// 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.wpilibj2.command.Command;
import edu.wpi.first.math.controller.PIDController;
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 L3 extends Command {
  private Elevateur elevateur;
  private Pince pince;
  private PIDController pidController1;
  private PIDController pidController2;
  private double output;
  private double output2;
  /** Creates a new L2. */
  public L3(Elevateur elevateur,Pince pince) {
    this.elevateur = elevateur;
    this.pince = pince;  
    addRequirements(elevateur,pince);
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    pidController1 = new PIDController(0.3, 0.04,0);
    pidController2 = new PIDController(0.025, 0.00125,0.001, 0.01);
    pidController1.reset();
    pidController2.reset();
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    output = pidController1.calculate(elevateur.position(),-3);
    output2 = pidController2.calculate(pince.encodeurpivot(),20);
    elevateur.vitesse(output);
    pince.pivote(output2);
  // if(elevateur.position()<=elevateur.encodeurelevateurL3bas() && elevateur.position()>=elevateur.encodeurelevateurL3haut()){
  //   elevateur.vitesse(0);
  //   pince.pivote(-0.15);
  //   if(pince.encodeurpivot()>=20 && pince.encodeurpivot()<=21){
  //     pince.pivote(0);
  //   }
  //   else if(pince.encodeurpivot()>=20){
  //     pince.pivote(-0.15);
  //   }
  //   else{
  //     pince.pivote(0.15);
  //   }
  // }
  // else if(elevateur.position()>=elevateur.encodeurelevateurL3bas()){
  // elevateur.vitesse(-0.7);
  // }
  // else{
  //   elevateur.vitesse(0.25);
  // }
  }

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

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