// 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.mechanisms.swerve.LegacySwerveRequest.PointWheelsAt;
import com.ctre.phoenix6.swerve.SwerveRequest;

import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.auto.NamedCommands;

import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.geometry.Rotation2d;
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.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;

import frc.robot.TunerConstants.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Grimpeur;


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(0);

    public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
    
    private final SendableChooser<Command> autoChooser;
    
    
    
    public RobotContainer() {
        autoChooser = AutoBuilder.buildAutoChooser("New Auto");
        SmartDashboard.putData("Auto Mode", autoChooser);
        configureBindings();
    }

    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(-manette1.getLeftY() * MaxSpeed) // Drive forward with negative Y (forward)
                    .withVelocityY(-manette1.getLeftX() * MaxSpeed) // Drive left with negative X (left)
                    .withRotationalRate(-manette1.getRightX() * MaxAngularRate) // Drive counterclockwise with negative X (left)
            )
        );

        // Run SysId routines when holding back/start and X/Y.
        // Note that each routine should be run exactly once in a single log.
        manette1.back().and(manette1.y()).whileTrue(drivetrain.sysIdDynamic(Direction.kForward));
        manette1.back().and(manette1.x()).whileTrue(drivetrain.sysIdDynamic(Direction.kReverse));
        manette1.start().and(manette1.y()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kForward));
        manette1.start().and(manette1.x()).whileTrue(drivetrain.sysIdQuasistatic(Direction.kReverse));

        // reset the field-centric heading on left bumper press
        manette1.leftBumper().onTrue(drivetrain.runOnce(() -> drivetrain.seedFieldCentric()));

        drivetrain.registerTelemetry(logger::telemeterize);
    }

    public Command getAutonomousCommand() {
        return autoChooser.getSelected();
    }
}