// 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 frc.robot.subsystems.Accumulateur;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.Lanceur;

public class Force6 extends CommandBase {

  private Lanceur lanceur;
  private Accumulateur accumulateur;

  public void Lancer(Lanceur lanceur) {
    this.lanceur = lanceur;
    this.accumulateur = accumulateur;
    addRequirements(lanceur , accumulateur);
  }
  GenericEntry force6;
  /** Creates a new Force1. */
  public Force6(Lanceur lanceur, GenericEntry force6) {
    this.lanceur = lanceur;
    addRequirements(lanceur);
    this.force6 = force6;
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    lanceur.setPID(0, 0, 0);
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    double vitesse = SmartDashboard.getNumber("Force Lanceur", 600);
      lanceur.lancer(200);
    if (lanceur.vitesse() > vitesse ){
      accumulateur.tourneavant();
      accumulateur.tournearriere();
      } else {
        accumulateur.stop();
      }
      
    lanceur.lancer(force6.getDouble(0));
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    lanceur.stop();
    accumulateur.stop();
    }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return lanceur.distance()>1;
  }
}