable_controllers_subsystem.h>
#include <frc/Joystick.h>
#include <frc/filter/SlewRateLimiter.h>
#include <frc2/command/CommandPtr.h>
#include <frc2/command/button/CommandXboxController.h>
 
#include "Constants.h"
#include "commands/autonomous/autonomous_L1L4_EDC.h"
#include "commands/autonomous/autonomous_L1L4_JKL.h"
#include "commands/autonomous/autonomous_L1_FE.h"
#include "commands/autonomous/autonomous_L1_GH.h"
#include "commands/autonomous/autonomous_L1_IJ.h"
#include "commands/autonomous/autonomous_L1_J_L4_L.h"
#include "commands/autonomous/autonomous_L4_EDC.h"
#include "commands/autonomous/autonomous_L4_G.h"
#include "commands/autonomous/autonomous_L4_G_algae.h"
#include "commands/autonomous/autonomous_L4_G_algae_vision.h"
#include "commands/autonomous/autonomous_L4_JKL.h"
#include "commands/autonomous/autonomous_choreo_test.h"
#include "commands/autonomous/autonomous_forward.h"
#include "commands/autonomous/autonomous_nothing.h"
#include "controls/operator_controller.h"
#include "subsystems/climber_subsystem.h"
#include "subsystems/elevator_subsystem.h"
#include "subsystems/intake_subsystem.h"
#include "subsystems/simple_led_subsystem.h"
#include "subsystems/swerve_drive_subsystem.h"
#include "subsystems/vision_subsystem.h"
#include "utils/auto_selector.h"
 
class RobotContainer {
 public:
  RobotContainer();
 
  frc2::Command* GetAutonomousCommand();
 
  void Disable();
 
  void Enable();
 
  void AllianceChanged();
 
  void SetLedsConnectedBrightness(bool connected);
 
  auto& GetSwerveDrive() { return m_swerveDrive; }
 
 private:
  // Interpolation of controller inputs. Used for making the inputs non-linear, allowing finer control of how the robot responds to the joystick.
  argos_lib::InterpolationMap<decltype(controllerMap::driveSpeed.front().inVal), controllerMap::driveSpeed.size()>
      m_driveSpeedMap;
  argos_lib::InterpolationMap<decltype(controllerMap::driveSpeed_placing.front().inVal),
                              controllerMap::driveSpeed_placing.size()>
      m_driveSpeedMap_placing;
  argos_lib::InterpolationMap<decltype(controllerMap::driveSpeed_placing_lowAlgae.front().inVal),
                              controllerMap::driveSpeed_placing_lowAlgae.size()>
      m_driveSpeedMap_placing_lowAlgae;
  argos_lib::InterpolationMap<decltype(controllerMap::driveSpeed_intake.front().inVal),
                              controllerMap::driveSpeed_intake.size()>
      m_driveSpeedMap_intake;
  argos_lib::InterpolationMap<decltype(controllerMap::driveSpeed_intakeAlgae.front().inVal),
                              controllerMap::driveSpeed_intakeAlgae.size()>
      m_driveSpeedMap_intakeAlgae;
  argos_lib::InterpolationMap<decltype(controllerMap::driveRotSpeed.front().inVal), controllerMap::driveRotSpeed.size()>
      m_driveRotSpeed;
  argos_lib::InterpolationMap<decltype(controllerMap::driveRotSpeed_placing.front().inVal),
                              controllerMap::driveRotSpeed_placing.size()>
      m_driveRotSpeed_placing;
 
  const argos_lib::RobotInstance m_instance;
 
  // The robot's subsystems are defined here...
  argos_lib::SwappableControllersSubsystem m_controllers;
  OperatorController m_macropadController;
  SwerveDriveSubsystem m_swerveDrive;
  SimpleLedSubsystem m_ledSubSystem;
  VisionSubsystem m_visionSubSystem;
  ElevatorSubsystem m_elevatorSubSystem;
  ClimberSubsystem m_climberSubSystem;
  IntakeSubsystem m_intakeSubSystem;
 
  // Autonomous
  AutonomousNothing m_autoNothing;
  AutonomousL1FE m_autoL1FE;
  AutonomousChoreoTest m_autoChoreoTest;
  AutonomousForward m_autoForward;
  AutonomousL1GH m_autoL1GH;
  AutonomousL1IJ m_autoL1IJ;
  AutonomousL4GAlgae m_autoL4GAlgae;
  AutonomousL4GAlgaeVision m_autoL4GAlgaeVision;
  AutonomousL4G m_autoL4G;
  AutonomousL4EDC m_autoL4EDC;
  AutonomousL4JKL m_autoL4JKL;
  AutonomousL1JL4L m_autoL1JL4L;
  AutonomousL1L4EDC m_autoL1L4EDC;
  AutonomousL1L4JKL m_autoL1L4JKL;
 
  AutoSelector m_autoSelector;
 
  frc::Joystick m_keyboard{0};
 
  bool m_transitionedFromAuto;  
 
  void ConfigureBindings();
};