// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.commands.Elevateur;

import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Pince;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class StationPince extends Command {
  ShuffleboardTab teb = Shuffleboard.getTab("teb");
  private Pince pince;
  private Elevateur elevateur;
  private Bougie bougie;
  /** Creates a new L2Pince. */
  public StationPince(Pince pince,Elevateur elevateur, Bougie bougie) {
    this.elevateur = elevateur;
    this.pince = pince;
    this.bougie = bougie;
    addRequirements(pince, elevateur, bougie);
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    
    if(pince.emperagecoral() >= 18){     
      pince.x = true;
    }
      if(elevateur.position()<=-0.4 && elevateur.position()>= -0.5){
      elevateur.vitesse(0);
    }
        else if(elevateur.position()>=-0.4){
      elevateur.vitesse(-0.7);
      }
        else{
        elevateur.vitesse(0.25);
      }
    if(pince.x){
      pince.aspirecoral(0);
      bougie.Bleu();
      pince.pivote(-0.2);
      if(pince.position()){
        pince.pivote(0);
      }
    }
      else{
      pince.aspirecoral(0.25);
      
    }
    if (!pince.x){
      pince.pivote(-0.15);
      if(pince.encodeurpivot()>=10 && pince.encodeurpivot()<=11){
        pince.pivote(0);
      }
      else if(pince.encodeurpivot()>=10.5){
        pince.pivote(-0.15);
      }
      else{
        pince.pivote(0.15);
      }
    }    
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    pince.pivote(0);
    pince.aspirecoral(0);
    elevateur.vitesse(0);
    pince.x =false;
  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return false;
  }
}