#ifndef DENTROBOT_H
#define DENTROBOT_H
#include "WPILib.h"
#include "OI.h"
#include "Subsystems/Elevator.h"
#include "Subsystems/BinElevator.h"
#include "Subsystems/Drivetrain.h"
#include "Subsystems/Collector.h"
#include "Subsystems/Pneumatics.h"
#include "Subsystems/BinCollector.h"
#include "Commands/Autonomous/Autonomous.h"
/**
 * @brief The Hitchhikers 2015 robot, Dent
 *
 * Features a 4-motor collector, 4-motor mecanum drivetrain, two one-motor elevators
 */
class DentRobot: public IterativeRobot {
 private:
  /**
   * @brief The default driving command
   */
  Command *driveCommand = NULL;
 public:
  /**
   * @brief Constructs DentRobot
   */
  DentRobot();
  /**
   * @brief The 2-joystick OI
   */
  static OI* oi;
  /**
   * @brief The 4-motor Collector
   */
  static Collector* collector;
  /**
   * @brief The 4-motor mecanum Drivetrain
   */
  static Drivetrain* drivetrain;
  /**
   * @brief The main one-motor Elevator for lifting totes
   */
  static Elevator* elevator;
  /**
   * @brief The back one-motor Elevator for lifting totes or bins
   */
  static BinElevator* binElevator;
  /**
   * @brief The Pneumatics system (unused)
   */
  static Pneumatics* pneumatics;
  /**
   * @brief The BinCollector for collecting bins
   */
  static BinCollector* binCollector;
  /**
   * @brief The Autonomous command
   */
  static CommandGroup* aut;
  /**
   * @brief Initializes the robot
   */
  void RobotInit();
  /**
   * @brief Periodically run when disabled
   */
  void DisabledPeriodic();
  /**
   * @brief Initializes the autonomous period
   */
  void AutonomousInit();
  /**
   * @brief Periodically run when enabled in autonomous
   */
  void AutonomousPeriodic();
  /**
   * @brief Initializes the teleop period
   */
  void TeleopInit();
  /**
   * @brief Periodically run when enabled in autonomous
   */
  void TeleopPeriodic();
  /**
   * @brief Periodically run when enabled in test mode
   */
  void TestPeriodic();
};
#endif
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