// 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.networktables.DoubleSubscriber;
import edu.wpi.first.networktables.DoubleTopic;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;

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 L4 extends Command {
  private Elevateur elevateur;
  private Pince pince;
  NetworkTableInstance networktable = NetworkTableInstance.getDefault();
  NetworkTable tabelevateur = networktable.getTable("tabelevateur");
  private DoubleTopic encodeur1topic = tabelevateur.getDoubleTopic("encodeurbasL4");
  DoubleSubscriber encodeur1 = encodeur1topic.subscribe(-6.4);
  private DoubleSubscriber encodeur2 = tabelevateur.getDoubleTopic("encodeurhautL4").subscribe(-6.5);
  private DoubleSubscriber encodeur3 = tabelevateur.getDoubleTopic("encodeurpincebasL4").subscribe(-1);
  private DoubleSubscriber encodeur4 = tabelevateur.getDoubleTopic("encodeurpincehautL4").subscribe(-0.9);
  /** Creates a new L2. */
  public L4(Elevateur elevateur,Pince pince) {
    this.elevateur = elevateur;
    this.pince = pince;
    encodeur1topic.setPersistent(true);
    addRequirements(elevateur,pince);
    // 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() {
    double encodeurBase = encodeur1.get();
    double encodeurhaute = encodeur2.get();
    double encodeurbasp = encodeur3.get();
    double encodeurhautp = encodeur4.get();
    if(elevateur.position()<=encodeurhaute && elevateur.position()>=encodeurBase){
      elevateur.vitesse(0);
    }
    else if(elevateur.position()>=encodeurhaute){
      elevateur.vitesse(-0.2);
    }
    else{
      elevateur.vitesse(.2);
    }
    // if(pince.encodeurpivot()>=800 && pince.encodeurpivot()<=809){
    //   pince.pivote(0);
    // }
    // else if(pince.encodeurpivot()>=810){
    //   pince.pivote(0.2);
    // }
    // else{
    //   pince.pivote(-0.2);
    // }
  }

  // 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;
  }
}