text: #pragma once
  
  #include <frc/Timer.h>
  #include <frc2/command/CommandBase.h>
  #include <frc2/command/CommandHelper.h>
  
  #include "subsystems/SwerveDrive.h"
  
  class AutonomousLikeAController : public frc2::CommandHelper<frc2::CommandBase, AutonomousLikeAController> {
  	public:
  		AutonomousLikeAController(SwerveDrive* pSwerveDrive, double leftX, double leftY, double rightX, units::second_t time);
  		void Initialize() override;
  		void Execute() override;
  		void End(bool interrupted) override;
  		bool IsFinished() override;
  
  	private:
  		SwerveDrive* mpSwerveDrive;
  		double mLeftX;
  		double mLeftY;
  		double mRightX;
  		frc::Timer mTimer;
  		units::second_t mTime;
  };
  