Routine.java

package com.team254.frc2015.behavior.routines;

import com.team254.frc2015.HardwareAdaptor;
import com.team254.frc2015.behavior.Commands;
import com.team254.frc2015.behavior.RobotSetpoints;
import com.team254.frc2015.subsystems.BottomCarriage;
import com.team254.frc2015.subsystems.Drive;
import com.team254.frc2015.subsystems.Intake;
import com.team254.frc2015.subsystems.TopCarriage;
import edu.wpi.first.wpilibj.PowerDistributionPanel;

public abstract class Routine {
    protected Drive drive = HardwareAdaptor.kDrive;
    protected TopCarriage top_carriage = HardwareAdaptor.kTopCarriage;
    protected BottomCarriage bottom_carriage = HardwareAdaptor.kBottomCarriage;
    protected Intake intake = HardwareAdaptor.kIntake;
    protected PowerDistributionPanel pdp = HardwareAdaptor.kPDP;

    public abstract void reset();

    public abstract RobotSetpoints update(Commands commands, RobotSetpoints existing_setpoints);

    public abstract void cancel();

    public abstract boolean isFinished();

    public abstract String getName();
}