// 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 com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.swerve.SwerveRequest;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.generated.TunerConstants;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Limelight3G;
import static edu.wpi.first.units.Units.*;

import java.util.Optional;

/* 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 Limelighter extends Command {
  Limelight3G limelight3g;
  CommandSwerveDrivetrain drivetrain;
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
  double botx;
  double boty;
  double angle;
  double calcul;
   Optional<Alliance> alliance = DriverStation.getAlliance(); 
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
      .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1)
      .withDriveRequestType(DriveRequestType.OpenLoopVoltage);

  /** Creates a new Limelighter. */
  public Limelighter(Limelight3G limelight3g, CommandSwerveDrivetrain drivetrain) {
    this.limelight3g = limelight3g;
    this.drivetrain = drivetrain;
    addRequirements(drivetrain, limelight3g);
    // Use addRequirements() here to declare subsystem dependencies.
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    alliance = DriverStation.getAlliance();
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {
    double[] BotPose = new double[6];
    System.out.println("e");
    if (limelight3g.getV()) {
        BotPose = limelight3g.getBotPoseBlue();
    
      botx = BotPose[1];
      boty = BotPose[0];
      angle = drivetrain.getPigeon2().getYaw().getValueAsDouble();
      calcul = limelight3g.Calcule(botx, 4, boty, 4.6, angle);
      if(calcul < -5 && calcul > -180){
        drivetrain.setControl(
          drive.withRotationalRate(0.5*180/Math.PI));
      }
      else if(calcul > 5 && calcul < 180){
        drivetrain.setControl(
          drive.withRotationalRate(-0.5*180/Math.PI));
      }
      else if(calcul >= 180){
        drivetrain.setControl(
          drive.withRotationalRate(-0.5*180/Math.PI));
      }
      else if(calcul <= -180){
        drivetrain.setControl(
          drive.withRotationalRate(0.5*180/Math.PI));
      }
      else{
        drivetrain.setControl(
          drive.withRotationalRate(0));
      }  
      drivetrain.setControl(
          drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
      System.out.println(angle);
      if (calcul < 0.2 && calcul > -0.2) {
      drivetrain.setControl(drive.withRotationalRate(0));
      }
    }
    else{
      drivetrain.setControl(drive.withRotationalRate(0));
    }
  }


  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    drivetrain.setControl(drive.withRotationalRate(0));
  }

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