l1_coral_placement_command.h

Go to the documentation of this file.

 
 
#pragma once
 
#include <frc2/command/Command.h>
#include <frc2/command/CommandHelper.h>
 
#include <chrono>
 
#include "subsystems/elevator_subsystem.h"
#include "subsystems/intake_subsystem.h"
 
class L1CoralPlacementCommand : public frc2::CommandHelper<frc2::Command, L1CoralPlacementCommand> {
 public:
  L1CoralPlacementCommand(ElevatorSubsystem* elevatorSubsystem, IntakeSubsystem* intakeSubsystem);
 
  void Initialize() override;
 
  void Execute() override;
 
  void End(bool interrupted) override;
 
  bool IsFinished() override;
 
 private:
  ElevatorSubsystem* m_pElevatorSubsystem;
  IntakeSubsystem* m_pIntakeSubsystem;
  std::chrono::time_point<std::chrono::steady_clock> m_startTime;
};