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  1. /*----------------------------------------------------------------------------*/
  2. /* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
  3. /* Open Source Software - may be modified and shared by FRC teams. The code   */
  4. /* must be accompanied by the FIRST BSD license file in the root directory of */
  5. /* the project.                                                               */
  6. /*----------------------------------------------------------------------------*/
  7.  
  8. #pragma once
  9.  
  10. #include <frc/XboxController.h>
  11. #include <frc/controller/PIDController.h>
  12. #include <frc/controller/ProfiledPIDController.h>
  13. #include <frc/smartdashboard/SendableChooser.h>
  14. #include <frc2/command/Command.h>
  15. #include <frc2/command/InstantCommand.h>
  16. #include <frc2/command/PIDCommand.h>
  17. #include <frc2/command/ParallelRaceGroup.h>
  18. #include <frc2/command/RunCommand.h>
  19.  
  20. #include "Constants.h"
  21. #include "subsystems/DriveSubsystem.h"
  22.  
  23. /**
  24.  * This class is where the bulk of the robot should be declared.  Since
  25.  * Command-based is a "declarative" paradigm, very little robot logic should
  26.  * actually be handled in the {@link Robot} periodic methods (other than the
  27.  * scheduler calls).  Instead, the structure of the robot (including subsystems,
  28.  * commands, and button mappings) should be declared here.
  29.  */
  30. class RobotContainer {
  31.  public:
  32.   RobotContainer();
  33.  
  34.   frc2::Command* GetAutonomousCommand();
  35.  
  36.  private:
  37.   // The driver's controller
  38.   frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
  39.  
  40.   // The robot's subsystems and commands are defined here...
  41.  
  42.   // The robot's subsystems
  43.   DriveSubsystem m_drive;
  44.  
  45.   // The chooser for the autonomous routines
  46.   frc::SendableChooser<frc2::Command*> m_chooser;
  47.  
  48.   void ConfigureButtonBindings();
  49. };
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