text: /*----------------------------------------------------------------------------*/
  /* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
  /* Open Source Software - may be modified and shared by FRC teams. The code   */
  /* must be accompanied by the FIRST BSD license file in the root directory of */
  /* the project.                                                               */
  /*----------------------------------------------------------------------------*/
  
  #pragma once
  
  #include <frc2/command/CommandBase.h> 
  #include <frc2/command/CommandHelper.h>
  #include <frc/XboxController.h>
  
  #include <frc/Filesystem.h>
  #include <frc/trajectory/TrajectoryUtil.h>
  #include <wpi/fs.h>
  
  #include "subsystems/DriveSubsystem.h"
  #include "subsystems/CargoSubsystem.h"
  
  class ThreeBallDownRun
      : public frc2::CommandHelper<frc2::CommandBase, ThreeBallDownRun> {
   public:
    /**
     * Creates a new DriveTwoBallUnoTrajectory.
     *
     * takes no parameters: the trajectory is hardcoded in here
     * 
     */
    ThreeBallDownRun(DriveSubsystem* dsubsystem, CargoSubsystem* csubsystem);
  
    void Initialize() override;
  
    void End(bool interrupted) override;
  
    bool IsFinished() override;
  
   private:
    DriveSubsystem* m_drive;
    CargoSubsystem* m_cargo;
    bool finished = false;
    // The controller
    frc::XboxController Xbox{0};
  };
  