drive_by_time_command.h

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#pragma once
 
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
 
#include <chrono>
 
#include "subsystems/swerve_drive_subsystem.h"
 
class DriveByTimeCommand : public frc2::CommandHelper<frc2::Command, DriveByTimeCommand> {
 public:
  DriveByTimeCommand(SwerveDriveSubsystem& swerveDrive,
                     units::degree_t robotYaw,
                     double percentSpeed,
                     units::millisecond_t driveTime);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  SwerveDriveSubsystem& m_swerveDrive;
  units::degree_t m_robotYaw;
  double m_percentSpeed;
  units::millisecond_t m_driveTime;
  std::chrono::time_point<std::chrono::high_resolution_clock> m_startTime;
};