AutoClimbHigh.h

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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2018 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.                                                               */
/*----------------------------------------------------------------------------*/

#ifndef _AUTOCLIMBHIGH_HG_
#define _AUTOCLIMBHIGH_HG_

#include <frc/commands/Command.h>
#include <frc/Timer.h>

class AutoClimbHigh : public frc::Command {
public:
    AutoClimbHigh();
    void Initialize() override;
    void Execute() override;        
    bool IsFinished() override;
    void End() override;
    void Interrupted() override;
    void Execute_LowerArm(void);    
    void Execute_LowerLeg(void);    
    void Execute_Crawl(void);       
    void Execute_Drive(void);       
    void Execute_Raiseleg(void);    
    bool IsClimbing() ;             
private:
    enum Stage : uint8_t {
        S_LOWER_ARM,
        S_LOWER_LEG,
        S_CRAWL,
        S_DRIVE,
        S_RAISE_LEG,
        S_FINISHED
    } stage ;

    frc::Timer* pTimer; 
    bool onFloor ;      
    bool climbing ;     
};

#endif /* _AUTOCLIMBHIGH_HG_ */