// 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.command;

import java.util.function.DoubleSupplier;

import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystem.Grimpeur;

public class GrimpeurDroit extends Command {
  private DoubleSupplier doubleSupplier;
  private Grimpeur grimpeur;
  /** Creates a new GrimpeurHaut. */
  public GrimpeurDroit(Grimpeur grimpeur, DoubleSupplier doubleSupplier) {
    this.doubleSupplier = doubleSupplier;
    this.grimpeur = grimpeur;
    addRequirements(grimpeur);
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    grimpeur.resetencodeurd();
    grimpeur.pistonferme();
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    grimpeur.droit(doubleSupplier.getAsDouble());
  if(grimpeur.encoderd()>78){
    grimpeur.droit(0);
    
  }
  else if(grimpeur.getpitch()<-15){
    grimpeur.droit(-doubleSupplier.getAsDouble());
    
  }
  else if(grimpeur.getpitch()>15){
    grimpeur.droit(doubleSupplier.getAsDouble());
  }
  else{
    grimpeur.droit(0);
  }
  if(grimpeur.encoderd()>0){
    grimpeur.resetencodeurd();
    grimpeur.droit(0);
    
  }
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    grimpeur.droit(0);
    grimpeur.pistonouvre();
  }

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