// 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;

import static edu.wpi.first.units.Units.*;

import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;

import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;

/* 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 AvancerAuto extends Command {
  private CommandSwerveDrivetrain commandSwerveDrivetrain = TunerConstants.createDrivetrain();
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of
   private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
    .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
  /** Creates a new AvancerAuto. */
  public AvancerAuto(SwerveRequest.RobotCentric drive, CommandSwerveDrivetrain commandSwerveDrivetrain) {
    // 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() {
    commandSwerveDrivetrain.applyRequest(()->
     drive.withVelocityY(0.5*MaxSpeed)
    .withVelocityX(0)
    .withRotationalRate(0));
    
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    drive.withVelocityY(0);
  }

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