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- /*----------------------------------------------------------------------------*/
- /* Copyright (c) 2019 FIRST. All Rights Reserved. */
- /* Open Source Software - may be modified and shared by FRC teams. The code */
- /* must be accompanied by the FIRST BSD license file in the root directory of */
- /* the project. */
- /*----------------------------------------------------------------------------*/
- #pragma once
- #include <frc/XboxController.h>
- #include <frc/controller/PIDController.h>
- #include <frc/controller/ProfiledPIDController.h>
- #include <frc/smartdashboard/SendableChooser.h>
- #include <frc2/command/Command.h>
- #include <frc2/command/InstantCommand.h>
- #include <frc2/command/PIDCommand.h>
- #include <frc2/command/ParallelRaceGroup.h>
- #include <frc2/command/RunCommand.h>
- #include "Constants.h"
- #include "subsystems/DriveSubsystem.h"
- /**
- * This class is where the bulk of the robot should be declared. Since
- * Command-based is a "declarative" paradigm, very little robot logic should
- * actually be handled in the {@link Robot} periodic methods (other than the
- * scheduler calls). Instead, the structure of the robot (including subsystems,
- * commands, and button mappings) should be declared here.
- */
- class RobotContainer {
- public:
- RobotContainer();
- frc2::Command* GetAutonomousCommand();
- private:
- // The driver's controller
- frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
- // The robot's subsystems and commands are defined here...
- // The robot's subsystems
- DriveSubsystem m_drive;
- // The chooser for the autonomous routines
- frc::SendableChooser<frc2::Command*> m_chooser;
- void ConfigureButtonBindings();
- };
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