// 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.ModeAuto;

import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.hardware.Pigeon2;
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 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 TournerVersReservoir extends Command {
  CommandSwerveDrivetrain drivetrain;
  Optional<Alliance> alliance = DriverStation.getAlliance();
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
  double force;
  double angle;
  private final SwerveRequest.FieldCentric drive = new SwerveRequest.FieldCentric()
            .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) 
            .withDriveRequestType(DriveRequestType.OpenLoopVoltage);
  /** Creates a new TournerAZero. */
  public TournerVersReservoir(CommandSwerveDrivetrain drivetrain) {
    this.drivetrain = drivetrain;
    addRequirements(drivetrain);
    // 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() {
    if(alliance.isPresent()){
     if(alliance.get() == Alliance.Blue){
      force = 0.5;
      angle = 180;
    }
    else{
      force = -0.5;
      angle = 0;
    } 
    }
    if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >0 && drivetrain.getPigeon2().getYaw().getValueAsDouble() <180){
      drivetrain.setControl(drive.withRotationalRate(-force*180/Math.PI));
    }
    else if(drivetrain.getPigeon2().getYaw().getValueAsDouble() >180){
      drivetrain.setControl(drive.withRotationalRate(force*180/Math.PI));
    }
  }

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

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
    return  drivetrain.getPigeon2().getYaw().getValueAsDouble() > angle && drivetrain.getPigeon2().getYaw().getValueAsDouble() < angle + 10;
  }
}