BaseSubsystem.h

#pragma once
 
#include <memory>
#include <string>
 
#include <frc/DriverStation.h>
#include <frc/TimedRobot.h>
#include <frc/Timer.h>
#include <frc2/command/SubsystemBase.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <valkyrie/Gamepad.h>
#include <valkyrie/Loggable.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableHelper.h>
 
namespace valor {

class BaseSubsystem : public frc2::SubsystemBase, public valor::Loggable {
   public:
    explicit BaseSubsystem(std::string name) : frc2::SubsystemBase{name}, Loggable{GetName()} { wpi::SendableRegistry::Remove(this); }

    virtual void AnalyzeDashboard() {}

    virtual void AssessInputs() {}

    virtual void AssignOutputs() {}

    virtual void Reset() {}
 
    void SetGamepads(valor::Gamepad* _operatorGamepad, valor::Gamepad* _driverGamepad) {
        operatorGamepad = _operatorGamepad;
        driverGamepad = _driverGamepad;
    }
 
   protected:
    valor::Gamepad* operatorGamepad = nullptr;
    valor::Gamepad* driverGamepad = nullptr;
 
   private:
    void Periodic() {
        if (frc::DriverStation::IsTeleopEnabled())
            AssessInputs();
 
        AnalyzeDashboard();
 
        if (frc::DriverStation::IsEnabled())
            AssignOutputs();
    }
};
}  // namespace valor