// 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 edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.Balayeuse;
import frc.robot.subsystems.Led;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class Aspirer extends Command {
  private Balayeuse balayeuse;
  private Timer timer;
  private Led led;
  /** Creates a new Aspirer. */
  public Aspirer(Balayeuse balayeuse, Led led) {
    this.balayeuse = balayeuse;
    this.led = led;
    this.timer = new Timer();
    addRequirements(balayeuse, led); 
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    timer.reset();
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    timer.start();
    int nbFois = 0;
    double moyenneAmp = 0;    
    if(timer.get() <3){
      nbFois++;
      moyenneAmp += balayeuse.Amp() / nbFois;
    }
    else{
      timer.reset();
    }
    if(moyenneAmp < 40){
      timer.reset();
      balayeuse.Balayer(0.5);
    }
    else if(moyenneAmp > 40){
        balayeuse.Balayer(0);
        led.Jaune2();
    }

  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    balayeuse.Balayer(0);
    timer.stop();
  }

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