// 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;

import static edu.wpi.first.units.Units.*;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveRequest;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;
import com.pathplanner.lib.commands.PathPlannerAuto;
import com.pathplanner.lib.util.FlippingUtil;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.AprilTag3;
import frc.robot.commands.AprilTag3G;
import frc.robot.commands.Forme3;
import frc.robot.commands.RainBow;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Limelight3;
import frc.robot.subsystems.Limelight3G;

public class RobotContainer {
    private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
    private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity

    /* Setting up bindings for necessary control of the swerve drive platform */
    private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
            .withDriveRequestType(DriveRequestType.OpenLoopVoltage); // Use open-loop control for drive motors

    private final Telemetry logger = new Telemetry(MaxSpeed);

    private final CommandXboxController manette1 = new CommandXboxController(0);
    private final CommandXboxController manette2 = new CommandXboxController(1);
   
    public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
    
    private final SendableChooser<Command> autoChooser;
    Bougie bougie = new Bougie();
    Limelight3G limelight3g = new Limelight3G();
    Limelight3 limelight3 = new Limelight3();
    Pose2d pose = new Pose2d();
    private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
    public double getAngle() {
        return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
    }
        public RobotContainer() {
        autoChooser = AutoBuilder.buildAutoChooser("New Auto");
        SmartDashboard.putData("Auto Mode", autoChooser);
        configureBindings();
        NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
    }

    private void configureBindings() {
        // Note that X is defined as forward according to WPILib convention,
        // and Y is defined as to the left according to WPILib convention.
        drivetrain.setDefaultCommand(
            // Drivetrain will execute this command periodically
            drivetrain.applyRequest(() ->
                drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*MaxSpeed, 0.2)) // Drive forward with negative Y (forward)
                    .withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*MaxSpeed, 0.2)) // Drive left with negative X (left)
                    .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*MaxAngularRate, 0.15)) // Drive counterclockwise with negative X (left)
            )
        );

        // reset the field-centric heading on left bumper press
        manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));
        manette1.leftTrigger().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
        manette1.rightTrigger().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
        manette2.leftTrigger().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
        drivetrain.registerTelemetry(logger::telemeterize);
    }

    public Command getAutonomousCommand() {
        return new SequentialCommandGroup(Commands.runOnce(()->{
            boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
            if(flip){
                drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
            }
            else{
                drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
            }
        }),autoChooser.getSelected(), new RainBow(bougie));
    }
             
}