// 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 org.photonvision.estimation.CameraTargetRelation;

import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
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.button.CommandXboxController;

//subsystems
import frc.robot.subsystems.BasePilotable;
import frc.robot.subsystems.Gratte;
import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pince;
import frc.robot.subsystems.bras.Pivot;
import frc.robot.subsystems.Limelight;
import frc.robot.commands.Apriltag;
// command
import frc.robot.commands.BrakeFerme;
import frc.robot.commands.BrakeOuvre;
import frc.robot.commands.Cone;
import frc.robot.commands.GratteBaisser;
import frc.robot.commands.GratteMonte;
import frc.robot.commands.Gyro;
import frc.robot.commands.bras.FermePince;
import frc.robot.commands.bras.OuvrePince;
import frc.robot.commands.bras.PivotBrasRentre;
import frc.robot.commands.bras.PivoteBrasBas;
import frc.robot.commands.bras.PivoteBrasHaut;
import frc.robot.commands.bras.PivoteBrasMilieux;
//subsystems
import frc.robot.commands.bras.PivotChercheBas;
import frc.robot.commands.bras.PivotChercheHaut;
import frc.robot.commands.Cube;
import frc.robot.commands.Tape;


public class RobotContainer {
//CameraServer.startAutomaticCapture();
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);
// subsystems
BasePilotable basePilotable = new BasePilotable();
Gratte gratte = new Gratte();
BrasTelescopique brasTelescopique = new BrasTelescopique();
Pince pince = new Pince();
Pivot pivot = new Pivot();
Limelight limelight = new Limelight();/** */
//commands
BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
GratteBaisser gratteBaisser = new GratteBaisser(gratte);
GratteMonte gratteMonte = new GratteMonte(gratte);
Gyro gyro = new Gyro(basePilotable);
FermePince fermePince = new FermePince(pince);
OuvrePince ouvrePince = new OuvrePince(pince);
PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
Cube cube = new Cube(limelight, basePilotable, null);
Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
Tape tape = new Tape(limelight, basePilotable, null);
ShuffleboardTab teb = Shuffleboard.getTab("teb"); 
public RobotContainer() {
    configureBindings();
    CameraServer.startAutomaticCapture();
    teb.add (CameraServer.startAutomaticCapture(null, 0));
      basePilotable.setDefaultCommand(new RunCommand(() -> {
      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX(), 0);
    },basePilotable));
    
}
  
  private void configureBindings() {
    // manette 1
    manette1.povDown().onTrue(pivoteBrasHaut);
    manette1.povUp().onTrue(pivoteBrasBas);
    manette1.povLeft().onTrue(pivoteBrasMilieux);
    manette1.povRight().onTrue(pivotBrasRentre);
    manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
    manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
    manette1.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
    manette1.leftBumper().toggleOnTrue(cube);
    manette1.rightBumper().toggleOnTrue(cone);
    // manette 2
    manette2.y().whileTrue(gyro);
    manette2.start().toggleOnTrue(Commands.startEnd(basePilotable::resetGyro, basePilotable::resetGyro, basePilotable));
    manette2.povRight().onTrue(pivotChercheBas);
    manette2.povLeft().onTrue(pivotChercheHaut);
    manette2.rightBumper().toggleOnTrue(aprilTag);
    manette2.leftBumper().toggleOnTrue(tape);
  }

  public Command getAutonomousCommand() {
    return null;
    //return new SequentialCommandGroup(
      //new PivoteBrasMilieux(brasTelescopique, pivot),
      //new OuvrePince(pince),
      //new PivotBrasRentre(brasTelescopique, pivot).alongWith(new Reculer(basePilotable)),
      //new Gyro(basePilotable)
    //);
  }
}