// 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.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.RainBow;
import frc.robot.commands.reset;
import frc.robot.commands.Elevateur.Depart;
import frc.robot.commands.Elevateur.ElevateurManuel;
import frc.robot.commands.Elevateur.L2;
import frc.robot.commands.Elevateur.L3;
import frc.robot.commands.Elevateur.L4;
import frc.robot.commands.Elevateur.StationPince;
import frc.robot.commands.Limelight.AprilTag3;
import frc.robot.commands.Limelight.AprilTag3G;
import frc.robot.commands.Limelight.Forme3;
import frc.robot.commands.Pince.AlgueExpire;
import frc.robot.commands.Pince.Algue_inspire;
import frc.robot.commands.Pince.CorailAspir;
import frc.robot.commands.Pince.CoralAlgueInspire;
import frc.robot.commands.Pince.CoralExpire;
import frc.robot.commands.Pince.PinceManuel;
import frc.robot.commands.requin.BalayeuseBas;
import frc.robot.commands.requin.BalayeuseHaut;
import frc.robot.commands.requin.exspire;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Grimpeur;
import frc.robot.subsystems.Limelight3;
import frc.robot.subsystems.Limelight3G;
import frc.robot.subsystems.Pince;
import frc.robot.subsystems.Requin;

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);
  private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
  public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
  private final SendableChooser<Command> autoChooser;
  public double getAngle() {
    return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
  }
  
  Elevateur elevateur = new Elevateur();
  Pince pince = new Pince();
  ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
  PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
  Bougie bougie = new Bougie();
  Limelight3G limelight3g = new Limelight3G();
  Limelight3 limelight3 = new Limelight3();
  Pose2d pose = new Pose2d();
  Grimpeur Grimpeur = new Grimpeur();
  Requin requin = new Requin();
  
  public RobotContainer() {
    autoChooser = AutoBuilder.buildAutoChooser("New Auto");
    SmartDashboard.putData("Auto Mode", autoChooser);
    configureBindings();
    NamedCommands.registerCommand("AprilTag", new AprilTag3G(limelight3g, drivetrain, null, null));
    NamedCommands.registerCommand("Station",new StationPince(pince, elevateur));
    NamedCommands.registerCommand("L4", new L4(elevateur, pince));
    NamedCommands.registerCommand("L3", new L3(elevateur, pince));
    NamedCommands.registerCommand("CoralExpire",new CoralExpire(pince,bougie));
    NamedCommands.registerCommand("CoraletAlgue", new CoralAlgueInspire(pince,bougie));
    }
  private void configureBindings() {
    drivetrain.registerTelemetry(logger::telemeterize);
 drivetrain.setDefaultCommand(
          // Drivetrain will execute this command periodically
          drivetrain.applyRequest(() ->
            drive.withVelocityX(MathUtil.applyDeadband(-manette1.getLeftX()*manette1.getLeftX()*manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
              .withVelocityY(MathUtil.applyDeadband(manette1.getLeftY()*manette1.getLeftY()*manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
              .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*manette1.getRightX()*manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
        )
      );
   
     
            /* Manette 1 */
    // reset the field-centric heading on start press
    manette1.start().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));

    //pince
    manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
    manette1.rightBumper().whileTrue(new StationPince(pince, elevateur));
    manette1.leftTrigger().whileTrue(new CoralExpire(pince, bougie));

     //elevateur
     manette1.a().whileTrue(new Depart(elevateur, pince));
     manette1.b().whileTrue(new L2(elevateur,pince));
     manette1.x().whileTrue(new L3(elevateur, pince));
     manette1.y().whileTrue(new L4(elevateur, pince));

            /* Manette 2 */
    //pince
    manette2.a().whileTrue(new CorailAspir(pince));
    manette2.b().whileTrue(new Algue_inspire(pince));
    manette2.y().whileTrue(new BalayeuseHaut(requin));
    manette2.x().whileTrue(new BalayeuseBas(requin));
    manette2.rightTrigger().whileTrue(new exspire(requin));
    manette2.leftTrigger().whileTrue(new AlgueExpire(pince, bougie));

     //Pince manuel
     pince.setDefaultCommand(new RunCommand(()->{
      pince.pivote(MathUtil.applyDeadband(manette2.getRightY()*manette2.getRightY()*manette2.getRightY(), 0.05));
    }, pince));

    //Elevateur manuel
    elevateur.setDefaultCommand(new RunCommand(()->{
      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
    }, elevateur));

    //limelight
    manette2.leftBumper().whileTrue(new AprilTag3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
    manette2.rightBumper().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));

    //Reset encodeur
    manette2.start().whileTrue(new reset(elevateur, pince));
  }
    
    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));
    }    
}