#ifndef AUTONOMOUS_H_

#define AUTONOMOUS_H_

#include <iostream.h>

#include "math.h"

#include "BTDrive.h"

#include "Sensors.h"

#include "BTShooter.h"

#include "WPILib.h"

class BTAutonomous

{

public:

BTAutonomous(void);

void RunAutonomous(BTDrive*,Sensors*,ControlBoard*,BTShooter*);

void Switch (void);

int position;

private:

AnalogChannel *selector;

static const float FUELING_PORT_HEIGHT = 37.25; //inches

bool enabled;

bool wall;

bool left;

int counter;

double previousInches;

bool firstTime;

bool secondTime;

float startTime;

void Right90 (BTDrive*,Sensors*,ControlBoard*, BTShooter*);

void Left90 (BTDrive*,Sensors*,ControlBoard*, BTShooter*);

void Straight (BTDrive*,Sensors*,ControlBoard*, BTShooter*);

void Right45 (BTDrive*,Sensors*,ControlBoard*, BTShooter*);

void Left45 (BTDrive*,Sensors*,ControlBoard*, BTShooter*);

void Powerslide (BTDrive*,Sensors*,ControlBoard*, BTShooter*);

};

#endif