Robot.h

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#ifndef _ROBOT_HG_
#define _ROBOT_HG_

// FRC
#include <frc/commands/Command.h>
#include <frc/smartdashboard/SendableChooser.h>
#include <frc/TimedRobot.h>
#include <frc/WPILib.h>
#include <cscore_oo.h>
#include <iostream>
#include <networktables/NetworkTable.h>

// Commands
#include "Commands/TriggerDrive.h"
#include "Commands/ControlCompressor.h"
#include "Commands/PullArm.h"
#include "Commands/PullLeg.h"
#include "Autonomous/AutoClimbHigh.h"
#include "Commands/ClimbManager.h"
#include "Commands/ControlHatchGripper.h"
#include "Commands/ControlLight.h"
#include "Commands/Climb.h"
#include "Commands/ControlSlider.h"
#include "Commands/ControlCargo.h"

// Interfaces
#include "OI.h"

// Subsystems
#include "Subsystems/DriveTrain.h"
#include "Subsystems/CrawlDrive.h"
#include "Subsystems/Arm.h"
#include "Subsystems/Leg.h"
#include "Subsystems/Slider.h"
#include "Subsystems/Compressor.h"
#include "Subsystems/Piston.h"
#include "Subsystems/HatchGripper.h"
#include "Subsystems/Flap.h"
#include "Subsystems/Light.h" 

// Telemetry devices
#include <frc/PowerDistributionPanel.h>
#include <frc/DriverStation.h>
#include "AHRS.h"

// Logging
#include <string>
#include <iostream>
#include <vector>
#include <time.h>


void Log(std::string msg);
void Display(clock_t start, clock_t current);

class Robot : public frc::TimedRobot
{
public:

    // Subsystems
  static cCompressor  *m_cCompressor;  
  static DriveTrain   *m_DriveTrain;   
  static Piston       *m_Piston;       
  static CrawlDrive   *m_CrawlDrive;   
  static Arm          *m_Arm;          
  static Leg          *m_Leg;          
  static OI           *m_oi;           
  static Slider       *m_Slider;       
  static HatchGripper *m_HatchGripper; 
  static Flap         *m_Flap;         
  static Light        *m_Light;        

    // Commands
  TriggerDrive        *pTriggerDrive;        
  PullArm             *pPullArm;             
  PullLeg             *pPullLeg;             
  ControlHatchGripper *pControlHatchGripper; 
  ControlSlider       *pControlSlider;       
  ControlCompressor   *pControlCompressor;   
  ControlCargo        *pControlCargo;        
  ControlLight        *pControlLight;        
  ClimbManager        *pClimbManager;        
  AutoClimbHigh       *pAutoClimbHigh;       
  Climb               *pClimb;               

  // Robot methods
  void RobotInit()          override; 
  void RobotPeriodic()      override; 
  void DisabledInit()       override; 
  void DisabledPeriodic()   override; 
  void AutonomousInit()     override; 
  void AutonomousPeriodic() override; 
  void TeleopInit()         override; 
  void TeleopPeriodic()     override; 
  void TestPeriodic()       override; 
  void SharedPeriodic();              
  void SharedInit();                  

private:
  // Define cameras
  cs::UsbCamera frontCam;  
  cs::UsbCamera visionCam; 

  // Have it null by default so that if testing teleop it
  // doesn't have undefined behavior and potentially crash.
  // MyAutoCommand m_myAuto;
  frc::SendableChooser<frc::Command*> m_chooser;

  frc::DriverStation& driverStation = frc::DriverStation::GetInstance(); 
  // frc::PowerDistributionPanel* pdp; //!< Power Distrobution Panel information

  std::shared_ptr<NetworkTable> ntTelemetry; 

  AHRS* pGyro;

  clock_t logStart, logCurrent;
};

#endif //_ROBOT_HG_