autonomous_L4_JKL.h

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#pragma once
 
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
#include <frc2/command/SequentialCommandGroup.h>
 
#include <string>
 
#include "commands/autonomous/autonomous_command.h"
#include "commands/drive_by_time_vision.h"
#include "commands/go_to_position_command.h"
#include "commands/l4_coral_placement_command.h"
#include "subsystems/elevator_subsystem.h"
#include "subsystems/intake_subsystem.h"
#include "subsystems/swerve_drive_subsystem.h"
#include "subsystems/vision_subsystem.h"
 
class AutonomousL4JKL
    : public frc2::CommandHelper<frc2::Command, AutonomousL4JKL>
    , public AutonomousCommand {
 public:
  AutonomousL4JKL(ElevatorSubsystem& elevator,
                  IntakeSubsystem& intake,
                  SwerveDriveSubsystem& swerve,
                  VisionSubsystem& vision);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
  std::string GetName() const final;
  frc2::Command* GetCommand() final;
 
 private:
  ElevatorSubsystem& m_Elevator;
  IntakeSubsystem& m_Intake;
  SwerveDriveSubsystem& m_Swerve;
  VisionSubsystem& m_Vision;
  std::function<void(ArmPosition)> m_armPositionEventCallback;
 
  frc2::SequentialCommandGroup m_allCommands;
};